+ python -m lidar_slam --no-model /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 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 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters 0.08937354040771678 Centerline is valid? [0, True] SLAMing on 0.034391418 meters 0.10046507693895616 Centerline is valid? [True, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999796e-01 1.54364249e-04 -6.19026751e-04 1.37819677e-03] [-1.54978997e-04 9.99999495e-01 -9.93164203e-04 4.82727493e-03] [ 6.18873130e-04 9.93259937e-04 9.99999315e-01 -3.30245847e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06439141799999999 meters 0.10449284796621594 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999653e-01 -2.02486963e-04 -8.08371963e-04 1.59985045e-03] [ 2.00909523e-04 9.99998077e-01 -1.95098335e-03 7.48358562e-03] [ 8.08765457e-04 1.95082026e-03 9.99997770e-01 -8.98930077e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09439141799999999 meters 0.10449284796621594 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99999653e-01 -2.02486963e-04 -8.08371963e-04 1.59985045e-03] [ 2.00909523e-04 9.99998077e-01 -1.95098335e-03 7.48358562e-03] [ 8.08765457e-04 1.95082026e-03 9.99997770e-01 -8.98930077e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999999 meters 0.11403582080649344 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99992670e-01 3.70392633e-03 -9.70064406e-04 1.85098635e-03] [-3.70248466e-03 9.99992045e-01 1.48375959e-03 9.91847382e-03] [ 9.75552425e-04 -1.48015707e-03 9.99998429e-01 4.15882653e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.154391418 meters 0.11798587195200615 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99993526e-01 3.38988197e-03 -1.20712873e-03 2.38289544e-03] [-3.38917353e-03 9.99994084e-01 5.88442713e-04 1.24924719e-02] [ 1.20911634e-03 -5.84347734e-04 9.99999098e-01 -1.24252469e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.184391418 meters 0.1205113054431703 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99994423e-01 3.04721814e-03 -1.36712044e-03 2.98638860e-03] [-3.04792926e-03 9.99995221e-01 -5.18375972e-04 1.55141084e-02] [ 1.36553430e-03 5.22539967e-04 9.99998931e-01 -6.95044111e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.214391418 meters 0.12602809387019404 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99994278e-01 2.99452100e-03 -1.57395099e-03 3.68247280e-03] [-2.99590423e-03 9.99995128e-01 -8.77202736e-04 1.69385606e-02] [ 1.57131652e-03 8.81913123e-04 9.99998377e-01 -1.16378333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.244391418 meters 0.12818590791514428 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99995637e-01 2.47708547e-03 -1.60961490e-03 3.53639203e-03] [-2.48016339e-03 9.99995095e-01 -1.91303279e-03 1.94516892e-02] [ 1.60486826e-03 1.91701656e-03 9.99996875e-01 -8.07136685e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274391418 meters 0.12910652631765943 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99996414e-01 2.08961552e-03 -1.67482721e-03 3.56150925e-03] [-2.09422955e-03 9.99994004e-01 -2.75792489e-03 2.17044402e-02] [ 1.66905416e-03 2.76142247e-03 9.99994794e-01 -5.94665945e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30439141799999997 meters 0.13327999017731304 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99996201e-01 1.90628476e-03 -1.99106876e-03 4.34839242e-03] [-1.91295666e-03 9.99992544e-01 -3.35440238e-03 2.37940777e-02] [ 1.98465947e-03 3.35819846e-03 9.99992392e-01 -8.30967293e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33439141799999994 meters 0.13591384069032098 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 0.99999567 0.00210118 -0.00206064 0.00485883] [-0.0021075 0.99999307 -0.00306802 0.02345614] [ 0.00205418 0.00307235 0.99999317 -0.00136476] [ 0. 0. 0. 1. ]] SLAMing on 0.36439141799999997 meters 0.13748320377342657 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 0.99999549 0.00222057 -0.00202116 0.00494108] [-0.00222623 0.9999936 -0.00280115 0.02287689] [ 0.00201493 0.00280564 0.99999403 -0.00157251] [ 0. 0. 0. 1. ]] SLAMing on 0.394391418 meters 0.1462429242404604 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.9999947 0.00244234 -0.00215289 0.00522106] [-0.00244722 0.99999443 -0.00226977 0.02173319] [ 0.00214733 0.00227503 0.99999511 -0.00159036] [ 0. 0. 0. 1. ]] SLAMing on 0.42439141799999996 meters 0.14858712832009835 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 0.99999493 0.00237332 -0.00212344 0.00495947] [-0.00237813 0.9999946 -0.00226802 0.02153745] [ 0.00211805 0.00227306 0.99999517 -0.00126155] [ 0. 0. 0. 1. ]] SLAMing on 0.45439141799999994 meters 0.15032493514645104 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.9999945 0.0023961 -0.00229397 0.00534784] [-0.00240123 0.99999462 -0.00223513 0.02174285] [ 0.0022886 0.00224063 0.99999487 -0.00130957] [ 0. 0. 0. 1. ]] SLAMing on 0.48439141799999996 meters 0.1532793100293499 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999428 0.00238296 -0.00240209 0.00570135] [-0.0023885 0.99999449 -0.00230395 0.02221119] [ 0.00239659 0.00230968 0.99999446 -0.00147126] [ 0. 0. 0. 1. ]] SLAMing on 0.514391418 meters 0.1532362254184363 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99995110e-01 2.04224141e-03 -2.36833696e-03 4.88740428e-03] [-2.04989358e-03 9.99992672e-01 -3.23311959e-03 2.46367072e-02] [ 2.36171679e-03 3.23795862e-03 9.99991969e-01 -2.16130669e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544391418 meters 0.1554545611891948 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99994905e-01 1.81796187e-03 -2.62391418e-03 5.29334213e-03] [-1.82806606e-03 9.99990904e-01 -3.85355834e-03 2.65766681e-02] [ 2.61688469e-03 3.85833539e-03 9.99989133e-01 -3.12451076e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5743914179999999 meters 0.16126752788672452 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99979700e-01 5.73764758e-03 -2.77105030e-03 5.23832574e-03] [-5.73840848e-03 9.99983500e-01 -2.66715138e-04 2.84293076e-02] [ 2.76947425e-03 2.82611142e-04 9.99996125e-01 5.69229091e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.604391418 meters 0.161583045977125 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 0.99998271 0.00513816 -0.0028603 0.00500433] [-0.00514222 0.99998578 -0.0014164 0.03120931] [ 0.00285298 0.00143108 0.99999491 0.00121962] [ 0. 0. 0. 1. ]] SLAMing on 0.634391418 meters 0.16525593809323147 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 0.99998316 0.00496014 -0.00301382 0.00546741] [-0.00496569 0.99998598 -0.00183715 0.03266126] [ 0.00300466 0.00185209 0.99999377 0.00104528] [ 0. 0. 0. 1. ]] SLAMing on 0.6643914179999999 meters 0.16364385885887328 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99983704e-01 4.85036421e-03 -3.01097661e-03 5.62806470e-03] [-4.85659427e-03 9.99986074e-01 -2.06526222e-03 3.31367834e-02] [ 3.00091740e-03 2.07985166e-03 9.99993334e-01 8.41503579e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6943914179999999 meters 0.18747147747664908 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99992233e-01 3.81381476e-03 9.94558149e-04 2.51820607e-02] [-3.81897936e-03 9.99978959e-01 5.24371415e-03 3.18072957e-02] [-9.74538668e-04 -5.24747162e-03 9.99985757e-01 -5.60812281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.724391418 meters 0.18494815012063945 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998715 0.00411801 -0.00295711 0.00672419] [-0.00412713 0.99998673 -0.00308293 0.03429687] [ 0.00294437 0.00309509 0.99999088 -0.00127845] [ 0. 0. 0. 1. ]] SLAMing on 0.754391418 meters 0.19188961261497986 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99995079e-01 2.52770479e-04 3.12706358e-03 2.19796295e-02] [-2.62332502e-04 9.99995291e-01 3.05779582e-03 3.40202524e-02] [-3.12627593e-03 -3.05860110e-03 9.99990436e-01 -8.54612198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784391418 meters 0.17045854809150032 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.04, Z:0.00 [[ 9.99994620e-01 -3.16550332e-03 8.60081060e-04 -3.60761543e-02] [ 3.17261594e-03 9.99959702e-01 -8.39816891e-03 3.57585424e-02] [-8.33461969e-04 8.40085243e-03 9.99964365e-01 2.57293232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8143914179999999 meters 0.18474751804104503 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 0.99997752 -0.00494407 0.00452839 0.01738919] [ 0.0049566 0.99998391 -0.00275961 0.0363212 ] [-0.00451467 0.00278199 0.99998594 -0.00432824] [ 0. 0. 0. 1. ]] SLAMing on 0.844391418 meters 0.19103952292136533 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.01 [[ 0.99993165 -0.00828911 0.00824592 0.03605227] [ 0.00827317 0.99996384 0.00196558 0.03594002] [-0.00826192 -0.00189723 0.99996407 -0.00863124] [ 0. 0. 0. 1. ]] SLAMing on 0.874391418 meters 0.18544805111599658 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 9.99977004e-01 -6.75395526e-03 6.12024733e-04 2.48155740e-02] [ 6.75828218e-03 9.99950022e-01 -7.36743319e-03 3.75475422e-02] [-5.62234831e-04 7.37140001e-03 9.99972673e-01 -1.95785822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043914179999999 meters 0.18537883639692834 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.00 [[ 9.99975352e-01 -6.98620886e-03 6.98972416e-04 2.41004164e-02] [ 6.99098427e-03 9.99950496e-01 -7.08031104e-03 3.64375936e-02] [-6.49473283e-04 7.08502303e-03 9.99974690e-01 -1.18738512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9343914179999999 meters 0.18192583344624116 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:0.00 [[ 9.99993406e-01 -3.50817045e-03 9.38015282e-04 2.25433834e-02] [ 3.51088810e-03 9.99989598e-01 -2.91145600e-03 3.41396424e-02] [-9.27791642e-04 2.91473007e-03 9.99995322e-01 1.63797642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.964391418 meters 0.17626492461518367 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.00 [[ 9.99992130e-01 -3.86907073e-03 8.77946365e-04 2.21643114e-02] [ 3.87212095e-03 9.99986380e-01 -3.49958732e-03 3.54972276e-02] [-8.64394256e-04 3.50295929e-03 9.99993491e-01 9.33055397e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.994391418 meters 0.16959504467045583 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.00 [[ 9.99999317e-01 -3.84285427e-05 1.16805446e-03 2.13314238e-02] [ 3.77435847e-05 9.99999827e-01 5.86425701e-04 3.50711700e-02] [-1.16807679e-03 -5.86381214e-04 9.99999146e-01 1.30176826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024391418 meters 0.16456945336363396 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.00 [[ 9.99999352e-01 -4.94202999e-04 1.02565823e-03 2.12767055e-02] [ 4.94659473e-04 9.99999779e-01 -4.44849177e-04 3.76510964e-02] [-1.02543816e-03 4.45356240e-04 9.99999375e-01 1.78367566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.054391418 meters 0.17718191785072016 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.00 [[ 0.99996858 0.00386578 0.00692099 0.05177316] [-0.00388728 0.99998765 0.0030966 0.03934241] [-0.00690893 -0.00312341 0.99997126 -0.00424163] [ 0. 0. 0. 1. ]] SLAMing on 1.084391418 meters 0.16125308041095238 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:0.00 [[ 9.99981371e-01 5.94792203e-03 1.37084399e-03 2.30007771e-02] [-5.94832520e-03 9.99982266e-01 2.90211014e-04 4.66755210e-02] [-1.36909353e-03 -2.98359833e-04 9.99999018e-01 4.20003871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1143914179999999 meters 0.15903733460222144 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.00 [[ 9.99980125e-01 6.26580932e-03 6.99644077e-04 2.50812720e-02] [-6.26551869e-03 9.99980285e-01 -4.16815859e-04 5.06045042e-02] [-7.02241972e-04 4.12423942e-04 9.99999668e-01 3.11914567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1443914179999999 meters 0.15431558521765348 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.00 [[ 9.99982782e-01 5.85685844e-03 3.64637261e-04 2.51943193e-02] [-5.85609123e-03 9.99980709e-01 -2.07070078e-03 5.49568208e-02] [-3.76758028e-04 2.06852978e-03 9.99997790e-01 3.81627283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174391418 meters 0.15141294818233833 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.00 [[ 9.99985377e-01 5.40687019e-03 1.11390980e-04 2.50139845e-02] [-5.40640299e-03 9.99978023e-01 -3.83718421e-03 5.95667370e-02] [-1.32135689e-04 3.83652587e-03 9.99992632e-01 4.81099391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.204391418 meters 0.15141294818233833 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.00 [[ 9.99985377e-01 5.40687019e-03 1.11390980e-04 2.50139845e-02] [-5.40640299e-03 9.99978023e-01 -3.83718421e-03 5.95667370e-02] [-1.32135689e-04 3.83652587e-03 9.99992632e-01 4.81099391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.234391418 meters 0.1484152237516099 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.01 [[ 9.99987706e-01 4.95054714e-03 2.81484127e-04 2.33651533e-02] [-4.94928441e-03 9.99978410e-01 -4.32241179e-03 5.95384081e-02] [-3.02876353e-04 4.32096550e-03 9.99990619e-01 6.81907996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.264391418 meters 0.14620255394166734 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.01 [[ 9.99987723e-01 4.91116420e-03 6.58534453e-04 2.26592193e-02] [-4.90879091e-03 9.99981621e-01 -3.55833622e-03 5.69073809e-02] [-6.75997923e-04 3.55505993e-03 9.99993452e-01 6.82535544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294391418 meters 0.14600902132871918 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.01 [[ 9.99986956e-01 5.09048158e-03 4.18688311e-04 2.36832785e-02] [-5.08909293e-03 9.99981758e-01 -3.25343986e-03 5.66998970e-02] [-4.35242249e-04 3.25126668e-03 9.99994620e-01 5.97014860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3243914179999998 meters 0.1411714787183761 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.01 [[ 9.99989145e-01 4.61749475e-03 6.23980496e-04 2.33755198e-02] [-4.61538482e-03 9.99983766e-01 -3.34156564e-03 5.61840146e-02] [-6.39400028e-04 3.33864945e-03 9.99994222e-01 5.83554202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3543914179999998 meters 0.14620587699419885 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.00 [[ 9.99977332e-01 3.94752846e-04 6.72157945e-03 3.52534013e-02] [-4.21827856e-04 9.99991802e-01 4.02713146e-03 5.52652723e-02] [-6.71993462e-03 -4.02987553e-03 9.99969301e-01 -3.30188056e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3843914179999999 meters 0.13301953090637103 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.01 [[ 9.99998679e-01 -4.10022876e-04 1.57290010e-03 1.90752011e-02] [ 4.19670428e-04 9.99981073e-01 -6.13818938e-03 5.80322460e-02] [-1.57035353e-03 6.13884137e-03 9.99979924e-01 5.54404856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.414391418 meters 0.13325226856693037 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:0.00 [[ 9.99998983e-01 -4.95975466e-05 1.42501337e-03 1.98629334e-02] [ 5.73430484e-05 9.99985224e-01 -5.43586218e-03 5.66726360e-02] [-1.42472271e-03 5.43593837e-03 9.99984210e-01 4.76783517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.444391418 meters 0.14780110269498556 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:0.00 [[ 9.99984522e-01 -1.84159917e-04 5.56081228e-03 3.69991899e-02] [ 1.65760763e-04 9.99994512e-01 3.30899660e-03 5.29019555e-02] [-5.56139115e-03 -3.30802361e-03 9.99979064e-01 2.39273128e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.474391418 meters 0.14286404199269542 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:0.00 [[ 9.99984813e-01 -4.42845959e-04 5.49336500e-03 3.66873589e-02] [ 4.27212242e-04 9.99995857e-01 2.84677437e-03 5.37579951e-02] [-5.49460293e-03 -2.84438430e-03 9.99980859e-01 8.99147114e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.504391418 meters 0.14699175634536113 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:0.00 [[ 9.99999942e-01 -3.01818318e-04 -1.56998394e-04 6.56934626e-02] [ 3.02194187e-04 9.99997075e-01 2.39960471e-03 6.06064768e-02] [ 1.56273690e-04 -2.39965202e-03 9.99997109e-01 2.22220080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534391418 meters 0.15376441602443913 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:0.00 [[ 9.99988529e-01 -9.07125657e-04 -4.70317662e-03 9.28128612e-02] [ 9.18974314e-04 9.99996408e-01 2.51773950e-03 6.55265814e-02] [ 4.70087582e-03 -2.52203272e-03 9.99985770e-01 2.80415535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564391418 meters 0.1551689274226793 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.00 [[ 9.99996021e-01 2.79302144e-03 -3.97174684e-04 1.02309485e-01] [-2.79424174e-03 9.99991273e-01 -3.10583020e-03 6.96080945e-02] [ 3.88496567e-04 3.10692764e-03 9.99995098e-01 2.70995474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5943914179999998 meters 0.1534598181178317 Centerline is valid? [False, False] Translation: X:0.10, Y:0.07, Z:0.00 [[ 9.99996123e-01 2.70431929e-03 -6.63232672e-04 1.03089907e-01] [-2.70679173e-03 9.99989284e-01 -3.75573625e-03 7.21087578e-02] [ 6.53068854e-04 3.75751692e-03 9.99992727e-01 2.49456348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243914179999999 meters 0.15493612107631352 Centerline is valid? [False, False] Translation: X:0.11, Y:0.07, Z:0.00 [[ 0.9999887 -0.00159453 -0.00447914 0.11284875] [ 0.00161205 0.99999105 0.00391061 0.07190908] [ 0.00447286 -0.00391779 0.99998232 0.00379006] [ 0. 0. 0. 1. ]] SLAMing on 1.654391418 meters 0.15289775829922309 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:0.01 [[ 9.99998891e-01 -5.32833481e-04 -1.39042528e-03 8.86382048e-02] [ 5.33163445e-04 9.99999830e-01 2.36951386e-04 7.07967273e-02] [ 1.39029879e-03 -2.37692447e-04 9.99999005e-01 5.57638704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.684391418 meters 0.10763439463887634 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:0.01 [[ 9.99997758e-01 -4.78383532e-04 -2.06268962e-03 4.60257084e-02] [ 4.51845716e-04 9.99917372e-01 -1.28469649e-02 7.46126596e-02] [ 2.06866496e-03 1.28460041e-02 9.99915347e-01 1.43853673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.714391418 meters 0.10344363307480677 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:0.01 [[ 0.99999066 0.00391763 -0.00182567 0.04604451] [-0.00393144 0.99996324 -0.00762018 0.07234364] [ 0.00179575 0.00762729 0.9999693 0.01375897] [ 0. 0. 0. 1. ]] SLAMing on 1.744391418 meters 0.10340919721823015 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:0.01 [[ 0.99999041 0.00385569 -0.00207643 0.04652012] [-0.00387199 0.99996124 -0.00790694 0.07344423] [ 0.00204587 0.00791491 0.99996658 0.01382026] [ 0. 0. 0. 1. ]] SLAMing on 1.774391418 meters 0.1011875986171588 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:0.01 [[ 0.99997162 0.00739065 -0.00145948 0.04502009] [-0.00739581 0.9999663 -0.00356404 0.07137774] [ 0.00143309 0.00357473 0.99999258 0.01451143] [ 0. 0. 0. 1. ]] SLAMing on 1.8043914179999998 meters 0.0986967591292732 Centerline is valid? [False, True] Translation: X:0.05, Y:0.07, Z:0.02 [[ 9.99983186e-01 -1.64382578e-04 -5.79661729e-03 5.26801902e-02] [ 1.65206630e-04 9.99999976e-01 1.41682323e-04 7.14702086e-02] [ 5.79659386e-03 -1.42637581e-04 9.99983189e-01 1.88028828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8343914179999998 meters 0.09873127519325321 Centerline is valid? [True, True] Translation: X:0.08, Y:0.07, Z:0.02 [[ 9.99978289e-01 -1.77658146e-03 -6.34555139e-03 8.03036673e-02] [ 1.77365775e-03 9.99998318e-01 -4.66347520e-04 7.46925566e-02] [ 6.34636922e-03 4.55082559e-04 9.99979758e-01 1.80863362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8643914179999999 meters 0.09305690028124845 Centerline is valid? [True, True] Translation: X:0.11, Y:0.07, Z:0.02 [[ 9.99980735e-01 -3.43374989e-03 -5.17095676e-03 1.10630119e-01] [ 3.43183522e-03 9.99994039e-01 -3.79100619e-04 7.40242800e-02] [ 5.17222767e-03 3.61347445e-04 9.99986559e-01 1.81257886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8943914179999999 meters 0.08777619211032081 Centerline is valid? [True, True] Translation: X:0.14, Y:0.07, Z:0.02 [[ 9.99963457e-01 -5.96575835e-03 -6.12329169e-03 1.40377769e-01] [ 5.96311764e-03 9.99982119e-01 -4.49422313e-04 7.42992723e-02] [ 6.12586335e-03 4.12891981e-04 9.99981151e-01 1.74562546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.924391418 meters 0.08360323757929486 Centerline is valid? [True, True] Translation: X:0.17, Y:0.08, Z:0.02 [[ 9.99954509e-01 -6.30322985e-03 -7.15887409e-03 1.70495400e-01] [ 6.29962777e-03 9.99980019e-01 -5.25600217e-04 7.51681890e-02] [ 7.16204403e-03 4.80478065e-04 9.99974237e-01 1.79315695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.954391418 meters 0.08500388421928498 Centerline is valid? [True, True] Translation: X:0.20, Y:0.08, Z:0.02 [[ 9.99954418e-01 -6.46346957e-03 -7.02754454e-03 2.00264966e-01] [ 6.46000043e-03 9.99979001e-01 -5.16235920e-04 7.84534185e-02] [ 7.03073364e-03 4.70814448e-04 9.99975173e-01 1.84673903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.984391418 meters 0.08850742724735816 Centerline is valid? [True, True] Translation: X:0.23, Y:0.09, Z:0.02 [[ 9.99955624e-01 -4.09125986e-03 -8.48591748e-03 2.28962895e-01] [ 4.08611916e-03 9.99991458e-01 -6.23040976e-04 8.95801190e-02] [ 8.48839402e-03 5.88338859e-04 9.99963800e-01 1.81137442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0143914179999998 meters 0.08222538165289515 Centerline is valid? [True, True] Translation: X:0.26, Y:0.09, Z:0.02 [[ 9.99956119e-01 -2.97382145e-03 -8.88347140e-03 2.58233729e-01] [ 2.96813372e-03 9.99995382e-01 -6.53374442e-04 9.05458348e-02] [ 8.88537339e-03 6.26978440e-04 9.99960328e-01 1.94079360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.044391418 meters 0.08187448155609074 Centerline is valid? [True, True] Translation: X:0.29, Y:0.10, Z:0.02 [[ 9.99950027e-01 -1.99000612e-03 -9.79706806e-03 2.86352922e-01] [ 1.98303712e-03 9.99997774e-01 -7.20998745e-04 9.82928077e-02] [ 9.79848104e-03 7.01534765e-04 9.99951748e-01 1.63260990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.074391418 meters 0.07566531236027493 Centerline is valid? [True, True] Translation: X:0.32, Y:0.10, Z:0.02 [[ 9.99932430e-01 -2.13501155e-03 -1.14270675e-02 3.15093393e-01] [ 2.12546535e-03 9.99997382e-01 -8.47482095e-04 9.53180002e-02] [ 1.14288470e-02 8.23136995e-04 9.99934350e-01 1.64081532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.104391418 meters 0.06960248078396004 Centerline is valid? [True, True] Translation: X:0.34, Y:0.09, Z:0.02 [[ 9.99920709e-01 -3.14055033e-03 -1.21947743e-02 3.44304351e-01] [ 3.12978551e-03 9.99994696e-01 -9.01724205e-04 9.26747657e-02] [ 1.21975415e-02 8.63485679e-04 9.99925234e-01 1.69097744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.134391418 meters 0.06749407281009737 Centerline is valid? [True, True] Translation: X:0.37, Y:0.09, Z:0.02 [[ 9.99905950e-01 -4.27318305e-03 -1.30319342e-02 3.72677646e-01] [ 4.26089589e-03 9.99990451e-01 -9.70469648e-04 9.46577686e-02] [ 1.30359568e-02 9.14850660e-04 9.99914610e-01 1.53824328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164391418 meters 0.06606405399292782 Centerline is valid? [True, True] Translation: X:0.40, Y:0.10, Z:0.01 [[ 0.99985967 -0.00618668 -0.01556785 0.39957558] [ 0.00616941 0.9999803 -0.00115674 0.10363227] [ 0.0155747 0.00106053 0.99987814 0.01105553] [ 0. 0. 0. 1. ]] SLAMing on 2.194391418 meters 0.06305596394465833 Centerline is valid? [True, True] Translation: X:0.43, Y:0.11, Z:0.01 [[ 0.99985297 -0.00667693 -0.01579446 0.42772648] [ 0.00665909 0.99997713 -0.00118156 0.10531158] [ 0.01580198 0.00107621 0.99987456 0.0111953 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2243914179999997 meters 0.057664083656910496 Centerline is valid? [True, True] Translation: X:0.46, Y:0.10, Z:0.02 [[ 0.99985471 -0.00762112 -0.01524723 0.45702014] [ 0.00760455 0.99997043 -0.00114442 0.10129421] [ 0.0152555 0.0010283 0.9998831 0.01512759] [ 0. 0. 0. 1. ]] SLAMing on 2.254391418 meters 0.05835789282474386 Centerline is valid? [True, True] Translation: X:0.49, Y:0.10, Z:0.02 [[ 9.99848542e-01 -9.06843486e-03 -1.48545132e-02 4.85774127e-01] [ 9.05289881e-03 9.99958402e-01 -1.11279041e-03 1.02894324e-01] [ 1.48639866e-02 9.78145461e-04 9.99889046e-01 1.70236921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284391418 meters 0.05598079920643709 Centerline is valid? [True, True] Translation: X:0.52, Y:0.10, Z:0.02 [[ 9.99852888e-01 -1.21645539e-02 -1.20924226e-02 5.16074693e-01] [ 1.21544963e-02 9.99925722e-01 -9.04870189e-04 1.02704971e-01] [ 1.21025318e-02 7.57759765e-04 9.99926475e-01 2.04259022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.314391418 meters 0.05743751298550458 Centerline is valid? [True, True] Translation: X:0.55, Y:0.11, Z:0.02 [[ 9.99846028e-01 -1.36810639e-02 -1.09885305e-02 5.45438460e-01] [ 1.36728447e-02 9.99906184e-01 -8.22757126e-04 1.05551468e-01] [ 1.09987558e-02 6.72385974e-04 9.99939286e-01 2.11200590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344391418 meters 0.05073607198133717 Centerline is valid? [True, True] Translation: X:0.58, Y:0.11, Z:0.02 [[ 9.99841328e-01 -1.55802386e-02 -8.63569852e-03 5.76303356e-01] [ 1.55752397e-02 9.99878490e-01 -6.45823444e-04 1.05707951e-01] [ 8.64471128e-03 5.11217895e-04 9.99962503e-01 2.21985411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.374391418 meters 0.052480752193017934 Centerline is valid? [True, True] Translation: X:0.61, Y:0.11, Z:0.02 [[ 9.99781253e-01 -1.94042351e-02 -7.80526437e-03 6.05997018e-01] [ 1.94002651e-02 9.99811627e-01 -5.84025332e-04 1.09501090e-01] [ 7.81512663e-03 4.32473380e-04 9.99969368e-01 2.07321011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404391418 meters 0.048049291706550576 Centerline is valid? [True, True] Translation: X:0.64, Y:0.11, Z:0.02 [[ 9.99762216e-01 -2.03518210e-02 -7.83037410e-03 6.38449328e-01] [ 2.03478700e-02 9.99792790e-01 -5.83929023e-04 1.05289564e-01] [ 7.84063559e-03 4.24458740e-04 9.99969172e-01 2.24754234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4343914179999997 meters 0.047322157917296735 Centerline is valid? [True, True] Translation: X:0.67, Y:0.11, Z:0.02 [[ 9.99725916e-01 -2.22521798e-02 -7.27551388e-03 6.69183301e-01] [ 2.22488167e-02 9.99752317e-01 -5.42868761e-04 1.07150605e-01] [ 7.28579188e-03 3.80848394e-04 9.99973386e-01 2.02370055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.464391418 meters 0.04604215542959224 Centerline is valid? [True, True] Translation: X:0.70, Y:0.11, Z:0.02 [[ 9.99681207e-01 -2.40843713e-02 -7.57814274e-03 7.00049367e-01] [ 2.40807770e-02 9.99709856e-01 -5.65204009e-04 1.08618284e-01] [ 7.58955657e-03 3.82536261e-04 9.99971126e-01 1.78548698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4943914179999997 meters 0.0443482551248175 Centerline is valid? [True, True] Translation: X:0.73, Y:0.11, Z:0.02 [[ 9.99684971e-01 -2.37412077e-02 -8.14332376e-03 7.32226904e-01] [ 2.37370560e-02 9.99718053e-01 -6.06117894e-04 1.10638774e-01] [ 8.15541774e-03 4.12628418e-04 9.99966659e-01 1.62756564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524391418 meters 0.043494124778763625 Centerline is valid? [True, True] Translation: X:0.76, Y:0.11, Z:0.02 [[ 9.99701669e-01 -2.26510879e-02 -9.13794055e-03 7.63925318e-01] [ 2.26458148e-02 9.99743319e-01 -6.80123428e-04 1.13721916e-01] [ 9.15100055e-03 4.72984416e-04 9.99958017e-01 1.54827997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.554391418 meters 0.04498809462029055 Centerline is valid? [True, True] Translation: X:0.79, Y:0.12, Z:0.01 [[ 9.99759697e-01 -1.94746340e-02 -1.00641744e-02 7.93653701e-01] [ 1.94680777e-02 9.99810198e-01 -7.49014334e-04 1.23241724e-01] [ 1.00768510e-02 5.52904214e-04 9.99949074e-01 1.24566834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.584391418 meters 0.04597790780029528 Centerline is valid? [True, True] Translation: X:0.82, Y:0.13, Z:0.01 [[ 9.99805489e-01 -1.70480757e-02 -9.91706717e-03 8.24287743e-01] [ 1.70415884e-02 9.99854509e-01 -7.38297103e-04 1.28262676e-01] [ 9.92821088e-03 5.69150919e-04 9.99950552e-01 1.16047316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.614391418 meters 0.043872651513924506 Centerline is valid? [True, True] Translation: X:0.86, Y:0.13, Z:0.01 [[ 9.99851540e-01 -1.47724781e-02 -8.86968551e-03 8.55539336e-01] [ 1.47672060e-02 9.99890741e-01 -6.59601959e-04 1.29523535e-01] [ 8.87846037e-03 5.28523562e-04 9.99960446e-01 1.28415562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443914179999997 meters 0.0458928048824402 Centerline is valid? [True, True] Translation: X:0.89, Y:0.14, Z:0.01 [[ 9.99925238e-01 -1.05976244e-02 -6.09982435e-03 8.85016617e-01] [ 1.05950586e-02 9.99943768e-01 -4.52799077e-04 1.37288551e-01] [ 6.10427994e-03 3.88137229e-04 9.99981293e-01 1.40869293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.674391418 meters 0.04527194286304307 Centerline is valid? [True, True] Translation: X:0.92, Y:0.14, Z:0.01 [[ 9.99939384e-01 -1.03316535e-02 -3.80603034e-03 9.16522885e-01] [ 1.03306534e-02 9.99946598e-01 -2.82316220e-04 1.41301058e-01] [ 3.80874388e-03 2.42980327e-04 9.99992717e-01 1.48082832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043914179999997 meters 0.04880519319929882 Centerline is valid? [True, True] Translation: X:0.95, Y:0.15, Z:0.02 [[ 9.99946305e-01 -1.02014178e-02 -1.82149523e-03 9.47285517e-01] [ 1.02011900e-02 9.99947957e-01 -1.34329133e-04 1.49973890e-01] [ 1.82277079e-03 1.15740501e-04 9.99998332e-01 1.52130229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.734391418 meters 0.045716574814811596 Centerline is valid? [True, True] Translation: X:0.98, Y:0.15, Z:0.02 [[ 9.99942439e-01 -1.07292254e-02 -4.29185469e-05 9.79387877e-01] [ 1.07292254e-02 9.99942440e-01 -1.86343295e-06 1.49313302e-01] [ 4.29360697e-05 1.40284292e-06 9.99999999e-01 1.83752399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643914179999998 meters 0.04472295913436014 Centerline is valid? [True, True] Translation: X:1.01, Y:0.15, Z:0.02 [[ 9.99920980e-01 -1.25290269e-02 1.02838908e-03 1.01057167e+00] [ 1.25289543e-02 9.99921507e-01 7.69516958e-05 1.51032461e-01] [-1.02927248e-03 -6.40609754e-05 9.99999468e-01 1.75009712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.794391418 meters 0.04481594423474904 Centerline is valid? [True, True] Translation: X:1.04, Y:0.15, Z:0.02 [[ 9.99910072e-01 -1.33987979e-02 5.65802380e-04 1.04267248e+00] [ 1.33987755e-02 9.99910231e-01 4.32420719e-05 1.52667053e-01] [-5.66330981e-04 -3.56571242e-05 9.99999839e-01 1.61356975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824391418 meters 0.04449951904376343 Centerline is valid? [True, True] Translation: X:1.07, Y:0.15, Z:0.01 [[ 9.99892032e-01 -1.46620101e-02 9.74986515e-04 1.07427014e+00] [ 1.46619460e-02 9.99892505e-01 7.28771762e-05 1.53592143e-01] [-9.75950235e-04 -5.85741081e-05 9.99999522e-01 1.44744701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.854391418 meters 0.04437535917245527 Centerline is valid? [True, True] Translation: X:1.11, Y:0.15, Z:0.01 [[ 9.99874369e-01 -1.58311986e-02 -7.86622080e-04 1.10568180e+00] [ 1.58311585e-02 9.99874678e-01 -5.72580945e-05 1.54516157e-01] [ 7.87429963e-04 4.47977623e-05 9.99999689e-01 1.12704102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884391418 meters 0.04568364474125733 Centerline is valid? [True, True] Translation: X:1.14, Y:0.16, Z:0.01 [[ 9.99889510e-01 -1.48371407e-02 -9.09385473e-04 1.13635645e+00] [ 1.48370865e-02 9.99889922e-01 -6.63086960e-05 1.58263177e-01] [ 9.10269201e-04 5.28087386e-05 9.99999584e-01 1.07480906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9143914179999997 meters 0.04627391955677629 Centerline is valid? [True, True] Translation: X:1.17, Y:0.16, Z:0.01 [[ 9.99902783e-01 -1.39332940e-02 -5.37446741e-04 1.16861713e+00] [ 1.39332754e-02 9.99902926e-01 -3.84485001e-05 1.61890255e-01] [ 5.37930283e-04 3.09563688e-05 9.99999855e-01 1.03373263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944391418 meters 0.047361599843850626 Centerline is valid? [True, True] Translation: X:1.20, Y:0.17, Z:0.01 [[ 9.99918642e-01 -1.27532673e-02 2.50484272e-04 1.20059531e+00] [ 1.27532628e-02 9.99918674e-01 1.97517313e-05 1.65202751e-01] [-2.50715800e-04 -1.65556326e-05 9.99999968e-01 9.68504641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9743914179999997 meters 0.04838343651716905 Centerline is valid? [True, True] Translation: X:1.23, Y:0.17, Z:0.01 [[ 9.99936085e-01 -1.12881874e-02 6.34896607e-04 1.23245071e+00] [ 1.12881591e-02 9.99936286e-01 4.80847817e-05 1.67679885e-01] [-6.35398945e-04 -4.09148944e-05 9.99999797e-01 9.18799807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004391418 meters 0.05063438623457745 Centerline is valid? [True, True] Translation: X:1.26, Y:0.17, Z:0.01 [[ 9.99957598e-01 -9.14252103e-03 1.10326938e-03 1.26241217e+00] [ 9.14243585e-03 9.99958204e-01 8.22226834e-05 1.71588841e-01] [-1.10397499e-03 -7.21326274e-05 9.99999388e-01 1.01562283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034391418 meters 0.05097594346614739 Centerline is valid? [True, True] Translation: X:1.29, Y:0.17, Z:0.01 [[ 9.99960040e-01 -8.54688099e-03 2.62099146e-03 1.29481033e+00] [ 8.54640109e-03 9.99963460e-01 1.94246316e-04 1.73814336e-01] [-2.62255588e-03 -1.71838509e-04 9.99996546e-01 1.13116180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.064391418 meters 0.05153474863112857 Centerline is valid? [True, True] Translation: X:1.33, Y:0.18, Z:0.01 [[ 9.99958258e-01 -8.43997024e-03 3.49983652e-03 1.32714148e+00] [ 8.43911620e-03 9.99964357e-01 2.58717805e-04 1.76050484e-01] [-3.50189534e-03 -2.29171479e-04 9.99993842e-01 1.17787190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094391418 meters 0.05153474863112857 Centerline is valid? [True, True] Translation: X:1.36, Y:0.18, Z:0.01 [[ 9.99959117e-01 -8.33759614e-03 3.49981745e-03 1.35968335e+00] [ 8.33674058e-03 9.99965215e-01 2.58978010e-04 1.78316584e-01] [-3.50185496e-03 -2.29790352e-04 9.99993842e-01 1.11911022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.124391418 meters 0.05181373464413914 Centerline is valid? [True, True] Translation: X:1.39, Y:0.18, Z:0.01 [[ 9.99942675e-01 -9.19229745e-03 5.49083347e-03 1.39024462e+00] [ 9.19021915e-03 9.99957688e-01 4.03616291e-04 1.77891472e-01] [-5.49431130e-03 -3.53131191e-04 9.99984844e-01 1.20164528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154391418 meters 0.05165317090070156 Centerline is valid? [True, True] Translation: X:1.42, Y:0.18, Z:0.01 [[ 9.99935440e-01 -9.98042410e-03 5.43198218e-03 1.42276574e+00] [ 9.97839874e-03 9.99950135e-01 3.99832587e-04 1.78076534e-01] [-5.43570181e-03 -3.45604289e-04 9.99985167e-01 1.12369128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843914179999997 meters 0.050915048424125135 Centerline is valid? [True, True] Translation: X:1.45, Y:0.18, Z:0.01 [[ 9.99914682e-01 -1.10511235e-02 6.96425057e-03 1.45471650e+00] [ 1.10478271e-02 9.99938840e-01 5.11624635e-04 1.77139204e-01] [-6.96947867e-03 -4.34641148e-04 9.99975618e-01 1.14785211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214391418 meters 0.049081506362959174 Centerline is valid? [True, True] Translation: X:1.49, Y:0.17, Z:0.01 [[ 9.99851213e-01 -1.53021680e-02 7.96209370e-03 1.48511378e+00] [ 1.52980017e-02 9.99882808e-01 5.83911324e-04 1.73435455e-01] [-7.97009571e-03 -4.62020323e-04 9.99968132e-01 1.21643270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2443914179999997 meters 0.047516541281614665 Centerline is valid? [True, True] Translation: X:1.52, Y:0.17, Z:0.01 [[ 9.99809570e-01 -1.79447481e-02 7.66871626e-03 1.51708674e+00] [ 1.79409552e-02 9.99838890e-01 5.63109615e-04 1.72070710e-01] [-7.67758561e-03 -4.25418287e-04 9.99970436e-01 1.14984530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.274391418 meters 0.046327634112100384 Centerline is valid? [True, True] Translation: X:1.55, Y:0.17, Z:0.01 [[ 9.99765214e-01 -2.04201520e-02 7.24800901e-03 1.54889033e+00] [ 2.04168320e-02 9.99791413e-01 5.31758372e-04 1.70866917e-01] [-7.25735575e-03 -3.83652140e-04 9.99973591e-01 9.69006214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304391418 meters 0.044542109071541894 Centerline is valid? [True, True] Translation: X:1.58, Y:0.17, Z:0.01 [[ 9.99708924e-01 -2.32412490e-02 6.47395755e-03 1.58117082e+00] [ 2.32386631e-02 9.99729833e-01 4.74388925e-04 1.68390117e-01] [-6.48323389e-03 -3.23804724e-04 9.99978931e-01 7.51947264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.334391418 meters 0.041332564965773005 Centerline is valid? [True, True] Translation: X:1.61, Y:0.16, Z:0.00 [[ 9.99551451e-01 -2.94140826e-02 5.63095354e-03 1.61090427e+00] [ 2.94122294e-02 9.99567282e-01 4.11651552e-04 1.60754604e-01] [-5.64062528e-03 -2.45848008e-04 9.99984061e-01 4.40297623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364391418 meters 0.03881602743639998 Centerline is valid? [True, True] Translation: X:1.64, Y:0.16, Z:0.00 [[ 9.99444237e-01 -3.30503272e-02 4.34649923e-03 1.64243622e+00] [ 3.30492544e-02 9.99453673e-01 3.18413090e-04 1.58653252e-01] [-4.35464828e-03 -1.74587569e-04 9.99990503e-01 3.10997894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3943914179999997 meters 0.03747636941969234 Centerline is valid? [True, True] Translation: X:1.67, Y:0.16, Z:0.00 [[ 9.99353086e-01 -3.55585470e-02 5.38502805e-03 1.67455697e+00] [ 3.55569360e-02 9.99367574e-01 3.94644384e-04 1.56662984e-01] [-5.39565540e-03 -2.02913986e-04 9.99985423e-01 2.53914329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.424391418 meters 0.03483889014148729 Centerline is valid? [True, True] Translation: X:1.71, Y:0.15, Z:0.00 [[ 9.99164196e-01 -4.04174475e-02 6.11064915e-03 1.70571280e+00] [ 4.04154709e-02 9.99182861e-01 4.46643205e-04 1.51279222e-01] [-6.12370808e-03 -1.99305135e-04 9.99981230e-01 1.98776456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4543914179999997 meters 0.03317280503251449 Centerline is valid? [True, True] Translation: X:1.74, Y:0.15, Z:0.00 [[ 9.99071509e-01 -4.26614493e-02 6.01001473e-03 1.73828358e+00] [ 4.26595755e-02 9.99089569e-01 4.39690079e-04 1.50374975e-01] [-6.02330084e-03 -1.82897154e-04 9.99981843e-01 1.46486495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484391418 meters 0.025600655592123326 Centerline is valid? [True, True] Translation: X:1.77, Y:0.14, Z:0.01 [[ 9.98981289e-01 -4.44935651e-02 7.53038834e-03 1.77132552e+00] [ 4.44906804e-02 9.99009648e-01 5.50255685e-04 1.41609839e-01] [-7.54741344e-03 -2.14663033e-04 9.99971495e-01 6.70931028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5143914179999998 meters 0.026351938463989078 Centerline is valid? [True, True] Translation: X:1.80, Y:0.14, Z:0.01 [[ 9.99002753e-01 -4.33786628e-02 1.05730867e-02 1.80441240e+00] [ 4.33729100e-02 9.99058654e-01 7.72900447e-04 1.44128413e-01] [-1.05966611e-02 -3.13544137e-04 9.99943805e-01 8.05583341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.544391418 meters 0.026938529263356374 Centerline is valid? [True, True] Translation: X:1.84, Y:0.15, Z:0.01 [[ 9.99031122e-01 -4.24057486e-02 1.17715875e-02 1.83609060e+00] [ 4.23986022e-02 9.99100408e-01 8.56101679e-04 1.47067992e-01] [-1.17973015e-02 -3.56173364e-04 9.99930346e-01 8.47482392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574391418 meters 0.028340273166548184 Centerline is valid? [True, True] Translation: X:1.87, Y:0.15, Z:0.01 [[ 9.99115829e-01 -4.01975385e-02 1.23173801e-02 1.86727846e+00] [ 4.01895850e-02 9.99191674e-01 8.92659628e-04 1.52148787e-01] [-1.23433064e-02 -3.96839969e-04 9.99923740e-01 8.16785812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters 0.028945754650210473 Centerline is valid? [True, True] Translation: X:1.90, Y:0.16, Z:0.01 [[ 9.99167541e-01 -3.89647412e-02 1.20819335e-02 1.89894524e+00] [ 3.89570313e-02 9.99240505e-01 8.72918002e-04 1.55895186e-01] [-1.21067704e-02 -4.01515071e-04 9.99926630e-01 7.31401730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634391418 meters 0.029777332759990557 Centerline is valid? [True, True] Translation: X:1.93, Y:0.16, Z:0.01 [[ 9.99226796e-01 -3.73738299e-02 1.22068552e-02 1.93057426e+00] [ 3.73658803e-02 9.99301265e-01 8.78740831e-04 1.59282564e-01] [-1.22311678e-02 -4.21941494e-04 9.99925107e-01 6.08565877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999997 meters 0.030959725696638227 Centerline is valid? [True, True] Translation: X:1.96, Y:0.16, Z:0.00 [[ 9.99310607e-01 -3.53046764e-02 1.14843266e-02 1.96303710e+00] [ 3.52975302e-02 9.99376508e-01 8.24420422e-04 1.63012677e-01] [-1.15062721e-02 -4.18483708e-04 9.99933713e-01 4.38803203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694391418 meters 0.034475774249859224 Centerline is valid? [True, True] Translation: X:1.99, Y:0.17, Z:0.00 [[ 9.99507538e-01 -2.96566418e-02 1.02549838e-02 1.99187939e+00] [ 2.96506884e-02 9.99560054e-01 7.32120660e-04 1.71948207e-01] [-1.02721844e-02 -4.27692790e-04 9.99947148e-01 3.55403006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7243914179999997 meters 0.037461842078949044 Centerline is valid? [True, True] Translation: X:2.02, Y:0.18, Z:0.00 [[ 9.99607533e-01 -2.56345415e-02 1.12982280e-02 2.02135159e+00] [ 2.56270568e-02 9.99671248e-01 8.06769839e-04 1.79474510e-01] [-1.13151948e-02 -5.16912880e-04 9.99935848e-01 3.91374001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.754391418 meters 0.043475898775695514 Centerline is valid? [True, True] Translation: X:2.05, Y:0.19, Z:0.00 [[ 9.99797923e-01 -1.68143083e-02 1.10177868e-02 2.05049726e+00] [ 1.68066552e-02 9.99858449e-01 7.86842219e-04 1.92858153e-01] [-1.10294574e-02 -6.01511074e-04 9.99938993e-01 3.59784308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784391418 meters 0.04724906083225337 Centerline is valid? [True, True] Translation: X:2.08, Y:0.20, Z:0.00 [[ 9.99872456e-01 -1.16369088e-02 1.09386229e-02 2.08092304e+00] [ 1.16290590e-02 9.99932075e-01 7.80959847e-04 2.00653359e-01] [-1.09469679e-02 -6.53654349e-04 9.99939867e-01 2.62572809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.814391418 meters 0.05157133825453355 Centerline is valid? [True, True] Translation: X:2.11, Y:0.21, Z:0.00 [[ 9.99900711e-01 -6.54587170e-03 1.24788048e-02 2.11009874e+00] [ 6.53526233e-03 9.99978248e-01 8.90779566e-04 2.08891710e-01] [-1.24843643e-02 -8.09138858e-04 9.99921740e-01 2.05321643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844391418 meters 0.05824062180421827 Centerline is valid? [True, True] Translation: X:2.14, Y:0.22, Z:0.00 [[ 9.99910170e-01 2.54767483e-03 1.31590703e-02 2.13863153e+00] [-2.56026177e-03 9.99996281e-01 9.39764319e-04 2.22263392e-01] [-1.31566272e-02 -9.73370564e-04 9.99912974e-01 3.37068531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8743914179999996 meters 0.06138602897652462 Centerline is valid? [True, True] Translation: X:2.17, Y:0.23, Z:0.00 [[ 9.99877921e-01 7.01446892e-03 1.39621354e-02 2.16927058e+00] [-7.02906481e-03 9.99974799e-01 9.96592315e-04 2.29016272e-01] [-1.39547930e-02 -1.09461141e-03 9.99902028e-01 3.33119157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904391418 meters 0.06426792157919892 Centerline is valid? [True, True] Translation: X:2.20, Y:0.24, Z:0.00 [[ 9.99843037e-01 1.07634684e-02 1.40729749e-02 2.19985025e+00] [-1.07786596e-02 9.99941404e-01 1.00406160e-03 2.35702831e-01] [-1.40613431e-02 -1.15559181e-03 9.99900467e-01 3.40261006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9343914179999997 meters 0.07029731329031481 Centerline is valid? [True, True] Translation: X:2.23, Y:0.25, Z:0.01 [[ 9.99732619e-01 1.67706231e-02 1.59197030e-02 2.22902383e+00] [-1.67908190e-02 9.99858379e-01 1.13578885e-03 2.45489467e-01] [-1.58984006e-02 -1.40279002e-03 9.99872628e-01 5.13658318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.964391418 meters 0.0730433083621094 Centerline is valid? [True, True] Translation: X:2.26, Y:0.25, Z:0.01 [[ 9.99693638e-01 1.89807771e-02 1.58858618e-02 2.25865608e+00] [-1.90011617e-02 9.99818819e-01 1.13322793e-03 2.51334307e-01] [-1.58614741e-02 -1.43473058e-03 9.99873170e-01 6.10507279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9943914179999997 meters 0.07508060953588332 Centerline is valid? [True, True] Translation: X:2.29, Y:0.26, Z:0.01 [[ 9.99636376e-01 2.07851246e-02 1.71783107e-02 2.28909186e+00] [-2.08092061e-02 9.99782715e-01 1.22427986e-03 2.55259292e-01] [-1.71491313e-02 -1.58130169e-03 9.99851692e-01 6.68282990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243914179999996 meters 0.08003508347293296 Centerline is valid? [True, True] Translation: X:2.32, Y:0.26, Z:0.00 [[ 9.99560494e-01 2.36069739e-02 1.79312297e-02 2.31835900e+00] [-2.36336630e-02 9.99719869e-01 1.27793872e-03 2.59286541e-01] [-1.78960384e-02 -1.70115770e-03 9.99838406e-01 4.94527369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054391418 meters 0.080487563327361 Centerline is valid? [True, True] Translation: X:2.35, Y:0.26, Z:0.00 [[ 9.99552933e-01 2.41123934e-02 1.76784347e-02 2.34827035e+00] [-2.41384186e-02 9.99707832e-01 1.26021428e-03 2.58968800e-01] [-1.76428829e-02 -1.68638034e-03 9.99842930e-01 2.81265629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084391418 meters 0.052490847142205074 Centerline is valid? [True, True] Translation: X:2.38, Y:0.22, Z:0.00 [[ 9.99554803e-01 2.40586626e-02 1.76458441e-02 2.38088710e+00] [-2.40845934e-02 9.99709132e-01 1.25844420e-03 2.22598486e-01] [-1.76104350e-02 -1.68287693e-03 9.99843508e-01 1.94658098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114391417999999 meters 0.04891419472744456 Centerline is valid? [True, True] Translation: X:2.41, Y:0.21, Z:0.00 [[ 9.99574637e-01 2.31931361e-02 1.76811511e-02 2.41079672e+00] [-2.32190485e-02 9.99729605e-01 1.26164015e-03 2.14951767e-01] [-1.76471088e-02 -1.67164300e-03 9.99842880e-01 2.27530598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144391418 meters 0.0470665984984559 Centerline is valid? [True, True] Translation: X:2.44, Y:0.21, Z:0.00 [[ 9.99565990e-01 2.26606646e-02 1.88235460e-02 2.44066488e+00] [-2.26899556e-02 9.99741646e-01 1.34394163e-03 2.10894311e-01] [-1.87882283e-02 -1.77046377e-03 9.99821918e-01 1.67367042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174391418 meters 0.0831066875284687 Centerline is valid? [True, True] Translation: X:2.47, Y:0.26, Z:0.00 [[ 9.99562534e-01 2.25476936e-02 1.91400770e-02 2.46610060e+00] [-2.25779728e-02 9.99744150e-01 1.36733994e-03 2.55372307e-01] [-1.91043496e-02 -1.79888591e-03 9.99815877e-01 2.01018604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204391418 meters 0.04562746674267254 Centerline is valid? [True, True] Translation: X:2.50, Y:0.20, Z:0.00 [[ 9.99551828e-01 2.28636966e-02 1.93234085e-02 2.50084513e+00] [-2.28946381e-02 9.99736929e-01 1.38151224e-03 2.02875222e-01] [-1.92867386e-02 -1.82329553e-03 9.99812331e-01 2.65574958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2343914179999995 meters 0.04764232982075074 Centerline is valid? [True, True] Translation: X:2.53, Y:0.20, Z:0.00 [[ 9.99504179e-01 2.41332444e-02 2.02233340e-02 2.53063072e+00] [-2.41673940e-02 9.99706880e-01 1.44589641e-03 2.03793875e-01] [-2.01825120e-02 -1.93392478e-03 9.99794442e-01 1.84492165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264391418 meters 0.06403898900679225 Centerline is valid? [True, True] Translation: X:2.56, Y:0.22, Z:0.00 [[ 9.99500523e-01 2.48179019e-02 1.95646887e-02 2.55821130e+00] [-2.48500003e-02 9.99690212e-01 1.39918766e-03 2.23701633e-01] [-1.95239029e-02 -1.88467132e-03 9.99807614e-01 2.02472451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294391418 meters 0.06849558205973784 Centerline is valid? [True, True] Translation: X:2.59, Y:0.22, Z:0.00 [[ 9.99455620e-01 2.64703030e-02 1.96922824e-02 2.58794583e+00] [-2.65031478e-02 9.99647737e-01 1.40875368e-03 2.22822837e-01] [-1.96480554e-02 -1.92989425e-03 9.99805096e-01 1.67425049e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324391418 meters 0.06534411674843768 Centerline is valid? [True, True] Translation: X:2.62, Y:0.22, Z:-0.00 [[ 9.99448968e-01 2.72789574e-02 1.89107935e-02 2.61790482e+00] [-2.73093980e-02 9.99626113e-01 1.35327366e-03 2.15872098e-01] [-1.88668071e-02 -1.86897035e-03 9.99820259e-01 -1.06783330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354391418 meters 0.06595534994263387 Centerline is valid? [True, True] Translation: X:2.65, Y:0.21, Z:-0.00 [[ 9.99405001e-01 2.83629676e-02 1.96261321e-02 2.64781938e+00] [-2.83959801e-02 9.99595765e-01 1.40538153e-03 2.12431841e-01] [-1.95783377e-02 -1.96184858e-03 9.99806401e-01 -3.29418008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384391418 meters 0.0680079277626259 Centerline is valid? [True, True] Translation: X:2.68, Y:0.21, Z:-0.00 [[ 9.99357937e-01 3.05513792e-02 1.87170309e-02 2.67896439e+00] [-3.05817979e-02 9.99531368e-01 1.34105782e-03 2.06363225e-01] [-1.86672884e-02 -1.91259724e-03 9.99823922e-01 -4.74695735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414391418 meters 0.07027789793863416 Centerline is valid? [True, True] Translation: X:2.71, Y:0.21, Z:-0.01 [[ 9.99323252e-01 3.20493193e-02 1.80521171e-02 2.70871647e+00] [-3.20778566e-02 9.99484536e-01 1.29342051e-03 2.06420507e-01] [-1.80013586e-02 -1.87161842e-03 9.99836211e-01 -6.20185396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4443914179999995 meters 0.06964859593294323 Centerline is valid? [True, True] Translation: X:2.74, Y:0.20, Z:-0.01 [[ 9.99306465e-01 3.29335212e-02 1.73773627e-02 2.73868552e+00] [-3.29601099e-02 9.99455892e-01 1.24582329e-03 2.03708738e-01] [-1.73268781e-02 -1.81771905e-03 9.99848226e-01 -6.32344964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474391418 meters 0.07322007770040005 Centerline is valid? [True, True] Translation: X:2.77, Y:0.21, Z:-0.01 [[ 9.99257697e-01 3.43394266e-02 1.74601869e-02 2.76710731e+00] [-3.43664954e-02 9.99408513e-01 1.25254823e-03 2.05262973e-01] [-1.74068477e-02 -1.85166389e-03 9.99846775e-01 -7.18927625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391418 meters 0.07045360532922099 Centerline is valid? [True, True] Translation: X:2.80, Y:0.19, Z:-0.01 [[ 9.99231925e-01 3.49968239e-02 1.76290006e-02 2.79705492e+00] [-3.50245410e-02 9.99385651e-01 1.26585937e-03 1.93579083e-01] [-1.75738692e-02 -1.88233475e-03 9.99843796e-01 -7.25971016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534391418 meters 0.07767374772873098 Centerline is valid? [True, True] Translation: X:2.83, Y:0.19, Z:-0.01 [[ 9.99275103e-01 3.33498688e-02 1.83590390e-02 2.82617614e+00] [-3.33796864e-02 9.99441871e-01 1.32002227e-03 1.90977978e-01] [-1.83047697e-02 -1.93188435e-03 9.99830587e-01 -1.03104301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564391418 meters 0.07114207962341913 Centerline is valid? [True, True] Translation: X:2.86, Y:0.18, Z:-0.01 [[ 9.99316464e-01 3.20560161e-02 1.84123802e-02 2.85650472e+00] [-3.20858058e-02 9.99484240e-01 1.32470969e-03 1.78220929e-01] [-1.83604190e-02 -1.91458026e-03 9.99829600e-01 -1.11002244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594391418 meters 0.0777976945901319 Centerline is valid? [True, True] Translation: X:2.89, Y:0.18, Z:-0.01 [[ 9.99360695e-01 3.04469159e-02 1.87399744e-02 2.88555620e+00] [-3.04775185e-02 9.99534542e-01 1.34951562e-03 1.83026629e-01] [-1.86901631e-02 -1.91980079e-03 9.99823481e-01 -1.11713682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624391418 meters 0.07832251205781311 Centerline is valid? [True, True] Translation: X:2.92, Y:0.18, Z:-0.01 [[ 9.99375412e-01 2.96577870e-02 1.92146288e-02 2.91513421e+00] [-2.96898323e-02 9.99558201e-01 1.38457795e-03 1.79743746e-01] [-1.91650763e-02 -1.95419226e-03 9.99814423e-01 -1.16299647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6543914179999994 meters 0.0800486947820138 Centerline is valid? [True, True] Translation: X:2.94, Y:0.17, Z:-0.01 [[ 9.99372380e-01 2.92761318e-02 1.99437791e-02 2.94497285e+00] [-2.93105972e-02 9.99569318e-01 1.43795392e-03 1.73092045e-01] [-1.98930920e-02 -2.02161551e-03 9.99800069e-01 -1.14239665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters 0.08134787435854594 Centerline is valid? [True, True] Translation: X:2.98, Y:0.17, Z:-0.01 [[ 9.99348750e-01 2.99960185e-02 2.00578095e-02 2.97522950e+00] [-3.00310312e-02 9.99547920e-01 1.44660078e-03 1.70833413e-01] [-2.00053495e-02 -2.04801538e-03 9.99797775e-01 -1.27861149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714391418 meters 0.08219104400439849 Centerline is valid? [True, True] Translation: X:3.01, Y:0.17, Z:-0.01 [[ 9.99333058e-01 3.07119024e-02 1.97539242e-02 3.00541496e+00] [-3.07460076e-02 9.99526214e-01 1.42504592e-03 1.67880843e-01] [-1.97007992e-02 -2.03144980e-03 9.99803857e-01 -1.43389053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744391418 meters 0.07252781022809641 Centerline is valid? [True, True] Translation: X:3.04, Y:0.15, Z:-0.02 [[ 9.99288206e-01 3.29724082e-02 1.83276156e-02 3.03762744e+00] [-3.30021400e-02 9.99454407e-01 1.32208188e-03 1.45658321e-01] [-1.82740240e-02 -1.92599137e-03 9.99831161e-01 -1.51223502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7743914179999996 meters 0.07179489222869964 Centerline is valid? [True, True] Translation: X:3.07, Y:0.14, Z:-0.02 [[ 9.99249718e-01 3.42491779e-02 1.80829816e-02 3.06797183e+00] [-3.42783279e-02 9.99411474e-01 1.30443728e-03 1.40362533e-01] [-1.80276634e-02 -1.92331295e-03 9.99835639e-01 -1.66163289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804391418 meters 0.07124875729567712 Centerline is valid? [True, True] Translation: X:3.10, Y:0.14, Z:-0.01 [[ 9.99238998e-01 3.43824208e-02 1.84193952e-02 3.09829098e+00] [-3.44126962e-02 9.99406824e-01 1.32914442e-03 1.37378519e-01] [-1.83627701e-02 -1.96199399e-03 9.99829465e-01 -1.42508437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834391418 meters 0.07279056768796728 Centerline is valid? [True, True] Translation: X:3.13, Y:0.13, Z:-0.01 [[ 9.99199932e-01 3.45119847e-02 2.02093673e-02 3.12869237e+00] [-3.45484779e-02 9.99401958e-01 1.45930653e-03 1.29823721e-01] [-2.01469176e-02 -2.15634186e-03 9.99794705e-01 -1.32592544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864391417999999 meters 0.07308211667982219 Centerline is valid? [True, True] Translation: X:3.16, Y:0.13, Z:-0.01 [[ 9.99237943e-01 3.30208573e-02 2.08124164e-02 3.15832083e+00] [-3.30592601e-02 9.99452262e-01 1.50374660e-03 1.27147232e-01] [-2.07513617e-02 -2.19064375e-03 9.99782267e-01 -1.18663368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894391418 meters 0.0720868837822223 Centerline is valid? [True, True] Translation: X:3.19, Y:0.11, Z:-0.02 [[ 9.99402534e-01 2.89105977e-02 1.89407592e-02 3.19019232e+00] [-2.89416792e-02 9.99580165e-01 1.36887232e-03 1.14599608e-01] [-1.88932323e-02 -1.91623184e-03 9.99819671e-01 -1.50012566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391418 meters 0.07235878602308615 Centerline is valid? [True, True] Translation: X:3.22, Y:0.11, Z:-0.02 [[ 9.99491395e-01 2.62840535e-02 1.80582272e-02 3.22059645e+00] [-2.63118793e-02 9.99652931e-01 1.30499254e-03 1.11399657e-01] [-1.80176592e-02 -1.77947471e-03 9.99836085e-01 -1.70625445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954391418 meters 0.07043001310483467 Centerline is valid? [True, True] Translation: X:3.25, Y:0.11, Z:-0.02 [[ 9.99588987e-01 2.31831654e-02 1.68641067e-02 3.25164660e+00] [-2.32069954e-02 9.99729939e-01 1.21870970e-03 1.06772822e-01] [-1.68312988e-02 -1.60957404e-03 9.99857048e-01 -1.70507849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9843914179999995 meters 0.06952363356306744 Centerline is valid? [True, True] Translation: X:3.28, Y:0.10, Z:-0.02 [[ 9.99669882e-01 2.01585415e-02 1.59298783e-02 3.28309558e+00] [-2.01794213e-02 9.99795712e-01 1.15106746e-03 1.03351332e-01] [-1.59034202e-02 -1.47214320e-03 9.99872449e-01 -1.83263359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014391418 meters 0.06952363356306744 Centerline is valid? [True, True] Translation: X:3.32, Y:0.11, Z:-0.02 [[ 9.99662963e-01 2.04988024e-02 1.59298546e-02 3.31576275e+00] [-2.05197302e-02 9.99788785e-01 1.15139818e-03 1.05469493e-01] [-1.59028877e-02 -1.47788643e-03 9.99872449e-01 -1.89164857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044391418 meters 0.05782643428716216 Centerline is valid? [True, True] Translation: X:3.35, Y:0.08, Z:-0.02 [[ 9.99797509e-01 1.41579918e-02 1.43000583e-02 3.34819671e+00] [-1.41741347e-02 9.99899013e-01 1.02815077e-03 8.40125070e-02] [-1.42840576e-02 -1.23063353e-03 9.99897220e-01 -2.32859334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074391417999999 meters 0.06540205449187965 Centerline is valid? [True, True] Translation: X:3.38, Y:0.09, Z:-0.02 [[ 9.99847354e-01 1.08262484e-02 1.37134994e-02 3.37778421e+00] [-1.08407780e-02 9.99940751e-01 9.85618837e-04 9.22559931e-02] [-1.37020163e-02 -1.13413339e-03 9.99905480e-01 -2.42657116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104391418 meters 0.055923685719631744 Centerline is valid? [True, True] Translation: X:3.41, Y:0.08, Z:-0.02 [[ 9.99879918e-01 7.41954168e-03 1.36051527e-02 3.41002752e+00] [-7.43353115e-03 9.99971893e-01 9.77966171e-04 7.88803020e-02] [-1.35975142e-02 -1.07898306e-03 9.99906967e-01 -2.31102257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134391418 meters 0.05083645841585999 Centerline is valid? [True, True] Translation: X:3.44, Y:0.07, Z:-0.02 [[ 9.99893770e-01 2.06484903e-03 1.44286304e-02 3.44178574e+00] [-2.08002077e-03 9.99997300e-01 1.03657437e-03 6.54254354e-02] [-1.44264511e-02 -1.06647610e-03 9.99895365e-01 -2.44203271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391418 meters 0.0520111455622387 Centerline is valid? [True, True] Translation: X:3.47, Y:0.07, Z:-0.02 [[ 9.99883355e-01 -3.52640969e-04 1.52693295e-02 3.47274454e+00] [ 3.35928062e-04 9.99999342e-01 1.09709201e-03 6.66718020e-02] [-1.52697063e-02 -1.09183464e-03 9.99882815e-01 -2.40148494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1943914179999995 meters 0.050258056987134765 Centerline is valid? [True, True] Translation: X:3.50, Y:0.06, Z:-0.02 [[ 9.99878253e-01 -3.10866348e-03 1.52910171e-02 3.50477483e+00] [ 3.09223366e-03 9.99994616e-01 1.09800080e-03 6.45136263e-02] [-1.52943481e-02 -1.05058373e-03 9.99882483e-01 -2.27758184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391418 meters 0.0505733164784655 Centerline is valid? [True, True] Translation: X:3.54, Y:0.07, Z:-0.02 [[ 9.99893524e-01 -3.07141745e-03 1.42655776e-02 3.53799875e+00] [ 3.05712259e-03 9.99994803e-01 1.02375111e-03 6.56136192e-02] [-1.42686478e-02 -9.80030481e-04 9.99897717e-01 -2.46722375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254391418 meters 0.050902279363057086 Centerline is valid? [True, True] Translation: X:3.57, Y:0.07, Z:-0.03 [[ 9.99912094e-01 -2.39466986e-03 1.30411195e-02 3.56969763e+00] [ 2.38269094e-03 9.99996725e-01 9.34009857e-04 6.70383287e-02] [-1.30433135e-02 -9.02854794e-04 9.99914525e-01 -2.71279230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters 0.05480808943266343 Centerline is valid? [True, True] Translation: X:3.60, Y:0.07, Z:-0.03 [[ 9.99953247e-01 -5.08905641e-05 9.66961044e-03 3.59943480e+00] [ 4.42046823e-05 9.99999760e-01 6.91644853e-04 7.22154308e-02] [-9.66964332e-03 -6.91185074e-04 9.99953009e-01 -3.21792339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314391418 meters 0.0558813962977661 Centerline is valid? [True, True] Translation: X:3.63, Y:0.08, Z:-0.03 [[ 9.99959323e-01 1.59816205e-03 8.87688978e-03 3.63107304e+00] [-1.60386651e-03 9.99998512e-01 6.35536886e-04 7.60351767e-02] [-8.87586088e-03 -6.49748380e-04 9.99960398e-01 -3.12902873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391418 meters 0.058986882901206635 Centerline is valid? [True, True] Translation: X:3.66, Y:0.08, Z:-0.04 [[ 9.99961112e-01 3.33557619e-03 8.16387667e-03 3.66138270e+00] [-3.34046187e-03 9.99994250e-01 5.84888809e-04 8.06795294e-02] [-8.16187878e-03 -6.12137183e-04 9.99966504e-01 -3.52414698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374391418 meters 0.05858733801620778 Centerline is valid? [True, True] Translation: X:3.69, Y:0.08, Z:-0.03 [[ 9.99947785e-01 6.14470868e-03 8.16511603e-03 3.69276136e+00] [-6.14967035e-03 9.99980921e-01 5.82699118e-04 8.39352572e-02] [-8.16137973e-03 -6.32881465e-04 9.99966495e-01 -3.31706031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters 0.058261154907909535 Centerline is valid? [True, True] Translation: X:3.73, Y:0.09, Z:-0.03 [[ 9.99934716e-01 7.70108943e-03 8.44136496e-03 3.72509817e+00] [-7.70646555e-03 9.99970122e-01 6.04535386e-04 8.64123618e-02] [-8.43645717e-03 -6.69549007e-04 9.99964188e-01 -3.24261202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434391418 meters 0.06463779382079621 Centerline is valid? [True, True] Translation: X:3.76, Y:0.10, Z:-0.03 [[ 9.99909408e-01 9.27975340e-03 9.74999540e-03 3.75513070e+00] [-9.28694157e-03 9.99956636e-01 6.92231116e-04 9.79507001e-02] [-9.74314887e-03 -7.82716043e-04 9.99952228e-01 -2.92517606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391418 meters 0.05601050509788314 Centerline is valid? [True, True] Translation: X:3.79, Y:0.09, Z:-0.03 [[ 9.99875120e-01 1.10961051e-02 1.12526162e-02 3.78818546e+00] [-1.11057907e-02 9.99938010e-01 7.98615286e-04 8.88317315e-02] [-1.12430571e-02 -9.23484755e-04 9.99936368e-01 -2.82893488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494391418 meters 0.058800410128379055 Centerline is valid? [True, True] Translation: X:3.82, Y:0.09, Z:-0.03 [[ 9.99810326e-01 1.44773329e-02 1.30275893e-02 3.81920825e+00] [-1.44905784e-02 9.99894580e-01 9.22901562e-04 9.43336971e-02] [-1.30128548e-02 -1.11150382e-03 9.99914711e-01 -2.73309746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters 0.06059609543058912 Centerline is valid? [True, True] Translation: X:3.85, Y:0.10, Z:-0.02 [[ 9.99787308e-01 1.58041923e-02 1.32501432e-02 3.85006958e+00] [-1.58180172e-02 9.99874446e-01 9.39224574e-04 1.00290769e-01] [-1.32336359e-02 -1.14861580e-03 9.99911772e-01 -2.48419601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554391418 meters 0.06145333671660343 Centerline is valid? [True, True] Translation: X:3.88, Y:0.10, Z:-0.03 [[ 9.99756469e-01 1.71761499e-02 1.38557446e-02 3.88229955e+00] [-1.71913400e-02 9.99851740e-01 9.77932100e-04 1.03728627e-01] [-1.38368932e-02 -1.21589276e-03 9.99903526e-01 -2.75095327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391418 meters 0.07014408565468247 Centerline is valid? [True, True] Translation: X:3.91, Y:0.12, Z:-0.03 [[ 9.99768723e-01 1.75580518e-02 1.24183464e-02 3.91353147e+00] [-1.75702431e-02 9.99845250e-01 8.73284982e-04 1.18578415e-01] [-1.24010915e-02 -1.09127638e-03 9.99922508e-01 -2.86388348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614391417999999 meters 0.0620501917033007 Centerline is valid? [True, True] Translation: X:3.95, Y:0.11, Z:-0.03 [[ 9.99800205e-01 1.61841837e-02 1.17312644e-02 3.94550189e+00] [-1.61949065e-02 9.99868518e-01 8.19607135e-04 1.10170468e-01] [-1.17164573e-02 -1.00943011e-03 9.99930850e-01 -3.12291119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391418 meters 0.05585398750227049 Centerline is valid? [True, True] Translation: X:3.98, Y:0.10, Z:-0.03 [[ 9.99885074e-01 1.06871120e-02 1.07528539e-02 3.97687344e+00] [-1.06957988e-02 9.99942517e-01 7.50672967e-04 1.04781855e-01] [-1.07442133e-02 -8.65597057e-04 9.99941905e-01 -3.06749847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674391418 meters 0.057592696463411606 Centerline is valid? [True, True] Translation: X:4.01, Y:0.11, Z:-0.03 [[ 9.99917117e-01 7.50555386e-03 1.04607039e-02 4.00647836e+00] [-7.51359802e-03 9.99971506e-01 7.29900381e-04 1.08363851e-01] [-1.04549275e-02 -8.08437409e-04 9.99945019e-01 -3.35003112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391418 meters 0.051819823241994946 Centerline is valid? [True, True] Translation: X:4.04, Y:0.10, Z:-0.03 [[ 9.99934371e-01 4.00507473e-03 1.07337329e-02 4.03820058e+00] [-4.01334622e-03 9.99991666e-01 7.49177753e-04 1.03794352e-01] [-1.07306429e-02 -7.92206772e-04 9.99942111e-01 -3.31616123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7343914179999995 meters 0.050425102514270834 Centerline is valid? [True, True] Translation: X:4.07, Y:0.11, Z:-0.03 [[ 9.99938725e-01 -1.87534883e-03 1.09100613e-02 4.06797605e+00] [ 1.86715784e-03 9.99997967e-01 7.60911165e-04 1.07099670e-01] [-1.09114661e-02 -7.40493733e-04 9.99940194e-01 -3.09821146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391418 meters 0.047565341329655134 Centerline is valid? [True, True] Translation: X:4.10, Y:0.11, Z:-0.03 [[ 9.99931334e-01 -3.83533896e-03 1.10732802e-02 4.09971233e+00] [ 3.82701535e-03 9.99992378e-01 7.72776423e-04 1.06529650e-01] [-1.10761597e-02 -7.30345747e-04 9.99938391e-01 -3.23140101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794391418 meters 0.04982555580290674 Centerline is valid? [True, True] Translation: X:4.13, Y:0.11, Z:-0.03 [[ 9.99924103e-01 -4.85268176e-03 1.13243404e-02 4.13085855e+00] [ 4.84405058e-03 9.99987956e-01 7.89483225e-04 1.12378030e-01] [-1.13280351e-02 -7.34567627e-04 9.99935566e-01 -3.37608888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters 0.049472305839649545 Centerline is valid? [True, True] Translation: X:4.16, Y:0.12, Z:-0.03 [[ 9.99914363e-01 -4.99014678e-03 1.20981767e-02 4.16287255e+00] [ 4.98031514e-03 9.99987243e-01 8.42646505e-04 1.16224084e-01] [-1.21022273e-02 -7.82321610e-04 9.99926459e-01 -3.29237199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854391418 meters 0.0532141019133015 Centerline is valid? [True, True] Translation: X:4.19, Y:0.13, Z:-0.04 [[ 9.99941289e-01 -1.20415474e-03 1.07688866e-02 4.19244077e+00] [ 1.19615549e-03 9.99999004e-01 7.49221121e-04 1.25402164e-01] [-1.07697780e-02 -7.36295870e-04 9.99941733e-01 -3.55724588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391418 meters 0.05594803711143705 Centerline is valid? [True, True] Translation: X:4.22, Y:0.13, Z:-0.04 [[ 9.99945111e-01 1.86203119e-03 1.03105607e-02 4.22155198e+00] [-1.86951204e-03 9.99997996e-01 7.15962218e-04 1.34278525e-01] [-1.03092069e-02 -7.35198637e-04 9.99946588e-01 -3.51435607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914391418 meters 0.057054722118818506 Centerline is valid? [True, True] Translation: X:4.25, Y:0.14, Z:-0.04 [[ 9.99930338e-01 5.73822775e-03 1.03146860e-02 4.25219540e+00] [-5.74592082e-03 9.99983235e-01 7.16357299e-04 1.41130068e-01] [-1.03104024e-02 -7.75574765e-04 9.99946546e-01 -3.51773256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters 0.05600889663343932 Centerline is valid? [True, True] Translation: X:4.28, Y:0.14, Z:-0.04 [[ 9.99897097e-01 1.04067549e-02 9.87390696e-03 4.28224702e+00] [-1.04140288e-02 9.99945538e-01 6.85550068e-04 1.44973579e-01] [-9.86623485e-03 -7.88306674e-04 9.99951017e-01 -3.62824686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974391418 meters 0.06216718860723216 Centerline is valid? [True, True] Translation: X:4.31, Y:0.16, Z:-0.03 [[ 9.99738110e-01 2.01547627e-02 1.08395957e-02 4.31213942e+00] [-2.01640970e-02 9.99796401e-01 7.52520045e-04 1.61735662e-01] [-1.08222219e-02 -9.70893625e-04 9.99940967e-01 -3.48085702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391418 meters 0.06715435796117675 Centerline is valid? [True, True] Translation: X:4.34, Y:0.17, Z:-0.04 [[ 9.99622205e-01 2.50354642e-02 1.13433874e-02 4.34112857e+00] [-2.50459968e-02 9.99685990e-01 7.87396697e-04 1.71613122e-01] [-1.13201126e-02 -1.07120567e-03 9.99935352e-01 -3.60917776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034391417999999 meters 0.07014501362471165 Centerline is valid? [True, True] Translation: X:4.37, Y:0.18, Z:-0.03 [[ 9.99387411e-01 3.28400304e-02 1.20969421e-02 4.37125793e+00] [-3.28525748e-02 9.99459856e-01 8.39682026e-04 1.79504616e-01] [-1.20628328e-02 -1.23658334e-03 9.99926477e-01 -3.45875219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391418 meters 0.06921850280402046 Centerline is valid? [True, True] Translation: X:4.40, Y:0.18, Z:-0.03 [[ 9.99257509e-01 3.64308506e-02 1.25389230e-02 4.40207797e+00] [-3.64446078e-02 9.99335296e-01 8.70343364e-04 1.80592825e-01] [-1.24988809e-02 -1.32667327e-03 9.99921006e-01 -3.42372808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094391418 meters 0.07232121769281065 Centerline is valid? [True, True] Translation: X:4.43, Y:0.19, Z:-0.03 [[ 9.99146981e-01 3.90863328e-02 1.33254937e-02 4.43059718e+00] [-3.91021033e-02 9.99234792e-01 9.24906686e-04 1.86642771e-01] [-1.32791457e-02 -1.44517255e-03 9.99910784e-01 -3.36410533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391418 meters 0.07480546859043964 Centerline is valid? [True, True] Translation: X:4.46, Y:0.19, Z:-0.03 [[ 9.99064637e-01 4.09811115e-02 1.37985263e-02 4.46096734e+00] [-4.09982039e-02 9.99158761e-01 9.58009071e-04 1.91637828e-01] [-1.37476582e-02 -1.52282778e-03 9.99904337e-01 -3.49076372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1543914179999994 meters 0.07694398978522171 Centerline is valid? [True, True] Translation: X:4.49, Y:0.20, Z:-0.03 [[ 9.99020634e-01 4.21541749e-02 1.34461650e-02 4.48919806e+00] [-4.21705063e-02 9.99109993e-01 9.33243898e-04 1.96212536e-01] [-1.33948577e-02 -1.49936150e-03 9.99909161e-01 -3.43989918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391418 meters 0.07845375441059038 Centerline is valid? [True, True] Translation: X:4.52, Y:0.20, Z:-0.04 [[ 9.99036915e-01 4.20797737e-02 1.24312226e-02 4.51636241e+00] [-4.20937315e-02 9.99113293e-01 8.63177465e-04 1.98485156e-01] [-1.23838774e-02 -1.38562270e-03 9.99922357e-01 -3.57187691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214391418 meters 0.0759376837446786 Centerline is valid? [True, True] Translation: X:4.55, Y:0.20, Z:-0.04 [[ 9.99090214e-01 4.07413506e-02 1.26050011e-02 4.54577568e+00] [-4.07556218e-02 9.99168759e-01 8.77279122e-04 1.95094408e-01] [-1.25587818e-02 -1.39020564e-03 9.99920169e-01 -3.77489978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391418 meters 0.08191785383112783 Centerline is valid? [True, True] Translation: X:4.57, Y:0.20, Z:-0.04 [[ 9.99152830e-01 3.90272951e-02 1.30572712e-02 4.57422791e+00] [-3.90424773e-02 9.99237138e-01 9.09762823e-04 2.02121204e-01] [-1.30118047e-02 -1.41878031e-03 9.99914336e-01 -3.62504125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2743914179999996 meters 0.07391387725744053 Centerline is valid? [True, True] Translation: X:4.61, Y:0.19, Z:-0.04 [[ 9.99323151e-01 3.42524572e-02 1.34167539e-02 4.60549747e+00] [-3.42680714e-02 9.99412239e-01 9.35550362e-04 1.88221232e-01] [-1.33768231e-02 -1.39468341e-03 9.99909554e-01 -3.83483198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391418 meters 0.06936003422761365 Centerline is valid? [True, True] Translation: X:4.64, Y:0.18, Z:-0.04 [[ 9.99414133e-01 3.14995723e-02 1.33853240e-02 4.63586703e+00] [-3.15148715e-02 9.99502847e-01 9.33548471e-04 1.83115777e-01] [-1.33492631e-02 -1.35483830e-03 9.99909977e-01 -3.67100729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334391418 meters 0.06508046449305174 Centerline is valid? [True, True] Translation: X:4.67, Y:0.18, Z:-0.03 [[ 9.99544812e-01 2.66657702e-02 1.41104558e-02 4.66735228e+00] [-2.66823012e-02 9.99643479e-01 9.84552247e-04 1.76126482e-01] [-1.40791713e-02 -1.36060352e-03 9.99899958e-01 -3.47174862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364391417999999 meters 0.06405005523671624 Centerline is valid? [True, True] Translation: X:4.70, Y:0.17, Z:-0.03 [[ 9.99571015e-01 2.54667436e-02 1.44647974e-02 4.69877234e+00] [-2.54839883e-02 9.99674721e-01 1.00909175e-03 1.73838479e-01] [-1.44343940e-02 -1.37727959e-03 9.99894870e-01 -3.47883947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394391418 meters 0.06360169490183777 Centerline is valid? [True, True] Translation: X:4.73, Y:0.17, Z:-0.04 [[ 9.99571457e-01 2.50874474e-02 1.50838337e-02 4.73003787e+00] [-2.51061462e-02 9.99684238e-01 1.05155097e-03 1.71715864e-01] [-1.50526900e-02 -1.42979727e-03 9.99885680e-01 -3.57593047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424391418 meters 0.06553768898984318 Centerline is valid? [True, True] Translation: X:4.76, Y:0.17, Z:-0.04 [[ 9.99496437e-01 2.77966670e-02 1.53041474e-02 4.76157016e+00] [-2.78162199e-02 9.99612485e-01 1.06620168e-03 1.70338304e-01] [-1.52685800e-02 -1.49136831e-03 9.99882316e-01 -3.61294559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454391418 meters 0.06865875737611998 Centerline is valid? [True, True] Translation: X:4.79, Y:0.17, Z:-0.03 [[ 9.99408781e-01 3.05079956e-02 1.58540623e-02 4.79167295e+00] [-3.05293043e-02 9.99533263e-01 1.10371646e-03 1.74892813e-01] [-1.58129904e-02 -1.58707741e-03 9.99873707e-01 -3.45020497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4843914179999995 meters 0.06964777508185338 Centerline is valid? [True, True] Translation: X:4.82, Y:0.18, Z:-0.04 [[ 9.99320532e-01 3.33860721e-02 1.56155352e-02 4.82246162e+00] [-3.34070862e-02 9.99441237e-01 1.08673785e-03 1.76442334e-01] [-1.55705279e-02 -1.60766898e-03 9.99877480e-01 -3.51768972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514391418 meters 0.07292762182124354 Centerline is valid? [True, True] Translation: X:4.85, Y:0.18, Z:-0.04 [[ 9.99072619e-01 4.02338584e-02 1.53342517e-02 4.85268032e+00] [-4.02549169e-02 9.99188873e-01 1.06699605e-03 1.77673480e-01] [-1.52788843e-02 -1.68328557e-03 9.99881854e-01 -3.60690615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544391418 meters 0.07435532949816416 Centerline is valid? [True, True] Translation: X:4.88, Y:0.18, Z:-0.04 [[ 9.98931044e-01 4.36532188e-02 1.52041473e-02 4.88279391e+00] [-4.36743113e-02 9.99045262e-01 1.05786597e-03 1.78277436e-01] [-1.51434521e-02 -1.72076582e-03 9.99883851e-01 -3.84440178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574391417999999 meters 0.07860243382172676 Centerline is valid? [True, True] Translation: X:4.91, Y:0.18, Z:-0.04 [[ 9.98780777e-01 4.68829885e-02 1.54578613e-02 4.91155333e+00] [-4.69051753e-02 9.98898767e-01 1.07569742e-03 1.82741984e-01] [-1.53904067e-02 -1.79943960e-03 9.99879941e-01 -3.64808232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391418 meters 0.07941923430609815 Centerline is valid? [True, True] Translation: X:4.94, Y:0.18, Z:-0.04 [[ 9.98642318e-01 4.96139865e-02 1.58736354e-02 4.94235332e+00] [-4.96377039e-02 9.98766680e-01 1.10340840e-03 1.82062180e-01] [-1.57993136e-02 -1.88984114e-03 9.99873397e-01 -3.67533850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634391418 meters 0.0838116697758348 Centerline is valid? [True, True] Translation: X:4.97, Y:0.18, Z:-0.04 [[ 9.98482118e-01 5.28358625e-02 1.55509651e-02 4.97225619e+00] [-5.28590113e-02 9.98601400e-01 1.08104469e-03 1.80558694e-01] [-1.54720976e-02 -1.90141244e-03 9.99878492e-01 -3.67508300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391418 meters 0.08144741630864447 Centerline is valid? [True, True] Translation: X:5.00, Y:0.17, Z:-0.04 [[ 9.98449694e-01 5.34284802e-02 1.56078877e-02 5.00220808e+00] [-5.34518746e-02 9.98569837e-01 1.08529337e-03 1.74517355e-01] [-1.55275803e-02 -1.91788169e-03 9.99877600e-01 -3.84997252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6943914179999995 meters 0.08422042318843653 Centerline is valid? [True, True] Translation: X:5.03, Y:0.18, Z:-0.04 [[ 9.98454402e-01 5.34939327e-02 1.50733855e-02 5.03040370e+00] [-5.35157661e-02 9.98566454e-01 1.04857380e-03 1.75303896e-01] [-1.49956848e-02 -1.85361690e-03 9.99885840e-01 -3.84760828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391418 meters 0.08057826245189255 Centerline is valid? [True, True] Translation: X:5.06, Y:0.17, Z:-0.04 [[ 9.98446123e-01 5.36969367e-02 1.48989695e-02 5.05956797e+00] [-5.37183145e-02 9.98555589e-01 1.03809490e-03 1.68433027e-01] [-1.48217067e-02 -1.83682935e-03 9.99888465e-01 -3.92689138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754391418 meters 0.07909415607723272 Centerline is valid? [True, True] Translation: X:5.09, Y:0.16, Z:-0.04 [[ 9.98427164e-01 5.38704629e-02 1.55296761e-02 5.08934674e+00] [-5.38937330e-02 9.98546089e-01 1.08353951e-03 1.60515781e-01] [-1.54487265e-02 -1.91878750e-03 9.99878820e-01 -3.84838824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784391417999999 meters 0.078243452809799 Centerline is valid? [True, True] Translation: X:5.12, Y:0.16, Z:-0.04 [[ 9.98440767e-01 5.40027589e-02 1.41328533e-02 5.11898947e+00] [-5.40220567e-02 9.98539255e-01 9.87003509e-04 1.56347290e-01] [-1.40589079e-02 -1.74895034e-03 9.99899639e-01 -4.06575143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814391418 meters 0.0815202033996856 Centerline is valid? [True, True] Translation: X:5.15, Y:0.15, Z:-0.04 [[ 9.98500335e-01 5.33531150e-02 1.22689147e-02 5.14844678e+00] [-5.33676151e-02 9.98574565e-01 8.57276363e-04 1.51276800e-01] [-1.22056878e-02 -1.51075346e-03 9.99924367e-01 -4.29721992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391418 meters 0.0811672786029834 Centerline is valid? [True, True] Translation: X:5.18, Y:0.15, Z:-0.04 [[ 9.98529471e-01 5.29707311e-02 1.15324371e-02 5.17752687e+00] [-5.29835195e-02 9.98595062e-01 8.06002721e-04 1.47236059e-01] [-1.14735402e-02 -1.41584658e-03 9.99933174e-01 -4.36903831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874391418 meters 0.07676569902105589 Centerline is valid? [True, True] Translation: X:5.21, Y:0.14, Z:-0.04 [[ 9.98551013e-01 5.25363760e-02 1.16534525e-02 5.20800248e+00] [-5.25494202e-02 9.98617992e-01 8.15762186e-04 1.38268011e-01] [-1.15944901e-02 -1.42696233e-03 9.99931763e-01 -4.42581008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9043914179999994 meters 0.07676569902105589 Centerline is valid? [True, True] Translation: X:5.24, Y:0.14, Z:-0.04 [[ 9.98553353e-01 5.24918928e-02 1.16534160e-02 5.23730174e+00] [-5.25049400e-02 9.98620331e-01 8.16283071e-04 1.40367074e-01] [-1.15944899e-02 -1.42696411e-03 9.99931763e-01 -4.47878628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934391418 meters 0.08622062173722016 Centerline is valid? [True, True] Translation: X:5.27, Y:0.14, Z:-0.04 [[ 9.98596241e-01 5.10309919e-02 1.41910004e-02 5.26634432e+00] [-5.10502067e-02 9.98695593e-01 9.94844663e-04 1.43773760e-01] [-1.41217216e-02 -1.71790164e-03 9.99898808e-01 -4.20828267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964391418 meters 0.07846008185658573 Centerline is valid? [True, True] Translation: X:5.30, Y:0.13, Z:-0.04 [[ 9.98628969e-01 5.01423609e-02 1.50308650e-02 5.29741283e+00] [-5.01638302e-02 9.98740446e-01 1.05450172e-03 1.30539832e-01] [-1.49590576e-02 -1.80706172e-03 9.99886474e-01 -4.06746098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994391417999999 meters 0.07715482166572066 Centerline is valid? [True, True] Translation: X:5.33, Y:0.12, Z:-0.04 [[ 9.98654625e-01 4.95266574e-02 1.53639051e-02 5.32839548e+00] [-4.95490230e-02 9.98771111e-01 1.07826972e-03 1.24984672e-01] [-1.52916215e-02 -1.83808554e-03 9.99881387e-01 -4.03871011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0243914179999996 meters 0.07720461247001711 Centerline is valid? [True, True] Translation: X:5.36, Y:0.12, Z:-0.04 [[ 9.98739148e-01 4.81761058e-02 1.41130298e-02 5.35927222e+00] [-4.81948457e-02 9.98837462e-01 9.90566552e-04 1.15331952e-01] [-1.40489012e-02 -1.66949289e-03 9.99899916e-01 -4.31275758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054391418 meters 0.07547710206070823 Centerline is valid? [True, True] Translation: X:5.39, Y:0.11, Z:-0.04 [[ 9.98760319e-01 4.78923188e-02 1.35701938e-02 5.39100477e+00] [-4.79096164e-02 9.98851221e-01 9.52276479e-04 1.10413013e-01] [-1.35089980e-02 -1.60123874e-03 9.99907467e-01 -4.38887139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391418 meters 0.07697976673905099 Centerline is valid? [True, True] Translation: X:5.42, Y:0.11, Z:-0.05 [[ 9.98772023e-01 4.80097264e-02 1.22275161e-02 5.42275383e+00] [-4.80237731e-02 9.98845825e-01 8.57595310e-04 1.08761633e-01] [-1.21722305e-02 -1.44375366e-03 9.99924873e-01 -4.66304987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114391417999999 meters 0.084373232518328 Centerline is valid? [True, True] Translation: X:5.45, Y:0.11, Z:-0.04 [[ 9.98743407e-01 4.85075864e-02 1.25945116e-02 5.45272177e+00] [-4.85225194e-02 9.98821699e-01 8.82642423e-04 1.11097437e-01] [-1.25368566e-02 -1.49265073e-03 9.99920296e-01 -4.49538723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391418 meters 0.08521675547317015 Centerline is valid? [True, True] Translation: X:5.48, Y:0.11, Z:-0.05 [[ 9.98733462e-01 4.90492222e-02 1.12091633e-02 5.48316308e+00] [-4.90610803e-02 9.98795471e-01 7.85209283e-04 1.08642216e-01] [-1.11571476e-02 -1.33414844e-03 9.99936867e-01 -4.85656663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174391418 meters 0.08079639329736106 Centerline is valid? [True, True] Translation: X:5.51, Y:0.10, Z:-0.05 [[ 9.98672403e-01 5.00104397e-02 1.23445400e-02 5.51428742e+00] [-5.00248943e-02 9.98747597e-01 8.64743173e-04 1.00872969e-01] [-1.22858335e-02 -1.48112945e-03 9.99923429e-01 -4.61386556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters 0.08009036170854847 Centerline is valid? [True, True] Translation: X:5.55, Y:0.10, Z:-0.05 [[ 9.98603544e-01 5.12103511e-02 1.29792471e-02 5.54612879e+00] [-5.12264330e-02 9.98686650e-01 9.09418456e-04 9.69684685e-02] [-1.29156292e-02 -1.57302903e-03 9.99915352e-01 -4.56896063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2343914179999995 meters 0.08111372365148237 Centerline is valid? [True, True] Translation: X:5.58, Y:0.09, Z:-0.04 [[ 9.98488040e-01 5.32877601e-02 1.34925579e-02 5.57760042e+00] [-5.33053167e-02 9.98577814e-01 9.44682447e-04 8.99535533e-02] [-1.34230290e-02 -1.66247920e-03 9.99908525e-01 -4.45203440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391418 meters 0.08209953587408883 Centerline is valid? [True, True] Translation: X:5.61, Y:0.09, Z:-0.04 [[ 9.98440200e-01 5.40432241e-02 1.40177121e-02 5.60979905e+00] [-5.40622582e-02 9.98537084e-01 9.82225060e-04 8.83333323e-02] [-1.39441227e-02 -1.73852216e-03 9.99901265e-01 -4.45304799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294391418 meters 0.08385784151007417 Centerline is valid? [True, True] Translation: X:5.64, Y:0.09, Z:-0.05 [[ 9.98436145e-01 5.43560496e-02 1.30646382e-02 5.64218436e+00] [-5.43725638e-02 9.98520302e-01 9.11923087e-04 8.77142950e-02] [-1.29957379e-02 -1.62085485e-03 9.99914238e-01 -4.66930539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324391417999999 meters 0.08533021506655998 Centerline is valid? [True, True] Translation: X:5.67, Y:0.08, Z:-0.05 [[ 9.98446925e-01 5.41424145e-02 1.31277388e-02 5.67418736e+00] [-5.41590199e-02 9.98531906e-01 9.12458478e-04 8.28763777e-02] [-1.30590633e-02 -1.62202683e-03 9.99913411e-01 -4.76298028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354391418 meters 0.08529133896584729 Centerline is valid? [True, True] Translation: X:5.71, Y:0.08, Z:-0.05 [[ 9.98455949e-01 5.41015096e-02 1.25993818e-02 5.70665925e+00] [-5.41167589e-02 9.98534234e-01 8.72298487e-04 8.02885237e-02] [-1.25337214e-02 -1.55278932e-03 9.99920244e-01 -4.91907072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384391418 meters 0.08593056870418415 Centerline is valid? [True, True] Translation: X:5.74, Y:0.07, Z:-0.05 [[ 9.98466837e-01 5.36149972e-02 1.37625730e-02 5.73883910e+00] [-5.36330857e-02 9.98560260e-01 9.48361837e-04 7.47397821e-02] [-1.36919120e-02 -1.68503710e-03 9.99904842e-01 -4.68511495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414391418 meters 0.08351689456255468 Centerline is valid? [True, True] Translation: X:5.77, Y:0.07, Z:-0.05 [[ 9.98485374e-01 5.37921487e-02 1.15482317e-02 5.77198872e+00] [-5.38048712e-02 9.98551153e-01 7.93612076e-04 6.88642647e-02] [-1.14888100e-02 -1.41376117e-03 9.99933002e-01 -5.19648528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4443914179999995 meters 0.0884372125407898 Centerline is valid? [True, True] Translation: X:5.80, Y:0.07, Z:-0.05 [[ 9.98474883e-01 5.38551652e-02 1.21461326e-02 5.80282016e+00] [-5.38691869e-02 9.98547656e-01 8.29985117e-04 7.44604002e-02] [-1.20837933e-02 -1.48302158e-03 9.99925889e-01 -4.97033659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474391418 meters 0.0762853205061479 Centerline is valid? [True, True] Translation: X:5.84, Y:0.06, Z:-0.05 [[ 9.98498860e-01 5.38744475e-02 9.87781180e-03 5.83590693e+00] [-5.38837074e-02 9.98546991e-01 6.73530012e-04 5.75803915e-02] [-9.82717318e-03 -1.20477207e-03 9.99950986e-01 -5.36039817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504391418 meters 0.0887515313799211 Centerline is valid? [True, True] Translation: X:5.87, Y:0.07, Z:-0.05 [[ 9.98567408e-01 5.27279478e-02 9.10469637e-03 5.86599310e+00] [-5.27357260e-02 9.98608313e-01 6.16188586e-04 6.73771717e-02] [-9.05953513e-03 -1.09544861e-03 9.99958362e-01 -5.40759941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534391417999999 meters 0.07546798845874673 Centerline is valid? [True, True] Translation: X:5.90, Y:0.05, Z:-0.06 [[ 9.98636891e-01 5.15134696e-02 8.40960227e-03 5.89928531e+00] [-5.15200621e-02 9.98671798e-01 5.69044737e-04 4.84797667e-02] [-8.36911914e-03 -1.00153230e-03 9.99964477e-01 -5.52367944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564391418 meters 0.0775862412067038 Centerline is valid? [True, True] Translation: X:5.93, Y:0.05, Z:-0.06 [[ 9.98775482e-01 4.86089197e-02 9.20379058e-03 5.92945803e+00] [-4.86166814e-02 9.98817317e-01 6.21333234e-04 4.66125737e-02] [-9.16270308e-03 -1.06803015e-03 9.99957451e-01 -5.50789916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594391418 meters 0.07736332485019766 Centerline is valid? [True, True] Translation: X:5.96, Y:0.05, Z:-0.05 [[ 9.98839971e-01 4.69409980e-02 1.07356638e-02 5.96063908e+00] [-4.69514696e-02 9.98896908e-01 7.25321117e-04 4.63808652e-02] [-1.06897741e-02 -1.22853492e-03 9.99942108e-01 -5.37597862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624391418 meters 0.08818893430576646 Centerline is valid? [True, True] Translation: X:5.99, Y:0.06, Z:-0.06 [[ 9.98895776e-01 4.57412738e-02 1.07221567e-02 5.99033208e+00] [-4.57516485e-02 9.98952583e-01 7.24186554e-04 5.92266373e-02] [-1.06778009e-02 -1.21394323e-03 9.99942254e-01 -5.58162331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6543914179999994 meters 0.08954545922276928 Centerline is valid? [True, True] Translation: X:6.02, Y:0.06, Z:-0.05 [[ 9.98922367e-01 4.48608005e-02 1.19001156e-02 6.02096239e+00] [-4.48735163e-02 9.98992353e-01 8.03560418e-04 6.11418184e-02] [-1.18520761e-02 -1.33669451e-03 9.99928868e-01 -5.35930448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684391418 meters 0.07913294252381375 Centerline is valid? [True, True] Translation: X:6.05, Y:0.04, Z:-0.06 [[ 9.98984081e-01 4.38318706e-02 1.04677418e-02 6.05360358e+00] [-4.38416504e-02 9.99038243e-01 7.06538083e-04 4.42073909e-02] [-1.04267055e-02 -1.16474337e-03 9.99944962e-01 -5.78577654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714391418 meters 0.07949359027626159 Centerline is valid? [True, True] Translation: X:6.09, Y:0.04, Z:-0.06 [[ 9.98979469e-01 4.38031708e-02 1.10137697e-02 6.08576178e+00] [-4.38140089e-02 9.99039428e-01 7.44583899e-04 4.43993012e-02] [-1.09705751e-02 -1.22638143e-03 9.99939069e-01 -5.68251448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999999 meters 0.06996901480039928 Centerline is valid? [True, True] Translation: X:6.12, Y:0.03, Z:-0.06 [[ 9.98993469e-01 4.35327187e-02 1.08143872e-02 6.11934697e+00] [-4.35431219e-02 9.99051283e-01 7.28284192e-04 3.05671660e-02] [-1.07724232e-02 -1.19844333e-03 9.99941258e-01 -5.66082153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7743914179999996 meters 0.0821944395762135 Centerline is valid? [True, True] Translation: X:6.15, Y:0.05, Z:-0.06 [[ 9.98977225e-01 4.38976732e-02 1.08396457e-02 6.15034560e+00] [-4.39081124e-02 9.99035309e-01 7.26851566e-04 4.60598044e-02] [-1.07972817e-02 -1.20205654e-03 9.99940985e-01 -5.82631396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804391418 meters 0.09408347517044462 Centerline is valid? [True, True] Translation: X:6.18, Y:0.06, Z:-0.06 [[ 9.98982109e-01 4.39721434e-02 1.00596067e-02 6.18092886e+00] [-4.39811047e-02 9.99032138e-01 6.71232572e-04 6.07698563e-02] [-1.00203548e-02 -1.11298195e-03 9.99949176e-01 -6.22273808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834391418 meters 0.08362768963564471 Centerline is valid? [True, True] Translation: X:6.21, Y:0.05, Z:-0.06 [[ 9.99010348e-01 4.25361688e-02 1.29999449e-02 6.21314860e+00] [-4.25509393e-02 9.99093927e-01 8.61597520e-04 4.76326341e-02] [-1.29515169e-02 -1.41390470e-03 9.99915126e-01 -5.65313308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864391417999999 meters 0.0674407513051219 Centerline is valid? [True, True] Translation: X:6.25, Y:0.03, Z:-0.06 [[ 9.99085485e-01 4.10995209e-02 1.17908009e-02 6.24573770e+00] [-4.11115719e-02 9.99154256e-01 7.81414910e-04 2.79590498e-02] [-1.17487131e-02 -1.26543865e-03 9.99930181e-01 -5.86980296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894391418 meters 0.08476377445224267 Centerline is valid? [True, True] Translation: X:6.28, Y:0.05, Z:-0.06 [[ 9.99152476e-01 3.94409637e-02 1.17787939e-02 6.27521926e+00] [-3.94528702e-02 9.99221128e-01 7.80102594e-04 5.10132636e-02] [-1.17388517e-02 -1.24414866e-03 9.99930323e-01 -6.08904716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924391418 meters 0.08371049236839435 Centerline is valid? [True, True] Translation: X:6.31, Y:0.05, Z:-0.06 [[ 9.99217461e-01 3.74460746e-02 1.27379884e-02 6.30626486e+00] [-3.74598296e-02 9.99297779e-01 8.42885982e-04 5.19478311e-02] [-1.26974808e-02 -1.31938927e-03 9.99918513e-01 -5.87953281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954391417999999 meters 0.07189217025179936 Centerline is valid? [True, True] Translation: X:6.34, Y:0.04, Z:-0.06 [[ 9.99358636e-01 3.35463791e-02 1.25282772e-02 6.33815382e+00] [-3.35593787e-02 9.99436382e-01 8.28779010e-04 3.75177272e-02] [-1.24934135e-02 -1.24868866e-03 9.99921175e-01 -6.09694552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9843914179999995 meters 0.06763547599077051 Centerline is valid? [True, True] Translation: X:6.37, Y:0.03, Z:-0.06 [[ 9.99419547e-01 3.15281381e-02 1.29052291e-02 6.36967103e+00] [-3.15417619e-02 9.99502070e-01 8.53464687e-04 3.41905745e-02] [-1.28718951e-02 -1.26002296e-03 9.99916360e-01 -6.09031184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014391418 meters 0.06720649612090493 Centerline is valid? [True, True] Translation: X:6.40, Y:0.04, Z:-0.06 [[ 9.99490495e-01 2.93844299e-02 1.24621379e-02 6.40030717e+00] [-2.93969661e-02 9.99567476e-01 8.23916384e-04 3.54582152e-02] [-1.24325374e-02 -1.18984564e-03 9.99922005e-01 -6.25262287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044391418 meters 0.06468963489611042 Centerline is valid? [True, True] Translation: X:6.43, Y:0.03, Z:-0.06 [[ 9.99589219e-01 2.63425812e-02 1.12898863e-02 6.43173856e+00] [-2.63526751e-02 9.99652429e-01 7.46210454e-04 3.44825319e-02] [-1.12663051e-02 -1.04342263e-03 9.99935989e-01 -6.29757733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074391418000001 meters 0.06515852603441782 Centerline is valid? [True, True] Translation: X:6.46, Y:0.04, Z:-0.07 [[ 9.99624827e-01 2.56373808e-02 9.63997712e-03 6.46253758e+00] [-2.56447178e-02 9.99670916e-01 6.38242931e-04 3.62472977e-02] [-9.62044188e-03 -8.85217973e-04 9.99953331e-01 -6.67586379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104391418 meters 0.06504169121453854 Centerline is valid? [True, True] Translation: X:6.49, Y:0.04, Z:-0.07 [[ 9.99627156e-01 2.51810324e-02 1.05577267e-02 6.49483677e+00] [-2.51897958e-02 9.99682443e-01 6.97865984e-04 3.85923129e-02] [-1.05368010e-02 -9.63552767e-04 9.99944022e-01 -6.53361809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134391418 meters 0.05847982852319351 Centerline is valid? [True, True] Translation: X:6.53, Y:0.03, Z:-0.07 [[ 9.99650262e-01 2.44297658e-02 1.01261670e-02 6.52783809e+00] [-2.44377635e-02 9.99701131e-01 6.66812282e-04 3.08997622e-02] [-1.01068505e-02 -9.14039946e-04 9.99948507e-01 -6.76753667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164391418000001 meters 0.06057850112897785 Centerline is valid? [True, True] Translation: X:6.56, Y:0.04, Z:-0.07 [[ 9.99638026e-01 2.47192332e-02 1.06196700e-02 6.55951241e+00] [-2.47280099e-02 9.99693974e-01 6.95929453e-04 3.57571169e-02] [-1.05992173e-02 -9.58280850e-04 9.99943368e-01 -6.79172205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194391418 meters 0.0613727494425081 Centerline is valid? [True, True] Translation: X:6.59, Y:0.04, Z:-0.06 [[ 9.99597070e-01 2.52723416e-02 1.29230904e-02 6.59120487e+00] [-2.52853130e-02 9.99679921e-01 8.41308712e-04 4.09685643e-02] [-1.28976922e-02 -1.16773411e-03 9.99916139e-01 -6.45660340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters 0.06087265160521563 Centerline is valid? [True, True] Translation: X:6.62, Y:0.04, Z:-0.07 [[ 9.99567677e-01 2.58610289e-02 1.39880962e-02 6.62318945e+00] [-2.58762130e-02 9.99664745e-01 9.05580544e-04 4.35505214e-02] [-1.39599874e-02 -1.26714800e-03 9.99901752e-01 -6.59098486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254391418 meters 0.0602827891750464 Centerline is valid? [True, True] Translation: X:6.65, Y:0.05, Z:-0.06 [[ 9.99514047e-01 2.70249305e-02 1.55345881e-02 6.65494542e+00] [-2.70437161e-02 9.99633751e-01 1.00044319e-03 4.55698846e-02] [-1.55018617e-02 -1.42007001e-03 9.99878831e-01 -6.37572582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters 0.07046957365351525 Centerline is valid? [True, True] Translation: X:6.69, Y:0.06, Z:-0.06 [[ 9.99476423e-01 2.78460192e-02 1.64766076e-02 6.68521224e+00] [-2.78671832e-02 9.99611077e-01 1.05624555e-03 5.99849568e-02] [-1.64407872e-02 -1.51484917e-03 9.99863694e-01 -6.39721694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314391418000001 meters 0.06207416123419454 Centerline is valid? [True, True] Translation: X:6.72, Y:0.05, Z:-0.06 [[ 9.99426351e-01 2.93561528e-02 1.68873990e-02 6.71824654e+00] [-2.93785155e-02 9.99567777e-01 1.07761359e-03 5.07516578e-02] [-1.68484653e-02 -1.57312213e-03 9.99856817e-01 -6.48094353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344391418 meters 0.066076823938237 Centerline is valid? [True, True] Translation: X:6.75, Y:0.06, Z:-0.07 [[ 9.99413900e-01 3.01258729e-02 1.62569403e-02 6.74934743e+00] [-3.01466814e-02 9.99544948e-01 1.03637938e-03 5.77609351e-02] [-1.62183207e-02 -1.52586476e-03 9.99867310e-01 -6.71268064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374391418 meters 0.07483409908577408 Centerline is valid? [True, True] Translation: X:6.78, Y:0.07, Z:-0.07 [[ 9.99386154e-01 3.10422702e-02 1.62386192e-02 6.77922369e+00] [-3.10630735e-02 9.99516895e-01 1.03038924e-03 7.16172592e-02] [-1.61987886e-02 -1.53417816e-03 9.99867614e-01 -6.75769943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404391418000001 meters 0.06894281240312287 Centerline is valid? [True, True] Translation: X:6.81, Y:0.07, Z:-0.07 [[ 9.99369478e-01 3.20132274e-02 1.53557965e-02 6.81200443e+00] [-3.20319361e-02 9.99486371e-01 9.73882971e-04 6.73183486e-02] [-1.53167322e-02 -1.46514481e-03 9.99881619e-01 -6.99628217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434391418 meters 0.06850819343918074 Centerline is valid? [True, True] Translation: X:6.84, Y:0.07, Z:-0.07 [[ 9.99308252e-01 3.40447319e-02 1.49657191e-02 6.84290404e+00] [-3.40627089e-02 9.99419248e-01 9.47881288e-04 7.14694550e-02] [-1.49247573e-02 -1.45699853e-03 9.99887558e-01 -7.22189848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464391418 meters 0.06394334721391473 Centerline is valid? [True, True] Translation: X:6.88, Y:0.07, Z:-0.07 [[ 9.99251816e-01 3.52273141e-02 1.59638313e-02 6.87534738e+00] [-3.52479055e-02 9.99378089e-01 1.01026935e-03 6.98403238e-02] [-1.59183142e-02 -1.57220510e-03 9.99872060e-01 -7.02023550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494391418000001 meters 0.059886259922453514 Centerline is valid? [True, True] Translation: X:6.91, Y:0.07, Z:-0.07 [[ 9.99200401e-01 3.65880719e-02 1.61205557e-02 6.90759337e+00] [-3.66092225e-02 9.99329138e-01 1.01878819e-03 6.75399419e-02] [-1.60724656e-02 -1.60813458e-03 9.99869536e-01 -7.05661691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters 0.06268896551275852 Centerline is valid? [True, True] Translation: X:6.94, Y:0.07, Z:-0.07 [[ 9.99162343e-01 3.75858782e-02 1.61837470e-02 6.93849453e+00] [-3.76073072e-02 9.99292073e-01 1.02171194e-03 7.36690274e-02] [-1.61338882e-02 -1.62948324e-03 9.99868513e-01 -7.13669462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554391418 meters 0.06256237431666285 Centerline is valid? [True, True] Translation: X:6.97, Y:0.08, Z:-0.07 [[ 9.99175177e-01 3.75038920e-02 1.55699650e-02 6.97041711e+00] [-3.75236557e-02 9.99295260e-01 9.79052144e-04 7.54248716e-02] [-1.55222739e-02 -1.56248660e-03 9.99878301e-01 -7.25791068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418000001 meters 0.06412594987350115 Centerline is valid? [True, True] Translation: X:7.00, Y:0.08, Z:-0.07 [[ 9.99204779e-01 3.64667199e-02 1.61241458e-02 7.00095629e+00] [-3.64876982e-02 9.99333593e-01 1.00868812e-03 7.97932781e-02] [-1.60766170e-02 -1.59621895e-03 9.99869489e-01 -7.31077985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614391418 meters 0.06739588880005962 Centerline is valid? [True, True] Translation: X:7.03, Y:0.09, Z:-0.07 [[ 9.99268948e-01 3.39400566e-02 1.75966548e-02 7.03101418e+00] [-3.39646404e-02 9.99422430e-01 1.10002000e-03 8.69694885e-02] [-1.75491568e-02 -1.69687988e-03 9.99844562e-01 -7.43126875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418000001 meters 0.06729295172413564 Centerline is valid? [True, True] Translation: X:7.06, Y:0.09, Z:-0.07 [[ 9.99301559e-01 3.27594826e-02 1.79780481e-02 7.06274622e+00] [-3.27849454e-02 9.99461798e-01 1.12335243e-03 8.90222251e-02] [-1.79315718e-02 -1.71197716e-03 9.99837751e-01 -7.46169151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674391418 meters 0.06927837099995202 Centerline is valid? [True, True] Translation: X:7.09, Y:0.09, Z:-0.07 [[ 9.99318842e-01 3.19787007e-02 1.84177733e-02 7.09426799e+00] [-3.20052699e-02 9.99487039e-01 1.14956218e-03 9.33481183e-02] [-1.83715642e-02 -1.73824495e-03 9.99829718e-01 -7.38665053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters 0.06799638452191925 Centerline is valid? [True, True] Translation: X:7.13, Y:0.09, Z:-0.08 [[ 9.99391849e-01 3.07153073e-02 1.65076463e-02 7.12578791e+00] [-3.07364047e-02 9.99526999e-01 1.02578940e-03 9.04071612e-02] [-1.64683307e-02 -1.53255127e-03 9.99863213e-01 -7.73072689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734391418000001 meters 0.06429160224700535 Centerline is valid? [True, True] Translation: X:7.16, Y:0.09, Z:-0.08 [[ 9.99391898e-01 3.05122499e-02 1.68771074e-02 7.15867918e+00] [-3.05342641e-02 9.99533171e-01 1.04818050e-03 8.74875387e-02] [-1.68372463e-02 -1.56287316e-03 9.99857022e-01 -7.72036783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764391418 meters 0.06174352582222759 Centerline is valid? [True, True] Translation: X:7.19, Y:0.09, Z:-0.08 [[ 9.99341385e-01 3.21525940e-02 1.68228279e-02 7.19052396e+00] [-3.21746531e-02 9.99481718e-01 1.04218665e-03 8.53395045e-02] [-1.67806000e-02 -1.58276891e-03 9.99857943e-01 -7.85933349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794391418 meters 0.07350858800199972 Centerline is valid? [True, True] Translation: X:7.22, Y:0.10, Z:-0.08 [[ 9.99257943e-01 3.35467942e-02 1.89255416e-02 7.22021320e+00] [-3.35748518e-02 9.99435525e-01 1.16664744e-03 1.03311170e-01] [-1.88757213e-02 -1.80120397e-03 9.99820215e-01 -7.53597388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824391418000001 meters 0.07101976931647969 Centerline is valid? [True, True] Translation: X:7.25, Y:0.10, Z:-0.08 [[ 9.99193063e-01 3.54927372e-02 1.88012846e-02 7.25103888e+00] [-3.55207186e-02 9.99368271e-01 1.15631455e-03 1.02216123e-01] [-1.87483666e-02 -1.82321662e-03 9.99822572e-01 -7.72621170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854391418 meters 0.07101976931647969 Centerline is valid? [True, True] Translation: X:7.28, Y:0.10, Z:-0.08 [[ 9.99181645e-01 3.58127095e-02 1.88013227e-02 7.28364992e+00] [-3.58407355e-02 9.99356846e-01 1.15569498e-03 1.04017509e-01] [-1.87478420e-02 -1.82860245e-03 9.99822572e-01 -7.78510151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884391418 meters 0.06790146602328828 Centerline is valid? [True, True] Translation: X:7.32, Y:0.10, Z:-0.08 [[ 9.99097997e-01 3.78526422e-02 1.92449972e-02 7.31536904e+00] [-3.78822669e-02 9.99281516e-01 1.17699398e-03 1.02389313e-01] [-1.91866177e-02 -1.90497645e-03 9.99814105e-01 -7.78388937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914391418000001 meters 0.0698344487817377 Centerline is valid? [True, True] Translation: X:7.35, Y:0.11, Z:-0.08 [[ 9.98928268e-01 4.15216816e-02 2.04515437e-02 7.34542266e+00] [-4.15558828e-02 9.99135399e-01 1.24998177e-03 1.07443320e-01] [-2.03819599e-02 -2.09852408e-03 9.99790064e-01 -7.59216178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944391418 meters 0.07184347835778063 Centerline is valid? [True, True] Translation: X:7.38, Y:0.11, Z:-0.08 [[ 9.98877748e-01 4.32433868e-02 1.93197815e-02 7.37666918e+00] [-4.32742230e-02 9.99062534e-01 1.18069960e-03 1.11822029e-01] [-1.92506124e-02 -2.01542309e-03 9.99812658e-01 -7.75807539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974391418 meters 0.07404445946074653 Centerline is valid? [True, True] Translation: X:7.41, Y:0.12, Z:-0.08 [[ 9.98825111e-01 4.48144826e-02 1.84407269e-02 7.40769888e+00] [-4.48428275e-02 9.98993420e-01 1.12625253e-03 1.16436820e-01] [-1.83716924e-02 -1.95186365e-03 9.99829321e-01 -7.93636052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004391418 meters 0.07103192169537213 Centerline is valid? [True, True] Translation: X:7.44, Y:0.11, Z:-0.08 [[ 9.98738860e-01 4.75909027e-02 1.59935962e-02 7.43890087e+00] [-4.76125654e-02 9.98865402e-01 9.76211574e-04 1.14735303e-01] [-1.59289911e-02 -1.73647658e-03 9.99871618e-01 -8.29120337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034391418 meters 0.07871717091298609 Centerline is valid? [True, True] Translation: X:7.47, Y:0.13, Z:-0.08 [[ 9.98666965e-01 4.91411179e-02 1.57937953e-02 7.46969989e+00] [-4.91624363e-02 9.98790331e-01 9.64152890e-04 1.25906578e-01] [-1.57273105e-02 -1.73932909e-03 9.99874805e-01 -8.39195301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064391418000001 meters 0.07080130865310777 Centerline is valid? [True, True] Translation: X:7.50, Y:0.12, Z:-0.08 [[ 9.98607065e-01 4.97840436e-02 1.74779667e-02 7.50229272e+00] [-4.98101575e-02 9.98758139e-01 1.06170155e-03 1.17502158e-01] [-1.74034057e-02 -1.93080294e-03 9.99846685e-01 -8.21673682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094391418 meters 0.06652831876758808 Centerline is valid? [True, True] Translation: X:7.53, Y:0.11, Z:-0.08 [[ 9.98620956e-01 4.92291398e-02 1.82394541e-02 7.53479668e+00] [-4.92573849e-02 9.98785510e-01 1.10229476e-03 1.13278370e-01] [-1.81630374e-02 -1.99920246e-03 9.99833040e-01 -8.16421885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124391418 meters 0.06432167962273236 Centerline is valid? [True, True] Translation: X:7.57, Y:0.11, Z:-0.08 [[ 9.98683787e-01 4.74596916e-02 1.94491820e-02 7.56575121e+00] [-4.74913647e-02 9.98870964e-01 1.16961359e-03 1.11063366e-01] [-1.93717137e-02 -2.09174233e-03 9.99810163e-01 -8.10775771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154391418000001 meters 0.0697158790332079 Centerline is valid? [True, True] Translation: X:7.60, Y:0.12, Z:-0.08 [[ 9.98796983e-01 4.53100486e-02 1.87506219e-02 7.59523506e+00] [-4.53391055e-02 9.98971018e-01 1.12723930e-03 1.17145537e-01] [-1.86802526e-02 -1.97601964e-03 9.99823556e-01 -8.28318448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391418 meters 0.06059982108585526 Centerline is valid? [True, True] Translation: X:7.63, Y:0.10, Z:-0.08 [[ 9.99067391e-01 3.84942659e-02 1.95586058e-02 7.62670732e+00] [-3.85245888e-02 9.99256961e-01 1.17581436e-03 1.04589449e-01] [-1.94988109e-02 -1.92820503e-03 9.99808021e-01 -8.35738184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214391418 meters 0.059766346542042624 Centerline is valid? [True, True] Translation: X:7.66, Y:0.10, Z:-0.08 [[ 9.99198911e-01 3.43454484e-02 2.05408409e-02 7.65604209e+00] [-3.43780271e-02 9.99408138e-01 1.23493113e-03 1.04697612e-01] [-2.04862693e-02 -1.94009542e-03 9.99788252e-01 -8.31645635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418000001 meters 0.061119463843419104 Centerline is valid? [True, True] Translation: X:7.69, Y:0.10, Z:-0.09 [[ 9.99461890e-01 2.75529332e-02 1.77979229e-02 7.68682531e+00] [-2.75763283e-02 9.99619128e-01 1.07035792e-03 1.04134763e-01] [-1.77616527e-02 -1.56058332e-03 9.99841032e-01 -8.75806260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274391418 meters 0.060502654843396134 Centerline is valid? [True, True] Translation: X:7.72, Y:0.10, Z:-0.09 [[ 9.99575694e-01 2.46095135e-02 1.55821581e-02 7.71697543e+00] [-2.46270841e-02 9.99696269e-01 9.36704407e-04 1.02598522e-01] [-1.55543734e-02 -1.32005007e-03 9.99878152e-01 -9.10124673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters 0.0583896077143143 Centerline is valid? [True, True] Translation: X:7.75, Y:0.10, Z:-0.09 [[ 9.99630793e-01 2.21338142e-02 1.57597955e-02 7.74812906e+00] [-2.21514831e-02 9.99754177e-01 9.47436934e-04 1.00024495e-01] [-1.57349510e-02 -1.29618998e-03 9.99875358e-01 -9.16293185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334391418000001 meters 0.05898753393188258 Centerline is valid? [True, True] Translation: X:7.78, Y:0.10, Z:-0.09 [[ 9.99699429e-01 2.01478150e-02 1.39684031e-02 7.77856351e+00] [-2.01614982e-02 9.99796384e-01 8.39441850e-04 9.99904167e-02] [-1.39486460e-02 -1.12081347e-03 9.99902085e-01 -9.46734100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters 0.056239976532402106 Centerline is valid? [True, True] Translation: X:7.81, Y:0.10, Z:-0.09 [[ 9.99719602e-01 1.75446256e-02 1.59029247e-02 7.80949540e+00] [-1.75620285e-02 9.99845319e-01 9.55312712e-04 9.78726440e-02] [-1.58837043e-02 -1.23433246e-03 9.99873084e-01 -9.25655862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394391418 meters 0.05794490146513874 Centerline is valid? [True, True] Translation: X:7.84, Y:0.10, Z:-0.09 [[ 9.99734635e-01 1.68901829e-02 1.56646278e-02 7.84028747e+00] [-1.69069884e-02 9.99856624e-01 9.41015483e-04 1.00923735e-01] [-1.56464879e-02 -1.20560745e-03 9.99876859e-01 -9.38521657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391418 meters 0.0531612941898599 Centerline is valid? [True, True] Translation: X:7.87, Y:0.10, Z:-0.10 [[ 9.99745030e-01 1.66999396e-02 1.51982393e-02 7.87242146e+00] [-1.67157066e-02 9.99859868e-01 9.10973498e-04 9.50534872e-02] [-1.51808963e-02 -1.16479054e-03 9.99884085e-01 -9.51040760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454391418 meters 0.05288822617184513 Centerline is valid? [True, True] Translation: X:7.91, Y:0.10, Z:-0.09 [[ 9.99725059e-01 1.70397346e-02 1.61075422e-02 7.90563923e+00] [-1.70574081e-02 9.99854051e-01 9.60459653e-04 9.59465938e-02] [-1.60888254e-02 -1.23494851e-03 9.99869804e-01 -9.45453446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418000001 meters 0.0563988430725328 Centerline is valid? [True, True] Translation: X:7.94, Y:0.10, Z:-0.10 [[ 9.99710202e-01 1.73745488e-02 1.66624468e-02 7.93695653e+00] [-1.73934091e-02 9.99848235e-01 9.87641968e-04 1.00989268e-01] [-1.66427582e-02 -1.27717250e-03 9.99860684e-01 -9.50614620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514391418 meters 0.05069166440836415 Centerline is valid? [True, True] Translation: X:7.97, Y:0.10, Z:-0.09 [[ 9.99666456e-01 1.71872417e-02 1.92763149e-02 7.96927074e+00] [-1.72123164e-02 9.99851212e-01 1.13563587e-03 9.56591865e-02] [-1.92539283e-02 -1.46704712e-03 9.99813550e-01 -9.34662459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters 0.05453796767834651 Centerline is valid? [True, True] Translation: X:8.00, Y:0.10, Z:-0.09 [[ 9.99687496e-01 1.60587532e-02 1.91579485e-02 8.00001029e+00] [-1.60832050e-02 9.99870026e-01 1.12292574e-03 1.00999320e-01] [-1.91374257e-02 -1.43069603e-03 9.99815839e-01 -9.45411820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574391418000001 meters 0.047370406570299804 Centerline is valid? [True, True] Translation: X:8.03, Y:0.09, Z:-0.10 [[ 9.99751400e-01 1.24844625e-02 1.84736636e-02 8.03141899e+00] [-1.25065021e-02 9.99921210e-01 1.07797832e-03 9.21111760e-02] [-1.84587501e-02 -1.30875125e-03 9.99828766e-01 -9.63887775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391418 meters 0.048937618276345435 Centerline is valid? [True, True] Translation: X:8.06, Y:0.09, Z:-0.10 [[ 9.99809886e-01 9.57540859e-03 1.69853659e-02 8.06110754e+00] [-9.59361577e-03 9.99953489e-01 9.90773894e-04 9.45893746e-02] [-1.69750888e-02 -1.15353661e-03 9.99855247e-01 -9.88535918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634391418 meters 0.04585709683254816 Centerline is valid? [True, True] Translation: X:8.09, Y:0.09, Z:-0.10 [[ 9.99807799e-01 7.04812689e-03 1.82945261e-02 8.09328219e+00] [-7.06882771e-03 9.99974446e-01 1.06711086e-03 9.19550730e-02] [-1.82865374e-02 -1.19622662e-03 9.99832072e-01 -9.84203939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418000001 meters 0.04541305124972739 Centerline is valid? [True, True] Translation: X:8.12, Y:0.09, Z:-0.10 [[ 9.99843389e-01 3.89725495e-03 1.72629463e-02 8.12266332e+00] [-3.91519142e-03 9.99991830e-01 1.00534128e-03 9.12729328e-02] [-1.72588872e-02 -1.07277157e-03 9.99850479e-01 -1.00256153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694391418 meters 0.042570444667068885 Centerline is valid? [True, True] Translation: X:8.15, Y:0.09, Z:-0.10 [[ 9.99836909e-01 -1.84478236e-03 1.79653260e-02 8.15335540e+00] [ 1.82627290e-03 9.99997785e-01 1.04663942e-03 8.62822067e-02] [-1.79672170e-02 -1.01365913e-03 9.99838063e-01 -1.00384298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters 0.0407260865269006 Centerline is valid? [True, True] Translation: X:8.19, Y:0.09, Z:-0.10 [[ 9.99786759e-01 -4.21503638e-03 2.02156067e-02 8.18536658e+00] [ 4.19208533e-03 9.99990520e-01 1.17755641e-03 8.66875590e-02] [-2.02203785e-02 -1.09255976e-03 9.99794950e-01 -9.86668006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754391418 meters 0.04110618771773034 Centerline is valid? [True, True] Translation: X:8.22, Y:0.09, Z:-0.10 [[ 9.99794643e-01 -7.73356267e-03 1.87313844e-02 8.21709262e+00] [ 7.71449498e-03 9.99969649e-01 1.08999945e-03 8.64735247e-02] [-1.87392454e-02 -9.45272441e-04 9.99823958e-01 -1.02698378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters 0.0399455665458854 Centerline is valid? [True, True] Translation: X:8.25, Y:0.09, Z:-0.10 [[ 9.99762551e-01 -8.97720315e-03 1.98557659e-02 8.24850999e+00] [ 8.95604761e-03 9.99959228e-01 1.15412942e-03 8.87698809e-02] [-1.98653171e-02 -9.76026194e-04 9.99802189e-01 -1.02551901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814391418000001 meters 0.040713105339730944 Centerline is valid? [True, True] Translation: X:8.28, Y:0.09, Z:-0.10 [[ 9.99762807e-01 -9.20721004e-03 1.97371792e-02 8.28049698e+00] [ 9.18637599e-03 9.99957148e-01 1.14598149e-03 9.16476397e-02] [-1.97468847e-02 -9.64396522e-04 9.99804546e-01 -1.04095881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391418 meters 0.04016207327741524 Centerline is valid? [True, True] Translation: X:8.31, Y:0.10, Z:-0.10 [[ 9.99730608e-01 -9.10679547e-03 2.13489461e-02 8.31170037e+00] [ 9.08243458e-03 9.99957988e-01 1.23776727e-03 9.51879570e-02] [-2.13593212e-02 -1.04353342e-03 9.99771319e-01 -1.03933103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874391418 meters 0.0409582903640234 Centerline is valid? [True, True] Translation: X:8.34, Y:0.10, Z:-0.11 [[ 9.99755749e-01 -8.19824169e-03 2.05239308e-02 8.34401583e+00] [ 8.17556258e-03 9.99965873e-01 1.18867209e-03 9.85821905e-02] [-2.05329754e-02 -1.02058707e-03 9.99788655e-01 -1.05888531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418000001 meters 0.04210011358004764 Centerline is valid? [True, True] Translation: X:8.38, Y:0.10, Z:-0.11 [[ 9.99787107e-01 -7.44832645e-03 1.92422257e-02 8.37602124e+00] [ 7.42828162e-03 9.99971791e-01 1.11297658e-03 1.02465613e-01] [-1.92499727e-02 -9.69802960e-04 9.99814232e-01 -1.08873035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934391418 meters 0.045111040844924157 Centerline is valid? [True, True] Translation: X:8.41, Y:0.11, Z:-0.11 [[ 9.99828200e-01 -5.69398266e-03 1.76393983e-02 8.40757812e+00] [ 5.67688916e-03 9.99983367e-01 1.01897403e-03 1.09146170e-01] [-1.76449070e-02 -9.18662059e-04 9.99843894e-01 -1.13085794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters 0.045369875427705486 Centerline is valid? [True, True] Translation: X:8.44, Y:0.11, Z:-0.11 [[ 9.99781204e-01 -4.76256899e-03 2.03681839e-02 8.43803711e+00] [ 4.73962418e-03 9.99988078e-01 1.17462850e-03 1.14508358e-01] [-2.03735353e-02 -1.07783396e-03 9.99791857e-01 -1.10351268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994391418000001 meters 0.04365980595024054 Centerline is valid? [True, True] Translation: X:8.47, Y:0.12, Z:-0.11 [[ 9.99746197e-01 -2.29883447e-03 2.24111078e-02 8.46922759e+00] [ 2.27050294e-03 9.99996591e-01 1.28953681e-03 1.15717960e-01] [-2.24139958e-02 -1.23832504e-03 9.99748008e-01 -1.09436443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024391418 meters 0.04283550048286426 Centerline is valid? [True, True] Translation: X:8.50, Y:0.12, Z:-0.11 [[ 9.99738458e-01 -1.18148757e-03 2.28390119e-02 8.50123187e+00] [ 1.15179951e-03 9.99998475e-01 1.31299490e-03 1.16315143e-01] [-2.28405284e-02 -1.28634554e-03 9.99738294e-01 -1.10889912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054391418 meters 0.048033541736421145 Centerline is valid? [True, True] Translation: X:8.53, Y:0.13, Z:-0.11 [[ 9.99715966e-01 7.85320009e-05 2.38323624e-02 8.53220944e+00] [-1.11140447e-04 9.99999060e-01 1.36692083e-03 1.25876794e-01] [-2.38322327e-02 -1.36918132e-03 9.99715034e-01 -1.10531032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418000001 meters 0.04301183360513149 Centerline is valid? [True, True] Translation: X:8.56, Y:0.12, Z:-0.11 [[ 9.99699891e-01 1.43541468e-03 2.44554381e-02 8.56480286e+00] [-1.46998498e-03 9.99997946e-01 1.39568518e-03 1.22195357e-01] [-2.44533845e-02 -1.43121545e-03 9.99699947e-01 -1.11743558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114391418 meters 0.044820675754506795 Centerline is valid? [True, True] Translation: X:8.60, Y:0.13, Z:-0.11 [[ 9.99687356e-01 3.75554340e-03 2.47201539e-02 8.59615532e+00] [-3.79139127e-03 9.99991828e-01 1.40343829e-03 1.27873163e-01] [-2.47146812e-02 -1.49672329e-03 9.99693425e-01 -1.13231932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters 0.044354802247022394 Centerline is valid? [True, True] Translation: X:8.63, Y:0.13, Z:-0.11 [[ 9.99649251e-01 4.75868986e-03 2.60524359e-02 8.62819443e+00] [-4.79864653e-03 9.99987404e-01 1.47139758e-03 1.31292334e-01] [-2.60451058e-02 -1.59589792e-03 9.99659495e-01 -1.12853600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174391418 meters 0.04731096822255373 Centerline is valid? [True, True] Translation: X:8.66, Y:0.14, Z:-0.11 [[ 9.99624480e-01 5.88754498e-03 2.67625711e-02 8.65844841e+00] [-5.92995528e-03 9.99981284e-01 1.50559822e-03 1.38259925e-01] [-2.67532059e-02 -1.66373369e-03 9.99640684e-01 -1.12702871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204391418 meters 0.04542839946626722 Centerline is valid? [True, True] Translation: X:8.69, Y:0.14, Z:-0.12 [[ 9.99632548e-01 7.05859629e-03 2.61714567e-02 8.69062498e+00] [-7.09946844e-03 9.99973719e-01 1.46911730e-03 1.38592025e-01] [-2.61603990e-02 -1.65438090e-03 9.99656389e-01 -1.15126543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234391418000001 meters 0.04468674397378772 Centerline is valid? [True, True] Translation: X:8.72, Y:0.14, Z:-0.11 [[ 9.99567500e-01 7.29274562e-03 2.84890880e-02 8.72351365e+00] [-7.34100244e-03 9.99971791e-01 1.58964580e-03 1.41515994e-01] [-2.84766914e-02 -1.79809674e-03 9.99592840e-01 -1.13633073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264391418 meters 0.048652796982607494 Centerline is valid? [True, True] Translation: X:8.76, Y:0.15, Z:-0.11 [[ 9.99562330e-01 7.47914549e-03 2.86218747e-02 8.75534703e+00] [-7.52768458e-03 9.99970405e-01 1.58849826e-03 1.49332655e-01] [-2.86091470e-02 -1.80325947e-03 9.99589048e-01 -1.13365145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294391418 meters 0.04397906644849269 Centerline is valid? [True, True] Translation: X:8.79, Y:0.15, Z:-0.11 [[ 9.99493573e-01 6.23756789e-03 3.12040173e-02 8.78785216e+00] [-6.29440570e-03 9.99978705e-01 1.72359182e-03 1.48305642e-01] [-3.11926017e-02 -1.91912969e-03 9.99511550e-01 -1.12843103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418000001 meters 0.042130268930346326 Centerline is valid? [True, True] Translation: X:8.82, Y:0.15, Z:-0.11 [[ 9.99510610e-01 4.93950299e-03 3.08891804e-02 8.82059303e+00] [-4.99437140e-03 9.99986084e-01 1.69939612e-03 1.48070849e-01] [-3.08803563e-02 -1.85283650e-03 9.99521371e-01 -1.14420441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354391418 meters 0.04260287010971201 Centerline is valid? [True, True] Translation: X:8.85, Y:0.15, Z:-0.11 [[ 9.99495713e-01 3.83229593e-03 3.15219408e-02 8.85172913e+00] [-3.88874871e-03 9.99990943e-01 1.72979346e-03 1.51552803e-01] [-3.15150262e-02 -1.85150205e-03 9.99501563e-01 -1.14159933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters 0.04097612353736467 Centerline is valid? [True, True] Translation: X:8.88, Y:0.15, Z:-0.12 [[ 9.99489448e-01 2.52670128e-03 3.18505647e-02 8.88431605e+00] [-2.58350143e-03 9.99995145e-01 1.74230537e-03 1.51795682e-01] [-3.18460077e-02 -1.82370182e-03 9.99491123e-01 -1.15226546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414391418000001 meters 0.04100988409269683 Centerline is valid? [True, True] Translation: X:8.91, Y:0.16, Z:-0.12 [[ 9.99556176e-01 7.16442583e-05 2.97900404e-02 8.91482748e+00] [-1.20143857e-04 9.99998670e-01 1.62626067e-03 1.56393490e-01] [-2.97898843e-02 -1.62911799e-03 9.99554855e-01 -1.17723714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391418 meters 0.04163774235223437 Centerline is valid? [True, True] Translation: X:8.95, Y:0.16, Z:-0.12 [[ 9.99586287e-01 -7.60224553e-04 2.87519993e-02 8.94610939e+00] [ 7.15498311e-04 9.99998518e-01 1.56584333e-03 1.60363513e-01] [-2.87531471e-02 -1.54462351e-03 9.99585349e-01 -1.19881750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474391418 meters 0.03955087385804556 Centerline is valid? [True, True] Translation: X:8.98, Y:0.16, Z:-0.12 [[ 9.99591117e-01 -1.87190380e-03 2.85323303e-02 8.97834157e+00] [ 1.82854237e-03 9.99997134e-01 1.54574544e-03 1.61637613e-01] [-2.85351420e-02 -1.49294084e-03 9.99591675e-01 -1.20503365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504391418 meters 0.038560034463624535 Centerline is valid? [True, True] Translation: X:9.01, Y:0.16, Z:-0.12 [[ 9.99606528e-01 -3.12209997e-03 2.78754648e-02 9.01056906e+00] [ 3.08142871e-03 9.99994125e-01 1.50187146e-03 1.62347287e-01] [-2.78799900e-02 -1.41538426e-03 9.99610275e-01 -1.22373156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534391418 meters 0.039242604051030736 Centerline is valid? [True, True] Translation: X:9.04, Y:0.16, Z:-0.12 [[ 9.99617306e-01 -3.18939238e-03 2.74785199e-02 9.04242686e+00] [ 3.15012415e-03 9.99993955e-01 1.47222200e-03 1.64880856e-01] [-2.74830492e-02 -1.38509784e-03 9.99621310e-01 -1.23203110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters 0.038364434172876924 Centerline is valid? [True, True] Translation: X:9.07, Y:0.17, Z:-0.12 [[ 9.99586541e-01 -4.27755206e-03 2.84332362e-02 9.07306277e+00] [ 4.23618882e-03 9.99989880e-01 1.51482719e-03 1.67915807e-01] [-2.84394282e-02 -1.39375231e-03 9.99594546e-01 -1.22854186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594391418 meters 0.038192389663238104 Centerline is valid? [True, True] Translation: X:9.11, Y:0.17, Z:-0.12 [[ 9.99584831e-01 -4.08490692e-03 2.85215482e-02 9.10577678e+00] [ 4.04345477e-03 9.99990684e-01 1.51088601e-03 1.70171587e-01] [-2.85274543e-02 -1.39493315e-03 9.99592036e-01 -1.23650281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters 0.03801234994285615 Centerline is valid? [True, True] Translation: X:9.14, Y:0.17, Z:-0.12 [[ 9.99539090e-01 -3.56684249e-03 3.01477073e-02 9.13747601e+00] [ 3.52059809e-03 9.99992544e-01 1.58686952e-03 1.73891161e-01] [-3.01531426e-02 -1.48000016e-03 9.99544195e-01 -1.22996783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654391418000001 meters 0.03866719724901302 Centerline is valid? [True, True] Translation: X:9.17, Y:0.18, Z:-0.12 [[ 9.99542206e-01 -3.31301736e-03 3.00732793e-02 9.16937882e+00] [ 3.26716363e-03 9.99993424e-01 1.57374363e-03 1.78633552e-01] [-3.00782954e-02 -1.47476885e-03 9.99546458e-01 -1.23242044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684391418 meters 0.03977860528107218 Centerline is valid? [True, True] Translation: X:9.20, Y:0.18, Z:-0.13 [[ 9.99596233e-01 -2.14508387e-03 2.83332020e-02 9.20088098e+00] [ 2.10415025e-03 9.99996699e-01 1.47445829e-03 1.82574677e-01] [-2.83362713e-02 -1.41424564e-03 9.99597447e-01 -1.26261133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714391418 meters 0.03977860528107218 Centerline is valid? [True, True] Translation: X:9.23, Y:0.18, Z:-0.13 [[ 9.99596891e-01 -1.80562673e-03 2.83336394e-02 9.23338762e+00] [ 1.76479591e-03 9.99997368e-01 1.46601273e-03 1.84051807e-01] [-2.83362119e-02 -1.41541867e-03 9.99597447e-01 -1.26848080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418000001 meters 0.037477822540902546 Centerline is valid? [True, True] Translation: X:9.27, Y:0.18, Z:-0.13 [[ 9.99557090e-01 -1.53934258e-03 2.97195839e-02 9.26663239e+00] [ 1.49461378e-03 9.99997717e-01 1.52718363e-03 1.84107734e-01] [-2.97218669e-02 -1.48208792e-03 9.99557109e-01 -1.26701225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774391418 meters 0.03745442791631515 Centerline is valid? [True, True] Translation: X:9.30, Y:0.19, Z:-0.13 [[ 9.99595920e-01 -2.09568930e-03 2.83479146e-02 9.29915356e+00] [ 2.05542156e-03 9.99996837e-01 1.44954839e-03 1.88057552e-01] [-2.83508627e-02 -1.39069575e-03 9.99597066e-01 -1.28685961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804391418 meters 0.04053669045803053 Centerline is valid? [True, True] Translation: X:9.33, Y:0.20, Z:-0.13 [[ 9.99608097e-01 -2.75341649e-03 2.78580649e-02 9.33010239e+00] [ 2.71491391e-03 9.99995307e-01 1.41982708e-03 1.95766203e-01] [-2.78618436e-02 -1.34363840e-03 9.99610880e-01 -1.28723094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834391418000001 meters 0.04055822840411802 Centerline is valid? [True, True] Translation: X:9.36, Y:0.20, Z:-0.13 [[ 9.99622491e-01 -3.26954676e-03 2.72797570e-02 9.36112849e+00] [ 3.23301898e-03 9.99993817e-01 1.38300551e-03 1.98576797e-01] [-2.72841101e-02 -1.29428744e-03 9.99626881e-01 -1.30123374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864391418 meters 0.037238889962828446 Centerline is valid? [True, True] Translation: X:9.39, Y:0.19, Z:-0.13 [[ 9.99669582e-01 -3.85460673e-03 2.54139352e-02 9.39348668e+00] [ 3.82326285e-03 9.99991870e-01 1.28180901e-03 1.94919125e-01] [-2.54186694e-02 -1.18422133e-03 9.99676192e-01 -1.33415500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894391418 meters 0.03692597238045288 Centerline is valid? [True, True] Translation: X:9.43, Y:0.20, Z:-0.13 [[ 9.99648802e-01 -5.15560711e-03 2.59940749e-02 9.42503837e+00] [ 5.12345945e-03 9.99986026e-01 1.30317993e-03 1.98169637e-01] [-2.60004303e-02 -1.16954266e-03 9.99661248e-01 -1.32443419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391418 meters 0.03505717567280615 Centerline is valid? [True, True] Translation: X:9.46, Y:0.20, Z:-0.13 [[ 9.99639581e-01 -5.83159154e-03 2.62049919e-02 9.45728615e+00] [ 5.79931175e-03 9.99982329e-01 1.30764876e-03 1.98123437e-01] [-2.62121545e-02 -1.15520654e-03 9.99655735e-01 -1.32882819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954391418 meters 0.03522141568547438 Centerline is valid? [True, True] Translation: X:9.49, Y:0.20, Z:-0.13 [[ 9.99662951e-01 -6.97579210e-03 2.50064421e-02 9.48948575e+00] [ 6.94680770e-03 9.99975095e-01 1.24576215e-03 1.99137668e-01] [-2.50145095e-02 -1.07162732e-03 9.99686514e-01 -1.34760888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418000001 meters 0.036138535119609606 Centerline is valid? [True, True] Translation: X:9.52, Y:0.20, Z:-0.14 [[ 9.99654516e-01 -9.95922678e-03 2.43241251e-02 9.51933233e+00] [ 9.93272435e-03 9.99949937e-01 1.21013374e-03 2.03087167e-01] [-2.43349594e-02 -9.68110830e-04 9.99703392e-01 -1.35820934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014391418 meters 0.03238114483661102 Centerline is valid? [True, True] Translation: X:9.55, Y:0.20, Z:-0.14 [[ 9.99641719e-01 -1.11947985e-02 2.43127681e-02 9.55195206e+00] [ 1.11687084e-02 9.99936898e-01 1.20863082e-03 2.01182928e-01] [-2.43247643e-02 -9.36655571e-04 9.99703670e-01 -1.37385169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters 0.03312409598998486 Centerline is valid? [True, True] Translation: X:9.58, Y:0.21, Z:-0.14 [[ 9.99625895e-01 -1.42389333e-02 2.33521389e-02 9.58211533e+00] [ 1.42157455e-02 9.99898280e-01 1.15867954e-03 2.05310391e-01] [-2.33662619e-02 -8.26278005e-04 9.99726630e-01 -1.39063654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074391418000001 meters 0.02909274826744563 Centerline is valid? [True, True] Translation: X:9.61, Y:0.20, Z:-0.14 [[ 9.99607912e-01 -1.50511540e-02 2.36111085e-02 9.61459942e+00] [ 1.50277422e-02 9.99886394e-01 1.16869092e-03 2.02785103e-01] [-2.36260162e-02 -8.13411042e-04 9.99720536e-01 -1.39464826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391418 meters 0.028192496050703238 Centerline is valid? [True, True] Translation: X:9.65, Y:0.20, Z:-0.14 [[ 9.99602374e-01 -1.60165089e-02 2.32070128e-02 9.64682794e+00] [ 1.59941986e-02 9.99871427e-01 1.14666632e-03 2.03302764e-01] [-2.32223946e-02 -7.75032801e-04 9.99730023e-01 -1.40607564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134391418 meters 0.029937648083939276 Centerline is valid? [True, True] Translation: X:9.68, Y:0.21, Z:-0.14 [[ 9.99630125e-01 -1.68346330e-02 2.13590303e-02 9.67787864e+00] [ 1.68159580e-02 9.99858047e-01 1.05365978e-03 2.05809487e-01] [-2.13737363e-02 -6.94097498e-04 9.99771315e-01 -1.42991526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164391418000001 meters 0.03184028742575548 Centerline is valid? [True, True] Translation: X:9.71, Y:0.21, Z:-0.14 [[ 9.99606175e-01 -1.78288944e-02 2.16708265e-02 9.70854878e+00] [ 1.78099431e-02 9.99840821e-01 1.06720748e-03 2.12655416e-01] [-2.16864041e-02 -6.80831001e-04 9.99764590e-01 -1.42279119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194391418 meters 0.02858219432631986 Centerline is valid? [True, True] Translation: X:9.74, Y:0.21, Z:-0.14 [[ 9.99607197e-01 -1.76218025e-02 2.17927670e-02 9.74207474e+00] [ 1.76026664e-02 9.99844489e-01 1.06962694e-03 2.10306147e-01] [-2.18082267e-02 -6.85595981e-04 9.99761937e-01 -1.43185502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters 0.028123748841044047 Centerline is valid? [True, True] Translation: X:9.77, Y:0.21, Z:-0.14 [[ 9.99620638e-01 -1.71085622e-02 2.15841690e-02 9.77455490e+00] [ 1.70897283e-02 9.99853401e-01 1.05674897e-03 2.12904564e-01] [-2.15990842e-02 -6.87480493e-04 9.99766476e-01 -1.43876519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254391418 meters 0.02928351743285089 Centerline is valid? [True, True] Translation: X:9.81, Y:0.22, Z:-0.14 [[ 9.99654293e-01 -1.44870762e-02 2.19412618e-02 9.80679960e+00] [ 1.44670259e-02 9.99894772e-01 1.07228217e-03 2.20042457e-01] [-2.19544872e-02 -7.54486674e-04 9.99758687e-01 -1.43516048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284391418 meters 0.03123217821845969 Centerline is valid? [True, True] Translation: X:9.84, Y:0.23, Z:-0.14 [[ 9.99663565e-01 -1.28705693e-02 2.25189880e-02 9.83751278e+00] [ 1.28490824e-02 9.99916844e-01 1.09860747e-03 2.25797394e-01] [-2.25312551e-02 -8.08889528e-04 9.99745812e-01 -1.43680666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314391418 meters 0.03219676766149442 Centerline is valid? [True, True] Translation: X:9.87, Y:0.23, Z:-0.15 [[ 9.99700799e-01 -1.17685779e-02 2.14432607e-02 9.86967296e+00] [ 1.17488724e-02 9.99930434e-01 1.04471120e-03 2.28514225e-01] [-2.14540637e-02 -7.92464490e-04 9.99769521e-01 -1.46094865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344391418 meters 0.03529259653567745 Centerline is valid? [True, True] Translation: X:9.90, Y:0.24, Z:-0.14 [[ 9.99699198e-01 -8.83893379e-03 2.28776428e-02 9.90012361e+00] [ 8.81578275e-03 9.99960521e-01 1.11261022e-03 2.39335021e-01] [-2.28865740e-02 -9.10591211e-04 9.99737653e-01 -1.44036993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374391418 meters 0.032744097358326264 Centerline is valid? [True, True] Translation: X:9.93, Y:0.24, Z:-0.15 [[ 9.99737602e-01 -8.41904913e-03 2.13036780e-02 9.93272615e+00] [ 8.39891068e-03 9.99964193e-01 1.03460329e-03 2.36900945e-01] [-2.13116256e-02 -8.55404121e-04 9.99772516e-01 -1.47570412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418000001 meters 0.03228181614048469 Centerline is valid? [True, True] Translation: X:9.96, Y:0.24, Z:-0.15 [[ 9.99746162e-01 -7.66352697e-03 2.11868365e-02 9.96473106e+00] [ 7.64348807e-03 9.99970261e-01 1.02663747e-03 2.38954543e-01] [-2.11940741e-02 -8.64435542e-04 9.99775007e-01 -1.48413718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434391418 meters 0.033263645682696415 Centerline is valid? [True, True] Translation: X:10.00, Y:0.24, Z:-0.15 [[ 9.99765500e-01 -7.28310884e-03 2.03936488e-02 9.99632225e+00] [ 7.26451190e-03 9.99973127e-01 9.85833729e-04 2.43992362e-01] [-2.04002807e-02 -8.37452647e-04 9.99791542e-01 -1.49058861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters 0.03182028023082821 Centerline is valid? [True, True] Translation: X:10.03, Y:0.25, Z:-0.15 [[ 9.99759885e-01 -7.50052745e-03 2.05891874e-02 1.00283280e+01] [ 7.48174886e-03 9.99971522e-01 9.88940058e-04 2.45260170e-01] [-2.05960187e-02 -8.34659469e-04 9.99787531e-01 -1.49003322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494391418000001 meters 0.03510672421523193 Centerline is valid? [True, True] Translation: X:10.06, Y:0.25, Z:-0.15 [[ 9.99765091e-01 -8.73569907e-03 1.98356044e-02 1.00596690e+01] [ 8.71854694e-03 9.99961541e-01 9.51028836e-04 2.51315285e-01] [-1.98431494e-02 -7.77867783e-04 9.99802803e-01 -1.50882105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391418 meters 0.03136592711408313 Centerline is valid? [True, True] Translation: X:10.09, Y:0.25, Z:-0.15 [[ 9.99750073e-01 -9.80765273e-03 2.00898251e-02 1.00917379e+01] [ 9.79031025e-03 9.99951612e-01 9.61420308e-04 2.50455093e-01] [-2.00982823e-02 -7.64494403e-04 9.99797717e-01 -1.50037966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554391418 meters 0.031051176575416478 Centerline is valid? [True, True] Translation: X:10.12, Y:0.25, Z:-0.15 [[ 9.99744401e-01 -9.88118368e-03 2.03345504e-02 1.01241460e+01] [ 9.86346796e-03 9.99950883e-01 9.71326129e-04 2.52163873e-01] [-2.03431495e-02 -7.70508673e-04 9.99792760e-01 -1.50259445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418000001 meters 0.03220928921048256 Centerline is valid? [True, True] Translation: X:10.16, Y:0.25, Z:-0.15 [[ 9.99776233e-01 -1.00461976e-02 1.86160430e-02 1.01557590e+01] [ 1.00314070e-02 9.99949290e-01 8.87724450e-04 2.53941665e-01] [-1.86240173e-02 -7.00780704e-04 9.99826312e-01 -1.53323148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614391418 meters 0.03291578027486299 Centerline is valid? [True, True] Translation: X:10.19, Y:0.26, Z:-0.15 [[ 9.99799696e-01 -8.19433992e-03 1.82598036e-02 1.01863722e+01] [ 8.17983054e-03 9.99966167e-01 8.69154962e-04 2.58746899e-01] [-1.82663080e-02 -7.19618767e-04 9.99832898e-01 -1.53797415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters 0.033947970919982 Centerline is valid? [True, True] Translation: X:10.22, Y:0.26, Z:-0.16 [[ 9.99821844e-01 -7.64304508e-03 1.72587334e-02 1.02182395e+01] [ 7.63001955e-03 9.99970554e-01 8.20442870e-04 2.60766307e-01] [-1.72644959e-02 -6.88612230e-04 9.99850720e-01 -1.55486043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674391418 meters 0.032715889449867995 Centerline is valid? [True, True] Translation: X:10.25, Y:0.26, Z:-0.15 [[ 9.99807221e-01 -7.16028319e-03 1.82825166e-02 1.02498613e+01] [ 7.14561683e-03 9.99974094e-01 8.67407361e-04 2.63751021e-01] [-1.82882538e-02 -7.36600286e-04 9.99832485e-01 -1.53408768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391418 meters 0.03295020441781404 Centerline is valid? [True, True] Translation: X:10.28, Y:0.26, Z:-0.16 [[ 9.99808210e-01 -8.04478276e-03 1.78556646e-02 1.02824313e+01] [ 8.03098690e-03 9.99967395e-01 8.44204150e-04 2.63906122e-01] [-1.78618738e-02 -7.00643632e-04 9.99840219e-01 -1.55579139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734391418000001 meters 0.030661887591619273 Centerline is valid? [True, True] Translation: X:10.31, Y:0.26, Z:-0.15 [[ 9.99754111e-01 -1.16994619e-02 1.88372081e-02 1.03125516e+01] [ 1.16847869e-02 9.99931335e-01 8.88920546e-04 2.63734515e-01] [-1.88463146e-02 -6.68593207e-04 9.99822169e-01 -1.54031268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764391418 meters 0.030061409926551274 Centerline is valid? [True, True] Translation: X:10.34, Y:0.26, Z:-0.16 [[ 9.99730486e-01 -1.41430233e-02 1.84100663e-02 1.03449812e+01] [ 1.41294280e-02 9.99899798e-01 8.68341638e-04 2.63619108e-01] [-1.84205025e-02 -6.07983902e-04 9.99830143e-01 -1.55380452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794391418 meters 0.027975102420143522 Centerline is valid? [True, True] Translation: X:10.38, Y:0.27, Z:-0.15 [[ 9.99687220e-01 -1.61493509e-02 1.90960755e-02 1.03774849e+01] [ 1.61351216e-02 9.99869416e-01 8.98989938e-04 2.65196781e-01] [-1.91081000e-02 -5.90591251e-04 9.99817249e-01 -1.53630780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418000001 meters 0.025646213202239525 Centerline is valid? [True, True] Translation: X:10.41, Y:0.27, Z:-0.16 [[ 9.99656961e-01 -1.97810986e-02 1.71658848e-02 1.04089661e+01] [ 1.97701590e-02 9.99804226e-01 8.06768435e-04 2.66868923e-01] [-1.71784829e-02 -4.67119411e-04 9.99852330e-01 -1.55671261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854391418 meters 0.024338230593014227 Centerline is valid? [True, True] Translation: X:10.44, Y:0.27, Z:-0.16 [[ 9.99640864e-01 -2.11726609e-02 1.64274703e-02 1.04407096e+01] [ 2.11628401e-02 9.99775744e-01 7.71457860e-04 2.67816794e-01] [-1.64401201e-02 -4.23528875e-04 9.99864762e-01 -1.57084980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters 0.024319548105965323 Centerline is valid? [True, True] Translation: X:10.47, Y:0.27, Z:-0.16 [[ 9.99630776e-01 -2.22943949e-02 1.55329250e-02 1.04730092e+01] [ 2.22857699e-02 9.99751376e-01 7.28161183e-04 2.69127534e-01] [-1.55452971e-02 -3.81729135e-04 9.99879092e-01 -1.59011541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914391418000001 meters 0.023628691984815108 Centerline is valid? [True, True] Translation: X:10.51, Y:0.27, Z:-0.16 [[ 9.99611289e-01 -2.27568484e-02 1.61057851e-02 1.05053361e+01] [ 2.27476591e-02 9.99740955e-01 7.53544113e-04 2.70898505e-01] [-1.61187612e-02 -3.86882293e-04 9.99870009e-01 -1.58373112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391418 meters 0.02340669601600208 Centerline is valid? [True, True] Translation: X:10.54, Y:0.27, Z:-0.16 [[ 9.99580573e-01 -2.43583724e-02 1.56635728e-02 1.05369307e+01] [ 2.43498982e-02 9.99703230e-01 7.31527840e-04 2.73551747e-01] [-1.56767432e-02 -3.49814614e-04 9.99877051e-01 -1.59328838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974391418 meters 0.023541806113320927 Centerline is valid? [True, True] Translation: X:10.57, Y:0.28, Z:-0.16 [[ 9.99566145e-01 -2.49831750e-02 1.56000894e-02 1.05693390e+01] [ 2.49748661e-02 9.99687815e-01 7.27236945e-04 2.75068933e-01] [-1.56133880e-02 -3.37311285e-04 9.99878047e-01 -1.60855432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391418 meters 0.025191538916946102 Centerline is valid? [True, True] Translation: X:10.60, Y:0.28, Z:-0.16 [[ 9.99557691e-01 -2.53727945e-02 1.55127035e-02 1.06001201e+01] [ 2.53646476e-02 9.99678005e-01 7.21734174e-04 2.80488814e-01] [-1.55260209e-02 -3.27940688e-04 9.99879410e-01 -1.61673352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034391418 meters 0.02211119143303838 Centerline is valid? [True, True] Translation: X:10.63, Y:0.29, Z:-0.16 [[ 9.99579771e-01 -2.51242063e-02 1.44587843e-02 1.06325310e+01] [ 2.51171121e-02 9.99684290e-01 6.72055336e-04 2.86515483e-01] [-1.44711044e-02 -3.08610011e-04 9.99895240e-01 -1.60550648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters 0.02237704287317231 Centerline is valid? [True, True] Translation: X:10.66, Y:0.29, Z:-0.16 [[ 9.99611039e-01 -2.47936036e-02 1.27690209e-02 1.06645127e+01] [ 2.47880648e-02 9.99692554e-01 5.91874057e-04 2.89829151e-01] [-1.27797698e-02 -2.75124524e-04 9.99918298e-01 -1.62922593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094391418 meters 0.022338184646653426 Centerline is valid? [True, True] Translation: X:10.70, Y:0.29, Z:-0.16 [[ 9.99653859e-01 -2.36131236e-02 1.16009517e-02 1.06967687e+01] [ 2.36084826e-02 9.99721137e-01 5.36859248e-04 2.92911378e-01] [-1.16103935e-02 -2.62792554e-04 9.99932563e-01 -1.64034029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391418 meters 0.024413698825275398 Centerline is valid? [True, True] Translation: X:10.73, Y:0.30, Z:-0.17 [[ 9.99692204e-01 -2.25457792e-02 1.03529965e-02 1.07285501e+01] [ 2.25420337e-02 9.99745782e-01 4.78352224e-04 2.95399162e-01] [-1.03611494e-02 -2.44827393e-04 9.99946292e-01 -1.67292511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154391418000001 meters 0.025818111662984 Centerline is valid? [True, True] Translation: X:10.76, Y:0.30, Z:-0.17 [[ 9.99780763e-01 -1.80905169e-02 1.05431624e-02 1.07588191e+01] [ 1.80863900e-02 9.99836309e-01 4.86653494e-04 3.03742371e-01] [-1.05502404e-02 -2.95859055e-04 9.99944301e-01 -1.66161560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391418 meters 0.028746714614516205 Centerline is valid? [True, True] Translation: X:10.79, Y:0.31, Z:-0.17 [[ 9.99820905e-01 -1.57878030e-02 1.04356877e-02 1.07904258e+01] [ 1.57836565e-02 9.99875315e-01 4.79583380e-04 3.09360205e-01] [-1.04419581e-02 -3.14784179e-04 9.99945432e-01 -1.67206083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214391418 meters 0.027777819949365592 Centerline is valid? [True, True] Translation: X:10.82, Y:0.32, Z:-0.16 [[ 9.99842504e-01 -1.35994764e-02 1.14026832e-02 1.08221071e+01] [ 1.35943970e-02 9.99907455e-01 5.22854458e-04 3.15733878e-01] [-1.14087385e-02 -3.67759509e-04 9.99934851e-01 -1.64693979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418000001 meters 0.02983753924794256 Centerline is valid? [True, True] Translation: X:10.85, Y:0.32, Z:-0.16 [[ 9.99886980e-01 -1.00516303e-02 1.11800089e-02 1.08539183e+01] [ 1.00465365e-02 9.99949401e-01 5.11684445e-04 3.23803435e-01] [-1.11845864e-02 -3.99306246e-04 9.99937371e-01 -1.64442441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274391418 meters 0.030115409993659543 Centerline is valid? [True, True] Translation: X:10.89, Y:0.33, Z:-0.17 [[ 9.99889317e-01 -9.65913434e-03 1.13161675e-02 1.08858643e+01] [ 9.65390206e-03 9.99953266e-01 5.16906007e-04 3.25944524e-01] [-1.13206316e-02 -4.07603621e-04 9.99935837e-01 -1.65314225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters 0.02935835055087119 Centerline is valid? [True, True] Translation: X:10.92, Y:0.33, Z:-0.16 [[ 9.99881147e-01 -8.71313542e-03 1.27190298e-02 1.09179306e+01] [ 8.70646572e-03 9.99961930e-01 5.79665443e-04 3.28343478e-01] [-1.27235963e-02 -4.68858752e-04 9.99918942e-01 -1.63347991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334391418000001 meters 0.028663940685199077 Centerline is valid? [True, True] Translation: X:10.95, Y:0.33, Z:-0.16 [[ 9.99862255e-01 -8.86668282e-03 1.40304431e-02 1.09501185e+01] [ 8.85860190e-03 9.99960558e-01 6.38000669e-04 3.30737899e-01] [-1.40355467e-02 -5.13622677e-04 9.99901365e-01 -1.62502832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364391418 meters 0.028172157710648234 Centerline is valid? [True, True] Translation: X:10.98, Y:0.33, Z:-0.16 [[ 9.99844229e-01 -1.03002992e-02 1.43325663e-02 1.09809357e+01] [ 1.02920281e-02 9.99946824e-01 6.50722877e-04 3.34736858e-01] [-1.43385067e-02 -5.03110338e-04 9.99897072e-01 -1.62848731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394391418 meters 0.028826578956936952 Centerline is valid? [True, True] Translation: X:11.01, Y:0.34, Z:-0.17 [[ 9.99838289e-01 -1.22037058e-02 1.32085445e-02 1.10120781e+01] [ 1.21968828e-02 9.99925437e-01 5.96994249e-04 3.36061232e-01] [-1.32148452e-02 -4.35794639e-04 9.99912585e-01 -1.65417594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424391418 meters 0.02696934604970538 Centerline is valid? [True, True] Translation: X:11.04, Y:0.34, Z:-0.17 [[ 9.99811956e-01 -1.53458113e-02 1.18557532e-02 1.10446553e+01] [ 1.53405399e-02 9.99882184e-01 5.35446221e-04 3.36200084e-01] [-1.18625732e-02 -3.53471879e-04 9.99929575e-01 -1.66360648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454391418 meters 0.02539585013284314 Centerline is valid? [True, True] Translation: X:11.08, Y:0.34, Z:-0.17 [[ 9.99780276e-01 -1.68687345e-02 1.24436680e-02 1.10755425e+01] [ 1.68630590e-02 9.99857651e-01 5.60881757e-04 3.38188243e-01] [-1.24513580e-02 -3.50920210e-04 9.99922417e-01 -1.65184672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418000001 meters 0.026158541018457417 Centerline is valid? [True, True] Translation: X:11.11, Y:0.34, Z:-0.17 [[ 9.99755676e-01 -1.89549233e-02 1.13709930e-02 1.11081073e+01] [ 1.89503454e-02 9.99820296e-01 5.10211525e-04 3.38277382e-01] [-1.13786207e-02 -2.94602622e-04 9.99935218e-01 -1.67101021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514391418 meters 0.024838732121431843 Centerline is valid? [True, True] Translation: X:11.14, Y:0.34, Z:-0.17 [[ 9.99720833e-01 -2.03791444e-02 1.19560042e-02 1.11392578e+01] [ 2.03741936e-02 9.99792281e-01 5.35748189e-04 3.39464298e-01] [-1.19644388e-02 -2.92004682e-04 9.99928381e-01 -1.66055501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544391418 meters 0.023464127250475787 Centerline is valid? [True, True] Translation: X:11.17, Y:0.34, Z:-0.16 [[ 9.99658953e-01 -2.24418220e-02 1.33544883e-02 1.11705037e+01] [ 2.24358679e-02 9.99748107e-01 5.95517072e-04 3.41752994e-01] [-1.33644889e-02 -2.95694437e-04 9.99910648e-01 -1.62998157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574391418000001 meters 0.02123688612444339 Centerline is valid? [True, True] Translation: X:11.20, Y:0.34, Z:-0.16 [[ 9.99649665e-01 -2.26477499e-02 1.36976967e-02 1.12027040e+01] [ 2.26415163e-02 9.99743462e-01 6.10010570e-04 3.42006900e-01] [-1.37079981e-02 -2.99660240e-04 9.99905996e-01 -1.61287003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391418 meters 0.023430859473632885 Centerline is valid? [True, True] Translation: X:11.24, Y:0.35, Z:-0.16 [[ 9.99654259e-01 -2.26525802e-02 1.33499933e-02 1.12360723e+01] [ 2.26466722e-02 9.99743355e-01 5.93572861e-04 3.45245815e-01] [-1.33600131e-02 -2.91034716e-04 9.99910709e-01 -1.62439152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634391418 meters 0.023430859473632885 Centerline is valid? [True, True] Translation: X:11.27, Y:0.35, Z:-0.16 [[ 9.99657346e-01 -2.25159043e-02 1.33500744e-02 1.12685598e+01] [ 2.25100086e-02 9.99746443e-01 5.91743469e-04 3.46536131e-01] [-1.33600130e-02 -2.91030417e-04 9.99910709e-01 -1.63025321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418000001 meters 0.02350197556391235 Centerline is valid? [True, True] Translation: X:11.30, Y:0.35, Z:-0.16 [[ 9.99676825e-01 -2.15190668e-02 1.35342079e-02 1.12992305e+01] [ 2.15129409e-02 9.99768391e-01 5.98067632e-04 3.53546790e-01] [-1.35439431e-02 -3.06713737e-04 9.99908230e-01 -1.62160668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694391418 meters 0.024336806914142438 Centerline is valid? [True, True] Translation: X:11.33, Y:0.36, Z:-0.16 [[ 9.99708277e-01 -2.06528194e-02 1.25228682e-02 1.13305720e+01] [ 2.06475336e-02 9.99786665e-01 5.51246794e-04 3.58669300e-01] [-1.25315814e-02 -2.92519640e-04 9.99921434e-01 -1.63512757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724391418 meters 0.027856285568859638 Centerline is valid? [True, True] Translation: X:11.36, Y:0.36, Z:-0.17 [[ 9.99751910e-01 -1.91743794e-02 1.13341268e-02 1.13624205e+01] [ 1.91699598e-02 9.99816115e-01 4.98456490e-04 3.64077387e-01] [-1.13416002e-02 -2.81058072e-04 9.99935642e-01 -1.67310146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754391418 meters 0.025652553584928017 Centerline is valid? [True, True] Translation: X:11.39, Y:0.37, Z:-0.16 [[ 9.99817860e-01 -1.57001132e-02 1.08514518e-02 1.13939388e+01] [ 1.56958678e-02 9.99876699e-01 4.76291613e-04 3.70614291e-01] [-1.08575916e-02 -3.05881909e-04 9.99941008e-01 -1.64383614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784391418 meters 0.02643159723660212 Centerline is valid? [True, True] Translation: X:11.43, Y:0.37, Z:-0.16 [[ 9.99848945e-01 -1.35343544e-02 1.09045053e-02 1.14258272e+01] [ 1.35299448e-02 9.99908352e-01 4.78058461e-04 3.74760554e-01] [-1.09099762e-02 -3.30448893e-04 9.99940430e-01 -1.63964689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814391418 meters 0.026677840912543733 Centerline is valid? [True, True] Translation: X:11.46, Y:0.38, Z:-0.16 [[ 9.99872740e-01 -1.14832548e-02 1.10742770e-02 1.14575933e+01] [ 1.14785921e-02 9.99934001e-01 4.84509853e-04 3.77952005e-01] [-1.10791098e-02 -3.57331086e-04 9.99938561e-01 -1.63530937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844391418 meters 0.0309797335590935 Centerline is valid? [True, True] Translation: X:11.49, Y:0.38, Z:-0.16 [[ 9.99886111e-01 -9.62495847e-03 1.16243574e-02 1.14880889e+01] [ 9.61971071e-03 9.99953601e-01 5.07275307e-04 3.84781228e-01] [-1.16287006e-02 -3.95394578e-04 9.99932306e-01 -1.64651887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874391418 meters 0.02865394329780416 Centerline is valid? [True, True] Translation: X:11.52, Y:0.39, Z:-0.16 [[ 9.99879424e-01 -7.62347966e-03 1.35285122e-02 1.15205760e+01] [ 7.61620251e-03 9.99970823e-01 5.89351676e-04 3.90215699e-01] [-1.35326104e-02 -4.86244725e-04 9.99908312e-01 -1.58384332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418000001 meters 0.03034689663138925 Centerline is valid? [True, True] Translation: X:11.55, Y:0.40, Z:-0.16 [[ 9.99865244e-01 -7.34699004e-03 1.46804652e-02 1.15526413e+01] [ 7.33841156e-03 9.99972870e-01 6.38130405e-04 3.95064885e-01] [-1.46847553e-02 -5.30313117e-04 9.99892033e-01 -1.58715826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934391418 meters 0.030984209082665904 Centerline is valid? [True, True] Translation: X:11.58, Y:0.40, Z:-0.16 [[ 9.99852487e-01 -7.88950095e-03 1.52564441e-02 1.15846751e+01] [ 7.88032789e-03 9.99968731e-01 6.61281924e-04 3.97973773e-01] [-1.52611842e-02 -5.40958595e-04 9.99883395e-01 -1.59507173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391418 meters 0.02805811240217044 Centerline is valid? [True, True] Translation: X:11.62, Y:0.40, Z:-0.16 [[ 9.99809991e-01 -1.17595520e-02 1.55465110e-02 1.16163509e+01] [ 1.17505168e-02 9.99930734e-01 6.72390169e-04 3.98910008e-01] [-1.55533412e-02 -4.89582870e-04 9.99878920e-01 -1.59662996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994391418000001 meters 0.02563122494307667 Centerline is valid? [True, True] Translation: X:11.65, Y:0.40, Z:-0.16 [[ 9.99796067e-01 -1.41390042e-02 1.44191537e-02 1.16472140e+01] [ 1.41314922e-02 9.99899952e-01 6.22737881e-04 4.00648580e-01] [-1.44265160e-02 -4.18846726e-04 9.99895845e-01 -1.59295988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391418 meters 0.023894055169512533 Centerline is valid? [True, True] Translation: X:11.68, Y:0.40, Z:-0.16 [[ 9.99765551e-01 -1.68401321e-02 1.36107379e-02 1.16794138e+01] [ 1.68336992e-02 9.99858131e-01 5.87066199e-04 4.00725562e-01] [-1.36186932e-02 -3.57809495e-04 9.99907197e-01 -1.60651233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054391418 meters 0.0229442306690082 Centerline is valid? [True, True] Translation: X:11.71, Y:0.40, Z:-0.16 [[ 9.99728106e-01 -1.88119067e-02 1.37777330e-02 1.17112555e+01] [ 1.88055192e-02 9.99822985e-01 5.93024380e-04 4.00823387e-01] [-1.37864501e-02 -3.33765717e-04 9.99904907e-01 -1.62695478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418000001 meters 0.022770818816687126 Centerline is valid? [True, True] Translation: X:11.74, Y:0.40, Z:-0.17 [[ 9.99683460e-01 -2.20092724e-02 1.21890245e-02 1.17428846e+01] [ 2.20045219e-02 9.99757734e-01 5.23722169e-04 4.03692164e-01] [-1.21975982e-02 -2.55342734e-04 9.99925574e-01 -1.66222072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114391418 meters 0.021356728781427994 Centerline is valid? [True, True] Translation: X:11.78, Y:0.41, Z:-0.17 [[ 9.99681879e-01 -2.28310991e-02 1.07182633e-02 1.17755024e+01] [ 2.28274774e-02 9.99739313e-01 4.60127200e-04 4.06022629e-01] [-1.07259744e-02 -2.15309912e-04 9.99942452e-01 -1.66415981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters 0.021161122494940652 Centerline is valid? [True, True] Translation: X:11.81, Y:0.41, Z:-0.17 [[ 9.99682412e-01 -2.32334674e-02 9.76119673e-03 1.18072727e+01] [ 2.32304964e-02 9.99730048e-01 4.17654507e-04 4.09639234e-01] [-9.76826524e-03 -1.90764419e-04 9.99952271e-01 -1.66908671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174391418 meters 0.023093496344072983 Centerline is valid? [True, True] Translation: X:11.84, Y:0.42, Z:-0.17 [[ 9.99709006e-01 -2.21856701e-02 9.47095358e-03 1.18388504e+01] [ 2.21828378e-02 9.99753849e-01 4.04011699e-04 4.16335165e-01] [-9.47758557e-03 -1.93801507e-04 9.99955068e-01 -1.68727944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391418 meters 0.021589768133392 Centerline is valid? [True, True] Translation: X:11.87, Y:0.42, Z:-0.17 [[ 9.99739736e-01 -2.12041362e-02 8.41698336e-03 1.18704365e+01] [ 2.12018710e-02 9.99775151e-01 3.58270148e-04 4.20929591e-01] [-8.42268762e-03 -1.79721107e-04 9.99964512e-01 -1.66876346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234391418 meters 0.022247884962684348 Centerline is valid? [True, True] Translation: X:11.90, Y:0.43, Z:-0.17 [[ 9.99773539e-01 -1.95260443e-02 8.46197233e-03 1.19021912e+01] [ 1.95236978e-02 9.99809330e-01 3.59821396e-04 4.25830168e-01] [-8.46738477e-03 -1.94530919e-04 9.99964132e-01 -1.67160057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391418 meters 0.02567396857198171 Centerline is valid? [True, True] Translation: X:11.93, Y:0.44, Z:-0.17 [[ 9.99860211e-01 -1.48567444e-02 7.67042564e-03 1.19325438e+01] [ 1.48546869e-02 9.99889610e-01 3.25143863e-04 4.37884760e-01] [-7.67440948e-03 -2.11156640e-04 9.99970529e-01 -1.68665654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294391418 meters 0.02883570468791762 Centerline is valid? [True, True] Translation: X:11.96, Y:0.44, Z:-0.17 [[ 9.99899129e-01 -1.19455018e-02 7.68359924e-03 1.19639904e+01] [ 1.19433523e-02 9.99928623e-01 3.25574271e-04 4.43100641e-01] [-7.68693995e-03 -2.33773497e-04 9.99970428e-01 -1.72036230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418000001 meters 0.029596474330539507 Centerline is valid? [True, True] Translation: X:12.00, Y:0.45, Z:-0.17 [[ 9.99929937e-01 -9.37385654e-03 7.22849588e-03 1.19958411e+01] [ 9.37188819e-03 9.99956036e-01 3.06129587e-04 4.48229014e-01] [-7.23104770e-03 -2.38363484e-04 9.99973827e-01 -1.72858668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354391418 meters 0.03090330189225866 Centerline is valid? [True, True] Translation: X:12.03, Y:0.45, Z:-0.17 [[ 9.99955180e-01 -7.06297667e-03 6.30494683e-03 1.20266152e+01] [ 7.06143726e-03 9.99975032e-01 2.66388067e-04 4.54593608e-01] [-6.30667090e-03 -2.21854141e-04 9.99980088e-01 -1.73438713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391418 meters 0.0326121172670018 Centerline is valid? [True, True] Translation: X:12.06, Y:0.46, Z:-0.17 [[ 9.99977641e-01 -3.75307722e-03 5.53454652e-03 1.20581909e+01] [ 3.75184168e-03 9.99992935e-01 2.33606865e-04 4.63031570e-01] [-5.53538416e-03 -2.12836900e-04 9.99984657e-01 -1.73278856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414391418000001 meters 0.03333390588372928 Centerline is valid? [True, True] Translation: X:12.09, Y:0.47, Z:-0.17 [[ 9.99981488e-01 -2.88141702e-03 5.35922556e-03 1.20898852e+01] [ 2.88024626e-03 9.99995827e-01 2.26162102e-04 4.66705146e-01] [-5.35985486e-03 -2.10722026e-04 9.99985614e-01 -1.73559023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391418 meters 0.034913851285687365 Centerline is valid? [True, True] Translation: X:12.12, Y:0.47, Z:-0.18 [[ 9.99981593e-01 -2.62461146e-03 5.47041812e-03 1.21209014e+01] [ 2.62339211e-03 9.99996532e-01 2.30062519e-04 4.69646038e-01] [-5.47100298e-03 -2.15707233e-04 9.99985011e-01 -1.75662717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474391418 meters 0.033449461741924535 Centerline is valid? [True, True] Translation: X:12.15, Y:0.47, Z:-0.18 [[ 9.99978805e-01 -4.77508570e-03 4.42589229e-03 1.21524015e+01] [ 4.77429617e-03 9.99988585e-01 1.88936477e-04 4.71197246e-01] [-4.42674395e-03 -1.67801952e-04 9.99990188e-01 -1.75707164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391418 meters 0.03113690333319821 Centerline is valid? [True, True] Translation: X:12.18, Y:0.47, Z:-0.18 [[ 9.99965201e-01 -6.61176346e-03 5.08734111e-03 1.21843368e+01] [ 6.61076737e-03 9.99978126e-01 2.12588918e-04 4.68706508e-01] [-5.08863542e-03 -1.78950291e-04 9.99987037e-01 -1.75543012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534391418 meters 0.030433809228402102 Centerline is valid? [True, True] Translation: X:12.22, Y:0.47, Z:-0.18 [[ 9.99945681e-01 -8.55158482e-03 5.95862493e-03 1.22162715e+01] [ 8.55025739e-03 9.99963415e-01 2.48212630e-04 4.67133837e-01] [-5.96052954e-03 -1.97251371e-04 9.99982216e-01 -1.76094902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters 0.028655885173985932 Centerline is valid? [True, True] Translation: X:12.25, Y:0.47, Z:-0.17 [[ 9.99920586e-01 -1.07584432e-02 6.56341209e-03 1.22476142e+01] [ 1.07568868e-02 9.99942106e-01 2.72396419e-04 4.67315970e-01] [-6.56596267e-03 -2.01772906e-04 9.99978423e-01 -1.74779480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594391418 meters 0.027753467037641907 Centerline is valid? [True, True] Translation: X:12.28, Y:0.46, Z:-0.18 [[ 9.99879793e-01 -1.36756405e-02 7.30591108e-03 1.22786439e+01] [ 1.36737945e-02 9.99906464e-01 3.02570588e-04 4.64637097e-01] [-7.30936556e-03 -2.02634691e-04 9.99973266e-01 -1.76240479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391418 meters 0.025518998826014695 Centerline is valid? [True, True] Translation: X:12.31, Y:0.46, Z:-0.18 [[ 9.99874280e-01 -1.46145049e-02 6.15138275e-03 1.23108362e+01] [ 1.46132135e-02 9.99893189e-01 2.54834804e-04 4.62862463e-01] [-6.15445000e-03 -1.64911297e-04 9.99981048e-01 -1.76070860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654391418000001 meters 0.02472821642318523 Centerline is valid? [True, True] Translation: X:12.34, Y:0.46, Z:-0.18 [[ 9.99871276e-01 -1.50186661e-02 5.64545300e-03 1.23430790e+01] [ 1.50175867e-02 9.99887202e-01 2.33544403e-04 4.61790397e-01] [-5.64832373e-03 -1.48733260e-04 9.99984037e-01 -1.77286312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391418 meters 0.02661026820327595 Centerline is valid? [True, True] Translation: X:12.37, Y:0.47, Z:-0.18 [[ 9.99868661e-01 -1.54190677e-02 4.99130560e-03 1.23743610e+01] [ 1.54182317e-02 9.99881111e-01 2.05915361e-04 4.65409647e-01] [-4.99388721e-03 -1.28931210e-04 9.99987522e-01 -1.79849615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714391418 meters 0.024830285085675387 Centerline is valid? [True, True] Translation: X:12.41, Y:0.46, Z:-0.18 [[ 9.99860648e-01 -1.63287681e-02 3.47204717e-03 1.24071085e+01] [ 1.63283677e-02 9.99866673e-01 1.43650283e-04 4.61348149e-01] [-3.47392988e-03 -8.69374024e-05 9.99993962e-01 -1.80718377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418000001 meters 0.024742167156336075 Centerline is valid? [True, True] Translation: X:12.44, Y:0.46, Z:-0.18 [[ 9.99847136e-01 -1.71191954e-02 3.55502538e-03 1.24393430e+01] [ 1.71187815e-02 9.99853452e-01 1.46801285e-04 4.59208329e-01] [-3.55701752e-03 -8.59211416e-05 9.99993670e-01 -1.82558245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774391418 meters 0.025138664954996504 Centerline is valid? [True, True] Translation: X:12.47, Y:0.46, Z:-0.18 [[ 9.99836124e-01 -1.78974245e-02 2.72171065e-03 1.24714543e+01] [ 1.78971845e-02 9.99839826e-01 1.12522259e-04 4.59357595e-01] [-2.72328856e-03 -6.37928613e-05 9.99996290e-01 -1.84623266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391418 meters 0.02387663094981805 Centerline is valid? [True, True] Translation: X:12.50, Y:0.46, Z:-0.19 [[ 9.99775876e-01 -2.11052725e-02 1.66287645e-03 1.25041013e+01] [ 2.11051865e-02 9.99777258e-01 6.92241478e-05 4.56586416e-01] [-1.66396706e-03 -3.41133152e-05 9.99998615e-01 -1.86393987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834391418000001 meters 0.022213574456641082 Centerline is valid? [True, True] Translation: X:12.54, Y:0.45, Z:-0.19 [[ 9.99728340e-01 -2.32861866e-02 9.99889416e-04 1.25355426e+01] [ 2.32861568e-02 9.99728840e-01 4.14147220e-05 4.54578925e-01] [-1.00058268e-03 -1.81198895e-05 9.99999499e-01 -1.86044151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391418 meters 0.019644633866655315 Centerline is valid? [True, True] Translation: X:12.57, Y:0.45, Z:-0.18 [[ 9.99648318e-01 -2.65095685e-02 6.94349883e-04 1.25674945e+01] [ 2.65095544e-02 9.99648560e-01 2.93694781e-05 4.52199676e-01] [-6.94884432e-04 -1.09522434e-05 9.99999759e-01 -1.84461022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894391418 meters 0.020743643646644463 Centerline is valid? [True, True] Translation: X:12.60, Y:0.45, Z:-0.19 [[ 9.99558808e-01 -2.96344797e-02 1.99664234e-03 1.25983112e+01] [ 2.96343757e-02 9.99560802e-01 8.16497253e-05 4.49775297e-01] [-1.99818507e-03 -2.24444528e-05 9.99998003e-01 -1.87147366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391418 meters 0.01848555084337312 Centerline is valid? [True, True] Translation: X:12.63, Y:0.44, Z:-0.19 [[ 9.99276072e-01 -3.79633787e-02 2.47269244e-03 1.26304953e+01] [ 3.79632438e-02 9.99279131e-01 1.01495857e-04 4.43251630e-01] [-2.47476308e-03 -7.55095602e-06 9.99996938e-01 -1.86612678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954391418 meters 0.019263858124322103 Centerline is valid? [True, True] Translation: X:12.66, Y:0.44, Z:-0.19 [[ 9.99110442e-01 -4.20977515e-02 2.47062453e-03 1.26630081e+01] [ 4.20976300e-02 9.99113497e-01 1.01190413e-04 4.41227177e-01] [-2.47269420e-03 2.90703878e-06 9.99996943e-01 -1.87972255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters 0.017439795381158377 Centerline is valid? [True, True] Translation: X:12.69, Y:0.44, Z:-0.19 [[ 9.98900251e-01 -4.68459993e-02 1.93395876e-03 1.26947869e+01] [ 4.68459348e-02 9.98902123e-01 7.86713009e-05 4.38988773e-01] [-1.93552095e-03 1.20133238e-05 9.99998127e-01 -1.86382497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014391418 meters 0.020194539785263806 Centerline is valid? [True, True] Translation: X:12.73, Y:0.43, Z:-0.19 [[ 9.98424329e-01 -5.61106347e-02 6.74973251e-04 1.27254291e+01] [ 5.61106289e-02 9.98424557e-01 2.75595764e-05 4.30463696e-01] [-6.75456255e-04 1.03570221e-05 9.99999772e-01 -1.88677325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391418 meters 0.022957540343643227 Centerline is valid? [True, True] Translation: X:12.76, Y:0.43, Z:-0.19 [[ 9.98197080e-01 -6.00109221e-02 1.13084985e-03 1.27564280e+01] [ 6.00109086e-02 9.98197720e-01 4.58766821e-05 4.26965591e-01] [-1.13156485e-03 2.20693571e-05 9.99999360e-01 -1.91180483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074391418000001 meters 0.02641961551873899 Centerline is valid? [True, True] Translation: X:12.79, Y:0.42, Z:-0.19 [[ 9.97952604e-01 -6.39484187e-02 1.09514203e-03 1.27867414e+01] [ 6.39484088e-02 9.97953205e-01 4.40495639e-05 4.24527067e-01] [-1.09571740e-03 2.60732132e-05 9.99999399e-01 -1.93163552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104391418 meters 0.02575485764751641 Centerline is valid? [True, True] Translation: X:12.82, Y:0.42, Z:-0.19 [[ 9.97686935e-01 -6.79695361e-02 9.60666704e-04 1.28175882e+01] [ 6.79695304e-02 9.97687397e-01 3.86406039e-05 4.23855034e-01] [-9.61071447e-04 2.67448391e-05 9.99999538e-01 -1.89833731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134391418 meters 0.028263311181200027 Centerline is valid? [True, True] Translation: X:12.85, Y:0.43, Z:-0.19 [[ 9.97376213e-01 -7.22879983e-02 3.89024990e-03 1.28473096e+01] [ 7.22879385e-02 9.97383793e-01 1.56179462e-04 4.25287628e-01] [-3.89136210e-03 1.25448465e-04 9.99992421e-01 -1.87128977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418000001 meters 0.030397219620485656 Centerline is valid? [True, True] Translation: X:12.88, Y:0.43, Z:-0.19 [[ 9.97340121e-01 -7.27000309e-02 5.23347128e-03 1.28768984e+01] [ 7.26999269e-02 9.97353837e-01 2.10349264e-04 4.27198554e-01] [-5.23491506e-03 1.70683219e-04 9.99986283e-01 -1.88753494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194391418 meters 0.029220086699841063 Centerline is valid? [True, True] Translation: X:12.91, Y:0.43, Z:-0.19 [[ 9.97329414e-01 -7.27507466e-02 6.43191269e-03 1.29084533e+01] [ 7.27505844e-02 9.97350132e-01 2.59480269e-04 4.32711454e-01] [-6.43374635e-03 2.09138103e-04 9.99979281e-01 -1.87851178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391418 meters 0.029212522143652973 Centerline is valid? [True, True] Translation: X:12.94, Y:0.43, Z:-0.19 [[ 9.97305284e-01 -7.30547094e-02 6.72155246e-03 1.29395574e+01] [ 7.30545398e-02 9.97327910e-01 2.71077728e-04 4.33039639e-01] [-6.72339538e-03 2.20692672e-04 9.99977373e-01 -1.85775933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254391418 meters 0.028796052684225856 Centerline is valid? [True, True] Translation: X:12.97, Y:0.44, Z:-0.19 [[ 9.97415006e-01 -7.15665777e-02 6.44436091e-03 1.29701078e+01] [ 7.15663949e-02 9.97435804e-01 2.59250209e-04 4.39946218e-01] [-6.44638996e-03 2.02619629e-04 9.99979201e-01 -1.87282722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391418 meters 0.029320324734695636 Centerline is valid? [True, True] Translation: X:13.00, Y:0.45, Z:-0.19 [[ 9.97509547e-01 -7.01554629e-02 7.27420213e-03 1.30008438e+01] [ 7.01551955e-02 9.97536046e-01 2.92244358e-04 4.45075535e-01] [-7.27678137e-03 2.18806535e-04 9.99973500e-01 -1.89962896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314391418 meters 0.029120389361549728 Centerline is valid? [True, True] Translation: X:13.03, Y:0.45, Z:-0.19 [[ 9.97599481e-01 -6.88633016e-02 7.28841851e-03 1.30318551e+01] [ 6.88630008e-02 9.97626083e-01 2.92518585e-04 4.50766978e-01] [-7.29126021e-03 2.10085981e-04 9.99973396e-01 -1.91296165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391418 meters 0.026332150273368094 Centerline is valid? [True, True] Translation: X:13.06, Y:0.46, Z:-0.19 [[ 9.97743970e-01 -6.68256983e-02 6.42620649e-03 1.30636897e+01] [ 6.68254200e-02 9.97764650e-01 2.58246978e-04 4.63096028e-01] [-6.42909920e-03 1.71769583e-04 9.99979318e-01 -1.91506391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374391418 meters 0.024974152453006524 Centerline is valid? [True, True] Translation: X:13.10, Y:0.47, Z:-0.19 [[ 9.97772916e-01 -6.64347211e-02 5.96961442e-03 1.30954054e+01] [ 6.64344764e-02 9.97790761e-01 2.39499884e-04 4.68618981e-01] [-5.97233722e-03 1.57621711e-04 9.99982153e-01 -1.90035093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters 0.023674233981933194 Centerline is valid? [True, True] Translation: X:13.13, Y:0.48, Z:-0.19 [[ 9.97799253e-01 -6.60250303e-02 6.11116214e-03 1.31271024e+01] [ 6.60247692e-02 9.97817954e-01 2.44675735e-04 4.75947050e-01] [-6.11398202e-03 1.59350804e-04 9.99981297e-01 -1.89625515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434391418 meters 0.02383000969885337 Centerline is valid? [True, True] Translation: X:13.16, Y:0.48, Z:-0.19 [[ 9.97797894e-01 -6.60199859e-02 6.38147416e-03 1.31589073e+01] [ 6.60197051e-02 9.97818287e-01 2.54868985e-04 4.81267380e-01] [-6.38437806e-03 1.66995305e-04 9.99979606e-01 -1.90346622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391418 meters 0.026822201743376645 Centerline is valid? [True, True] Translation: X:13.19, Y:0.49, Z:-0.19 [[ 9.97778577e-01 -6.62182513e-02 7.28378603e-03 1.31898550e+01] [ 6.62178925e-02 9.97805144e-01 2.90667388e-04 4.89053840e-01] [-7.28704666e-03 1.92295267e-04 9.99973431e-01 -1.93972711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494391418000001 meters 0.02633353273992769 Centerline is valid? [True, True] Translation: X:13.22, Y:0.49, Z:-0.19 [[ 9.97734925e-01 -6.68098249e-02 7.84010166e-03 1.32221720e+01] [ 6.68094426e-02 9.97765705e-01 3.10949529e-04 4.92804560e-01] [-7.84335904e-03 2.13547617e-04 9.99969218e-01 -1.93377230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391418 meters 0.02633353273992769 Centerline is valid? [True, True] Translation: X:13.25, Y:0.49, Z:-0.19 [[ 9.97740531e-01 -6.67260387e-02 7.84012764e-03 1.32538385e+01] [ 6.67256589e-02 9.97771312e-01 3.10292101e-04 4.93960535e-01] [-7.84335901e-03 2.13546677e-04 9.99969218e-01 -1.93948435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554391418 meters 0.027618357370498878 Centerline is valid? [True, True] Translation: X:13.29, Y:0.50, Z:-0.20 [[ 9.97706236e-01 -6.72138782e-02 8.03494465e-03 1.32854461e+01] [ 6.72135009e-02 9.97738565e-01 3.17283180e-04 4.97727699e-01] [-8.03809998e-03 2.23501352e-04 9.99967669e-01 -1.95162986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418000001 meters 0.02846624813102162 Centerline is valid? [True, True] Translation: X:13.32, Y:0.51, Z:-0.20 [[ 9.97614607e-01 -6.85960562e-02 7.72507488e-03 1.33170344e+01] [ 6.85957534e-02 9.97644491e-01 3.04451889e-04 5.05855214e-01] [-7.72776259e-03 2.26181680e-04 9.99970115e-01 -1.96300565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614391418 meters 0.027778127168403152 Centerline is valid? [True, True] Translation: X:13.35, Y:0.51, Z:-0.20 [[ 9.97572788e-01 -6.92062221e-02 7.68318871e-03 1.33483204e+01] [ 6.92059415e-02 9.97602349e-01 3.02691893e-04 5.10304803e-01] [-7.68571526e-03 2.29765113e-04 9.99970438e-01 -1.95820484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391418 meters 0.028972269105268473 Centerline is valid? [True, True] Translation: X:13.38, Y:0.52, Z:-0.20 [[ 9.97586357e-01 -6.89855895e-02 7.90239447e-03 1.33798752e+01] [ 6.89852988e-02 9.97617628e-01 3.09688449e-04 5.15356446e-01] [-7.90493207e-03 2.36208071e-04 9.99968728e-01 -1.97662684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674391418 meters 0.028606794600522175 Centerline is valid? [True, True] Translation: X:13.41, Y:0.53, Z:-0.20 [[ 9.97686897e-01 -6.73464154e-02 9.23666952e-03 1.34108286e+01] [ 6.73459524e-02 9.97729619e-01 3.61505634e-04 5.25698398e-01] [-9.24004486e-03 2.61382871e-04 9.99957276e-01 -1.96706691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391418 meters 0.02364211777896706 Centerline is valid? [True, True] Translation: X:13.44, Y:0.54, Z:-0.19 [[ 9.97722084e-01 -6.66752044e-02 1.02498527e-02 1.34431735e+01] [ 6.66746210e-02 9.97774692e-01 3.99001270e-04 5.36598018e-01] [-1.02536471e-02 2.85312666e-04 9.99947389e-01 -1.90904313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734391418 meters 0.02519257245218138 Centerline is valid? [True, True] Translation: X:13.47, Y:0.54, Z:-0.19 [[ 9.97874222e-01 -6.42495444e-02 1.09102269e-02 1.34740591e+01] [ 6.42487432e-02 9.97933825e-01 4.24267932e-04 5.43291584e-01] [-1.09149435e-02 2.77602336e-04 9.99940392e-01 -1.94144088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391418 meters 0.023140898878907145 Centerline is valid? [True, True] Translation: X:13.51, Y:0.55, Z:-0.19 [[ 9.97978731e-01 -6.23377431e-02 1.23474386e-02 1.35057259e+01] [ 6.23366080e-02 9.98055068e-01 4.77149299e-04 5.50140506e-01] [-1.23531681e-02 2.93512586e-04 9.99923654e-01 -1.91932186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794391418 meters 0.02441299684062262 Centerline is valid? [True, True] Translation: X:13.54, Y:0.56, Z:-0.19 [[ 9.98132490e-01 -5.97798497e-02 1.25658819e-02 1.35367199e+01] [ 5.97784867e-02 9.98211550e-01 4.84377408e-04 5.56654469e-01] [-1.25723644e-02 2.67696575e-04 9.99920929e-01 -1.94138854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418000001 meters 0.01942745141466028 Centerline is valid? [True, True] Translation: X:13.57, Y:0.57, Z:-0.19 [[ 9.98362856e-01 -5.53342345e-02 1.44820337e-02 1.35688514e+01] [ 5.53319702e-02 9.98467858e-01 5.57294006e-04 5.71501171e-01] [-1.44906826e-02 2.44937822e-04 9.99894975e-01 -1.89199891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854391418 meters 0.018399881558396537 Centerline is valid? [True, True] Translation: X:13.60, Y:0.58, Z:-0.19 [[ 9.98505818e-01 -5.25544739e-02 1.49719014e-02 1.36010845e+01] [ 5.25517666e-02 9.98618036e-01 5.74461218e-04 5.80124285e-01] [-1.49814013e-02 2.13197002e-04 9.99887750e-01 -1.89036489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391418 meters 0.01922148694384321 Centerline is valid? [True, True] Translation: X:13.63, Y:0.60, Z:-0.19 [[ 9.98742738e-01 -4.78288509e-02 1.50114626e-02 1.36329087e+01] [ 4.78256141e-02 9.98855535e-01 5.74741569e-04 5.95059682e-01] [-1.50217718e-02 1.43913449e-04 9.99887156e-01 -1.92344993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914391418000001 meters 0.016505735720352875 Centerline is valid? [True, True] Translation: X:13.66, Y:0.60, Z:-0.19 [[ 9.98807234e-01 -4.59659880e-02 1.64692871e-02 1.36644384e+01] [ 4.59618593e-02 9.98942997e-01 6.29310560e-04 6.00979792e-01] [-1.64808059e-02 1.28399118e-04 9.99864174e-01 -1.90200480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391418 meters 0.01849924569522042 Centerline is valid? [True, True] Translation: X:13.70, Y:0.61, Z:-0.19 [[ 9.98929196e-01 -4.35845995e-02 1.55191701e-02 1.36963949e+01] [ 4.35807138e-02 9.99049736e-01 5.88638650e-04 6.07430898e-01] [-1.55300784e-02 8.83281789e-05 9.99879397e-01 -1.93902523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974391418 meters 0.017955100712595533 Centerline is valid? [True, True] Translation: X:13.73, Y:0.61, Z:-0.19 [[ 9.99005256e-01 -4.15836010e-02 1.61028549e-02 1.37283930e+01] [ 4.15791801e-02 9.99135026e-01 6.09379424e-04 6.14247237e-01] [-1.61142666e-02 6.07702575e-05 9.99870155e-01 -1.93832185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391418 meters 0.01803508888879878 Centerline is valid? [True, True] Translation: X:13.76, Y:0.63, Z:-0.19 [[ 9.99177956e-01 -3.74768572e-02 1.54562859e-02 1.37604464e+01] [ 3.74723035e-02 9.99297496e-01 5.84222158e-04 6.27355951e-01] [-1.54673227e-02 -4.55926285e-06 9.99880374e-01 -1.94498753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034391418 meters 0.01656806165337962 Centerline is valid? [True, True] Translation: X:13.79, Y:0.63, Z:-0.19 [[ 9.99239180e-01 -3.59387524e-02 1.51481834e-02 1.37934153e+01] [ 3.59342836e-02 9.99353994e-01 5.67175039e-04 6.34186096e-01] [-1.51587812e-02 -2.24044018e-05 9.99885099e-01 -1.94446978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391418 meters 0.018776671292283276 Centerline is valid? [True, True] Translation: X:13.83, Y:0.64, Z:-0.20 [[ 9.99321070e-01 -3.39528839e-02 1.43038722e-02 1.38255531e+01] [ 3.39487225e-02 9.99423433e-01 5.33709472e-04 6.40148906e-01] [-1.43137460e-02 -4.77489340e-05 9.99897552e-01 -1.97539649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094391418 meters 0.015610221959848042 Centerline is valid? [True, True] Translation: X:13.86, Y:0.65, Z:-0.19 [[ 9.99350963e-01 -3.28407525e-02 1.48033124e-02 1.38570866e+01] [ 3.28361921e-02 9.99460595e-01 5.51082338e-04 6.45960514e-01] [-1.48134254e-02 -6.46402543e-05 9.99890273e-01 -1.94848840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391418 meters 0.01625524097945685 Centerline is valid? [True, True] Translation: X:13.89, Y:0.66, Z:-0.20 [[ 9.99446007e-01 -2.97046637e-02 1.50103690e-02 1.38880547e+01] [ 2.96996432e-02 9.99558713e-01 5.57321861e-04 6.56982831e-01] [-1.50203002e-02 -1.11210504e-04 9.99887183e-01 -1.95127654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154391418 meters 0.016569058649045044 Centerline is valid? [True, True] Translation: X:13.92, Y:0.66, Z:-0.20 [[ 9.99493972e-01 -2.80457279e-02 1.50078846e-02 1.39202790e+01] [ 2.80405617e-02 9.99606632e-01 5.54587454e-04 6.62471825e-01] [-1.50175347e-02 -1.33477304e-04 9.99887222e-01 -1.95407920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391418 meters 0.018125277654857688 Centerline is valid? [True, True] Translation: X:13.95, Y:0.67, Z:-0.20 [[ 9.99537874e-01 -2.64406350e-02 1.49976959e-02 1.39526508e+01] [ 2.64353143e-02 9.99650373e-01 5.52935566e-04 6.67178629e-01] [-1.50070723e-02 -1.56211233e-04 9.99887375e-01 -1.97842265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214391418 meters 0.018486418355293705 Centerline is valid? [True, True] Translation: X:13.98, Y:0.67, Z:-0.20 [[ 9.99549333e-01 -2.56248515e-02 1.56364438e-02 1.39832270e+01] [ 2.56189911e-02 9.99671614e-01 5.75010567e-04 6.72363248e-01] [-1.56460436e-02 -1.74161513e-04 9.99877578e-01 -1.98012497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418000001 meters 0.01867743825993777 Centerline is valid? [True, True] Translation: X:14.02, Y:0.68, Z:-0.20 [[ 9.99562630e-01 -2.45973217e-02 1.64170978e-02 1.40152149e+01] [ 2.45907409e-02 9.99697420e-01 6.02628981e-04 6.76286827e-01] [-1.64269534e-02 -1.98656810e-04 9.99865049e-01 -1.98402092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274391418 meters 0.0175792230999296 Centerline is valid? [True, True] Translation: X:14.05, Y:0.68, Z:-0.20 [[ 9.99564788e-01 -2.37330132e-02 1.75208073e-02 1.40464483e+01] [ 2.37254126e-02 9.99718307e-01 6.41564571e-04 6.82299848e-01] [-1.75310981e-02 -2.25596970e-04 9.99846293e-01 -1.97011085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391418 meters 0.017675172596407735 Centerline is valid? [True, True] Translation: X:14.08, Y:0.69, Z:-0.20 [[ 9.99578354e-01 -2.32059525e-02 1.74527343e-02 1.40782159e+01] [ 2.31983474e-02 9.99730678e-01 6.38105296e-04 6.85983037e-01] [-1.74628417e-02 -2.32961648e-04 9.99847486e-01 -1.97595187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334391418000001 meters 0.018267400232277464 Centerline is valid? [True, True] Translation: X:14.11, Y:0.69, Z:-0.20 [[ 9.99587233e-01 -2.29354691e-02 1.73010929e-02 1.41102682e+01] [ 2.29280403e-02 9.99736921e-01 6.27644224e-04 6.88911389e-01] [-1.73109366e-02 -2.30704999e-04 9.99850128e-01 -1.99233912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391418 meters 0.016590453085741926 Centerline is valid? [True, True] Translation: X:14.14, Y:0.69, Z:-0.20 [[ 9.99558103e-01 -2.36052162e-02 1.80663141e-02 1.41429215e+01] [ 2.35972887e-02 9.99721333e-01 6.51882588e-04 6.91262564e-01] [-1.80766675e-02 -2.25278493e-04 9.99836578e-01 -1.98508631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394391418 meters 0.018340285325388412 Centerline is valid? [True, True] Translation: X:14.17, Y:0.70, Z:-0.20 [[ 9.99568162e-01 -2.36789566e-02 1.74010570e-02 1.41747330e+01] [ 2.36716567e-02 9.99719591e-01 6.25386801e-04 6.95968465e-01] [-1.74109861e-02 -2.13204887e-04 9.99848395e-01 -2.00444457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391418 meters 0.017973998236719597 Centerline is valid? [True, True] Translation: X:14.21, Y:0.70, Z:-0.20 [[ 9.99549671e-01 -2.43907301e-02 1.74799372e-02 1.42065337e+01] [ 2.43835677e-02 9.99702483e-01 6.22794683e-04 6.97919564e-01] [-1.74899270e-02 -1.96290990e-04 9.99847020e-01 -2.00702345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454391418 meters 0.017961979907605948 Centerline is valid? [True, True] Translation: X:14.24, Y:0.70, Z:-0.20 [[ 9.99538806e-01 -2.51259595e-02 1.70546829e-02 1.42372524e+01] [ 2.51192682e-02 9.99684277e-01 6.06477602e-04 7.01982893e-01] [-1.70645367e-02 -1.77796744e-04 9.99854374e-01 -2.01718935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391418 meters 0.017479153903347706 Centerline is valid? [True, True] Translation: X:14.27, Y:0.70, Z:-0.20 [[ 9.99516443e-01 -2.62364061e-02 1.66892604e-02 1.42693158e+01] [ 2.62302279e-02 9.99655755e-01 5.89017242e-04 7.03279623e-01] [-1.66989689e-02 -1.50969315e-04 9.99860551e-01 -2.03277291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514391418 meters 0.017894192597256563 Centerline is valid? [True, True] Translation: X:14.30, Y:0.70, Z:-0.21 [[ 9.99491660e-01 -2.79982271e-02 1.52486616e-02 1.43018912e+01] [ 2.79932892e-02 9.99607967e-01 5.37218766e-04 7.02588477e-01] [-1.52577248e-02 -1.10085481e-04 9.99883588e-01 -2.06112911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391418 meters 0.016729308507417596 Centerline is valid? [True, True] Translation: X:14.33, Y:0.70, Z:-0.21 [[ 9.99482650e-01 -2.83002951e-02 1.52815629e-02 1.43336474e+01] [ 2.82953808e-02 9.99599461e-01 5.37737532e-04 7.04871868e-01] [-1.52906602e-02 -1.05061691e-04 9.99883086e-01 -2.05819393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574391418000001 meters 0.016946335184987928 Centerline is valid? [True, True] Translation: X:14.37, Y:0.71, Z:-0.21 [[ 9.99503484e-01 -2.75781691e-02 1.52391234e-02 1.43653130e+01] [ 2.75732683e-02 9.99619644e-01 5.31652417e-04 7.07933887e-01] [-1.52479891e-02 -1.11196006e-04 9.99883736e-01 -2.06522404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391418 meters 0.01776528147021408 Centerline is valid? [True, True] Translation: X:14.40, Y:0.71, Z:-0.21 [[ 9.99552168e-01 -2.57558504e-02 1.52347989e-02 1.43977793e+01] [ 2.57508188e-02 9.99668254e-01 5.26378370e-04 7.13222046e-01] [-1.52433022e-02 -1.33834094e-04 9.99883805e-01 -2.06669161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634391418 meters 0.018292877573894462 Centerline is valid? [True, True] Translation: X:14.43, Y:0.72, Z:-0.21 [[ 9.99585930e-01 -2.42348107e-02 1.55126475e-02 1.44294585e+01] [ 2.42294220e-02 9.99706281e-01 5.35249543e-04 7.16780040e-01] [-1.55210628e-02 -1.59165431e-04 9.99879528e-01 -2.07168770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418000001 meters 0.016385116736308363 Centerline is valid? [True, True] Translation: X:14.46, Y:0.72, Z:-0.20 [[ 9.99575395e-01 -2.34915108e-02 1.72388412e-02 1.44611189e+01] [ 2.34848455e-02 9.99724019e-01 5.89013247e-04 7.19772431e-01] [-1.72479204e-02 -1.83911628e-04 9.99851227e-01 -2.04578887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694391418 meters 0.018555248645014337 Centerline is valid? [True, True] Translation: X:14.49, Y:0.72, Z:-0.21 [[ 9.99606518e-01 -2.20357048e-02 1.73561643e-02 1.44927685e+01] [ 2.20288197e-02 9.99757163e-01 5.87798841e-04 7.21836068e-01] [-1.73649022e-02 -2.05231738e-04 9.99849198e-01 -2.06830777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391418 meters 0.01614562574444209 Centerline is valid? [True, True] Translation: X:14.53, Y:0.72, Z:-0.20 [[ 9.99566731e-01 -2.25011727e-02 1.89749043e-02 1.45251231e+01] [ 2.24930575e-02 9.99746794e-01 6.41018371e-04 7.23087877e-01] [-1.89845234e-02 -2.13937025e-04 9.99819755e-01 -2.04378771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754391418 meters 0.018367948392432165 Centerline is valid? [True, True] Translation: X:14.56, Y:0.72, Z:-0.21 [[ 9.99568076e-01 -2.29158982e-02 1.83989918e-02 1.45568472e+01] [ 2.29083649e-02 9.99737377e-01 6.20122712e-04 7.24394357e-01] [-1.84083704e-02 -1.98364048e-04 9.99830532e-01 -2.06997795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391418 meters 0.017828692403892406 Centerline is valid? [True, True] Translation: X:14.59, Y:0.73, Z:-0.21 [[ 9.99545226e-01 -2.38749396e-02 1.84208801e-02 1.45884869e+01] [ 2.38675800e-02 9.99714937e-01 6.19298250e-04 7.25765514e-01] [-1.84304147e-02 -1.79354779e-04 9.99830129e-01 -2.07157948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814391418 meters 0.019133999603083856 Centerline is valid? [True, True] Translation: X:14.62, Y:0.73, Z:-0.21 [[ 9.99519411e-01 -2.52132498e-02 1.80343706e-02 1.46207468e+01] [ 2.52064965e-02 9.99682085e-01 6.01717121e-04 7.26216402e-01] [-1.80438084e-02 -1.46844645e-04 9.99837186e-01 -2.08753143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391418 meters 0.017752348727318155 Centerline is valid? [True, True] Translation: X:14.65, Y:0.73, Z:-0.21 [[ 9.99476482e-01 -2.66202804e-02 1.83880921e-02 1.46519115e+01] [ 2.66135259e-02 9.99645610e-01 6.11984110e-04 7.26628530e-01] [-1.83978668e-02 -1.22291759e-04 9.99830737e-01 -2.09101146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874391418 meters 0.01700289318141746 Centerline is valid? [True, True] Translation: X:14.68, Y:0.72, Z:-0.21 [[ 9.99401739e-01 -2.95354431e-02 1.79950471e-02 1.46843293e+01] [ 2.95294966e-02 9.99563732e-01 5.96133258e-04 7.24470241e-01] [-1.80048034e-02 -6.43919335e-05 9.99837898e-01 -2.11343898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391418 meters 0.01835903674524732 Centerline is valid? [True, True] Translation: X:14.72, Y:0.72, Z:-0.21 [[ 9.99394730e-01 -3.05310160e-02 1.66742726e-02 1.47170340e+01] [ 3.05261187e-02 9.99533819e-01 5.48203834e-04 7.23946173e-01] [-1.66832366e-02 -3.88711986e-05 9.99860824e-01 -2.13842065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934391418 meters 0.016879132981458246 Centerline is valid? [True, True] Translation: X:14.75, Y:0.72, Z:-0.21 [[ 9.99341289e-01 -3.23697729e-02 1.64068705e-02 1.47504849e+01] [ 3.23653619e-02 9.99475962e-01 5.34373128e-04 7.23513609e-01] [-1.64155702e-02 -3.00682938e-06 9.99865255e-01 -2.14559893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391418 meters 0.01798356242331607 Centerline is valid? [True, True] Translation: X:14.78, Y:0.72, Z:-0.22 [[ 9.99301363e-01 -3.40035712e-02 1.55094407e-02 1.47830520e+01] [ 3.39998972e-02 9.99421711e-01 5.00574872e-04 7.23497575e-01] [-1.55174931e-02 2.70942369e-05 9.99879596e-01 -2.16441256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994391418000001 meters 0.017066820447318887 Centerline is valid? [True, True] Translation: X:14.82, Y:0.72, Z:-0.22 [[ 9.99181473e-01 -3.77926369e-02 1.44256606e-02 1.48152202e+01] [ 3.77899094e-02 9.99285600e-01 4.61707849e-04 7.23393644e-01] [-1.44328041e-02 8.38144780e-05 9.99895838e-01 -2.16943619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391418 meters 0.015476728496437293 Centerline is valid? [True, True] Translation: X:14.85, Y:0.72, Z:-0.22 [[ 9.99107439e-01 -3.96060311e-02 1.46863400e-02 1.48463329e+01] [ 3.96034652e-02 9.99215367e-01 4.65616925e-04 7.23511186e-01] [-1.46932578e-02 1.16428620e-04 9.99892041e-01 -2.15805234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054391418 meters 0.018626851816102023 Centerline is valid? [True, True] Translation: X:14.88, Y:0.72, Z:-0.22 [[ 9.99063305e-01 -4.11903879e-02 1.32614187e-02 1.48785645e+01] [ 4.11884623e-02 9.99151308e-01 4.18408862e-04 7.23117776e-01] [-1.32673983e-02 1.28200504e-04 9.99911976e-01 -2.19927816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters 0.016720904714831054 Centerline is valid? [True, True] Translation: X:14.91, Y:0.72, Z:-0.22 [[ 9.98967127e-01 -4.32223385e-02 1.40181304e-02 1.49110492e+01] [ 4.32204029e-02 9.99065464e-01 4.41142395e-04 7.22366932e-01] [-1.40240972e-02 1.65182494e-04 9.99901644e-01 -2.18856629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114391418 meters 0.01912166797993319 Centerline is valid? [True, True] Translation: X:14.94, Y:0.72, Z:-0.22 [[ 9.98812927e-01 -4.66367017e-02 1.40625662e-02 1.49422239e+01] [ 4.66350977e-02 9.98911894e-01 4.42137131e-04 7.19767598e-01] [-1.40678844e-02 2.14196866e-04 9.99901019e-01 -2.20337835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391418 meters 0.019329043966433847 Centerline is valid? [True, True] Translation: X:14.97, Y:0.72, Z:-0.22 [[ 9.98700500e-01 -4.85635928e-02 1.54560339e-02 1.49748880e+01] [ 4.85619572e-02 9.98820056e-01 4.81336887e-04 7.20006992e-01] [-1.54611721e-02 2.69863868e-04 9.99880433e-01 -2.18686622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174391418 meters 0.019581342805368242 Centerline is valid? [True, True] Translation: X:15.01, Y:0.72, Z:-0.22 [[ 9.98608164e-01 -5.00814692e-02 1.65403026e-02 1.50060103e+01] [ 5.00798220e-02 9.98745086e-01 5.14031606e-04 7.20459858e-01] [-1.65452894e-02 3.15019250e-04 9.99863068e-01 -2.16520552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters 0.02293966936953282 Centerline is valid? [True, True] Translation: X:15.04, Y:0.72, Z:-0.22 [[ 9.98477891e-01 -5.26430332e-02 1.64502728e-02 1.50377705e+01] [ 5.26418152e-02 9.98613330e-01 5.07347696e-04 7.20649265e-01] [-1.64541700e-02 3.59396762e-04 9.99864556e-01 -2.18715483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234391418 meters 0.02309414512697811 Centerline is valid? [True, True] Translation: X:15.07, Y:0.72, Z:-0.22 [[ 9.98377684e-01 -5.43607376e-02 1.69384013e-02 1.50701529e+01] [ 5.43597629e-02 9.98521280e-01 5.18296238e-04 7.19646460e-01] [-1.69415291e-02 4.03312079e-04 9.99856401e-01 -2.18581534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters 0.024143629390464376 Centerline is valid? [True, True] Translation: X:15.10, Y:0.72, Z:-0.22 [[ 9.98273258e-01 -5.62206286e-02 1.70218585e-02 1.51027196e+01] [ 5.62199881e-02 9.98418272e-01 5.16521841e-04 7.18288533e-01] [-1.70239737e-02 4.41338742e-04 9.99854984e-01 -2.19285469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294391418 meters 0.027043671498721018 Centerline is valid? [True, True] Translation: X:15.13, Y:0.72, Z:-0.22 [[ 9.98047788e-01 -6.01016840e-02 1.69823474e-02 1.51344740e+01] [ 6.01016805e-02 9.98192129e-01 5.11040179e-04 7.15032699e-01] [-1.69823598e-02 5.10625094e-04 9.99855659e-01 -2.20817205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391418 meters 0.02797050319294971 Centerline is valid? [True, True] Translation: X:15.17, Y:0.71, Z:-0.22 [[ 9.97901057e-01 -6.24613772e-02 1.70896637e-02 1.51665483e+01] [ 6.24617900e-02 9.98047226e-01 5.10131643e-04 7.14131173e-01] [-1.70881550e-02 5.58390078e-04 9.99853831e-01 -2.20057186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354391418 meters 0.028910596170959767 Centerline is valid? [True, True] Translation: X:15.20, Y:0.72, Z:-0.22 [[ 9.97818229e-01 -6.41632805e-02 1.55516708e-02 1.51981662e+01] [ 6.41638376e-02 9.97939270e-01 4.63646123e-04 7.16483669e-01] [-1.55493721e-02 5.35220327e-04 9.99878958e-01 -2.23689729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters 0.027607409924793075 Centerline is valid? [True, True] Translation: X:15.23, Y:0.72, Z:-0.22 [[ 9.97711362e-01 -6.58170471e-02 1.54969016e-02 1.52298862e+01] [ 6.58178563e-02 9.97831549e-01 4.58346947e-04 7.19815446e-01] [-1.54934644e-02 5.62674889e-04 9.99879811e-01 -2.23706057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414391418 meters 0.0259130870630848 Centerline is valid? [True, True] Translation: X:15.26, Y:0.72, Z:-0.22 [[ 9.97528277e-01 -6.82762839e-02 1.66037672e-02 1.52619152e+01] [ 6.82776324e-02 9.97666241e-01 4.86301269e-04 7.21967411e-01] [-1.65982209e-02 6.48566649e-04 9.99862030e-01 -2.21764850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters 0.0259130870630848 Centerline is valid? [True, True] Translation: X:15.29, Y:0.72, Z:-0.22 [[ 9.97550351e-01 -6.79530102e-02 1.66037966e-02 1.52945276e+01] [ 6.79543307e-02 9.97688315e-01 4.85297282e-04 7.22778657e-01] [-1.65983913e-02 6.44191413e-04 9.99862030e-01 -2.22352674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474391418 meters 0.029236722390044628 Centerline is valid? [True, True] Translation: X:15.33, Y:0.72, Z:-0.23 [[ 9.97421900e-01 -7.01608796e-02 1.50666493e-02 1.53260868e+01] [ 7.01622919e-02 9.97535495e-01 4.35478671e-04 7.22131253e-01] [-1.50600710e-02 6.22754681e-04 9.99886397e-01 -2.26515159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391418 meters 0.027471758122449254 Centerline is valid? [True, True] Translation: X:15.36, Y:0.72, Z:-0.22 [[ 9.97308402e-01 -7.15620430e-02 1.59632754e-02 1.53585831e+01] [ 7.15638409e-02 9.97435916e-01 4.59310979e-04 7.23494369e-01] [-1.59552135e-02 6.84318606e-04 9.99872473e-01 -2.24728028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534391418000002 meters 0.03557839947678445 Centerline is valid? [True, True] Translation: X:15.39, Y:0.71, Z:-0.23 [[ 9.97271724e-01 -7.22688877e-02 1.50438208e-02 1.53899061e+01] [ 7.22706260e-02 9.97384967e-01 4.28774278e-04 7.14394441e-01] [-1.50354678e-02 6.59621884e-04 9.99886743e-01 -2.26468128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters 0.036078987955279126 Centerline is valid? [True, True] Translation: X:15.42, Y:0.72, Z:-0.23 [[ 9.97255422e-01 -7.25890581e-02 1.45757483e-02 1.54222339e+01] [ 7.25907875e-02 9.97361724e-01 4.11072821e-04 7.16427989e-01] [-1.45671329e-02 6.48120450e-04 9.99893684e-01 -2.26863508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594391418 meters 0.030575747033974397 Centerline is valid? [True, True] Translation: X:15.45, Y:0.73, Z:-0.23 [[ 9.97345554e-01 -7.16673477e-02 1.28699951e-02 1.54545818e+01] [ 7.16686272e-02 9.97428432e-01 3.62351599e-04 7.29178811e-01] [-1.28628678e-02 5.60985123e-04 9.99917113e-01 -2.29607187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418000002 meters 0.029957996650887733 Centerline is valid? [True, True] Translation: X:15.49, Y:0.73, Z:-0.23 [[ 9.97330803e-01 -7.18373303e-02 1.30639643e-02 1.54869689e+01] [ 7.18386821e-02 9.97416197e-01 3.66377025e-04 7.33577800e-01] [-1.30565292e-02 5.73098888e-04 9.99914596e-01 -2.29446016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654391418 meters 0.03073725800244492 Centerline is valid? [True, True] Translation: X:15.52, Y:0.73, Z:-0.23 [[ 9.97359073e-01 -7.13904006e-02 1.33525100e-02 1.55185011e+01] [ 7.13917764e-02 9.97448281e-01 3.74194035e-04 7.34041609e-01] [-1.33451520e-02 5.80053592e-04 9.99910781e-01 -2.30363678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391418 meters 0.02975459067578932 Centerline is valid? [True, True] Translation: X:15.55, Y:0.74, Z:-0.23 [[ 9.97289609e-01 -7.20492075e-02 1.49113446e-02 1.55503766e+01] [ 7.20510706e-02 9.97400859e-01 4.12929966e-04 7.35069507e-01] [-1.49023391e-02 6.62567576e-04 9.99888734e-01 -2.28237210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714391418 meters 0.03011647074362608 Centerline is valid? [True, True] Translation: X:15.58, Y:0.74, Z:-0.23 [[ 9.97322698e-01 -7.15679280e-02 1.50155868e-02 1.55830292e+01] [ 7.15697801e-02 9.97435509e-01 4.14669449e-04 7.36472220e-01] [-1.50067565e-02 6.61102991e-04 9.99887174e-01 -2.28919148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters 0.03031793500739799 Centerline is valid? [True, True] Translation: X:15.61, Y:0.74, Z:-0.23 [[ 9.97349075e-01 -7.08717008e-02 1.64931860e-02 1.56147334e+01] [ 7.08738659e-02 9.97485182e-01 4.53934402e-04 7.40257954e-01] [-1.64838798e-02 7.16204797e-04 9.99863875e-01 -2.26954516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774391418 meters 0.03082395665197809 Centerline is valid? [True, True] Translation: X:15.65, Y:0.74, Z:-0.23 [[ 9.97410751e-01 -7.00857205e-02 1.61178666e-02 1.56454521e+01] [ 7.00877587e-02 9.97540733e-01 4.39074086e-04 7.42462198e-01] [-1.61090012e-02 6.91727929e-04 9.99870002e-01 -2.27818424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391418 meters 0.030841375868567274 Centerline is valid? [True, True] Translation: X:15.68, Y:0.74, Z:-0.23 [[ 9.97422979e-01 -6.97070368e-02 1.69803068e-02 1.56783814e+01] [ 6.97092887e-02 9.97567243e-01 4.59950365e-04 7.44379022e-01] [-1.69710596e-02 7.24920047e-04 9.99855718e-01 -2.27391478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834391418 meters 0.029844953572408933 Centerline is valid? [True, True] Translation: X:15.71, Y:0.75, Z:-0.23 [[ 9.97466577e-01 -6.94032512e-02 1.56082219e-02 1.57110905e+01] [ 6.94051840e-02 9.97588465e-01 4.18467370e-04 7.48812700e-01] [-1.55996252e-02 6.65884300e-04 9.99878097e-01 -2.30858222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391418 meters 0.030576680785829924 Centerline is valid? [True, True] Translation: X:15.74, Y:0.75, Z:-0.23 [[ 9.97419387e-01 -7.01581257e-02 1.52448062e-02 1.57424174e+01] [ 7.01601320e-02 9.97535660e-01 4.03831378e-04 7.48062603e-01] [-1.52355698e-02 6.66788368e-04 9.99883710e-01 -2.32063938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894391418 meters 0.030109950147288584 Centerline is valid? [True, True] Translation: X:15.77, Y:0.75, Z:-0.23 [[ 9.97340570e-01 -7.11877632e-02 1.56233843e-02 1.57747176e+01] [ 7.11900599e-02 9.97462685e-01 4.09796447e-04 7.48061925e-01] [-1.56129154e-02 7.03523044e-04 9.99877864e-01 -2.31387457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters 0.033917526679381096 Centerline is valid? [True, True] Translation: X:15.81, Y:0.74, Z:-0.23 [[ 9.97314164e-01 -7.15847234e-02 1.54946790e-02 1.58063107e+01] [ 7.15870969e-02 9.97434271e-01 4.02118752e-04 7.44071808e-01] [-1.54837094e-02 7.08180359e-04 9.99879869e-01 -2.32636444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954391418 meters 0.03272406916572876 Centerline is valid? [True, True] Translation: X:15.84, Y:0.75, Z:-0.23 [[ 9.97217720e-01 -7.29539858e-02 1.53145173e-02 1.58381519e+01] [ 7.29565237e-02 9.97335044e-01 3.93637287e-04 7.49621017e-01] [-1.53024222e-02 7.24751866e-04 9.99882648e-01 -2.32610372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391418 meters 0.03422229072730376 Centerline is valid? [True, True] Translation: X:15.87, Y:0.75, Z:-0.23 [[ 9.97210713e-01 -7.32380413e-02 1.43869043e-02 1.58692080e+01] [ 7.32403635e-02 9.97314251e-01 3.66114753e-04 7.50466048e-01] [-1.43750782e-02 6.88608545e-04 9.99896436e-01 -2.34308200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014391418 meters 0.03450469591840309 Centerline is valid? [True, True] Translation: X:15.90, Y:0.75, Z:-0.23 [[ 9.97113586e-01 -7.43297886e-02 1.54783687e-02 1.59018355e+01] [ 7.43326720e-02 9.97233424e-01 3.89732714e-04 7.51132163e-01] [-1.54645154e-02 7.61940719e-04 9.99880127e-01 -2.32603604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters 0.03580227160990872 Centerline is valid? [True, True] Translation: X:15.93, Y:0.75, Z:-0.24 [[ 9.97155069e-01 -7.39487159e-02 1.46067284e-02 1.59349390e+01] [ 7.39512942e-02 9.97261788e-01 3.64275381e-04 7.51752770e-01] [-1.45936697e-02 7.16947423e-04 9.99893250e-01 -2.36004327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074391418 meters 0.03267236737295691 Centerline is valid? [True, True] Translation: X:15.97, Y:0.76, Z:-0.23 [[ 9.97124922e-01 -7.42517073e-02 1.51186702e-02 1.59667339e+01] [ 7.42545782e-02 9.97239249e-01 3.72142267e-04 7.55558297e-01] [-1.51045635e-02 7.51558151e-04 9.99885637e-01 -2.34922831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters 0.031108050325153454 Centerline is valid? [True, True] Translation: X:16.00, Y:0.76, Z:-0.24 [[ 9.97213447e-01 -7.31352950e-02 1.47163420e-02 1.59992388e+01] [ 7.31379514e-02 9.97321769e-01 3.58320246e-04 7.59423200e-01] [-1.47031341e-02 7.19001339e-04 9.99891645e-01 -2.37296816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134391418 meters 0.033421010097847384 Centerline is valid? [True, True] Translation: X:16.03, Y:0.76, Z:-0.24 [[ 9.97277854e-01 -7.22392105e-02 1.47776526e-02 1.60301763e+01] [ 7.22418548e-02 9.97387080e-01 3.55498955e-04 7.58464236e-01] [-1.47647207e-02 7.13033796e-04 9.99890741e-01 -2.38074642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391418 meters 0.030533417009532098 Centerline is valid? [True, True] Translation: X:16.06, Y:0.77, Z:-0.24 [[ 9.97340758e-01 -7.10801080e-02 1.60944269e-02 1.60623392e+01] [ 7.10831681e-02 9.97470319e-01 3.82567922e-04 7.66041039e-01] [-1.60809061e-02 7.62492272e-04 9.99870403e-01 -2.35316393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194391418 meters 0.030576761313169075 Centerline is valid? [True, True] Translation: X:16.09, Y:0.77, Z:-0.23 [[ 9.97399848e-01 -6.99792130e-02 1.72178357e-02 1.60934863e+01] [ 6.99826418e-02 9.97548127e-01 4.04037965e-04 7.67423249e-01] [-1.72038941e-02 8.01962226e-04 9.99851680e-01 -2.34533557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters 0.02845901008813907 Centerline is valid? [True, True] Translation: X:16.13, Y:0.77, Z:-0.24 [[ 9.97465043e-01 -6.91621223e-02 1.67358316e-02 1.61257442e+01] [ 6.91653168e-02 9.97605136e-01 3.88551287e-04 7.72359163e-01] [-1.67226246e-02 7.69972766e-04 9.99859871e-01 -2.36554167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254391418 meters 0.0321384085033303 Centerline is valid? [True, True] Translation: X:16.16, Y:0.77, Z:-0.24 [[ 9.97458567e-01 -6.91173793e-02 1.72972298e-02 1.61582700e+01] [ 6.91208751e-02 9.97608213e-01 3.96375240e-04 7.66685538e-01] [-1.72832549e-02 8.00231781e-04 9.99850313e-01 -2.36158017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418000002 meters 0.02855008887311661 Centerline is valid? [True, True] Translation: X:16.19, Y:0.77, Z:-0.24 [[ 9.97576753e-01 -6.77455919e-02 1.58479208e-02 1.61902024e+01] [ 6.77484247e-02 9.97702372e-01 3.58663977e-04 7.72552083e-01] [-1.58358061e-02 7.15876827e-04 9.99874349e-01 -2.39443998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314391418 meters 0.028715669551223774 Centerline is valid? [True, True] Translation: X:16.22, Y:0.77, Z:-0.24 [[ 9.97628109e-01 -6.70744131e-02 1.54654053e-02 1.62224819e+01] [ 6.70770977e-02 9.97747735e-01 3.45648542e-04 7.73510651e-01] [-1.54537573e-02 6.92545799e-04 9.99880344e-01 -2.40241712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391418 meters 0.028229698476557537 Centerline is valid? [True, True] Translation: X:16.26, Y:0.78, Z:-0.24 [[ 9.97663421e-01 -6.65277698e-02 1.55484309e-02 1.62560501e+01] [ 6.65304852e-02 9.97784334e-01 3.43120645e-04 7.75359930e-01] [-1.55368078e-02 6.92125732e-04 9.99879057e-01 -2.39585484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374391418000002 meters 0.028127838885723122 Centerline is valid? [True, True] Translation: X:16.29, Y:0.78, Z:-0.24 [[ 9.97731290e-01 -6.55639234e-02 1.52854692e-02 1.62879495e+01] [ 6.55665113e-02 9.97848146e-01 3.32306312e-04 7.77565928e-01] [-1.52743644e-02 6.70662484e-04 9.99883115e-01 -2.40054296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters 0.028147565378116107 Centerline is valid? [True, True] Translation: X:16.32, Y:0.78, Z:-0.24 [[ 9.97789740e-01 -6.46747109e-02 1.52583497e-02 1.63198965e+01] [ 6.46772519e-02 9.97906181e-01 3.27389646e-04 7.79353660e-01] [-1.52475753e-02 6.60202099e-04 9.99883531e-01 -2.40432461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434391418 meters 0.0286526051270887 Centerline is valid? [True, True] Translation: X:16.35, Y:0.78, Z:-0.24 [[ 9.97886833e-01 -6.32173976e-02 1.50143217e-02 1.63523291e+01] [ 6.32197557e-02 9.97999580e-01 3.17992731e-04 7.79746895e-01] [-1.50043894e-02 6.31880992e-04 9.99887228e-01 -2.42900938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391418 meters 0.027224756231133015 Centerline is valid? [True, True] Translation: X:16.39, Y:0.78, Z:-0.24 [[ 9.97909086e-01 -6.27336689e-02 1.55545406e-02 1.63856025e+01] [ 6.27362099e-02 9.98030091e-01 3.25011434e-04 7.81438477e-01] [-1.55442887e-02 6.51501061e-04 9.99878968e-01 -2.42514723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494391418 meters 0.02851576577700356 Centerline is valid? [True, True] Translation: X:16.42, Y:0.78, Z:-0.24 [[ 9.97927499e-01 -6.23009597e-02 1.61027149e-02 1.64182122e+01] [ 6.23037153e-02 9.98057181e-01 3.30966686e-04 7.79890072e-01] [-1.60920498e-02 6.72978205e-04 9.99870288e-01 -2.42951101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391418 meters 0.028468753772430234 Centerline is valid? [True, True] Translation: X:16.45, Y:0.78, Z:-0.24 [[ 9.97982753e-01 -6.14894895e-02 1.57945457e-02 1.64507559e+01] [ 6.14921141e-02 9.98107518e-01 3.19889456e-04 7.81971596e-01] [-1.57843246e-02 6.51995844e-04 9.99875207e-01 -2.43439050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554391418 meters 0.029385406477021266 Centerline is valid? [True, True] Translation: X:16.48, Y:0.79, Z:-0.25 [[ 9.98074920e-01 -6.03490075e-02 1.42986645e-02 1.64830774e+01] [ 6.03510908e-02 9.98177171e-01 2.86143572e-04 7.85004990e-01] [-1.42898690e-02 5.77347278e-04 9.99897728e-01 -2.47051732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters 0.028454416479222595 Centerline is valid? [True, True] Translation: X:16.52, Y:0.79, Z:-0.24 [[ 9.98005430e-01 -6.13195355e-02 1.50025704e-02 1.65150436e+01] [ 6.13220044e-02 9.98117991e-01 2.95830595e-04 7.85708324e-01] [-1.49924756e-02 6.24747147e-04 9.99887411e-01 -2.44512646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614391418 meters 0.027253911889967168 Centerline is valid? [True, True] Translation: X:16.55, Y:0.79, Z:-0.24 [[ 9.97968336e-01 -6.18447408e-02 1.53110817e-02 1.65470813e+01] [ 6.18474397e-02 9.98085570e-01 2.97620819e-04 7.88147267e-01] [-1.53001760e-02 6.49935051e-04 9.99882734e-01 -2.44840066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391418 meters 0.031460144941892934 Centerline is valid? [True, True] Translation: X:16.58, Y:0.78, Z:-0.25 [[ 9.97890351e-01 -6.29528129e-02 1.58679001e-02 1.65781620e+01] [ 6.29559270e-02 9.98016262e-01 3.03691325e-04 7.81904877e-01] [-1.58555405e-02 6.95927715e-04 9.99874051e-01 -2.48137220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674391418 meters 0.031208403842737112 Centerline is valid? [True, True] Translation: X:16.61, Y:0.78, Z:-0.25 [[ 9.97713496e-01 -6.53561908e-02 1.72147446e-02 1.66105898e+01] [ 6.53603002e-02 9.97861677e-01 3.24404432e-04 7.80457589e-01] [-1.71991358e-02 8.01498195e-04 9.99851763e-01 -2.46349701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391418 meters 0.03147178024112998 Centerline is valid? [True, True] Translation: X:16.64, Y:0.78, Z:-0.25 [[ 9.97575823e-01 -6.72536089e-02 1.78725734e-02 1.66423477e+01] [ 6.72583678e-02 9.97735536e-01 3.35364812e-04 7.79787846e-01] [-1.78546561e-02 8.67528288e-04 9.99840217e-01 -2.46890355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734391418 meters 0.03313246814023881 Centerline is valid? [True, True] Translation: X:16.67, Y:0.78, Z:-0.25 [[ 9.97451814e-01 -6.91858201e-02 1.74126924e-02 1.66730738e+01] [ 6.91907088e-02 9.97603399e-01 3.22252084e-04 7.78066923e-01] [-1.73932564e-02 8.83365602e-04 9.99848336e-01 -2.47133215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters 0.036237233505683836 Centerline is valid? [True, True] Translation: X:16.70, Y:0.78, Z:-0.25 [[ 9.97347910e-01 -7.11655788e-02 1.52514331e-02 1.67039030e+01] [ 7.11695874e-02 9.97464190e-01 2.80440627e-04 7.76693391e-01] [-1.52327161e-02 8.05741330e-04 9.99883651e-01 -2.51492420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794391418 meters 0.03399061319790646 Centerline is valid? [True, True] Translation: X:16.74, Y:0.78, Z:-0.25 [[ 9.97208748e-01 -7.31039657e-02 1.51830143e-02 1.67364389e+01] [ 7.31081964e-02 9.97323977e-01 2.76939962e-04 7.79110759e-01] [-1.51626296e-02 8.33835840e-04 9.99884693e-01 -2.49831447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391418 meters 0.03654664258189537 Centerline is valid? [True, True] Translation: X:16.77, Y:0.78, Z:-0.25 [[ 9.97143035e-01 -7.40458458e-02 1.49325078e-02 1.67674672e+01] [ 7.40500528e-02 9.97254489e-01 2.71735320e-04 7.75345258e-01] [-1.49116313e-02 8.34794013e-04 9.99888467e-01 -2.51096269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854391418 meters 0.03849930926696479 Centerline is valid? [True, True] Translation: X:16.80, Y:0.77, Z:-0.26 [[ 9.97139949e-01 -7.41918268e-02 1.44046779e-02 1.67991348e+01] [ 7.41958089e-02 9.97243659e-01 2.58506550e-04 7.73018101e-01] [-1.43841527e-02 8.10999518e-04 9.99896214e-01 -2.55215582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters 0.03923423680297854 Centerline is valid? [True, True] Translation: X:16.83, Y:0.77, Z:-0.26 [[ 9.96986676e-01 -7.60965689e-02 1.50625583e-02 1.68310822e+01] [ 7.61012060e-02 9.97100063e-01 2.65906510e-04 7.69637204e-01] [-1.50391124e-02 8.81173604e-04 9.99886518e-01 -2.55783482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914391418 meters 0.03905347841378355 Centerline is valid? [True, True] Translation: X:16.86, Y:0.77, Z:-0.25 [[ 9.96838314e-01 -7.77760807e-02 1.62559737e-02 1.68633942e+01] [ 7.77817434e-02 9.96970370e-01 2.84573334e-04 7.68530655e-01] [-1.62288571e-02 9.80744371e-04 9.99867822e-01 -2.52735894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters 0.04127735822835726 Centerline is valid? [True, True] Translation: X:16.89, Y:0.77, Z:-0.25 [[ 9.96789881e-01 -7.83104344e-02 1.66555760e-02 1.68948473e+01] [ 7.83164743e-02 9.96928506e-01 2.90305722e-04 7.66248062e-01] [-1.66271524e-02 1.01503218e-03 9.99861244e-01 -2.53038792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974391418 meters 0.03907059531745009 Centerline is valid? [True, True] Translation: X:16.93, Y:0.77, Z:-0.25 [[ 9.96792640e-01 -7.82016666e-02 1.69979994e-02 1.69279173e+01] [ 7.82079822e-02 9.96937022e-01 2.93888853e-04 7.70157156e-01] [-1.69689175e-02 1.03643299e-03 9.99855480e-01 -2.53564232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391418 meters 0.03580978422978967 Centerline is valid? [True, True] Translation: X:16.96, Y:0.77, Z:-0.25 [[ 9.96820571e-01 -7.77612587e-02 1.73763124e-02 1.69614148e+01] [ 7.77678909e-02 9.96971448e-01 2.94727564e-04 7.74190662e-01] [-1.73466057e-02 1.05752867e-03 9.99848977e-01 -2.52431983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034391418 meters 0.03885797378758468 Centerline is valid? [True, True] Translation: X:16.99, Y:0.77, Z:-0.26 [[ 9.96950439e-01 -7.62915336e-02 1.64141522e-02 1.69923186e+01] [ 7.62973391e-02 9.97085072e-01 2.73154467e-04 7.70476007e-01] [-1.63871455e-02 9.80034669e-04 9.99865241e-01 -2.56921910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters 0.03705334736702582 Centerline is valid? [True, True] Translation: X:17.02, Y:0.77, Z:-0.26 [[ 9.97023420e-01 -7.53961872e-02 1.61156919e-02 1.70245628e+01] [ 7.54017345e-02 9.97153202e-01 2.63986145e-04 7.71792932e-01] [-1.60897173e-02 9.51950752e-04 9.99870099e-01 -2.57794566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094391418 meters 0.03702408943916305 Centerline is valid? [True, True] Translation: X:17.06, Y:0.77, Z:-0.26 [[ 9.97043996e-01 -7.51128663e-02 1.61656148e-02 1.70553988e+01] [ 7.51184896e-02 9.97174581e-01 2.59930038e-04 7.70165296e-01] [-1.61394642e-02 9.55174883e-04 9.99869294e-01 -2.56299259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418000002 meters 0.03778793213165573 Centerline is valid? [True, True] Translation: X:17.09, Y:0.77, Z:-0.26 [[ 9.97215612e-01 -7.30172350e-02 1.51495056e-02 1.70860260e+01] [ 7.30219715e-02 9.97330303e-01 2.41002948e-04 7.70267199e-01] [-1.51266584e-02 8.65914865e-04 9.99885211e-01 -2.60084113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154391418 meters 0.035791573114340586 Centerline is valid? [True, True] Translation: X:17.12, Y:0.77, Z:-0.26 [[ 9.97484301e-01 -6.92361622e-02 1.52125646e-02 1.71172755e+01] [ 6.92405100e-02 9.97599967e-01 2.41340248e-04 7.74734502e-01] [-1.51927634e-02 8.12592622e-04 9.99884253e-01 -2.58858261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391418 meters 0.03055290664916177 Centerline is valid? [True, True] Translation: X:17.15, Y:0.78, Z:-0.26 [[ 9.97657531e-01 -6.65728806e-02 1.57322243e-02 1.71484082e+01] [ 6.65772054e-02 9.97781245e-01 2.49256427e-04 7.82352994e-01] [-1.57139120e-02 7.98734976e-04 9.99876210e-01 -2.55729714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214391418 meters 0.033058702519356116 Centerline is valid? [True, True] Translation: X:17.18, Y:0.78, Z:-0.26 [[ 9.97960101e-01 -6.20730351e-02 1.49189451e-02 1.71784065e+01] [ 6.20764331e-02 9.98071371e-01 2.35655143e-04 7.81285736e-01] [-1.49047998e-02 6.90940469e-04 9.99888679e-01 -2.59689596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters 0.026157022756332787 Centerline is valid? [True, True] Translation: X:17.21, Y:0.79, Z:-0.26 [[ 9.98471857e-01 -5.30181887e-02 1.55892072e-02 1.72092041e+01] [ 5.30207961e-02 9.98593378e-01 2.46289055e-04 7.90244646e-01] [-1.55803369e-02 5.80639487e-04 9.99878451e-01 -2.58047481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274391418 meters 0.02475472424086027 Centerline is valid? [True, True] Translation: X:17.24, Y:0.80, Z:-0.26 [[ 9.98794489e-01 -4.66915907e-02 1.51480669e-02 1.72393630e+01] [ 4.66933307e-02 9.98909243e-01 2.38984204e-04 7.95139603e-01] [-1.51427026e-02 4.68617590e-04 9.99885233e-01 -2.61980750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391418 meters 0.020284221161210873 Centerline is valid? [True, True] Translation: X:17.27, Y:0.80, Z:-0.26 [[ 9.99008075e-01 -4.12244789e-02 1.68347220e-02 1.72709575e+01] [ 4.12258511e-02 9.99149818e-01 2.65666955e-04 8.02368113e-01] [-1.68313614e-02 4.28622309e-04 9.99858251e-01 -2.59493100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334391418 meters 0.020284221161210873 Centerline is valid? [True, True] Translation: X:17.30, Y:0.80, Z:-0.26 [[ 9.99021470e-01 -4.08985804e-02 1.68347333e-02 1.73035783e+01] [ 4.08999184e-02 9.99163213e-01 2.64948460e-04 8.02745143e-01] [-1.68314823e-02 4.23850020e-04 9.99858251e-01 -2.60080979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391418 meters 0.018618433424961476 Centerline is valid? [True, True] Translation: X:17.33, Y:0.81, Z:-0.26 [[ 9.99241506e-01 -3.47396136e-02 1.75946298e-02 1.73339536e+01] [ 3.47402288e-02 9.99396339e-01 2.70768718e-04 8.08103230e-01] [-1.75934150e-02 3.40678125e-04 9.99845166e-01 -2.58951155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394391418 meters 0.01707444606881623 Centerline is valid? [True, True] Translation: X:17.37, Y:0.82, Z:-0.26 [[ 9.99594661e-01 -2.19149316e-02 1.81727579e-02 1.73653589e+01] [ 2.19134755e-02 9.99759832e-01 2.79275444e-04 8.21713716e-01] [-1.81745136e-02 1.19066041e-04 9.99834823e-01 -2.60143975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters 0.015219096379559413 Centerline is valid? [True, True] Translation: X:17.40, Y:0.83, Z:-0.26 [[ 9.99687599e-01 -1.62689778e-02 1.89743332e-02 1.73971715e+01] [ 1.62663961e-02 9.99867651e-01 2.90404412e-04 8.27574369e-01] [-1.89765466e-02 1.83303301e-05 9.99819929e-01 -2.58919865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454391418 meters 0.017393986724167688 Centerline is valid? [True, True] Translation: X:17.43, Y:0.83, Z:-0.26 [[ 9.99780741e-01 -9.82627814e-03 1.84909342e-02 1.74278012e+01] [ 9.82275220e-03 9.99951716e-01 2.81501032e-04 8.32772340e-01] [-1.84928075e-02 -9.98074454e-05 9.99828988e-01 -2.61776304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391418 meters 0.01801854888212062 Centerline is valid? [True, True] Translation: X:17.46, Y:0.84, Z:-0.26 [[ 9.99817236e-01 -4.99297513e-03 1.84544021e-02 1.74601047e+01] [ 4.98869218e-03 9.99987518e-01 2.78111520e-04 8.36550276e-01] [-1.84555604e-02 -1.85997360e-04 9.99829664e-01 -2.62764025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514391418 meters 0.018038442997003377 Centerline is valid? [True, True] Translation: X:17.49, Y:0.84, Z:-0.26 [[ 9.99828004e-01 2.48943074e-03 1.83783983e-02 1.74924385e+01] [-2.49491530e-03 9.99996850e-01 2.75502258e-04 8.42592613e-01] [-1.83776546e-02 -3.21307420e-04 9.99831065e-01 -2.62469443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391418 meters 0.0194802420068797 Centerline is valid? [True, True] Translation: X:17.52, Y:0.85, Z:-0.26 [[ 9.99828483e-01 5.17799875e-03 1.77818229e-02 1.75242163e+01] [-5.18353341e-03 9.99986530e-01 2.65177594e-04 8.45423432e-01] [-1.77802102e-02 -3.57304785e-04 9.99841856e-01 -2.64175994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574391418 meters 0.018537055399819004 Centerline is valid? [True, True] Translation: X:17.56, Y:0.85, Z:-0.26 [[ 9.99817680e-01 6.77519402e-03 1.78522954e-02 1.75567112e+01] [-6.78100227e-03 9.99976974e-01 2.64836913e-04 8.45850678e-01] [-1.78500900e-02 -3.85845083e-04 9.99840600e-01 -2.63887802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters 0.019994298060628603 Centerline is valid? [True, True] Translation: X:17.59, Y:0.85, Z:-0.27 [[ 9.99814880e-01 8.66001792e-03 1.71816551e-02 1.75883630e+01] [-8.66559435e-03 9.99962422e-01 2.50132200e-04 8.47430731e-01] [-1.71788433e-02 -3.98975148e-04 9.99852353e-01 -2.66224822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634391418 meters 0.020024491895245692 Centerline is valid? [True, True] Translation: X:17.62, Y:0.85, Z:-0.27 [[ 9.99816454e-01 8.62949263e-03 1.71052431e-02 1.76199914e+01] [-8.63493875e-03 9.99962688e-01 2.44556706e-04 8.47713412e-01] [-1.71024945e-02 -3.92214545e-04 9.99853665e-01 -2.66918376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391418 meters 0.020150296510732236 Centerline is valid? [True, True] Translation: X:17.65, Y:0.85, Z:-0.27 [[ 9.99825673e-01 8.53731329e-03 1.66053738e-02 1.76518832e+01] [-8.54235302e-03 9.99963486e-01 2.32593158e-04 8.46995968e-01] [-1.66027817e-02 -3.74401576e-04 9.99862094e-01 -2.67934198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694391418 meters 0.019332162450791522 Centerline is valid? [True, True] Translation: X:17.69, Y:0.84, Z:-0.27 [[ 9.99830457e-01 8.52561975e-03 1.63208833e-02 1.76853439e+01] [-8.53041200e-03 9.99963590e-01 2.24031359e-04 8.42522088e-01] [-1.63183791e-02 -3.63217235e-04 9.99866780e-01 -2.70150126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters 0.019199951405492816 Centerline is valid? [True, True] Translation: X:17.72, Y:0.84, Z:-0.27 [[ 9.99826271e-01 8.77016214e-03 1.64472782e-02 1.77172736e+01] [-8.77496929e-03 9.99961475e-01 2.20130139e-04 8.42312429e-01] [-1.64447139e-02 -3.64416256e-04 9.99864710e-01 -2.70203419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754391418 meters 0.01919453568980329 Centerline is valid? [True, True] Translation: X:17.75, Y:0.84, Z:-0.27 [[ 9.99806148e-01 9.66756447e-03 1.71523873e-02 1.77504744e+01] [-9.67286399e-03 9.99953191e-01 2.26029043e-04 8.41949911e-01] [-1.71493993e-02 -3.91897936e-04 9.99852861e-01 -2.70398207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters 0.019806018469290684 Centerline is valid? [True, True] Translation: X:17.78, Y:0.84, Z:-0.27 [[ 9.99800273e-01 1.05354012e-02 1.69829087e-02 1.77838838e+01] [-1.05406284e-02 9.99944422e-01 2.18301927e-04 8.42660721e-01] [-1.69796649e-02 -3.97268855e-04 9.99855756e-01 -2.70872965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814391418 meters 0.019912312101596448 Centerline is valid? [True, True] Translation: X:17.81, Y:0.84, Z:-0.27 [[ 9.99782874e-01 1.13272117e-02 1.74899790e-02 1.78149484e+01] [-1.13327726e-02 9.99935758e-01 2.18864301e-04 8.44040136e-01] [-1.74863763e-02 -4.17026734e-04 9.99847015e-01 -2.70169883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391418 meters 0.021763671166626256 Centerline is valid? [True, True] Translation: X:17.85, Y:0.84, Z:-0.27 [[ 9.99749268e-01 1.36049279e-02 1.77849989e-02 1.78474539e+01] [-1.36109887e-02 9.99907342e-01 2.19773779e-04 8.43285617e-01] [-1.77803609e-02 -4.61790093e-04 9.99841810e-01 -2.72102265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874391418000002 meters 0.02145412750439841 Centerline is valid? [True, True] Translation: X:17.88, Y:0.84, Z:-0.27 [[ 9.99713047e-01 1.41910083e-02 1.92986903e-02 1.78795907e+01] [-1.41981402e-02 9.99899174e-01 2.32580366e-04 8.43575705e-01] [-1.92934439e-02 -5.06519136e-04 9.99813736e-01 -2.70506247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters 0.02318261214880842 Centerline is valid? [True, True] Translation: X:17.91, Y:0.84, Z:-0.27 [[ 9.99707940e-01 1.55535468e-02 1.84965543e-02 1.79120239e+01] [-1.55602327e-02 9.99878909e-01 2.17598393e-04 8.38693432e-01] [-1.84909301e-02 -5.05345529e-04 9.99828900e-01 -2.74706417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934391418 meters 0.021235723663354855 Centerline is valid? [True, True] Translation: X:17.94, Y:0.84, Z:-0.27 [[ 9.99686507e-01 1.50671443e-02 1.99967302e-02 1.79437956e+01] [-1.50747434e-02 9.99886343e-01 2.29328116e-04 8.37430088e-01] [-1.99910021e-02 -5.30701800e-04 9.99800019e-01 -2.72975229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391418 meters 0.022145513805232764 Centerline is valid? [True, True] Translation: X:17.98, Y:0.84, Z:-0.28 [[ 9.99712614e-01 1.53823229e-02 1.83867531e-02 1.79766023e+01] [-1.53887208e-02 9.99881565e-01 2.06518534e-04 8.35787769e-01] [-1.83813987e-02 -4.89407792e-04 9.99830928e-01 -2.76108905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994391418 meters 0.02158438123422615 Centerline is valid? [True, True] Translation: X:18.01, Y:0.84, Z:-0.28 [[ 9.99730746e-01 1.45771058e-02 1.80539156e-02 1.80077853e+01] [-1.45830414e-02 9.99893642e-01 1.97153532e-04 8.35694420e-01] [-1.80491215e-02 -4.60381446e-04 9.99836995e-01 -2.76609574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391418 meters 0.02028117762306028 Centerline is valid? [True, True] Translation: X:18.04, Y:0.83, Z:-0.28 [[ 9.99747871e-01 1.38165886e-02 1.77002046e-02 1.80396698e+01] [-1.38220965e-02 9.99904452e-01 1.88874604e-04 8.32935439e-01] [-1.76959038e-02 -4.33480919e-04 9.99843321e-01 -2.77476632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054391418 meters 0.019893195015971286 Centerline is valid? [True, True] Translation: X:18.07, Y:0.83, Z:-0.28 [[ 9.99793593e-01 1.17988975e-02 1.65395534e-02 1.80717254e+01] [-1.18033610e-02 9.99930323e-01 1.72270037e-04 8.26076229e-01] [-1.65363684e-02 -3.67456800e-04 9.99863197e-01 -2.80464727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters 0.019072306776173394 Centerline is valid? [True, True] Translation: X:18.10, Y:0.82, Z:-0.28 [[ 9.99794959e-01 1.00000125e-02 1.76079199e-02 1.81035780e+01] [-1.00046995e-02 9.99949936e-01 1.78119877e-04 8.23223935e-01] [-1.76052572e-02 -3.54245303e-04 9.99844953e-01 -2.80300348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114391418 meters 0.01917354230994254 Centerline is valid? [True, True] Translation: X:18.14, Y:0.82, Z:-0.28 [[ 9.99813101e-01 8.57212340e-03 1.73286156e-02 1.81362914e+01] [-8.57636648e-03 9.99963208e-01 1.70559281e-04 8.19247534e-01] [-1.73265160e-02 -3.19143962e-04 9.99849834e-01 -2.81460928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391418 meters 0.01782744897539948 Centerline is valid? [True, True] Translation: X:18.17, Y:0.82, Z:-0.28 [[ 9.99805039e-01 5.94821511e-03 1.88282612e-02 1.81672454e+01] [-5.95265350e-03 9.99982267e-01 1.79694692e-04 8.16549979e-01] [-1.88268585e-02 -2.91737774e-04 9.99822716e-01 -2.80169506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174391418 meters 0.016301623659903196 Centerline is valid? [True, True] Translation: X:18.20, Y:0.81, Z:-0.28 [[ 9.99808557e-01 5.19088854e-04 1.95596683e-02 1.81991233e+01] [-5.22773515e-04 9.99999847e-01 1.83267892e-04 8.10434607e-01] [-1.95595702e-02 -1.93458083e-04 9.99808675e-01 -2.79338104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391418 meters 0.018074090311798057 Centerline is valid? [True, True] Translation: X:18.23, Y:0.81, Z:-0.28 [[ 9.99832458e-01 -1.14194911e-03 1.82688674e-02 1.82301967e+01] [ 1.13909673e-03 9.99999337e-01 1.66538717e-04 8.07483047e-01] [-1.82690455e-02 -1.45700808e-04 9.99833096e-01 -2.81803051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234391418 meters 0.017930050878320346 Centerline is valid? [True, True] Translation: X:18.26, Y:0.80, Z:-0.28 [[ 9.99817545e-01 -3.72702590e-03 1.87346196e-02 1.82621164e+01] [ 3.72456950e-03 9.99993050e-01 1.66006122e-04 8.03602213e-01] [-1.87351081e-02 -9.61974409e-05 9.99824478e-01 -2.83024788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters 0.015577327539447202 Centerline is valid? [True, True] Translation: X:18.30, Y:0.80, Z:-0.28 [[ 9.99786469e-01 -6.58183139e-03 1.95881797e-02 1.82952415e+01] [ 6.57980182e-03 9.99978339e-01 1.68060151e-04 7.98822647e-01] [-1.95888615e-02 -3.91379244e-05 9.99808119e-01 -2.82364090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294391418 meters 0.015826990124426878 Centerline is valid? [True, True] Translation: X:18.33, Y:0.79, Z:-0.29 [[ 9.99768652e-01 -1.11707143e-02 1.83808888e-02 1.83275931e+01] [ 1.11698059e-02 9.99937604e-01 1.52089477e-04 7.91028845e-01] [-1.83814409e-02 5.32566689e-05 9.99831046e-01 -2.85552914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391418 meters 0.015737023956685324 Centerline is valid? [True, True] Translation: X:18.36, Y:0.79, Z:-0.29 [[ 9.99739920e-01 -1.35555507e-02 1.83395657e-02 1.83596456e+01] [ 1.35551479e-02 9.99908114e-01 1.46276073e-04 7.88011164e-01] [-1.83398634e-02 1.02357496e-04 9.99831805e-01 -2.86353388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354391418 meters 0.017548116465559423 Centerline is valid? [True, True] Translation: X:18.39, Y:0.79, Z:-0.29 [[ 9.99734678e-01 -1.49397340e-02 1.75322137e-02 1.83921228e+01] [ 1.49396020e-02 9.99888388e-01 1.38510548e-04 7.86343923e-01] [-1.75323262e-02 1.23450496e-04 9.99846289e-01 -2.88977158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391418 meters 0.016511060823858312 Centerline is valid? [True, True] Translation: X:18.42, Y:0.78, Z:-0.29 [[ 9.99671670e-01 -1.76638091e-02 1.85618299e-02 1.84240237e+01] [ 1.76641595e-02 9.99843966e-01 1.45086618e-04 7.84467060e-01] [-1.85614964e-02 1.82840142e-04 9.99827704e-01 -2.87580220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414391418 meters 0.01742435732129736 Centerline is valid? [True, True] Translation: X:18.46, Y:0.78, Z:-0.29 [[ 9.99606618e-01 -2.10320293e-02 1.85543035e-02 1.84562578e+01] [ 2.10329891e-02 9.99778772e-01 1.43431869e-04 7.80609533e-01] [-1.85532154e-02 2.46877018e-04 9.99827844e-01 -2.88599682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444391418 meters 0.01946919948762446 Centerline is valid? [True, True] Translation: X:18.49, Y:0.78, Z:-0.29 [[ 9.99597495e-01 -2.21070497e-02 1.77799626e-02 1.84872429e+01] [ 2.21081868e-02 9.99755575e-01 1.32620018e-04 7.77515445e-01] [-1.77785486e-02 2.60516098e-04 9.99841915e-01 -2.90817017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474391418 meters 0.01942132597859828 Centerline is valid? [True, True] Translation: X:18.52, Y:0.77, Z:-0.29 [[ 9.99540766e-01 -2.39875658e-02 1.85163296e-02 1.85189962e+01] [ 2.39892147e-02 9.99712209e-01 1.33092771e-04 7.73388517e-01] [-1.85141933e-02 3.11160556e-04 9.99828549e-01 -2.89731081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391418 meters 0.01968899114169484 Centerline is valid? [True, True] Translation: X:18.55, Y:0.77, Z:-0.29 [[ 9.99496386e-01 -2.64886002e-02 1.74736436e-02 1.85513057e+01] [ 2.64905241e-02 9.99649057e-01 1.21394080e-04 7.73102630e-01] [-1.74707270e-02 3.41553033e-04 9.99847317e-01 -2.92074646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534391418 meters 0.01982340493002063 Centerline is valid? [True, True] Translation: X:18.58, Y:0.77, Z:-0.29 [[ 9.99465931e-01 -2.78057318e-02 1.71666824e-02 1.85830371e+01] [ 2.78078033e-02 9.99613281e-01 1.18069716e-04 7.72037679e-01] [-1.71633268e-02 3.59361069e-04 9.99852635e-01 -2.92622064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters 0.022962202152645345 Centerline is valid? [True, True] Translation: X:18.61, Y:0.77, Z:-0.30 [[ 9.99459271e-01 -2.85344657e-02 1.63385865e-02 1.86141573e+01] [ 2.85365046e-02 9.99592745e-01 1.08379639e-04 7.67130585e-01] [-1.63350251e-02 3.57925115e-04 9.99866511e-01 -2.95334527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594391418 meters 0.02142143296929689 Centerline is valid? [True, True] Translation: X:18.65, Y:0.77, Z:-0.30 [[ 9.99360899e-01 -3.16592444e-02 1.65977799e-02 1.86465246e+01] [ 3.16618550e-02 9.99498632e-01 1.05532187e-04 7.68265342e-01] [-1.65927994e-02 4.20051760e-04 9.99862242e-01 -2.95747409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418000002 meters 0.022629132698880023 Centerline is valid? [True, True] Translation: X:18.68, Y:0.77, Z:-0.30 [[ 9.99299866e-01 -3.32624911e-02 1.71284508e-02 1.86772924e+01] [ 3.32655291e-02 9.99446543e-01 1.07592970e-04 7.65080755e-01] [-1.71225498e-02 4.62269339e-04 9.99853292e-01 -2.96077192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654391418 meters 0.023523128600548147 Centerline is valid? [True, True] Translation: X:18.71, Y:0.76, Z:-0.30 [[ 9.99247240e-01 -3.45990933e-02 1.75458269e-02 1.87086438e+01] [ 3.46025570e-02 9.99401147e-01 1.06234451e-04 7.63542179e-01] [-1.75389952e-02 5.00975995e-04 9.99846054e-01 -2.96394509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391418 meters 0.024945064979873723 Centerline is valid? [True, True] Translation: X:18.74, Y:0.76, Z:-0.30 [[ 9.99171415e-01 -3.71943347e-02 1.65246754e-02 1.87411783e+01] [ 3.71978302e-02 9.99307917e-01 9.58839210e-05 7.63136061e-01] [-1.65168053e-02 5.18877596e-04 9.99863454e-01 -2.96867301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714391418 meters 0.025803460866754398 Centerline is valid? [True, True] Translation: X:18.77, Y:0.76, Z:-0.30 [[ 9.99135906e-01 -3.82187480e-02 1.63330824e-02 1.87728719e+01] [ 3.82223152e-02 9.99269256e-01 9.38199110e-05 7.62991586e-01] [-1.63247328e-02 5.30549383e-04 9.99866602e-01 -2.97351299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters 0.026726919541583693 Centerline is valid? [True, True] Translation: X:18.80, Y:0.76, Z:-0.30 [[ 9.99107429e-01 -3.89293477e-02 1.63966971e-02 1.88037149e+01] [ 3.89331056e-02 9.99241815e-01 9.00813302e-05 7.62256403e-01] [-1.63877721e-02 5.48373412e-04 9.99865561e-01 -2.97928414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774391418 meters 0.025199260638466465 Centerline is valid? [True, True] Translation: X:18.84, Y:0.77, Z:-0.30 [[ 9.99096001e-01 -3.94807017e-02 1.57624303e-02 1.88360149e+01] [ 3.94843075e-02 9.99220187e-01 8.24992354e-05 7.65872084e-01] [-1.57533957e-02 5.39943990e-04 9.99875762e-01 -2.99662434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391418 meters 0.02706387481034772 Centerline is valid? [True, True] Translation: X:18.87, Y:0.77, Z:-0.30 [[ 9.99044183e-01 -4.09575847e-02 1.52708005e-02 1.88685233e+01] [ 4.09611597e-02 9.99160736e-01 7.87226055e-05 7.65432732e-01] [-1.52612086e-02 5.46862338e-04 9.99883391e-01 -3.01040285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834391418 meters 0.0267486403339147 Centerline is valid? [True, True] Translation: X:18.90, Y:0.77, Z:-0.30 [[ 9.98959634e-01 -4.24740253e-02 1.66014150e-02 1.88995688e+01] [ 4.24784799e-02 9.99097378e-01 8.43651670e-05 7.65267265e-01] [-1.65900135e-02 6.20925477e-04 9.99862183e-01 -2.99455349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391418 meters 0.027013485224896563 Centerline is valid? [True, True] Translation: X:18.93, Y:0.77, Z:-0.30 [[ 9.98955212e-01 -4.26338622e-02 1.64571708e-02 1.89316873e+01] [ 4.26383358e-02 9.99090569e-01 7.91040813e-05 7.66432682e-01] [-1.64455767e-02 6.22684942e-04 9.99864568e-01 -2.99788518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894391418 meters 0.027435510969938445 Centerline is valid? [True, True] Translation: X:18.96, Y:0.77, Z:-0.30 [[ 9.98974882e-01 -4.23363424e-02 1.60256063e-02 1.89642608e+01] [ 4.23405591e-02 9.99103234e-01 7.62271154e-05 7.67513188e-01] [-1.60144622e-02 6.02384156e-04 9.99871579e-01 -3.00828519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters 0.027640260534855597 Centerline is valid? [True, True] Translation: X:19.00, Y:0.77, Z:-0.30 [[ 9.98998622e-01 -4.16899081e-02 1.62389705e-02 1.89962968e+01] [ 4.16942377e-02 9.99130415e-01 7.19995667e-05 7.70427670e-01] [-1.62278509e-02 6.05144026e-04 9.99868137e-01 -3.01960878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954391418 meters 0.027630770030516966 Centerline is valid? [True, True] Translation: X:19.03, Y:0.77, Z:-0.30 [[ 9.99015747e-01 -4.12456281e-02 1.63197636e-02 1.90282860e+01] [ 4.12499566e-02 9.99148856e-01 7.14384934e-05 7.72034270e-01] [-1.63088196e-02 6.01821360e-04 9.99866821e-01 -3.02010260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391418 meters 0.027611298590526905 Centerline is valid? [True, True] Translation: X:19.06, Y:0.77, Z:-0.30 [[ 9.99033398e-01 -4.09408121e-02 1.60037174e-02 1.90608482e+01] [ 4.09450152e-02 9.99161399e-01 6.50757907e-05 7.74612090e-01] [-1.59929609e-02 5.90259563e-04 9.99871930e-01 -3.02612077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014391418 meters 0.029350767096576785 Centerline is valid? [True, True] Translation: X:19.09, Y:0.78, Z:-0.31 [[ 9.99104549e-01 -4.01005620e-02 1.34923946e-02 1.90925755e+01] [ 4.01034839e-02 9.99195530e-01 5.40395625e-05 7.77533329e-01] [-1.34837074e-02 4.87100857e-04 9.99908972e-01 -3.06274336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391418 meters 0.029004349850974328 Centerline is valid? [True, True] Translation: X:19.12, Y:0.78, Z:-0.31 [[ 9.99061947e-01 -4.09955089e-02 1.39496934e-02 1.91238687e+01] [ 4.09987253e-02 9.99159197e-01 5.54438938e-05 7.78688212e-01] [-1.39402374e-02 5.16527765e-04 9.99902697e-01 -3.05617223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074391418 meters 0.026811142721927333 Centerline is valid? [True, True] Translation: X:19.16, Y:0.79, Z:-0.31 [[ 9.98970520e-01 -4.33387002e-02 1.34036150e-02 1.91560677e+01] [ 4.33419327e-02 9.99060296e-01 4.93603351e-05 7.87289096e-01] [-1.33931588e-02 5.31629060e-04 9.99910166e-01 -3.05697409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters 0.027605838952552187 Centerline is valid? [True, True] Translation: X:19.19, Y:0.79, Z:-0.31 [[ 9.98912592e-01 -4.47835430e-02 1.29641003e-02 1.91881094e+01] [ 4.47867014e-02 9.98996571e-01 4.67368847e-05 7.88557392e-01] [-1.29531848e-02 5.33933227e-04 9.99915961e-01 -3.06862547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134391418 meters 0.0285205796590967 Centerline is valid? [True, True] Translation: X:19.22, Y:0.79, Z:-0.31 [[ 9.98855947e-01 -4.60299216e-02 1.29631711e-02 1.92205699e+01] [ 4.60331979e-02 9.98939909e-01 4.56821136e-05 7.89582238e-01] [-1.29515317e-02 5.51106368e-04 9.99915974e-01 -3.08200217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391418 meters 0.031590993067701016 Centerline is valid? [True, True] Translation: X:19.25, Y:0.79, Z:-0.31 [[ 9.98774234e-01 -4.78897783e-02 1.25139530e-02 1.92521070e+01] [ 4.78929855e-02 9.98852472e-01 4.34355900e-05 7.91003280e-01] [-1.25016731e-02 5.55948224e-04 9.99921696e-01 -3.10209552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194391418 meters 0.032611450625414366 Centerline is valid? [True, True] Translation: X:19.28, Y:0.79, Z:-0.31 [[ 9.98708938e-01 -4.90628175e-02 1.31642107e-02 1.92837096e+01] [ 4.90664931e-02 9.98795513e-01 4.38154079e-05 7.91565075e-01] [-1.31505043e-02 6.02162812e-04 9.99913347e-01 -3.09909323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391418 meters 0.033990575209614945 Centerline is valid? [True, True] Translation: X:19.31, Y:0.79, Z:-0.31 [[ 9.98647256e-01 -5.03736866e-02 1.28899392e-02 1.93147741e+01] [ 5.03773358e-02 9.98730255e-01 4.16384487e-05 7.92720347e-01] [-1.28756697e-02 6.07778673e-04 9.99916920e-01 -3.10666297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254391418 meters 0.033990575209614945 Centerline is valid? [True, True] Translation: X:19.35, Y:0.79, Z:-0.31 [[ 9.98653141e-01 -5.02568635e-02 1.28899506e-02 1.93473461e+01] [ 5.02605539e-02 9.98736139e-01 3.76852201e-05 7.92694842e-01] [-1.28755534e-02 6.10221593e-04 9.99916920e-01 -3.11252313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters 0.03370278005618573 Centerline is valid? [True, True] Translation: X:19.38, Y:0.80, Z:-0.31 [[ 9.98427799e-01 -5.45026079e-02 1.30918361e-02 1.93788652e+01] [ 5.45068043e-02 9.98513398e-01 3.63310159e-05 7.98149188e-01] [-1.30743539e-02 6.77320253e-04 9.99914298e-01 -3.10014709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314391418 meters 0.03727819489737669 Centerline is valid? [True, True] Translation: X:19.41, Y:0.80, Z:-0.31 [[ 9.98326369e-01 -5.63566829e-02 1.29763108e-02 1.94096217e+01] [ 5.63609683e-02 9.98410457e-01 3.55002449e-05 7.95483612e-01] [-1.29576851e-02 6.95916610e-04 9.99915804e-01 -3.10656995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391418 meters 0.03703570469982299 Centerline is valid? [True, True] Translation: X:19.44, Y:0.80, Z:-0.31 [[ 9.98220179e-01 -5.81797067e-02 1.30994760e-02 1.94421655e+01] [ 5.81842348e-02 9.98305862e-01 3.54992227e-05 7.97627346e-01] [-1.30793491e-02 7.26746949e-04 9.99914198e-01 -3.10900376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374391418000002 meters 0.03610320501728595 Centerline is valid? [True, True] Translation: X:19.47, Y:0.80, Z:-0.31 [[ 9.98071423e-01 -6.06043523e-02 1.34367895e-02 1.94737932e+01] [ 6.06093525e-02 9.98161563e-01 3.51472785e-05 8.00981720e-01] [-1.34142168e-02 7.79315615e-04 9.99909722e-01 -3.10790939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters 0.03984406557105033 Centerline is valid? [True, True] Translation: X:19.51, Y:0.80, Z:-0.31 [[ 9.97961127e-01 -6.22557328e-02 1.40645732e-02 1.95051983e+01] [ 6.22613708e-02 9.98059878e-01 3.70596497e-05 7.97745814e-01] [-1.40395934e-02 8.38695516e-04 9.99901088e-01 -3.10713462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434391418 meters 0.04208216934743406 Centerline is valid? [True, True] Translation: X:19.54, Y:0.80, Z:-0.31 [[ 9.97659021e-01 -6.68775671e-02 1.42782591e-02 1.95361871e+01] [ 6.68839169e-02 9.97760763e-01 3.28700868e-05 7.99336898e-01] [-1.42484850e-02 9.22192757e-04 9.99898060e-01 -3.10521418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391418 meters 0.04439397340954413 Centerline is valid? [True, True] Translation: X:19.57, Y:0.80, Z:-0.31 [[ 9.97539216e-01 -6.86666174e-02 1.41565937e-02 1.95667487e+01] [ 6.86730380e-02 9.97639220e-01 3.26394969e-05 7.98302664e-01] [-1.41254144e-02 9.39617122e-04 9.99899790e-01 -3.12433572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494391418 meters 0.04404920076848047 Centerline is valid? [True, True] Translation: X:19.60, Y:0.80, Z:-0.31 [[ 9.97419686e-01 -7.05665246e-02 1.32035957e-02 1.95974069e+01] [ 7.05722804e-02 9.97506668e-01 3.00645878e-05 8.00651041e-01] [-1.31727963e-02 9.01820848e-04 9.99912828e-01 -3.14874933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391418 meters 0.04891016661251523 Centerline is valid? [True, True] Translation: X:19.63, Y:0.80, Z:-0.31 [[ 9.97062333e-01 -7.54171302e-02 1.33776333e-02 1.96271913e+01] [ 7.54234865e-02 9.97151592e-01 2.94567731e-05 7.96993681e-01] [-1.33417499e-02 9.79617506e-04 9.99910515e-01 -3.14846707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554391418 meters 0.04894443417691941 Centerline is valid? [True, True] Translation: X:19.66, Y:0.80, Z:-0.32 [[ 9.97026819e-01 -7.59997777e-02 1.27104347e-02 1.96588903e+01] [ 7.60055490e-02 9.97107394e-01 2.90764930e-05 7.98996289e-01] [-1.26758782e-02 9.37073523e-04 9.99919219e-01 -3.17145017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters 0.050804780355831504 Centerline is valid? [True, True] Translation: X:19.69, Y:0.80, Z:-0.32 [[ 9.96855172e-01 -7.80689685e-02 1.36015426e-02 1.96890754e+01] [ 7.80758345e-02 9.96947423e-01 2.62828120e-05 7.97671929e-01] [-1.35620748e-02 1.03575164e-03 9.99907494e-01 -3.15801009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614391418 meters 0.05168297917458705 Centerline is valid? [True, True] Translation: X:19.72, Y:0.80, Z:-0.32 [[ 9.96801311e-01 -7.87852242e-02 1.34177303e-02 1.97213154e+01] [ 7.87919583e-02 9.96891081e-01 2.68302151e-05 7.97660990e-01] [-1.33781295e-02 1.03046486e-03 9.99909978e-01 -3.16699370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391418 meters 0.05178584678074898 Centerline is valid? [True, True] Translation: X:19.75, Y:0.80, Z:-0.32 [[ 9.96935741e-01 -7.73378363e-02 1.17468154e-02 1.97534681e+01] [ 7.73429278e-02 9.97004549e-01 2.09047888e-05 7.98129799e-01] [-1.17132451e-02 8.87692363e-04 9.99931004e-01 -3.19835685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674391418 meters 0.0513281986870783 Centerline is valid? [True, True] Translation: X:19.79, Y:0.80, Z:-0.32 [[ 9.96940445e-01 -7.71641390e-02 1.24677662e-02 1.97869644e+01] [ 7.71699039e-02 9.97017957e-01 1.87598569e-05 7.99907352e-01] [-1.24320344e-02 9.43433858e-04 9.99922274e-01 -3.19255851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391418 meters 0.05339090746079431 Centerline is valid? [True, True] Translation: X:19.82, Y:0.80, Z:-0.32 [[ 9.97044213e-01 -7.59080704e-02 1.18660402e-02 1.98186892e+01] [ 7.59132469e-02 9.97114426e-01 1.42042539e-05 7.98184706e-01] [-1.18328781e-02 8.86627369e-04 9.99929596e-01 -3.21869625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734391418 meters 0.053622109084963204 Centerline is valid? [True, True] Translation: X:19.85, Y:0.80, Z:-0.32 [[ 9.97001726e-01 -7.63440773e-02 1.26150520e-02 1.98503911e+01] [ 7.63500176e-02 9.97081077e-01 1.07383082e-05 7.98245060e-01] [-1.25790495e-02 9.52453333e-04 9.99920427e-01 -3.20445273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters 0.05390412650282951 Centerline is valid? [True, True] Translation: X:19.88, Y:0.80, Z:-0.32 [[ 9.97105321e-01 -7.50213615e-02 1.23601984e-02 1.98826032e+01] [ 7.50269757e-02 9.97181504e-01 9.50410594e-06 7.98311733e-01] [-1.23260743e-02 9.17871714e-04 9.99923610e-01 -3.21925984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794391418 meters 0.045902555388340795 Centerline is valid? [True, True] Translation: X:19.91, Y:0.81, Z:-0.32 [[ 9.97167875e-01 -7.41070776e-02 1.28206766e-02 1.99145039e+01] [ 7.41130864e-02 9.97249844e-01 6.44844340e-06 8.07915148e-01] [-1.27858956e-02 9.43749735e-04 9.99917812e-01 -3.21945074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391418 meters 0.045278686262243115 Centerline is valid? [True, True] Translation: X:19.95, Y:0.81, Z:-0.32 [[ 9.97217615e-01 -7.35383899e-02 1.22120609e-02 1.99467688e+01] [ 7.35438379e-02 9.97291985e-01 2.96605334e-06 8.08558188e-01] [-1.21792085e-02 8.95164024e-04 9.99925430e-01 -3.24842605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854391418 meters 0.04627023160323747 Centerline is valid? [True, True] Translation: X:19.98, Y:0.81, Z:-0.32 [[ 9.97145398e-01 -7.43904953e-02 1.29270781e-02 1.99775754e+01] [ 7.43967321e-02 9.97228723e-01 -1.57743838e-06 8.06201082e-01] [-1.28911362e-02 9.63305298e-04 9.99916442e-01 -3.23715748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391418 meters 0.047018349167034686 Centerline is valid? [True, True] Translation: X:20.01, Y:0.80, Z:-0.32 [[ 9.97132071e-01 -7.45722801e-02 1.29076810e-02 2.00102618e+01] [ 7.45785277e-02 9.97215144e-01 -2.68775810e-06 8.04972351e-01] [-1.28715345e-02 9.65315893e-04 9.99916692e-01 -3.24185608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914391418 meters 0.048265746374581024 Centerline is valid? [True, True] Translation: X:20.04, Y:0.80, Z:-0.32 [[ 9.97081690e-01 -7.52263905e-02 1.30036367e-02 2.00421875e+01] [ 7.52328344e-02 9.97165994e-01 -6.39302692e-06 8.03197963e-01] [-1.29663034e-02 9.84674818e-04 9.99915449e-01 -3.23495005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters 0.049967455195293595 Centerline is valid? [True, True] Translation: X:20.07, Y:0.80, Z:-0.33 [[ 9.97087819e-01 -7.51671261e-02 1.28757645e-02 2.00730972e+01] [ 7.51734857e-02 9.97170470e-01 -9.97413273e-06 8.00803392e-01] [-1.28385824e-02 9.77861184e-04 9.99917104e-01 -3.25586501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974391418 meters 0.05036029451343805 Centerline is valid? [True, True] Translation: X:20.11, Y:0.80, Z:-0.32 [[ 9.97035307e-01 -7.57286156e-02 1.36298531e-02 2.01054443e+01] [ 7.57358443e-02 9.97127916e-01 -1.42416014e-05 7.98659390e-01] [-1.35896285e-02 1.04646781e-03 9.99907109e-01 -3.24409766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391418 meters 0.05094601286938664 Centerline is valid? [True, True] Translation: X:20.14, Y:0.80, Z:-0.33 [[ 9.96937312e-01 -7.70295356e-02 1.35072861e-02 2.01375010e+01] [ 7.70368146e-02 9.97028249e-01 -1.86512642e-05 7.95001579e-01] [-1.34657092e-02 1.05915244e-03 9.99908772e-01 -3.26548321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034391418 meters 0.05225590951969976 Centerline is valid? [True, True] Translation: X:20.17, Y:0.79, Z:-0.33 [[ 9.96908776e-01 -7.74836275e-02 1.30068855e-02 2.01700010e+01] [ 7.74904154e-02 9.96993097e-01 -1.79474293e-05 7.92654684e-01] [-1.29663845e-02 1.02580091e-03 9.99915407e-01 -3.29104027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391418 meters 0.052405610740938434 Centerline is valid? [True, True] Translation: X:20.20, Y:0.79, Z:-0.33 [[ 9.96767506e-01 -7.91310554e-02 1.38857796e-02 2.02013241e+01] [ 7.91390217e-02 9.96863589e-01 -2.43030331e-05 7.89922634e-01] [-1.38403049e-02 1.12313148e-03 9.99903588e-01 -3.28231731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094391418 meters 0.05363216519196065 Centerline is valid? [True, True] Translation: X:20.23, Y:0.79, Z:-0.33 [[ 9.96644402e-01 -8.06261341e-02 1.41195981e-02 2.02337223e+01] [ 8.06345259e-02 9.96743735e-01 -2.51292669e-05 7.86774744e-01] [-1.40715949e-02 1.16357204e-03 9.99900313e-01 -3.28328196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters 0.05572050995585036 Centerline is valid? [True, True] Translation: X:20.27, Y:0.78, Z:-0.33 [[ 9.96517515e-01 -8.22678928e-02 1.35954353e-02 2.02652899e+01] [ 8.22758407e-02 9.96609595e-01 -2.53786573e-05 7.82273890e-01] [-1.35472534e-02 1.14386615e-03 9.99907577e-01 -3.29482539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154391418 meters 0.051894756320522234 Centerline is valid? [True, True] Translation: X:20.30, Y:0.79, Z:-0.33 [[ 9.96555061e-01 -8.19411699e-02 1.27927859e-02 2.02979377e+01] [ 8.19481671e-02 9.96636592e-01 -2.28435354e-05 7.86642644e-01] [-1.27478867e-02 1.07111019e-03 9.99918169e-01 -3.31093571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391418 meters 0.05296793965254394 Centerline is valid? [True, True] Translation: X:20.33, Y:0.78, Z:-0.33 [[ 9.96502236e-01 -8.24249297e-02 1.37631490e-02 2.03304961e+01] [ 8.24331443e-02 9.96596596e-01 -2.96657590e-05 7.84308823e-01] [-1.37138622e-02 1.16410164e-03 9.99905283e-01 -3.30102066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214391418 meters 0.05277311892836436 Centerline is valid? [True, True] Translation: X:20.36, Y:0.78, Z:-0.33 [[ 9.96527443e-01 -8.21113460e-02 1.38124008e-02 2.03634319e+01] [ 8.21196410e-02 9.96622478e-01 -3.34964753e-05 7.82443788e-01] [-1.37629987e-02 1.16764955e-03 9.99904604e-01 -3.31505852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters 0.05515051161074778 Centerline is valid? [True, True] Translation: X:20.39, Y:0.78, Z:-0.33 [[ 9.96479006e-01 -8.26228681e-02 1.42496251e-02 2.03947261e+01] [ 8.26318199e-02 9.96580143e-01 -3.95881426e-05 7.77614295e-01] [-1.41976225e-02 1.21692121e-03 9.99898468e-01 -3.30388501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274391418 meters 0.05554120271828984 Centerline is valid? [True, True] Translation: X:20.43, Y:0.78, Z:-0.33 [[ 9.96499750e-01 -8.24092880e-02 1.40341839e-02 2.04276726e+01] [ 8.24179969e-02 9.96597849e-01 -4.23356415e-05 7.76514061e-01] [-1.39829487e-02 1.19885678e-03 9.99901515e-01 -3.32860035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391418 meters 0.05553267689648424 Centerline is valid? [True, True] Translation: X:20.46, Y:0.77, Z:-0.33 [[ 9.96417084e-01 -8.32447730e-02 1.49432997e-02 2.04594104e+01] [ 8.32548191e-02 9.96528290e-01 -5.03832288e-05 7.74301996e-01] [-1.48872268e-02 1.29430443e-03 9.99888341e-01 -3.31048328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334391418 meters 0.058091916507400844 Centerline is valid? [True, True] Translation: X:20.49, Y:0.77, Z:-0.33 [[ 9.96317555e-01 -8.44337573e-02 1.49087415e-02 2.04908415e+01] [ 8.44439463e-02 9.96428230e-01 -5.41109175e-05 7.68072175e-01] [-1.48509221e-02 1.31286463e-03 9.99888857e-01 -3.32132762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391418 meters 0.05914284708707507 Centerline is valid? [True, True] Translation: X:20.52, Y:0.77, Z:-0.33 [[ 9.96330693e-01 -8.42455962e-02 1.50940371e-02 2.05235388e+01] [ 8.42560751e-02 9.96444133e-01 -5.85383563e-05 7.65288030e-01] [-1.50354331e-02 1.33008788e-03 9.99886077e-01 -3.33973485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394391418 meters 0.05911803732198819 Centerline is valid? [True, True] Translation: X:20.56, Y:0.76, Z:-0.33 [[ 9.96276753e-01 -8.48678635e-02 1.51683176e-02 2.05556160e+01] [ 8.48785909e-02 9.96391299e-01 -6.36933096e-05 7.63870666e-01] [-1.51081742e-02 1.35092159e-03 9.99884952e-01 -3.33745633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters 0.054281056657475596 Centerline is valid? [True, True] Translation: X:20.59, Y:0.77, Z:-0.33 [[ 9.96250155e-01 -8.51680874e-02 1.52323987e-02 2.05873957e+01] [ 8.51790041e-02 9.96365662e-01 -6.81590695e-05 7.67328937e-01] [-1.51712340e-02 1.36538403e-03 9.99883978e-01 -3.34020431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454391418 meters 0.0547535834036107 Centerline is valid? [True, True] Translation: X:20.62, Y:0.77, Z:-0.33 [[ 9.96256728e-01 -8.50970206e-02 1.51996143e-02 2.06197152e+01] [ 8.51079422e-02 9.96371734e-01 -7.19815913e-05 7.65382266e-01] [-1.51383406e-02 1.36532004e-03 9.99884477e-01 -3.34951263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391418 meters 0.06266772072268982 Centerline is valid? [True, True] Translation: X:20.65, Y:0.75, Z:-0.34 [[ 9.96325875e-01 -8.45426236e-02 1.36856274e-02 2.06507614e+01] [ 8.45514731e-02 9.96419110e-01 -6.82950300e-05 7.54446520e-01] [-1.36308468e-02 1.22518406e-03 9.99906345e-01 -3.38807465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514391418 meters 0.05552625277056366 Centerline is valid? [True, True] Translation: X:20.68, Y:0.76, Z:-0.34 [[ 9.96280132e-01 -8.49200757e-02 1.46450901e-02 2.06825930e+01] [ 8.49303110e-02 9.96386891e-01 -7.72482114e-05 7.61113815e-01] [-1.45856158e-02 1.32077291e-03 9.99892752e-01 -3.36892828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391418 meters 0.05924623621348683 Centerline is valid? [True, True] Translation: X:20.71, Y:0.75, Z:-0.34 [[ 9.96198372e-01 -8.58144722e-02 1.49893494e-02 2.07136268e+01] [ 8.58253556e-02 9.96310193e-01 -8.31297567e-05 7.53085039e-01] [-1.49269079e-02 1.36927997e-03 9.99887650e-01 -3.38043882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574391418 meters 0.05679194263261702 Centerline is valid? [True, True] Translation: X:20.75, Y:0.75, Z:-0.34 [[ 9.96174180e-01 -8.60105427e-02 1.54657840e-02 2.07462812e+01] [ 8.60222160e-02 9.96293215e-01 -8.98970777e-05 7.53701128e-01] [-1.54007236e-02 1.41995416e-03 9.99880394e-01 -3.38540119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters 0.05616617899054865 Centerline is valid? [True, True] Translation: X:20.78, Y:0.75, Z:-0.34 [[ 9.96200226e-01 -8.57553563e-02 1.52029139e-02 2.07792110e+01] [ 8.57666686e-02 9.96315246e-01 -9.24669625e-05 7.52748689e-01] [-1.51389654e-02 1.39601889e-03 9.99884425e-01 -3.40775034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634391418 meters 0.05857265672654142 Centerline is valid? [True, True] Translation: X:20.81, Y:0.75, Z:-0.34 [[ 9.96144559e-01 -8.62960244e-02 1.57801652e-02 2.08106954e+01] [ 8.63083666e-02 9.96268466e-01 -1.01515750e-04 7.47432425e-01] [-1.57125205e-02 1.46308464e-03 9.99875480e-01 -3.38997280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391418 meters 0.05730690226065215 Centerline is valid? [True, True] Translation: X:20.84, Y:0.75, Z:-0.34 [[ 9.96090256e-01 -8.69351448e-02 1.56997354e-02 2.08429323e+01] [ 8.69475040e-02 9.96212889e-01 -1.05078869e-04 7.46449312e-01] [-1.56311438e-02 1.46972085e-03 9.99876746e-01 -3.39547966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694391418 meters 0.05882576300824488 Centerline is valid? [True, True] Translation: X:20.87, Y:0.74, Z:-0.34 [[ 9.96033417e-01 -8.75719902e-02 1.57663950e-02 2.08735768e+01] [ 8.75846106e-02 9.96157078e-01 -1.10425094e-04 7.42309797e-01] [-1.56961358e-02 1.49088065e-03 9.99875697e-01 -3.40049990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391418 meters 0.06194086755774378 Centerline is valid? [True, True] Translation: X:20.90, Y:0.74, Z:-0.34 [[ 9.95952293e-01 -8.85540411e-02 1.54016754e-02 2.09048609e+01] [ 8.85662061e-02 9.96070286e-01 -1.08233561e-04 7.35970510e-01] [-1.53315667e-02 1.47186342e-03 9.99881381e-01 -3.41865198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754391418 meters 0.06042524079366779 Centerline is valid? [True, True] Translation: X:20.94, Y:0.73, Z:-0.34 [[ 9.95640913e-01 -9.19355432e-02 1.57171237e-02 2.09354707e+01] [ 9.19486672e-02 9.95763742e-01 -1.12899735e-04 7.32282398e-01] [-1.56401624e-02 1.55757617e-03 9.99876472e-01 -3.42075718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters 0.06491235871200329 Centerline is valid? [True, True] Translation: X:20.97, Y:0.72, Z:-0.34 [[ 9.95542490e-01 -9.30329141e-02 1.54928384e-02 2.09662215e+01] [ 9.30457978e-02 9.95661824e-01 -1.11295770e-04 7.24781473e-01] [-1.54152735e-02 1.55234317e-03 9.99879973e-01 -3.44050160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814391418 meters 0.06100652155283426 Centerline is valid? [True, True] Translation: X:21.00, Y:0.73, Z:-0.34 [[ 9.95358210e-01 -9.47984312e-02 1.65919144e-02 2.09975668e+01] [ 9.48134627e-02 9.95495049e-01 -1.19914902e-04 7.27294700e-01] [-1.65058008e-02 1.69249513e-03 9.99862338e-01 -3.41831558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391418 meters 0.06608835525112605 Centerline is valid? [True, True] Translation: X:21.03, Y:0.72, Z:-0.34 [[ 9.95160117e-01 -9.68552247e-02 1.65953948e-02 2.10270352e+01] [ 9.68705575e-02 9.95296981e-01 -1.20673823e-04 7.16752369e-01] [-1.65056584e-02 1.72769492e-03 9.99862280e-01 -3.42625267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874391418 meters 0.060848570639819535 Centerline is valid? [True, True] Translation: X:21.06, Y:0.72, Z:-0.34 [[ 9.95150263e-01 -9.70210304e-02 1.62133948e-02 2.10589061e+01] [ 9.70356787e-02 9.95280897e-01 -1.17371385e-04 7.20793174e-01] [-1.61254946e-02 1.69007994e-03 9.99868547e-01 -3.44604817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391418 meters 0.06685987488558673 Centerline is valid? [True, True] Translation: X:21.09, Y:0.71, Z:-0.35 [[ 9.95137281e-01 -9.72189279e-02 1.58199887e-02 2.10900379e+01] [ 9.72329733e-02 9.95261641e-01 -1.19269901e-04 7.10958469e-01] [-1.57334326e-02 1.65691446e-03 9.99874849e-01 -3.45458541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934391418 meters 0.06494373156295766 Centerline is valid? [True, True] Translation: X:21.12, Y:0.71, Z:-0.35 [[ 9.95392360e-01 -9.49058482e-02 1.36721883e-02 2.11210065e+01] [ 9.49161540e-02 9.95485265e-01 -1.05403710e-04 7.10727854e-01] [-1.36004586e-02 1.40262958e-03 9.99906526e-01 -3.49533033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391418 meters 0.06524357488590919 Centerline is valid? [True, True] Translation: X:21.15, Y:0.71, Z:-0.35 [[ 9.95516344e-01 -9.35890456e-02 1.37222172e-02 2.11511694e+01] [ 9.35993069e-02 9.95609943e-01 -1.06062393e-04 7.09236813e-01] [-1.36520496e-02 1.38997686e-03 9.99905840e-01 -3.48089425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994391418 meters 0.060801727314858514 Centerline is valid? [True, True] Translation: X:21.18, Y:0.71, Z:-0.35 [[ 9.95737974e-01 -9.13091691e-02 1.29816340e-02 2.11819016e+01] [ 9.13181638e-02 9.95821763e-01 -1.00577869e-04 7.14600947e-01] [-1.29182100e-02 1.28560818e-03 9.99915730e-01 -3.49410603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391418 meters 0.05863034878748326 Centerline is valid? [True, True] Translation: X:21.21, Y:0.72, Z:-0.35 [[ 9.96072737e-01 -8.73406315e-02 1.45161138e-02 2.12123116e+01] [ 8.73514669e-02 9.96177549e-01 -1.12877469e-04 7.15206753e-01] [-1.44507679e-02 1.38043801e-03 9.99894629e-01 -3.46721084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054391418 meters 0.05591168415769955 Centerline is valid? [True, True] Translation: X:21.24, Y:0.72, Z:-0.35 [[ 9.96322328e-01 -8.44332502e-02 1.45892179e-02 2.12429379e+01] [ 8.44438847e-02 9.96428230e-01 -1.13358927e-04 7.17084546e-01] [-1.45275373e-02 1.34491227e-03 9.99893565e-01 -3.47531461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters 0.05584639588632892 Centerline is valid? [True, True] Translation: X:21.27, Y:0.72, Z:-0.35 [[ 9.96619451e-01 -8.08947902e-02 1.43423561e-02 2.12721685e+01] [ 8.09047104e-02 9.96721834e-01 -1.11861146e-04 7.16236626e-01] [-1.42862905e-02 1.27184716e-03 9.99897137e-01 -3.49156201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114391418 meters 0.050274874402217194 Centerline is valid? [True, True] Translation: X:21.30, Y:0.72, Z:-0.35 [[ 9.96894522e-01 -7.73080998e-02 1.49923039e-02 2.13026418e+01] [ 7.73185318e-02 9.97006435e-01 -1.16581002e-04 7.22813150e-01] [-1.49384108e-02 1.27540189e-03 9.99887602e-01 -3.49631725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391418 meters 0.04759347397732081 Centerline is valid? [True, True] Translation: X:21.33, Y:0.73, Z:-0.35 [[ 9.97417508e-01 -7.00657509e-02 1.57830833e-02 2.13324764e+01] [ 7.00764133e-02 9.97541619e-01 -1.22851485e-04 7.26225042e-01] [-1.57356747e-02 1.22855609e-03 9.99875432e-01 -3.47324462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174391418 meters 0.04759347397732081 Centerline is valid? [True, True] Translation: X:21.37, Y:0.73, Z:-0.35 [[ 9.97426087e-01 -6.99435112e-02 1.57830870e-02 2.13651028e+01] [ 6.99541510e-02 9.97550200e-01 -1.22375885e-04 7.25851648e-01] [-1.57358622e-02 1.22615335e-03 9.99875432e-01 -3.47912819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391418 meters 0.04374769403228087 Centerline is valid? [True, True] Translation: X:21.40, Y:0.73, Z:-0.35 [[ 9.97732417e-01 -6.56719225e-02 1.47384667e-02 2.13961644e+01] [ 6.56807669e-02 9.97840680e-01 -1.16327739e-04 7.32253356e-01] [-1.46990022e-02 1.08409775e-03 9.99891376e-01 -3.50270712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234391418 meters 0.04045382992006689 Centerline is valid? [True, True] Translation: X:21.43, Y:0.74, Z:-0.35 [[ 9.98235128e-01 -5.79352714e-02 1.30435530e-02 2.14268140e+01] [ 5.79415404e-02 9.98319972e-01 -1.02916718e-04 7.38520217e-01] [-1.30156770e-02 8.58498636e-04 9.99914924e-01 -3.52169165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters 0.03902231281582256 Centerline is valid? [True, True] Translation: X:21.46, Y:0.74, Z:-0.35 [[ 9.98388500e-01 -5.50433484e-02 1.38069686e-02 2.14571049e+01] [ 5.50501023e-02 9.98483587e-01 -1.09296275e-04 7.39210850e-01] [-1.37800155e-02 8.69195176e-04 9.99904673e-01 -3.50519794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294391418 meters 0.03768004861998244 Centerline is valid? [True, True] Translation: X:21.49, Y:0.74, Z:-0.35 [[ 9.98538244e-01 -5.22693117e-02 1.37584161e-02 2.14883319e+01] [ 5.22757534e-02 9.98632682e-01 -1.08739151e-04 7.40202195e-01] [-1.37339203e-02 8.27811771e-04 9.99905343e-01 -3.51088328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391418 meters 0.03685890167125828 Centerline is valid? [True, True] Translation: X:21.52, Y:0.74, Z:-0.35 [[ 9.98639198e-01 -5.03587786e-02 1.35552963e-02 2.15201315e+01] [ 5.03648622e-02 9.98730879e-01 -1.07583372e-04 7.40873295e-01] [-1.35326752e-02 7.90147601e-04 9.99908117e-01 -3.51519948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354391418 meters 0.03687669364907558 Centerline is valid? [True, True] Translation: X:21.55, Y:0.74, Z:-0.35 [[ 9.98770728e-01 -4.75818048e-02 1.38926104e-02 2.15508772e+01] [ 4.75879402e-02 9.98867046e-01 -1.11208328e-04 7.42214156e-01] [-1.38715792e-02 7.72192337e-04 9.99903487e-01 -3.51046846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391418 meters 0.036697468232723233 Centerline is valid? [True, True] Translation: X:21.58, Y:0.74, Z:-0.35 [[ 9.98818987e-01 -4.65613518e-02 1.38806481e-02 2.15828289e+01] [ 4.65673840e-02 9.98915145e-01 -1.11507627e-04 7.43300190e-01] [-1.38603977e-02 7.57761404e-04 9.99903653e-01 -3.51301373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414391418 meters 0.03726623042059639 Centerline is valid? [True, True] Translation: X:21.61, Y:0.74, Z:-0.35 [[ 9.98891889e-01 -4.49763614e-02 1.38607962e-02 2.16145219e+01] [ 4.49822391e-02 9.98987780e-01 -1.12430962e-04 7.43398250e-01] [-1.38417093e-02 7.35796025e-04 9.99903928e-01 -3.52808963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters 0.036939300538112965 Centerline is valid? [True, True] Translation: X:21.65, Y:0.74, Z:-0.35 [[ 9.98929273e-01 -4.41070780e-02 1.39597318e-02 2.16464043e+01] [ 4.41129706e-02 9.99026543e-01 -1.14326235e-04 7.44054947e-01] [-1.39411000e-02 7.30009062e-04 9.99902552e-01 -3.52994063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474391418 meters 0.03696804162927145 Centerline is valid? [True, True] Translation: X:21.68, Y:0.74, Z:-0.35 [[ 9.98979189e-01 -4.33360091e-02 1.27503394e-02 2.16772543e+01] [ 4.33408617e-02 9.99060338e-01 -1.04385254e-04 7.43203884e-01] [-1.27338348e-02 6.56889394e-04 9.99918706e-01 -3.53558983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391418 meters 0.0376857225512834 Centerline is valid? [True, True] Translation: X:21.71, Y:0.74, Z:-0.36 [[ 9.98997723e-01 -4.30741641e-02 1.21723640e-02 2.17097915e+01] [ 4.30786135e-02 9.99071680e-01 -1.03447217e-04 7.42959629e-01] [-1.21566083e-02 6.27712098e-04 9.99925909e-01 -3.56238939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534391418 meters 0.034584318051646565 Centerline is valid? [True, True] Translation: X:21.74, Y:0.75, Z:-0.35 [[ 9.98975082e-01 -4.34775173e-02 1.25893014e-02 2.17416673e+01] [ 4.34823210e-02 9.99054191e-01 -1.07971011e-04 7.46250012e-01] [-1.25727000e-02 6.55272394e-04 9.99920746e-01 -3.54395454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391418 meters 0.039614212662115525 Centerline is valid? [True, True] Translation: X:21.77, Y:0.74, Z:-0.35 [[ 9.98869630e-01 -4.54843933e-02 1.38069780e-02 2.17727291e+01] [ 4.54903805e-02 9.98964770e-01 -1.19726860e-04 7.39208612e-01] [-1.37872389e-02 7.47676209e-04 9.99904672e-01 -3.53125797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594391418 meters 0.041044815094043244 Centerline is valid? [True, True] Translation: X:21.80, Y:0.74, Z:-0.35 [[ 9.98782979e-01 -4.71389541e-02 1.45079082e-02 2.18046557e+01] [ 4.71457426e-02 9.98888013e-01 -1.26069884e-04 7.36741303e-01] [-1.44858328e-02 8.09902561e-04 9.99894747e-01 -3.52826442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters 0.03859189168138267 Centerline is valid? [True, True] Translation: X:21.84, Y:0.74, Z:-0.35 [[ 9.98680813e-01 -4.91233919e-02 1.49508207e-02 2.18368679e+01] [ 4.91308862e-02 9.98792340e-01 -1.34164997e-04 7.38863564e-01] [-1.49261745e-02 8.68535079e-04 9.99888221e-01 -3.52500059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654391418 meters 0.04083617853064899 Centerline is valid? [True, True] Translation: X:21.87, Y:0.73, Z:-0.35 [[ 9.98563439e-01 -5.14545383e-02 1.49495412e-02 2.18666146e+01] [ 5.14623128e-02 9.98674928e-01 -1.35568180e-04 7.34589170e-01] [-1.49227563e-02 9.04711392e-04 9.99888240e-01 -3.53103337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391418 meters 0.043835433610781 Centerline is valid? [True, True] Translation: X:21.90, Y:0.73, Z:-0.36 [[ 9.98335207e-01 -5.61261067e-02 1.32919315e-02 2.18968595e+01] [ 5.61326644e-02 9.98423312e-01 -1.20508259e-04 7.29147468e-01] [-1.32642106e-02 8.66419169e-04 9.99911651e-01 -3.57280512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714391418 meters 0.04442691488610522 Centerline is valid? [True, True] Translation: X:21.93, Y:0.73, Z:-0.36 [[ 9.98153784e-01 -5.94288934e-02 1.25391317e-02 2.19283668e+01] [ 5.94349872e-02 9.98232172e-01 -1.13567760e-04 7.26689516e-01] [-1.25102155e-02 8.58621224e-04 9.99921376e-01 -3.55471861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391418 meters 0.04578114170697892 Centerline is valid? [True, True] Translation: X:21.96, Y:0.73, Z:-0.36 [[ 9.98063030e-01 -6.13317793e-02 1.04211817e-02 2.19592176e+01] [ 6.13360960e-02 9.98117165e-01 -9.48250310e-05 7.25401760e-01] [-1.03957445e-02 7.33835959e-04 9.99945694e-01 -3.59624533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774391418 meters 0.04650598010549264 Centerline is valid? [True, True] Translation: X:21.99, Y:0.72, Z:-0.36 [[ 9.97780259e-01 -6.59402129e-02 9.29746844e-03 2.19893480e+01] [ 6.59438521e-02 9.97823332e-01 -8.50637269e-05 7.23028780e-01] [-9.27162181e-03 6.97985791e-04 9.99956774e-01 -3.58207409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391418 meters 0.04685100710317943 Centerline is valid? [True, True] Translation: X:22.02, Y:0.72, Z:-0.36 [[ 9.97702927e-01 -6.70979378e-02 9.31319933e-03 2.20210603e+01] [ 6.71016317e-02 9.97746142e-01 -8.43764033e-05 7.21383353e-01] [-9.28654722e-03 7.09113456e-04 9.99956628e-01 -3.58458845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834391418 meters 0.052552028970376516 Centerline is valid? [True, True] Translation: X:22.05, Y:0.71, Z:-0.36 [[ 9.97604255e-01 -6.85512082e-02 9.29953239e-03 2.20520338e+01] [ 6.85549594e-02 9.97647338e-01 -8.48223809e-05 7.13595437e-01] [-9.27183905e-03 7.22148233e-04 9.99956755e-01 -3.60864536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391418 meters 0.05282983871661228 Centerline is valid? [True, True] Translation: X:22.08, Y:0.71, Z:-0.36 [[ 9.97595580e-01 -6.86328330e-02 9.62253034e-03 2.20841801e+01] [ 6.86368576e-02 9.97641706e-01 -8.82432536e-05 7.13380070e-01] [-9.59378120e-03 7.48491324e-04 9.99953698e-01 -3.60492006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894391418 meters 0.044513261034310976 Centerline is valid? [True, True] Translation: X:22.12, Y:0.72, Z:-0.36 [[ 9.97597387e-01 -6.85829029e-02 9.78971991e-03 2.21175377e+01] [ 6.85870699e-02 9.97645130e-01 -9.01599343e-05 7.23779452e-01] [-9.76048296e-03 7.61391519e-04 9.99952075e-01 -3.57125649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters 0.047580223831385944 Centerline is valid? [True, True] Translation: X:22.15, Y:0.72, Z:-0.36 [[ 9.97752527e-01 -6.62029720e-02 1.03470757e-02 2.21479181e+01] [ 6.62075232e-02 9.97805870e-01 -9.75608646e-05 7.20502895e-01] [-1.03179140e-02 7.82395851e-04 9.99946463e-01 -3.56406135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954391418 meters 0.043161356004225125 Centerline is valid? [True, True] Translation: X:22.18, Y:0.73, Z:-0.36 [[ 9.97889805e-01 -6.40669127e-02 1.05531260e-02 2.21796639e+01] [ 6.40715270e-02 9.97945304e-01 -9.93914628e-05 7.26449943e-01] [-1.05250748e-02 7.75336623e-04 9.99944309e-01 -3.55630376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391418 meters 0.04477181771629106 Centerline is valid? [True, True] Translation: X:22.21, Y:0.73, Z:-0.36 [[ 9.98001346e-01 -6.23321125e-02 1.03932886e-02 2.22105852e+01] [ 6.23365027e-02 9.98055184e-01 -9.86804220e-05 7.25304649e-01] [-1.03669246e-02 7.46364459e-04 9.99945983e-01 -3.56166620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014391418 meters 0.04340764285945435 Centerline is valid? [True, True] Translation: X:22.24, Y:0.73, Z:-0.36 [[ 9.98256816e-01 -5.83197659e-02 9.06284586e-03 2.22417935e+01] [ 5.83229437e-02 9.98297765e-01 -8.65200559e-05 7.29605617e-01] [-9.04237293e-03 6.14941084e-04 9.99958928e-01 -3.59898762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391418 meters 0.042820929742618474 Centerline is valid? [True, True] Translation: X:22.27, Y:0.73, Z:-0.36 [[ 9.98254955e-01 -5.81657366e-02 1.01878479e-02 2.22741737e+01] [ 5.81697421e-02 9.98306702e-01 -9.70315261e-05 7.29178830e-01] [-1.01649530e-02 6.89486688e-04 9.99948098e-01 -3.56033874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074391418 meters 0.04293849123443154 Centerline is valid? [True, True] Translation: X:22.31, Y:0.73, Z:-0.36 [[ 9.98293942e-01 -5.75078104e-02 1.01023775e-02 2.23065731e+01] [ 5.75117234e-02 9.98344826e-01 -9.70188536e-05 7.29314592e-01] [-1.00800770e-02 6.77858474e-04 9.99948965e-01 -3.56711917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters 0.04078770518001307 Centerline is valid? [True, True] Translation: X:22.34, Y:0.73, Z:-0.36 [[ 9.98325466e-01 -5.69757401e-02 1.00014461e-02 2.23388271e+01] [ 5.69795564e-02 9.98375341e-01 -9.68222963e-05 7.31846241e-01] [-9.97968067e-03 6.66538129e-04 9.99949980e-01 -3.56855146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134391418 meters 0.04484612658740852 Centerline is valid? [True, True] Translation: X:22.37, Y:0.73, Z:-0.36 [[ 9.98387049e-01 -5.61363376e-02 8.48595707e-03 2.23700312e+01] [ 5.61390442e-02 9.98422957e-01 -8.08997443e-05 7.26295875e-01] [-8.46803293e-03 5.57162776e-04 9.99963990e-01 -3.61645374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391418 meters 0.0418033289305951 Centerline is valid? [True, True] Translation: X:22.40, Y:0.73, Z:-0.36 [[ 9.98400584e-01 -5.59664126e-02 8.00219949e-03 2.24033385e+01] [ 5.59688399e-02 9.98432513e-01 -7.95271685e-05 7.29557195e-01] [-7.98520529e-03 5.27273793e-04 9.99967979e-01 -3.60796049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194391418 meters 0.04552179840412322 Centerline is valid? [True, True] Translation: X:22.43, Y:0.73, Z:-0.37 [[ 9.98496384e-01 -5.44136119e-02 6.64301464e-03 2.24347212e+01] [ 5.44152503e-02 9.98518391e-01 -6.60095531e-05 7.26203164e-01] [-6.62958047e-03 4.27391605e-04 9.99977933e-01 -3.65229363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391418 meters 0.0424704319700853 Centerline is valid? [True, True] Translation: X:22.47, Y:0.73, Z:-0.36 [[ 9.98566531e-01 -5.32490973e-02 5.42375174e-03 2.24668496e+01] [ 5.32501797e-02 9.98581201e-01 -5.52557352e-05 7.31508241e-01] [-5.41311421e-03 3.43992283e-04 9.99985290e-01 -3.64263232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254391418 meters 0.04149413422115555 Centerline is valid? [True, True] Translation: X:22.50, Y:0.73, Z:-0.36 [[ 9.98607273e-01 -5.24953268e-02 5.26831055e-03 2.24987832e+01] [ 5.24963396e-02 9.98621115e-01 -5.40533069e-05 7.32190886e-01] [-5.25820861e-03 3.30545045e-04 9.99986121e-01 -3.61736583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters 0.038565928632797356 Centerline is valid? [True, True] Translation: X:22.53, Y:0.74, Z:-0.36 [[ 9.98734878e-01 -5.01032521e-02 4.27876262e-03 2.25301826e+01] [ 5.01039009e-02 9.98744010e-01 -4.44935278e-05 7.37610246e-01] [-4.27115926e-03 2.58819936e-04 9.99990845e-01 -3.61918141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314391418 meters 0.03848065185327759 Centerline is valid? [True, True] Translation: X:22.56, Y:0.74, Z:-0.36 [[ 9.98776371e-01 -4.92780092e-02 4.17585439e-03 2.25619380e+01] [ 4.92786183e-02 9.98785070e-01 -4.30268026e-05 7.37433455e-01] [-4.16866075e-03 2.48754488e-04 9.99991280e-01 -3.60980365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391418 meters 0.04309405535627407 Centerline is valid? [True, True] Translation: X:22.59, Y:0.73, Z:-0.37 [[ 9.98862354e-01 -4.75387636e-02 3.75023537e-03 2.25926357e+01] [ 4.75392390e-02 9.98869371e-01 -3.76730843e-05 7.32114844e-01] [-3.74420431e-03 2.15913561e-04 9.99992967e-01 -3.66339805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374391418 meters 0.04310965580448689 Centerline is valid? [True, True] Translation: X:22.62, Y:0.73, Z:-0.36 [[ 9.98917510e-01 -4.62996755e-02 4.48879220e-03 2.26236121e+01] [ 4.63003560e-02 9.98927562e-01 -4.77551642e-05 7.32680886e-01] [-4.48176720e-03 2.55536146e-04 9.99989924e-01 -3.64819745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391418 meters 0.04301918273674418 Centerline is valid? [True, True] Translation: X:22.65, Y:0.73, Z:-0.36 [[ 9.98893607e-01 -4.67081171e-02 5.46930365e-03 2.26549217e+01] [ 4.67091365e-02 9.98908531e-01 -5.87231290e-05 7.31925852e-01] [-5.46059123e-03 3.14124609e-04 9.99985042e-01 -3.60728739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434391418 meters 0.04331859398889843 Centerline is valid? [True, True] Translation: X:22.69, Y:0.73, Z:-0.36 [[ 9.98937512e-01 -4.57437895e-02 5.59943500e-03 2.26873045e+01] [ 4.57448434e-02 9.98953155e-01 -6.02297097e-05 7.32596473e-01] [-5.59081813e-03 3.16310994e-04 9.99984321e-01 -3.61907913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391418 meters 0.03823710713225202 Centerline is valid? [True, True] Translation: X:22.72, Y:0.74, Z:-0.36 [[ 9.98960343e-01 -4.52821452e-02 5.26874507e-03 2.27195504e+01] [ 4.52830732e-02 9.98974194e-01 -5.69120476e-05 7.40147236e-01] [-5.26076326e-03 2.95437848e-04 9.99986118e-01 -3.60758674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494391418 meters 0.035159980311231846 Centerline is valid? [True, True] Translation: X:22.75, Y:0.74, Z:-0.36 [[ 9.98911600e-01 -4.64607035e-02 4.12527930e-03 2.27517899e+01] [ 4.64612824e-02 9.98920091e-01 -4.45344263e-05 7.42475593e-01] [-4.11875527e-03 2.36151721e-04 9.99991490e-01 -3.57873452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391418 meters 0.03921007327279547 Centerline is valid? [True, True] Translation: X:22.78, Y:0.74, Z:-0.36 [[ 9.98898045e-01 -4.68675731e-02 2.47521933e-03 2.27830319e+01] [ 4.68677825e-02 9.98901101e-01 -2.66561472e-05 7.37280856e-01] [-2.47125000e-03 1.42634815e-04 9.99996936e-01 -3.61764792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554391418 meters 0.04745170297197538 Centerline is valid? [True, True] Translation: X:22.81, Y:0.73, Z:-0.36 [[ 9.98832953e-01 -4.81984497e-02 3.10521363e-03 2.28141000e+01] [ 4.81987837e-02 9.98837763e-01 -3.27612741e-05 7.25203564e-01] [-3.10002560e-03 1.82390560e-04 9.99995178e-01 -3.61786888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391418 meters 0.03779642340417075 Centerline is valid? [True, True] Translation: X:22.85, Y:0.74, Z:-0.36 [[ 9.98786665e-01 -4.91103365e-02 3.65686615e-03 2.28463596e+01] [ 4.91108123e-02 9.98793335e-01 -4.03620292e-05 7.37711699e-01] [-3.65047134e-03 2.19904723e-04 9.99993313e-01 -3.58056713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614391418 meters 0.038477598437467564 Centerline is valid? [True, True] Translation: X:22.88, Y:0.74, Z:-0.36 [[ 9.98753196e-01 -4.97812185e-02 3.72602573e-03 2.28781489e+01] [ 4.97817182e-02 9.98760121e-01 -4.14498949e-05 7.36659589e-01] [-3.71934248e-03 2.26886178e-04 9.99993057e-01 -3.59221660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391418 meters 0.04256211966839875 Centerline is valid? [True, True] Translation: X:22.91, Y:0.73, Z:-0.36 [[ 9.98621056e-01 -5.21253749e-02 6.23946683e-03 2.29090616e+01] [ 5.21268270e-02 9.98640470e-01 -7.02081902e-05 7.29532085e-01] [-6.22732446e-03 3.95354985e-04 9.99980532e-01 -3.55877727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674391418 meters 0.04240089044598216 Centerline is valid? [True, True] Translation: X:22.94, Y:0.73, Z:-0.36 [[ 9.98606898e-01 -5.23091024e-02 6.92969965e-03 2.29413411e+01] [ 5.23109115e-02 9.98630844e-01 -7.99408945e-05 7.28670270e-01] [-6.91603017e-03 4.42328433e-04 9.99975986e-01 -3.56016234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391418 meters 0.042600649296998895 Centerline is valid? [True, True] Translation: X:22.97, Y:0.73, Z:-0.36 [[ 9.98594896e-01 -5.25542369e-02 6.80336550e-03 2.29730353e+01] [ 5.25559761e-02 9.98617977e-01 -7.69801569e-05 7.27331234e-01] [-6.78991746e-03 4.34429506e-04 9.99976854e-01 -3.58147741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734391418 meters 0.044105906459356414 Centerline is valid? [True, True] Translation: X:23.00, Y:0.72, Z:-0.36 [[ 9.98527334e-01 -5.38848924e-02 6.29146481e-03 2.30042779e+01] [ 5.38864286e-02 9.98547068e-01 -7.48044127e-05 7.23117708e-01] [-6.27829291e-03 4.13718820e-04 9.99980206e-01 -3.59103196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters 0.04621110664114896 Centerline is valid? [True, True] Translation: X:23.04, Y:0.72, Z:-0.36 [[ 9.98504984e-01 -5.42674371e-02 6.54543038e-03 2.30352229e+01] [ 5.42691110e-02 9.98526343e-01 -7.82660913e-05 7.19802234e-01] [-6.53153736e-03 4.33363770e-04 9.99978575e-01 -3.58731697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794391418 meters 0.04515202664934145 Centerline is valid? [True, True] Translation: X:23.07, Y:0.72, Z:-0.36 [[ 9.98469576e-01 -5.48120218e-02 7.35848422e-03 2.30669655e+01] [ 5.48141563e-02 9.98496570e-01 -8.85549407e-05 7.20480878e-01] [-7.34256738e-03 4.91768518e-04 9.99972922e-01 -3.55707447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391418 meters 0.045720726421709414 Centerline is valid? [True, True] Translation: X:23.10, Y:0.72, Z:-0.35 [[ 9.98472846e-01 -5.46502546e-02 8.08242405e-03 2.30991903e+01] [ 5.46528276e-02 9.98505413e-01 -9.76579351e-05 7.19224209e-01] [-8.06500713e-03 5.39236124e-04 9.99967332e-01 -3.54567715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854391418 meters 0.046727820099308134 Centerline is valid? [True, True] Translation: X:23.13, Y:0.71, Z:-0.35 [[ 9.98457481e-01 -5.46292377e-02 9.91492461e-03 2.31314707e+01] [ 5.46331027e-02 9.98506490e-01 -1.19178967e-04 7.14926751e-01] [-9.89360591e-03 6.60678225e-04 9.99950839e-01 -3.53356226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391418 meters 0.04347718660741148 Centerline is valid? [True, True] Translation: X:23.16, Y:0.72, Z:-0.35 [[ 9.98416437e-01 -5.53241439e-02 1.01910879e-02 2.31633387e+01] [ 5.53283110e-02 9.98468208e-01 -1.27205129e-04 7.17458336e-01] [-1.01684397e-02 6.90859370e-04 9.99948061e-01 -3.53266530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914391418 meters 0.046149468421119666 Centerline is valid? [True, True] Translation: X:23.19, Y:0.71, Z:-0.36 [[ 9.98365288e-01 -5.64026212e-02 9.24642975e-03 2.31947663e+01] [ 5.64060888e-02 9.98407903e-01 -1.14461923e-04 7.10972619e-01] [-9.22525258e-03 6.35829749e-04 9.99957244e-01 -3.55341101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters 0.04403707832842368 Centerline is valid? [True, True] Translation: X:23.23, Y:0.71, Z:-0.36 [[ 9.98357654e-01 -5.66751166e-02 8.36213536e-03 2.32268558e+01] [ 5.66779908e-02 9.98392505e-01 -1.06941434e-04 7.12821499e-01] [-8.34263235e-03 5.80714829e-04 9.99965031e-01 -3.56103220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974391418 meters 0.04203922902808775 Centerline is valid? [True, True] Translation: X:23.26, Y:0.71, Z:-0.36 [[ 9.98374124e-01 -5.64426333e-02 7.95854521e-03 2.32592226e+01] [ 5.64452337e-02 9.98405692e-01 -1.02331949e-04 7.14558836e-01] [-7.94008095e-03 5.51387514e-04 9.99968325e-01 -3.56484281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391418 meters 0.041964685071408846 Centerline is valid? [True, True] Translation: X:23.29, Y:0.71, Z:-0.36 [[ 9.98471423e-01 -5.48997524e-02 6.39025145e-03 2.32913728e+01] [ 5.49013990e-02 9.98491777e-01 -8.24038321e-05 7.14075345e-01] [-6.37608958e-03 4.33111616e-04 9.99979579e-01 -3.58909360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034391418 meters 0.04202650848153263 Centerline is valid? [True, True] Translation: X:23.32, Y:0.71, Z:-0.36 [[ 9.98589884e-01 -5.27481049e-02 5.99008104e-03 2.33233371e+01] [ 5.27495151e-02 9.98607772e-01 -7.75762123e-05 7.13857997e-01] [-5.97764949e-03 3.93440692e-04 9.99982056e-01 -3.61517581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391418 meters 0.04202650848153263 Centerline is valid? [True, True] Translation: X:23.36, Y:0.71, Z:-0.36 [[ 9.98596436e-01 -5.26239163e-02 5.99007992e-03 2.33559368e+01] [ 5.26253249e-02 9.98614325e-01 -7.76684222e-05 7.13310235e-01] [-5.97769240e-03 3.92789311e-04 9.99982056e-01 -3.62105079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094391418 meters 0.04200053357962441 Centerline is valid? [True, True] Translation: X:23.39, Y:0.71, Z:-0.36 [[ 9.98692989e-01 -5.07810324e-02 5.79656547e-03 2.33864224e+01] [ 5.07823245e-02 9.98709743e-01 -7.58455750e-05 7.13042221e-01] [-5.78523489e-03 3.70109513e-04 9.99983197e-01 -3.62800442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters 0.03903344250637573 Centerline is valid? [True, True] Translation: X:23.42, Y:0.72, Z:-0.36 [[ 9.98779276e-01 -4.90239397e-02 6.05065450e-03 2.34182309e+01] [ 4.90253232e-02 9.98797533e-01 -8.04588019e-05 7.16247669e-01] [-6.03943438e-03 3.76995876e-04 9.99981691e-01 -3.58653579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154391418 meters 0.03883990887218637 Centerline is valid? [True, True] Translation: X:23.45, Y:0.72, Z:-0.36 [[ 9.98876664e-01 -4.68381017e-02 7.18346361e-03 2.34494032e+01] [ 4.68400049e-02 9.98902400e-01 -9.68512559e-05 7.17201802e-01] [-7.17104271e-03 4.33215930e-04 9.99974194e-01 -3.59803050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391418 meters 0.0387800228603375 Centerline is valid? [True, True] Translation: X:23.48, Y:0.72, Z:-0.36 [[ 9.98965840e-01 -4.43650675e-02 9.94947706e-03 2.34797437e+01] [ 4.43686052e-02 9.99015219e-01 -1.35008218e-04 7.16733069e-01] [-9.93368936e-03 5.76313018e-04 9.99950494e-01 -3.55941219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214391418 meters 0.039244083944372773 Centerline is valid? [True, True] Translation: X:23.51, Y:0.72, Z:-0.36 [[ 9.99079317e-01 -4.15356694e-02 1.07380999e-02 2.35108369e+01] [ 4.15396284e-02 9.99136846e-01 -1.45819549e-04 7.17463006e-01] [-1.07227745e-02 5.91741974e-04 9.99942334e-01 -3.58037033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391418 meters 0.03823225416918704 Centerline is valid? [True, True] Translation: X:23.54, Y:0.72, Z:-0.36 [[ 9.99131285e-01 -4.01044959e-02 1.13271752e-02 2.35426859e+01] [ 4.01088121e-02 9.99195306e-01 -1.54044161e-04 7.18743375e-01] [-1.13118824e-02 6.08229882e-04 9.99935834e-01 -3.58190810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274391418 meters 0.03869339249149797 Centerline is valid? [True, True] Translation: X:23.57, Y:0.72, Z:-0.36 [[ 9.99218661e-01 -3.80554330e-02 1.06701086e-02 2.35727916e+01] [ 3.80591592e-02 9.99275477e-01 -1.46313574e-04 7.19319906e-01] [-1.06568099e-02 5.52294617e-04 9.99943062e-01 -3.59682058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391418 meters 0.0391026274634863 Centerline is valid? [True, True] Translation: X:23.60, Y:0.72, Z:-0.36 [[ 9.99233881e-01 -3.77552565e-02 1.03048914e-02 2.36042668e+01] [ 3.77587150e-02 9.99286875e-01 -1.41198929e-04 7.18338345e-01] [-1.02922118e-02 5.30190213e-04 9.99946893e-01 -3.59525650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334391418 meters 0.04001931935353643 Centerline is valid? [True, True] Translation: X:23.64, Y:0.72, Z:-0.36 [[ 9.99175565e-01 -3.89545147e-02 1.14339727e-02 2.36362940e+01] [ 3.89588584e-02 9.99240803e-01 -1.57327960e-04 7.16860724e-01] [-1.14191634e-02 6.02652776e-04 9.99934618e-01 -3.59347630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391418 meters 0.03731756212831329 Centerline is valid? [True, True] Translation: X:23.67, Y:0.72, Z:-0.36 [[ 9.99117366e-01 -4.03415192e-02 1.17068813e-02 2.36682743e+01] [ 4.03461783e-02 9.99185748e-01 -1.61991078e-04 7.18374480e-01] [-1.16908140e-02 6.34176021e-04 9.99931459e-01 -3.58063963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394391418 meters 0.03928244663610164 Centerline is valid? [True, True] Translation: X:23.70, Y:0.71, Z:-0.36 [[ 9.99025964e-01 -4.24291349e-02 1.21198743e-02 2.36995399e+01] [ 4.24342954e-02 9.99099245e-01 -1.68835254e-04 7.14156848e-01] [-1.21017937e-02 6.82969128e-04 9.99926537e-01 -3.58217870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391418 meters 0.03751836713670176 Centerline is valid? [True, True] Translation: X:23.73, Y:0.72, Z:-0.36 [[ 9.98990350e-01 -4.32025162e-02 1.23216209e-02 2.37316502e+01] [ 4.32079162e-02 9.99066087e-01 -1.72265038e-04 7.17104357e-01] [-1.23026713e-02 7.04482676e-04 9.99924071e-01 -3.58390258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454391418 meters 0.039169117052623506 Centerline is valid? [True, True] Translation: X:23.76, Y:0.72, Z:-0.36 [[ 9.98980288e-01 -4.32991200e-02 1.27894722e-02 2.37639439e+01] [ 4.33049598e-02 9.99061884e-01 -1.79899243e-04 7.17026606e-01] [-1.27696847e-02 7.33563376e-04 9.99918195e-01 -3.60715842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391418 meters 0.038445764166830855 Centerline is valid? [True, True] Translation: X:23.80, Y:0.72, Z:-0.36 [[ 9.98940588e-01 -4.42980208e-02 1.24654683e-02 2.37961472e+01] [ 4.43036579e-02 9.99018095e-01 -1.76307782e-04 7.19000323e-01] [-1.24454183e-02 7.28386842e-04 9.99922287e-01 -3.60591594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514391418 meters 0.040567674448532424 Centerline is valid? [True, True] Translation: X:23.83, Y:0.72, Z:-0.36 [[ 9.98911716e-01 -4.47844218e-02 1.30284223e-02 2.38273907e+01] [ 4.47906239e-02 9.98996379e-01 -1.84502535e-04 7.17449083e-01] [-1.30070838e-02 7.67852907e-04 9.99915109e-01 -3.62595423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391418 meters 0.04099004969872142 Centerline is valid? [True, True] Translation: X:23.86, Y:0.72, Z:-0.36 [[ 9.98868395e-01 -4.56788388e-02 1.32428660e-02 2.38599113e+01] [ 4.56853841e-02 9.98955859e-01 -1.91998089e-04 7.15697183e-01] [-1.32202683e-02 7.96786242e-04 9.99912291e-01 -3.63359109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574391418 meters 0.042732546834525216 Centerline is valid? [True, True] Translation: X:23.89, Y:0.71, Z:-0.36 [[ 9.98801568e-01 -4.69189984e-02 1.39296303e-02 2.38911126e+01] [ 4.69263670e-02 9.98898331e-01 -2.02424770e-04 7.11487398e-01] [-1.39047869e-02 8.55849122e-04 9.99902958e-01 -3.64000582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters 0.04323514530821842 Centerline is valid? [True, True] Translation: X:23.92, Y:0.71, Z:-0.36 [[ 9.98748848e-01 -4.78470756e-02 1.45394663e-02 2.39228443e+01] [ 4.78552592e-02 9.98854258e-01 -2.15265205e-04 7.10181915e-01] [-1.45125080e-02 9.10785802e-04 9.99894273e-01 -3.64829666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634391418 meters 0.04578911516792573 Centerline is valid? [True, True] Translation: X:23.95, Y:0.71, Z:-0.36 [[ 9.98640830e-01 -4.96264236e-02 1.59282695e-02 2.39541983e+01] [ 4.96365435e-02 9.98767318e-01 -2.40393164e-04 7.08905453e-01] [-1.58967052e-02 1.03069067e-03 9.99873108e-01 -3.63603870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391418 meters 0.04611940513862557 Centerline is valid? [True, True] Translation: X:23.99, Y:0.71, Z:-0.36 [[ 9.98582679e-01 -5.04974738e-02 1.68118333e-02 2.39864465e+01] [ 5.05089509e-02 9.98723575e-01 -2.58506531e-04 7.08920753e-01] [-1.67773203e-02 1.10728821e-03 9.99858638e-01 -3.61492574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694391418 meters 0.04733242964450608 Centerline is valid? [True, True] Translation: X:24.02, Y:0.71, Z:-0.36 [[ 9.98582031e-01 -5.02667998e-02 1.75264674e-02 2.40190499e+01] [ 5.02792633e-02 9.98735161e-01 -2.70927150e-04 7.08508758e-01] [-1.74906806e-02 1.15176085e-03 9.99846363e-01 -3.62005665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391418 meters 0.047972323792977535 Centerline is valid? [True, True] Translation: X:24.05, Y:0.71, Z:-0.36 [[ 9.98571795e-01 -5.03246145e-02 1.79388979e-02 2.40506283e+01] [ 5.03377061e-02 9.98732215e-01 -2.78712780e-04 7.07073698e-01] [-1.79021291e-02 1.18131769e-03 9.99839046e-01 -3.62178127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754391418 meters 0.049227518319400504 Centerline is valid? [True, True] Translation: X:24.08, Y:0.71, Z:-0.37 [[ 9.98570593e-01 -5.03994374e-02 1.77951730e-02 2.40826034e+01] [ 5.04124108e-02 9.98728447e-01 -2.80927284e-04 7.05253676e-01] [-1.77583869e-02 1.17762330e-03 9.99841614e-01 -3.65031186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters 0.04652837965195511 Centerline is valid? [True, True] Translation: X:24.11, Y:0.71, Z:-0.37 [[ 9.98540964e-01 -5.11484992e-02 1.73139945e-02 2.41147248e+01] [ 5.11609122e-02 9.98690385e-01 -2.74470935e-04 7.08915094e-01] [-1.72772811e-02 1.15987023e-03 9.99850064e-01 -3.66154410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814391418 meters 0.04910956384284822 Centerline is valid? [True, True] Translation: X:24.15, Y:0.71, Z:-0.37 [[ 9.98488334e-01 -5.22111135e-02 1.71769108e-02 2.41453115e+01] [ 5.22235710e-02 9.98635380e-01 -2.77193456e-04 7.05888224e-01] [-1.71389983e-02 1.17381405e-03 9.99852428e-01 -3.65670015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391418 meters 0.044732049450612495 Centerline is valid? [True, True] Translation: X:24.18, Y:0.71, Z:-0.37 [[ 9.98461932e-01 -5.27192610e-02 1.71595593e-02 2.41776332e+01] [ 5.27317760e-02 9.98608674e-01 -2.77377467e-04 7.12423908e-01] [-1.71210616e-02 1.18180488e-03 9.99852725e-01 -3.65952373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874391418 meters 0.05166655927619503 Centerline is valid? [True, True] Translation: X:24.21, Y:0.70, Z:-0.37 [[ 9.98397173e-01 -5.37177507e-02 1.78181808e-02 2.42083927e+01] [ 5.37314964e-02 9.98555377e-01 -2.93261543e-04 7.02805256e-01] [-1.77766869e-02 1.25018901e-03 9.99841201e-01 -3.66283741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391418 meters 0.05457023460407754 Centerline is valid? [True, True] Translation: X:24.24, Y:0.70, Z:-0.37 [[ 9.98330414e-01 -5.46953946e-02 1.85687432e-02 2.42394439e+01] [ 5.47105843e-02 9.98502206e-01 -3.10639296e-04 6.98782373e-01] [-1.85239405e-02 1.32602745e-03 9.99827538e-01 -3.68766469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934391418 meters 0.05590483878569602 Centerline is valid? [True, True] Translation: X:24.27, Y:0.70, Z:-0.37 [[ 9.98261435e-01 -5.59349650e-02 1.85845880e-02 2.42718015e+01] [ 5.59504762e-02 9.98433495e-01 -3.15317253e-04 6.96149954e-01] [-1.85378379e-02 1.35458560e-03 9.99827242e-01 -3.69909879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391418 meters 0.05708968841712825 Centerline is valid? [True, True] Translation: X:24.30, Y:0.69, Z:-0.37 [[ 9.98190288e-01 -5.72991491e-02 1.82471041e-02 2.43032823e+01] [ 5.73143527e-02 9.98356133e-01 -3.10916243e-04 6.93492626e-01] [-1.81992931e-02 1.35617454e-03 9.99833459e-01 -3.69289388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994391418 meters 0.046600664931287034 Centerline is valid? [True, True] Translation: X:24.33, Y:0.71, Z:-0.37 [[ 9.98076356e-01 -5.92255196e-02 1.83282822e-02 2.43343411e+01] [ 5.92412004e-02 9.98243649e-01 -3.13318860e-04 7.10449329e-01] [-1.82775348e-02 1.39850558e-03 9.99831974e-01 -3.70528770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391418 meters 0.05366851311982898 Centerline is valid? [True, True] Translation: X:24.37, Y:0.70, Z:-0.37 [[ 9.98029822e-01 -5.99788467e-02 1.84123082e-02 2.43651361e+01] [ 5.99948208e-02 9.98198638e-01 -3.15943363e-04 7.01308997e-01] [-1.83601911e-02 1.41996403e-03 9.99830429e-01 -3.69926984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054391418 meters 0.0476786616102019 Centerline is valid? [True, True] Translation: X:24.40, Y:0.71, Z:-0.37 [[ 9.98031305e-01 -5.96753194e-02 1.92969004e-02 2.43982056e+01] [ 5.96928722e-02 9.98216735e-01 -3.34389694e-04 7.09589936e-01] [-1.92425341e-02 1.48561879e-03 9.99813742e-01 -3.70614121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391418 meters 0.05022858115988719 Centerline is valid? [True, True] Translation: X:24.43, Y:0.70, Z:-0.37 [[ 9.97975329e-01 -6.03293389e-02 2.01398434e-02 2.44296854e+01] [ 6.03487293e-02 9.98177291e-01 -3.55857358e-04 7.03729067e-01] [-2.00816657e-02 1.57055082e-03 9.99797109e-01 -3.67591879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114391418 meters 0.04961388066004613 Centerline is valid? [True, True] Translation: X:24.46, Y:0.70, Z:-0.37 [[ 9.97961618e-01 -6.02225208e-02 2.11153272e-02 2.44617958e+01] [ 6.02439375e-02 9.98183613e-01 -3.79059622e-04 7.04544085e-01] [-2.10541457e-02 1.65035740e-03 9.99776975e-01 -3.70913750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391418 meters 0.0477560925184863 Centerline is valid? [True, True] Translation: X:24.49, Y:0.71, Z:-0.37 [[ 9.97987109e-01 -5.97377072e-02 2.12869897e-02 2.44943417e+01] [ 5.97594946e-02 9.98212729e-01 -3.88289038e-04 7.05278694e-01] [-2.12257486e-02 1.65960720e-03 9.99773331e-01 -3.68493682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174391418 meters 0.049788190500568597 Centerline is valid? [True, True] Translation: X:24.53, Y:0.70, Z:-0.37 [[ 9.98093028e-01 -5.77561379e-02 2.17838498e-02 2.45251650e+01] [ 5.77786043e-02 9.98329340e-01 -4.02824322e-04 7.04464826e-01] [-2.17241908e-02 1.66069658e-03 9.99762623e-01 -3.69208948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391418 meters 0.04652641000266617 Centerline is valid? [True, True] Translation: X:24.56, Y:0.71, Z:-0.37 [[ 9.98182725e-01 -5.62253589e-02 2.16784854e-02 2.45568559e+01] [ 5.62472687e-02 9.98416788e-01 -4.01763732e-04 7.09028827e-01] [-2.16215745e-02 1.62038921e-03 9.99764913e-01 -3.68519879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234391418 meters 0.04690070307954257 Centerline is valid? [True, True] Translation: X:24.59, Y:0.71, Z:-0.37 [[ 9.98263974e-01 -5.44679392e-02 2.24116264e-02 2.45879418e+01] [ 5.44909372e-02 9.98514178e-01 -4.16298577e-04 7.09892897e-01] [-2.23556518e-02 1.63680640e-03 9.99748741e-01 -3.70993055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391418 meters 0.04924222190818672 Centerline is valid? [True, True] Translation: X:24.62, Y:0.71, Z:-0.37 [[ 9.98345916e-01 -5.31119200e-02 2.20126132e-02 2.46191202e+01] [ 5.31338171e-02 9.98587317e-01 -4.10656088e-04 7.05290159e-01] [-2.19597057e-02 1.57959099e-03 9.99757609e-01 -3.70146280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294391418 meters 0.0498167983567286 Centerline is valid? [True, True] Translation: X:24.65, Y:0.70, Z:-0.37 [[ 9.98387538e-01 -5.24561007e-02 2.16951765e-02 2.46506589e+01] [ 5.24773296e-02 9.98622032e-01 -4.09955979e-04 7.03991408e-01] [-2.16437766e-02 1.54779987e-03 9.99764548e-01 -3.71120340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391418 meters 0.04783277290443165 Centerline is valid? [True, True] Translation: X:24.68, Y:0.71, Z:-0.38 [[ 9.98436763e-01 -5.16171293e-02 2.14406601e-02 2.46828105e+01] [ 5.16377500e-02 9.98665798e-01 -4.08865267e-04 7.05969288e-01] [-2.13909495e-02 1.51537356e-03 9.99770039e-01 -3.75304112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354391418 meters 0.047438091146828426 Centerline is valid? [True, True] Translation: X:24.72, Y:0.71, Z:-0.38 [[ 9.98449784e-01 -5.14767415e-02 2.11701238e-02 2.47157322e+01] [ 5.14969393e-02 9.98673068e-01 -4.09657500e-04 7.05232126e-01] [-2.11209447e-02 1.49921902e-03 9.99775804e-01 -3.76652901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391418 meters 0.0462557448167428 Centerline is valid? [True, True] Translation: X:24.75, Y:0.71, Z:-0.38 [[ 9.98438391e-01 -5.16480971e-02 2.12897731e-02 2.47481484e+01] [ 5.16687055e-02 9.98664193e-01 -4.18694753e-04 7.05258595e-01] [-2.12397093e-02 1.51805593e-03 9.99773259e-01 -3.75083208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414391418 meters 0.052013147559368485 Centerline is valid? [True, True] Translation: X:24.78, Y:0.70, Z:-0.38 [[ 9.98439818e-01 -5.16766829e-02 2.11530225e-02 2.47793904e+01] [ 5.16971572e-02 9.98662719e-01 -4.21862602e-04 6.99938759e-01] [-2.11029345e-02 1.51475555e-03 9.99776161e-01 -3.76439117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters 0.04555686500696564 Centerline is valid? [True, True] Translation: X:24.81, Y:0.71, Z:-0.38 [[ 9.98459733e-01 -5.13176915e-02 2.10868743e-02 2.48123261e+01] [ 5.13380776e-02 9.98681241e-01 -4.26209289e-04 7.07862702e-01] [-2.10371937e-02 1.50811240e-03 9.99777556e-01 -3.76162160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474391418 meters 0.04398114393091822 Centerline is valid? [True, True] Translation: X:24.84, Y:0.71, Z:-0.37 [[ 9.98508854e-01 -5.01135729e-02 2.16494422e-02 2.48445355e+01] [ 5.01349337e-02 9.98742355e-01 -4.44692427e-04 7.07964157e-01] [-2.15999298e-02 1.52942267e-03 9.99765524e-01 -3.74926657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391418 meters 0.04558366515993903 Centerline is valid? [True, True] Translation: X:24.88, Y:0.71, Z:-0.38 [[ 9.98551888e-01 -4.93386369e-02 2.14435406e-02 2.48770917e+01] [ 4.93595329e-02 9.98780976e-01 -4.45956136e-04 7.06006494e-01] [-2.13953976e-02 1.50375349e-03 9.99769961e-01 -3.78890452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534391418 meters 0.045336604806979645 Centerline is valid? [True, True] Translation: X:24.91, Y:0.70, Z:-0.38 [[ 9.98528941e-01 -4.97480435e-02 2.15658548e-02 2.49085815e+01] [ 4.97693339e-02 9.98760637e-01 -4.51297212e-04 7.03714404e-01] [-2.15166757e-02 1.52395155e-03 9.99767328e-01 -3.77228700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391418 meters 0.046605988610797365 Centerline is valid? [True, True] Translation: X:24.94, Y:0.70, Z:-0.38 [[ 9.98519349e-01 -4.99210061e-02 2.16102313e-02 2.49394926e+01] [ 4.99425475e-02 9.98751987e-01 -4.57933939e-04 7.01383570e-01] [-2.15604009e-02 1.53652590e-03 9.99766367e-01 -3.77961735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594391418 meters 0.0499045348673811 Centerline is valid? [True, True] Translation: X:24.97, Y:0.70, Z:-0.38 [[ 9.98416155e-01 -5.13467477e-02 2.29933216e-02 2.49708863e+01] [ 5.13716563e-02 9.98679483e-01 -4.93539364e-04 6.98345571e-01] [-2.29376169e-02 1.67396269e-03 9.99735497e-01 -3.77298509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters 0.049777966796145705 Centerline is valid? [True, True] Translation: X:25.00, Y:0.70, Z:-0.37 [[ 9.98399459e-01 -5.13629333e-02 2.36721367e-02 2.50035756e+01] [ 5.13894893e-02 9.98678555e-01 -5.14457861e-04 6.96579424e-01] [-2.36144312e-02 1.73013346e-03 9.99719643e-01 -3.73707412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654391418 meters 0.051029464783278064 Centerline is valid? [True, True] Translation: X:25.04, Y:0.69, Z:-0.38 [[ 9.98393896e-01 -5.11618057e-02 2.43330578e-02 2.50369178e+01] [ 5.11899776e-02 9.98688790e-01 -5.35869615e-04 6.93402952e-01] [-2.42737359e-02 1.78061763e-03 9.99703764e-01 -3.75489370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391418 meters 0.051507020104588686 Centerline is valid? [True, True] Translation: X:25.07, Y:0.69, Z:-0.38 [[ 9.98365845e-01 -5.17388002e-02 2.42638978e-02 2.50688110e+01] [ 5.17671586e-02 9.98659035e-01 -5.41656032e-04 6.90157927e-01] [-2.42033361e-02 1.79684393e-03 9.99705442e-01 -3.75844846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714391417999998 meters 0.05110061517310196 Centerline is valid? [True, True] Translation: X:25.10, Y:0.69, Z:-0.38 [[ 9.98351692e-01 -5.24368394e-02 2.33297285e-02 2.51013613e+01] [ 5.24633886e-02 9.98622709e-01 -5.26973698e-04 6.86394058e-01] [-2.32699639e-02 1.75006170e-03 9.99727686e-01 -3.77410887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391418 meters 0.055012195169160054 Centerline is valid? [True, True] Translation: X:25.13, Y:0.68, Z:-0.38 [[ 9.98355337e-01 -5.26639162e-02 2.26524441e-02 2.51318947e+01] [ 5.26891265e-02 9.98610829e-01 -5.17100737e-04 6.81393400e-01] [-2.25937434e-02 1.70978777e-03 9.99743267e-01 -3.82547528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774391418 meters 0.057117597266849306 Centerline is valid? [True, True] Translation: X:25.16, Y:0.68, Z:-0.38 [[ 9.98310299e-01 -5.38372725e-02 2.18653835e-02 2.51632307e+01] [ 5.38611129e-02 9.98548310e-01 -5.02448112e-04 6.77403387e-01] [-2.18065913e-02 1.67929301e-03 9.99760798e-01 -3.81218287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391418 meters 0.05236358645220433 Centerline is valid? [True, True] Translation: X:25.20, Y:0.68, Z:-0.38 [[ 9.98352425e-01 -5.32290499e-02 2.14267203e-02 2.51956711e+01] [ 5.32519169e-02 9.98580986e-01 -4.97658178e-04 6.82683653e-01] [-2.13698256e-02 1.63785218e-03 9.99770298e-01 -3.83011164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834391418 meters 0.05287251257559652 Centerline is valid? [True, True] Translation: X:25.23, Y:0.68, Z:-0.38 [[ 9.98371777e-01 -5.27331540e-02 2.17487676e-02 2.52270251e+01] [ 5.27567261e-02 9.98607263e-01 -5.11099767e-04 6.80268901e-01] [-2.16915253e-02 1.65766135e-03 9.99763337e-01 -3.82765746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391418 meters 0.04858084040160031 Centerline is valid? [True, True] Translation: X:25.26, Y:0.68, Z:-0.38 [[ 9.98439326e-01 -5.12384171e-02 2.22156832e-02 2.52595626e+01] [ 5.12627738e-02 9.98685060e-01 -5.27899656e-04 6.82772146e-01] [-2.21594221e-02 1.66591332e-03 9.99753062e-01 -3.84140473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894391418 meters 0.05147974113024409 Centerline is valid? [True, True] Translation: X:25.29, Y:0.68, Z:-0.39 [[ 9.98444043e-01 -5.08288428e-02 2.29329813e-02 2.52901815e+01] [ 5.08548285e-02 9.98705904e-01 -5.50958559e-04 6.78719328e-01] [-2.28752993e-02 1.71635412e-03 9.99736853e-01 -3.87841395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391418 meters 0.05024745957277524 Centerline is valid? [True, True] Translation: X:25.32, Y:0.68, Z:-0.38 [[ 9.98427241e-01 -5.12830702e-02 2.26515344e-02 2.53228952e+01] [ 5.13086307e-02 9.98682694e-01 -5.48299783e-04 6.78517692e-01] [-2.25935769e-02 1.70965665e-03 9.99743271e-01 -3.84992445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954391418 meters 0.05024745957277524 Centerline is valid? [True, True] Translation: X:25.36, Y:0.68, Z:-0.39 [[ 9.98443453e-01 -5.09665287e-02 2.26513765e-02 2.53555657e+01] [ 5.09921538e-02 9.98698900e-01 -5.54753258e-04 6.77564585e-01] [-2.25936310e-02 1.70893223e-03 9.99743271e-01 -3.85580551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391418 meters 0.052005019809622535 Centerline is valid? [True, True] Translation: X:25.39, Y:0.68, Z:-0.39 [[ 9.98432490e-01 -5.08602884e-02 2.33622504e-02 2.53867782e+01] [ 5.08876880e-02 9.98704214e-01 -5.79420834e-04 6.75746405e-01] [-2.33025084e-02 1.76736350e-03 9.99726897e-01 -3.87666866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014391418 meters 0.0531609135164502 Centerline is valid? [True, True] Translation: X:25.42, Y:0.67, Z:-0.39 [[ 9.98488802e-01 -4.98407522e-02 2.31519222e-02 2.54190760e+01] [ 4.98675255e-02 9.98755672e-01 -5.80159430e-04 6.74327543e-01] [-2.30941980e-02 1.73381176e-03 9.99731790e-01 -3.91258859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391418 meters 0.05291097681758991 Centerline is valid? [True, True] Translation: X:25.45, Y:0.67, Z:-0.39 [[ 9.98479310e-01 -4.98861361e-02 2.34614914e-02 2.54504891e+01] [ 4.99137914e-02 9.98753353e-01 -5.94262825e-04 6.72262060e-01] [-2.34025977e-02 1.76441112e-03 9.99724565e-01 -3.89837372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074391418 meters 0.05165511780867925 Centerline is valid? [True, True] Translation: X:25.48, Y:0.67, Z:-0.40 [[ 9.98561687e-01 -4.81295009e-02 2.36243085e-02 2.54815689e+01] [ 4.81571653e-02 9.98839589e-01 -6.03161696e-04 6.72226229e-01] [-2.35678648e-02 1.73997389e-03 9.99720725e-01 -3.96134758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391418 meters 0.0510735830356479 Centerline is valid? [True, True] Translation: X:25.51, Y:0.67, Z:-0.40 [[ 9.98612068e-01 -4.69313391e-02 2.39037129e-02 2.55136453e+01] [ 4.69593759e-02 9.98896612e-01 -6.12618119e-04 6.71698514e-01] [-2.38485868e-02 1.73427128e-03 9.99714078e-01 -3.97605240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134391418 meters 0.051633029062419754 Centerline is valid? [True, True] Translation: X:25.54, Y:0.67, Z:-0.40 [[ 9.98660134e-01 -4.56408819e-02 2.43894885e-02 2.55448198e+01] [ 4.56698485e-02 9.98956388e-01 -6.31684312e-04 6.70224647e-01] [-2.43352048e-02 1.74470219e-03 9.99702333e-01 -3.97051925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391418 meters 0.05014901961870494 Centerline is valid? [True, True] Translation: X:25.58, Y:0.67, Z:-0.40 [[ 9.98744596e-01 -4.33519693e-02 2.50965801e-02 2.55761147e+01] [ 4.33820449e-02 9.99058341e-01 -6.54924986e-04 6.73296130e-01] [-2.50445554e-02 1.74284376e-03 9.99684817e-01 -3.96174888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194391418 meters 0.04932066838826653 Centerline is valid? [True, True] Translation: X:25.61, Y:0.67, Z:-0.40 [[ 9.98817122e-01 -4.13964465e-02 2.55086383e-02 2.56081277e+01] [ 4.14269123e-02 9.99141314e-01 -6.66807313e-04 6.74587574e-01] [-2.54591309e-02 1.72276268e-03 9.99674379e-01 -3.97963787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391418 meters 0.046764971036723904 Centerline is valid? [True, True] Translation: X:25.64, Y:0.68, Z:-0.40 [[ 9.98877876e-01 -3.98719013e-02 2.55581811e-02 2.56392701e+01] [ 3.99020226e-02 9.99203373e-01 -6.69427285e-04 6.77713789e-01] [-2.55111294e-02 1.68849922e-03 9.99673112e-01 -3.99768411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254391418 meters 0.040989353533896135 Centerline is valid? [True, True] Translation: X:25.67, Y:0.68, Z:-0.40 [[ 9.98933885e-01 -3.79549615e-02 2.62776279e-02 2.56716887e+01] [ 3.79862236e-02 9.99278024e-01 -6.91351289e-04 6.84965932e-01] [-2.62324159e-02 1.68880208e-03 9.99654444e-01 -4.02248874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters 0.04142682283234972 Centerline is valid? [True, True] Translation: X:25.70, Y:0.68, Z:-0.40 [[ 9.98977872e-01 -3.70891128e-02 2.58381489e-02 2.57027886e+01] [ 3.71192330e-02 9.99310608e-01 -6.86911804e-04 6.83825167e-01] [-2.57948594e-02 1.64530196e-03 9.99665903e-01 -4.03797177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314391418 meters 0.04206794427225653 Centerline is valid? [True, True] Translation: X:25.73, Y:0.68, Z:-0.41 [[ 9.99007583e-01 -3.61410537e-02 2.60321549e-02 2.57347877e+01] [ 3.61714911e-02 9.99345353e-01 -6.99129053e-04 6.83883940e-01] [-2.59898458e-02 1.64005708e-03 9.99660862e-01 -4.08205845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391418 meters 0.04078008210588584 Centerline is valid? [True, True] Translation: X:25.77, Y:0.68, Z:-0.41 [[ 9.99079517e-01 -3.42464671e-02 2.58321058e-02 2.57666960e+01] [ 3.42759510e-02 9.99412162e-01 -6.99314203e-04 6.84865874e-01] [-2.57929717e-02 1.58409049e-03 9.99666051e-01 -4.11733781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374391418 meters 0.03943088641941759 Centerline is valid? [True, True] Translation: X:25.80, Y:0.69, Z:-0.41 [[ 9.99107568e-01 -3.36026226e-02 2.55916085e-02 2.57993968e+01] [ 3.36314328e-02 9.99434061e-01 -6.96069598e-04 6.85783062e-01] [-2.55537355e-02 1.55613087e-03 9.99672239e-01 -4.13232131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391418 meters 0.04088186159770089 Centerline is valid? [True, True] Translation: X:25.83, Y:0.68, Z:-0.41 [[ 9.99118524e-01 -3.31708088e-02 2.57268717e-02 2.58316950e+01] [ 3.31999761e-02 9.99448479e-01 -7.07305062e-04 6.83356939e-01] [-2.56892209e-02 1.56081311e-03 9.99668759e-01 -4.13789581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434391418 meters 0.038844894499254816 Centerline is valid? [True, True] Translation: X:25.86, Y:0.69, Z:-0.42 [[ 9.99163482e-01 -3.14914934e-02 2.60887490e-02 2.58640911e+01] [ 3.15211225e-02 9.99502823e-01 -7.25137068e-04 6.86903251e-01] [-2.60529426e-02 1.54687713e-03 9.99659368e-01 -4.15465562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters 0.03913031872107127 Centerline is valid? [True, True] Translation: X:25.90, Y:0.69, Z:-0.41 [[ 9.99170291e-01 -3.07796934e-02 2.66709720e-02 2.58952235e+01] [ 3.08106082e-02 9.99524960e-01 -7.48848227e-04 6.85919082e-01] [-2.66352529e-02 1.56997577e-03 9.99643986e-01 -4.14939229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494391418 meters 0.0395590419007736 Centerline is valid? [True, True] Translation: X:25.93, Y:0.69, Z:-0.42 [[ 9.99200041e-01 -2.92211889e-02 2.73020341e-02 2.59270646e+01] [ 2.92532075e-02 9.99571734e-01 -7.73995033e-04 6.86022377e-01] [-2.72677245e-02 1.57204794e-03 9.99626930e-01 -4.16169094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391418 meters 0.0409002240842297 Centerline is valid? [True, True] Translation: X:25.96, Y:0.69, Z:-0.42 [[ 9.99262580e-01 -2.81233504e-02 2.61414245e-02 2.59582793e+01] [ 2.81525086e-02 9.99603360e-01 -7.47963276e-04 6.85309255e-01] [-2.61100205e-02 1.48335839e-03 9.99657975e-01 -4.21187979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554391418 meters 0.0409002240842297 Centerline is valid? [True, True] Translation: X:25.99, Y:0.68, Z:-0.42 [[ 9.99271254e-01 -2.78136396e-02 2.61412198e-02 2.59909115e+01] [ 2.78428773e-02 9.99612027e-01 -7.55058906e-04 6.84213645e-01] [-2.61100768e-02 1.48235543e-03 9.99657975e-01 -4.21775458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391418 meters 0.04083713095963154 Centerline is valid? [True, True] Translation: X:26.02, Y:0.68, Z:-0.42 [[ 9.99293746e-01 -2.75989925e-02 2.55010707e-02 2.60236070e+01] [ 2.76269431e-02 9.99618026e-01 -7.44323262e-04 6.83558644e-01] [-2.54707874e-02 1.44831421e-03 9.99674518e-01 -4.22426292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614391418 meters 0.03430957517068216 Centerline is valid? [True, True] Translation: X:26.06, Y:0.69, Z:-0.43 [[ 9.99326413e-01 -2.62574639e-02 2.56371849e-02 2.60561121e+01] [ 2.62854739e-02 9.99654191e-01 -7.56109501e-04 6.94139386e-01] [-2.56084658e-02 1.42948575e-03 9.99671027e-01 -4.25570991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391418 meters 0.039120122065633055 Centerline is valid? [True, True] Translation: X:26.09, Y:0.69, Z:-0.43 [[ 9.99356183e-01 -2.49806184e-02 2.57524392e-02 2.60869698e+01] [ 2.50086488e-02 9.99686941e-01 -7.66909789e-04 6.87472355e-01] [-2.57252192e-02 1.41044975e-03 9.99668057e-01 -4.25416635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674391418 meters 0.03884509079111215 Centerline is valid? [True, True] Translation: X:26.12, Y:0.69, Z:-0.43 [[ 9.99394663e-01 -2.30670486e-02 2.60426440e-02 2.61170377e+01] [ 2.30951988e-02 9.99732966e-01 -7.80623116e-04 6.88708547e-01] [-2.60176830e-02 1.38161062e-03 9.99660528e-01 -4.26903458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391418 meters 0.0381785246881076 Centerline is valid? [True, True] Translation: X:26.15, Y:0.69, Z:-0.43 [[ 9.99430883e-01 -2.14226861e-02 2.60572339e-02 2.61494351e+01] [ 2.14503753e-02 9.99769607e-01 -7.83545845e-04 6.89654205e-01] [-2.60344448e-02 1.34203736e-03 9.99660146e-01 -4.27606251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734391418 meters 0.033145932735809576 Centerline is valid? [True, True] Translation: X:26.18, Y:0.70, Z:-0.43 [[ 9.99470365e-01 -1.97691457e-02 2.58489769e-02 2.61822916e+01] [ 1.97959858e-02 9.99803734e-01 -7.82837762e-04 6.97067889e-01] [-2.58284276e-02 1.29412913e-03 9.99665553e-01 -4.29113761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391418 meters 0.03213207056718229 Centerline is valid? [True, True] Translation: X:26.22, Y:0.70, Z:-0.43 [[ 9.99498429e-01 -1.81582841e-02 2.59454676e-02 2.62150229e+01] [ 1.81848525e-02 9.99834331e-01 -7.88411842e-04 6.99976896e-01] [-2.59268530e-02 1.25983090e-03 9.99663049e-01 -4.30552278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794391418 meters 0.03181765209487068 Centerline is valid? [True, True] Translation: X:26.25, Y:0.70, Z:-0.43 [[ 9.99570116e-01 -1.49284231e-02 2.52334310e-02 2.62454244e+01] [ 1.49525751e-02 9.99887909e-01 -7.68722404e-04 7.03858275e-01] [-2.52191267e-02 1.14569671e-03 9.99681291e-01 -4.30513310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391418 meters 0.030341869638073303 Centerline is valid? [True, True] Translation: X:26.28, Y:0.71, Z:-0.43 [[ 9.99601889e-01 -1.28699055e-02 2.51083390e-02 2.62777057e+01] [ 1.28932295e-02 9.99916584e-01 -7.67260679e-04 7.06240147e-01] [-2.50963700e-02 1.09068280e-03 9.99684442e-01 -4.31597451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854391418 meters 0.028829256025280768 Centerline is valid? [True, True] Translation: X:26.31, Y:0.71, Z:-0.44 [[ 9.99674504e-01 -9.48119229e-03 2.36852728e-02 2.63090209e+01] [ 9.50111500e-03 9.99954598e-01 -7.28748479e-04 7.09195452e-01] [-2.36772880e-02 9.53547775e-04 9.99719199e-01 -4.35591855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391418 meters 0.027094609133141326 Centerline is valid? [True, True] Translation: X:26.34, Y:0.71, Z:-0.44 [[ 9.99687290e-01 -8.11212498e-03 2.36540875e-02 2.63409600e+01] [ 8.13164056e-03 9.99966672e-01 -7.28968880e-04 7.11603556e-01] [-2.36473857e-02 9.21087461e-04 9.99719937e-01 -4.36626518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914391418 meters 0.02634992872440556 Centerline is valid? [True, True] Translation: X:26.37, Y:0.71, Z:-0.44 [[ 9.99696348e-01 -6.23465148e-03 2.38398881e-02 2.63729292e+01] [ 6.25398838e-03 9.99980172e-01 -7.36642756e-04 7.13208026e-01] [-2.38348227e-02 8.85513456e-04 9.99715518e-01 -4.37205050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391418 meters 0.027410757122868477 Centerline is valid? [True, True] Translation: X:26.40, Y:0.72, Z:-0.44 [[ 9.99722970e-01 -1.91438273e-03 2.34588755e-02 2.64033087e+01] [ 1.93195480e-03 9.99997870e-01 -7.26417491e-04 7.17001770e-01] [-2.34574348e-02 7.71537739e-04 9.99724539e-01 -4.38287663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974391418 meters 0.025740212790348816 Centerline is valid? [True, True] Translation: X:26.43, Y:0.72, Z:-0.44 [[ 9.99710568e-01 2.65782055e-04 2.40564041e-02 2.64344713e+01] [-2.47902355e-04 9.99999691e-01 -7.46219959e-04 7.19503524e-01] [-2.40565950e-02 7.40040339e-04 9.99710324e-01 -4.37053449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391418 meters 0.023302905866077982 Centerline is valid? [True, True] Translation: X:26.47, Y:0.72, Z:-0.44 [[ 9.99721902e-01 2.30444503e-03 2.34692851e-02 2.64667623e+01] [-2.28791561e-03 9.99997115e-01 -7.31127530e-04 7.24048695e-01] [-2.34709022e-02 6.77228462e-04 9.99724291e-01 -4.37583476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034391418 meters 0.021442157307511003 Centerline is valid? [True, True] Translation: X:26.50, Y:0.73, Z:-0.44 [[ 9.99728254e-01 5.02430907e-03 2.27634647e-02 2.64987361e+01] [-5.00942361e-03 9.99987200e-01 -7.10895416e-04 7.28374549e-01] [-2.27667451e-02 5.96670395e-04 9.99740626e-01 -4.39765810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391418 meters 0.021630650580362017 Centerline is valid? [True, True] Translation: X:26.53, Y:0.73, Z:-0.44 [[ 9.99727229e-01 6.39065189e-03 2.24639138e-02 2.65300583e+01] [-6.37644254e-03 9.99979422e-01 -7.04114221e-04 7.27706541e-01] [-2.24679513e-02 5.60682303e-04 9.99747406e-01 -4.40448156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094391418 meters 0.02105974683596846 Centerline is valid? [True, True] Translation: X:26.56, Y:0.73, Z:-0.44 [[ 9.99718501e-01 7.43959072e-03 2.25293570e-02 2.65624468e+01] [-7.42543184e-03 9.99972178e-01 -7.12054951e-04 7.29662473e-01] [-2.25340276e-02 5.44564303e-04 9.99745928e-01 -4.41264558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters 0.021038782826471713 Centerline is valid? [True, True] Translation: X:26.60, Y:0.73, Z:-0.44 [[ 9.99708528e-01 8.04867950e-03 2.27613072e-02 2.65959180e+01] [-8.03423865e-03 9.99967462e-01 -7.25824479e-04 7.29967242e-01] [-2.27664085e-02 5.42743148e-04 9.99740664e-01 -4.41217393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154391418 meters 0.021906457805623912 Centerline is valid? [True, True] Translation: X:26.63, Y:0.73, Z:-0.44 [[ 9.99687554e-01 9.06796634e-03 2.32930617e-02 2.66285441e+01] [-9.05295248e-03 9.99958740e-01 -7.49934648e-04 7.30435242e-01] [-2.32989010e-02 5.38829353e-04 9.99728399e-01 -4.42155442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391418 meters 0.02094483688815518 Centerline is valid? [True, True] Translation: X:26.66, Y:0.73, Z:-0.44 [[ 9.99668027e-01 9.38500908e-03 2.39949638e-02 2.66621774e+01] [-9.36900359e-03 9.99955806e-01 -7.79371692e-04 7.31328091e-01] [-2.40012177e-02 5.54304059e-04 9.99711776e-01 -4.40785324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214391417999998 meters 0.019993506270223498 Centerline is valid? [True, True] Translation: X:26.69, Y:0.74, Z:-0.44 [[ 9.99673476e-01 1.01478308e-02 2.34512859e-02 2.66942255e+01] [-1.01325891e-02 9.99948369e-01 -7.68670120e-04 7.35226712e-01] [-2.34578754e-02 5.30796886e-04 9.99724685e-01 -4.42983465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391418 meters 0.01955365816591466 Centerline is valid? [True, True] Translation: X:26.73, Y:0.73, Z:-0.44 [[ 9.99671570e-01 1.00626684e-02 2.35689212e-02 2.67270526e+01] [-1.00470863e-02 9.99949223e-01 -7.79453216e-04 7.34863281e-01] [-2.35755678e-02 5.42398235e-04 9.99721911e-01 -4.43366516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274391418 meters 0.019874386532714453 Centerline is valid? [True, True] Translation: X:26.76, Y:0.73, Z:-0.44 [[ 9.99698981e-01 9.46782202e-03 2.26342338e-02 2.67589838e+01] [-9.45314278e-03 9.99955033e-01 -7.55451791e-04 7.34451974e-01] [-2.26403684e-02 5.41259742e-04 9.99743527e-01 -4.44550641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391418 meters 0.022075927324249543 Centerline is valid? [True, True] Translation: X:26.79, Y:0.73, Z:-0.45 [[ 9.99755199e-01 7.31296184e-03 2.08821167e-02 2.67900754e+01] [-7.29988432e-03 9.99973109e-01 -7.02414022e-04 7.33586261e-01] [-2.08866919e-02 5.49805034e-04 9.99781698e-01 -4.46995447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334391418 meters 0.023382310614659375 Centerline is valid? [True, True] Translation: X:26.82, Y:0.73, Z:-0.45 [[ 9.99772208e-01 5.60587710e-03 2.05938406e-02 2.68220034e+01] [-5.59268643e-03 9.99984117e-01 -6.98053576e-04 7.31693881e-01] [-2.05974267e-02 5.82719672e-04 9.99787681e-01 -4.48574087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391418 meters 0.022203653624724387 Centerline is valid? [True, True] Translation: X:26.85, Y:0.73, Z:-0.45 [[ 9.99784737e-01 3.70795951e-03 2.04140015e-02 2.68545327e+01] [-3.69448828e-03 9.99992932e-01 -6.97575823e-04 7.31245609e-01] [-2.04164438e-02 6.22006371e-04 9.99791369e-01 -4.48273859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394391418 meters 0.0247631069993321 Centerline is valid? [True, True] Translation: X:26.89, Y:0.73, Z:-0.45 [[ 9.99801823e-01 1.54547639e-03 1.98475975e-02 2.68859591e+01] [-1.53220851e-03 9.99998592e-01 -6.83677726e-04 7.28072839e-01] [-1.98486262e-02 6.53131579e-04 9.99802783e-01 -4.49470004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391418 meters 0.024185946774259334 Centerline is valid? [True, True] Translation: X:26.92, Y:0.73, Z:-0.45 [[ 9.99810072e-01 1.14505210e-03 1.94552847e-02 2.69185936e+01] [-1.13213014e-03 9.99999131e-01 -6.75188674e-04 7.29213771e-01] [-1.94560410e-02 6.53034522e-04 9.99810500e-01 -4.50115219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454391418 meters 0.026300363442176566 Centerline is valid? [True, True] Translation: X:26.95, Y:0.73, Z:-0.45 [[ 9.99834699e-01 1.20959187e-03 1.81414310e-02 2.69501903e+01] [-1.19828168e-03 9.99999081e-01 -6.34302465e-04 7.28591311e-01] [-1.81421816e-02 6.12459070e-04 9.99835229e-01 -4.53581669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391418 meters 0.02485320571097973 Centerline is valid? [True, True] Translation: X:26.98, Y:0.73, Z:-0.45 [[ 9.99859292e-01 9.43883320e-04 1.67482747e-02 2.69826211e+01] [-9.34129886e-04 9.99999390e-01 -5.90168071e-04 7.30297030e-01] [-1.67488215e-02 5.74439966e-04 9.99859564e-01 -4.53174694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514391418 meters 0.024978938074358227 Centerline is valid? [True, True] Translation: X:27.02, Y:0.73, Z:-0.45 [[ 9.99869600e-01 1.32820318e-03 1.60940611e-02 2.70154889e+01] [-1.31917996e-03 9.99998967e-01 -5.71258441e-04 7.30415718e-01] [-1.60948032e-02 5.49952986e-04 9.99870319e-01 -4.54695143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391418 meters 0.025468755684468134 Centerline is valid? [True, True] Translation: X:27.05, Y:0.73, Z:-0.46 [[ 9.99871045e-01 1.63843706e-03 1.59752828e-02 2.70475111e+01] [-1.62950620e-03 9.99998509e-01 -5.72042938e-04 7.31267376e-01] [-1.59761962e-02 5.45937347e-04 9.99872223e-01 -4.55430401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574391418 meters 0.025279424820476435 Centerline is valid? [True, True] Translation: X:27.08, Y:0.73, Z:-0.46 [[ 9.99866651e-01 2.10439811e-03 1.61941817e-02 2.70811572e+01] [-2.09520489e-03 9.99997634e-01 -5.84631522e-04 7.31501661e-01] [-1.61953737e-02 5.50623434e-04 9.99868695e-01 -4.55261214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391418 meters 0.02414837435762613 Centerline is valid? [True, True] Translation: X:27.11, Y:0.73, Z:-0.46 [[ 9.99863095e-01 2.58239374e-03 1.63438662e-02 2.71148646e+01] [-2.57301055e-03 9.99996513e-01 -5.95112768e-04 7.33538256e-01] [-1.63453460e-02 5.52978354e-04 9.99866253e-01 -4.55401706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634391418 meters 0.022507339183420957 Centerline is valid? [True, True] Translation: X:27.15, Y:0.74, Z:-0.46 [[ 9.99866583e-01 4.41303034e-03 1.57271217e-02 2.71473736e+01] [-4.40448459e-03 9.99990133e-01 -5.77972237e-04 7.36184019e-01] [-1.57295172e-02 5.08625260e-04 9.99876154e-01 -4.56321433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391418 meters 0.021900504853741287 Centerline is valid? [True, True] Translation: X:27.18, Y:0.74, Z:-0.46 [[ 9.99860602e-01 6.78306268e-03 1.52566824e-02 2.71786457e+01] [-6.77527709e-03 9.99976890e-01 -5.61936805e-04 7.37433338e-01] [-1.52601415e-02 4.58490221e-04 9.99883452e-01 -4.57078913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694391418 meters 0.023863404652679582 Centerline is valid? [True, True] Translation: X:27.21, Y:0.73, Z:-0.46 [[ 9.99846250e-01 7.24516659e-03 1.59682022e-02 2.72110398e+01] [-7.23668810e-03 9.99973642e-01 -5.88679211e-04 7.33459599e-01] [-1.59720464e-02 4.73031803e-04 9.99872327e-01 -4.57317225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391418 meters 0.023759385087414892 Centerline is valid? [True, True] Translation: X:27.24, Y:0.73, Z:-0.46 [[ 9.99838421e-01 8.39602324e-03 1.58945847e-02 2.72422069e+01] [-8.38769186e-03 9.99964648e-01 -5.90757024e-04 7.32801014e-01] [-1.58989828e-02 4.57342691e-04 9.99873499e-01 -4.57874479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754391418 meters 0.024078079929551972 Centerline is valid? [True, True] Translation: X:27.27, Y:0.73, Z:-0.46 [[ 9.99819277e-01 1.00546770e-02 1.61343210e-02 2.72744058e+01] [-1.00462449e-02 9.99949353e-01 -6.03588895e-04 7.32066767e-01] [-1.61395727e-02 4.41390473e-04 9.99869651e-01 -4.60155547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391418 meters 0.02068204825692574 Centerline is valid? [True, True] Translation: X:27.31, Y:0.73, Z:-0.46 [[ 9.99809455e-01 1.06779096e-02 1.63412619e-02 2.73081659e+01] [-1.06692748e-02 9.99942892e-01 -6.15493828e-04 7.34625277e-01] [-1.63469009e-02 4.41027134e-04 9.99866283e-01 -4.59188096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814391418 meters 0.023937118878845247 Centerline is valid? [True, True] Translation: X:27.34, Y:0.73, Z:-0.46 [[ 9.99825876e-01 1.03898102e-02 1.55006298e-02 2.73389029e+01] [-1.03819280e-02 9.99945933e-01 -5.88889150e-04 7.27217524e-01] [-1.55059102e-02 4.27860187e-04 9.99879685e-01 -4.61758483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391418 meters 0.02140732717592895 Centerline is valid? [True, True] Translation: X:27.37, Y:0.73, Z:-0.46 [[ 9.99847537e-01 9.54101877e-03 1.46243482e-02 2.73707492e+01] [-9.53388684e-03 9.99954396e-01 -5.57316273e-04 7.29277344e-01] [-1.46289986e-02 4.17804423e-04 9.99892903e-01 -4.62380326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874391418 meters 0.02140732717592895 Centerline is valid? [True, True] Translation: X:27.40, Y:0.73, Z:-0.46 [[ 9.99844475e-01 9.85691039e-03 1.46242120e-02 2.74033616e+01] [-9.84976036e-03 9.99951333e-01 -5.60864423e-04 7.27880378e-01] [-1.46290287e-02 4.16732210e-04 9.99892903e-01 -4.62967203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391418 meters 0.02613122919258707 Centerline is valid? [True, True] Translation: X:27.43, Y:0.72, Z:-0.47 [[ 9.99873830e-01 9.23459532e-03 1.29246377e-02 2.74345967e+01] [-9.22891042e-03 9.99957288e-01 -4.99424754e-04 7.20295644e-01] [-1.29286977e-02 3.80081417e-04 9.99916349e-01 -4.67618685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934391418 meters 0.026336678053948098 Centerline is valid? [True, True] Translation: X:27.47, Y:0.72, Z:-0.47 [[ 9.99907063e-01 7.64365969e-03 1.12889365e-02 2.74668266e+01] [-7.63919522e-03 9.99970725e-01 -4.38540955e-04 7.17410611e-01] [-1.12919581e-02 3.52261809e-04 9.99936182e-01 -4.68093817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters 0.024032447479064887 Centerline is valid? [True, True] Translation: X:27.50, Y:0.72, Z:-0.47 [[ 9.99936662e-01 6.57650657e-03 9.13357328e-03 2.74988921e+01] [-6.57352831e-03 9.99978331e-01 -3.56061105e-04 7.17763690e-01] [-9.13571700e-03 2.95998750e-04 9.99958225e-01 -4.69387149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994391418 meters 0.025334599784690288 Centerline is valid? [True, True] Translation: X:27.53, Y:0.72, Z:-0.47 [[ 9.99939475e-01 6.06105879e-03 9.18205106e-03 2.75314329e+01] [-6.05800479e-03 9.99981585e-01 -3.60381499e-04 7.15654044e-01] [-9.18406627e-03 3.04734778e-04 9.99957779e-01 -4.71981776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391418 meters 0.024711077910858702 Centerline is valid? [True, True] Translation: X:27.56, Y:0.71, Z:-0.47 [[ 9.99927248e-01 4.18487869e-03 1.13131008e-02 2.75633285e+01] [-4.18007357e-03 9.99991163e-01 -4.48352041e-04 7.09690579e-01] [-1.13148771e-02 4.01029829e-04 9.99935904e-01 -4.68606675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054391418 meters 0.023487471251196056 Centerline is valid? [True, True] Translation: X:27.60, Y:0.71, Z:-0.47 [[ 9.99910480e-01 4.56383020e-03 1.25778842e-02 2.75968564e+01] [-4.55787326e-03 9.99989487e-01 -5.02229073e-04 7.08980316e-01] [-1.25800441e-02 4.44855712e-04 9.99920769e-01 -4.67244259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391418 meters 0.024169111723489508 Centerline is valid? [True, True] Translation: X:27.63, Y:0.71, Z:-0.47 [[ 9.99891261e-01 5.41841242e-03 1.37152293e-02 2.76279202e+01] [-5.41133140e-03 9.99985206e-01 -5.53347425e-04 7.06711259e-01] [-1.37180247e-02 4.79069603e-04 9.99905789e-01 -4.66303449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114391418 meters 0.024876639752478797 Centerline is valid? [True, True] Translation: X:27.66, Y:0.70, Z:-0.46 [[ 9.99873140e-01 6.06074028e-03 1.47299691e-02 2.76596651e+01] [-6.05260935e-03 9.99981505e-01 -5.96516757e-04 7.04740629e-01] [-1.47333120e-02 5.07286334e-04 9.99891330e-01 -4.64873581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391418 meters 0.026746777601059916 Centerline is valid? [True, True] Translation: X:27.69, Y:0.70, Z:-0.46 [[ 9.99850017e-01 6.89125985e-03 1.58888184e-02 2.76905476e+01] [-6.88182726e-03 9.99976110e-01 -6.48262015e-04 7.00633668e-01] [-1.58929062e-02 5.38820683e-04 9.99873555e-01 -4.63830914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174391418 meters 0.02737615506285543 Centerline is valid? [True, True] Translation: X:27.72, Y:0.70, Z:-0.46 [[ 9.99848434e-01 6.21122857e-03 1.62643627e-02 2.77223476e+01] [-6.20118717e-03 9.99980550e-01 -6.67747028e-04 6.96290045e-01] [-1.62681938e-02 5.66787463e-04 9.99867504e-01 -4.64783566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391418 meters 0.026472447975522184 Centerline is valid? [True, True] Translation: X:27.75, Y:0.69, Z:-0.47 [[ 9.99876943e-01 1.41956827e-03 1.56231578e-02 2.77536770e+01] [-1.40965089e-03 9.99998798e-01 -6.45781260e-04 6.90792456e-01] [-1.56240557e-02 6.23678594e-04 9.99877742e-01 -4.67210249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234391418 meters 0.028872875507588665 Centerline is valid? [True, True] Translation: X:27.79, Y:0.68, Z:-0.47 [[ 9.99897609e-01 -9.77414195e-04 1.42764509e-02 2.77852424e+01] [ 9.85934901e-04 9.99999340e-01 -5.89810463e-04 6.83748271e-01] [-1.42758649e-02 6.03825722e-04 9.99897912e-01 -4.70584294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391418 meters 0.0313353567639908 Centerline is valid? [True, True] Translation: X:27.82, Y:0.68, Z:-0.47 [[ 9.99900729e-01 -4.06980636e-03 1.34896157e-02 2.78152367e+01] [ 4.07775227e-03 9.99991528e-01 -5.61586515e-04 6.76097724e-01] [-1.34872159e-02 6.16538076e-04 9.99908853e-01 -4.71350611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294391418 meters 0.03472068517469558 Centerline is valid? [True, True] Translation: X:27.85, Y:0.67, Z:-0.47 [[ 9.99883256e-01 -9.02859585e-03 1.23271272e-02 2.78460760e+01] [ 9.03560980e-03 9.99959046e-01 -5.13408658e-04 6.67355376e-01] [-1.23219870e-02 6.24731832e-04 9.99923886e-01 -4.72697752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391418 meters 0.03431581162764244 Centerline is valid? [True, True] Translation: X:27.88, Y:0.67, Z:-0.47 [[ 9.99875744e-01 -1.05637700e-02 1.17005699e-02 2.78777429e+01] [ 1.05701931e-02 9.99944015e-01 -4.87252499e-04 6.65879662e-01] [-1.16947676e-02 6.10869238e-04 9.99931427e-01 -4.74126452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354391418 meters 0.03700023675501303 Centerline is valid? [True, True] Translation: X:27.91, Y:0.66, Z:-0.47 [[ 9.99853869e-01 -1.24373352e-02 1.17283113e-02 2.79081641e+01] [ 1.24439271e-02 9.99922452e-01 -4.89235252e-04 6.59116320e-01] [-1.17213170e-02 6.35110010e-04 9.99931101e-01 -4.73896218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391418 meters 0.03694035276741993 Centerline is valid? [True, True] Translation: X:27.94, Y:0.66, Z:-0.47 [[ 9.99840079e-01 -1.37428763e-02 1.14433023e-02 2.79402753e+01] [ 1.37492390e-02 9.99905361e-01 -4.77529121e-04 6.55920514e-01] [-1.14356567e-02 6.34789452e-04 9.99934409e-01 -4.74784031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414391418 meters 0.039182831133975256 Centerline is valid? [True, True] Translation: X:27.97, Y:0.65, Z:-0.48 [[ 9.99804512e-01 -1.66434540e-02 1.06739352e-02 2.79708126e+01] [ 1.66491670e-02 9.99861293e-01 -4.46589176e-04 6.48403428e-01] [-1.06650219e-02 6.24214004e-04 9.99942932e-01 -4.77890609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391418 meters 0.03631364470824604 Centerline is valid? [True, True] Translation: X:28.00, Y:0.65, Z:-0.48 [[ 9.99756583e-01 -1.90566893e-02 1.11183503e-02 2.80022824e+01] [ 1.90630376e-02 9.99818176e-01 -4.65267445e-04 6.48640016e-01] [-1.11074623e-02 6.77103720e-04 9.99938081e-01 -4.75976349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474391418 meters 0.043372435460095234 Centerline is valid? [True, True] Translation: X:28.03, Y:0.64, Z:-0.48 [[ 9.99718682e-01 -2.10874233e-02 1.08571376e-02 2.80328764e+01] [ 2.10935992e-02 9.99777402e-01 -4.54623497e-04 6.35844667e-01] [-1.08451340e-02 6.83511713e-04 9.99940956e-01 -4.76970375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391418 meters 0.038667364021560076 Centerline is valid? [True, True] Translation: X:28.07, Y:0.64, Z:-0.48 [[ 9.99709183e-01 -2.14850192e-02 1.09519084e-02 2.80656523e+01] [ 2.14913329e-02 9.99768929e-01 -4.59118490e-04 6.39571280e-01] [-1.09395135e-02 6.94356080e-04 9.99939921e-01 -4.76649704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534391418 meters 0.0391219047392782 Centerline is valid? [True, True] Translation: X:28.10, Y:0.64, Z:-0.48 [[ 9.99715451e-01 -2.11430382e-02 1.10448192e-02 2.80977206e+01] [ 2.11494488e-02 9.99776218e-01 -4.63928354e-04 6.36494764e-01] [-1.10325388e-02 6.97388183e-04 9.99938897e-01 -4.77169642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391418 meters 0.03833063358321715 Centerline is valid? [True, True] Translation: X:28.13, Y:0.63, Z:-0.48 [[ 9.99733200e-01 -1.97287592e-02 1.20127012e-02 2.81303665e+01] [ 1.97362527e-02 9.99805093e-01 -5.05558735e-04 6.33382811e-01] [-1.20003858e-02 7.42509558e-04 9.99927717e-01 -4.77509862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594391418 meters 0.03820995200557964 Centerline is valid? [True, True] Translation: X:28.16, Y:0.63, Z:-0.48 [[ 9.99757939e-01 -1.82176375e-02 1.23361670e-02 2.81628547e+01] [ 1.82254413e-02 9.99833767e-01 -5.20460976e-04 6.31093965e-01] [-1.23246348e-02 7.45167080e-04 9.99923771e-01 -4.80001696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391418 meters 0.03703552255375993 Centerline is valid? [True, True] Translation: X:28.19, Y:0.63, Z:-0.48 [[ 9.99764959e-01 -1.77014826e-02 1.25173499e-02 2.81947648e+01] [ 1.77094945e-02 9.99843034e-01 -5.29505520e-04 6.29616999e-01] [-1.25060121e-02 7.51057003e-04 9.99921515e-01 -4.79476712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654391418 meters 0.037276509752619855 Centerline is valid? [True, True] Translation: X:28.23, Y:0.63, Z:-0.48 [[ 9.99774168e-01 -1.69470884e-02 1.28221949e-02 2.82274686e+01] [ 1.69554461e-02 9.99856098e-01 -5.43377313e-04 6.27476154e-01] [-1.28111411e-02 7.60660635e-04 9.99917645e-01 -4.78931378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391418 meters 0.037664517717166335 Centerline is valid? [True, True] Translation: X:28.26, Y:0.62, Z:-0.48 [[ 9.99771934e-01 -1.65590887e-02 1.34861477e-02 2.82587450e+01] [ 1.65683092e-02 9.99862572e-01 -5.72257202e-04 6.24581592e-01] [-1.34748183e-02 7.95569356e-04 9.99908894e-01 -4.78299922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714391417999998 meters 0.03667349665494143 Centerline is valid? [True, True] Translation: X:28.29, Y:0.62, Z:-0.48 [[ 9.99777065e-01 -1.59232757e-02 1.38661647e-02 2.82909723e+01] [ 1.59330249e-02 9.99872886e-01 -5.92902542e-04 6.22343281e-01] [-1.38549612e-02 8.13700310e-04 9.99903684e-01 -4.77744960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391418 meters 0.036574894671009155 Centerline is valid? [True, True] Translation: X:28.32, Y:0.62, Z:-0.48 [[ 9.99785248e-01 -1.51913241e-02 1.40954264e-02 2.83233015e+01] [ 1.52013424e-02 9.99884271e-01 -6.03868476e-04 6.18947372e-01] [-1.40846216e-02 8.18008197e-04 9.99900472e-01 -4.78440458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774391418 meters 0.03607216560733795 Centerline is valid? [True, True] Translation: X:28.36, Y:0.61, Z:-0.48 [[ 9.99810238e-01 -1.44649044e-02 1.30481281e-02 2.83557557e+01] [ 1.44734384e-02 9.99895098e-01 -5.59841050e-04 6.14247192e-01] [-1.30386613e-02 7.48586093e-04 9.99914713e-01 -4.81138594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters 0.03620672198003985 Centerline is valid? [True, True] Translation: X:28.39, Y:0.61, Z:-0.48 [[ 9.99821508e-01 -1.44840470e-02 1.21311733e-02 2.83873394e+01] [ 1.44914397e-02 9.99894857e-01 -5.21707172e-04 6.10729970e-01] [-1.21223413e-02 6.97412216e-04 9.99926279e-01 -4.82521313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834391418 meters 0.03445475776242967 Centerline is valid? [True, True] Translation: X:28.42, Y:0.61, Z:-0.48 [[ 9.99815961e-01 -1.53381933e-02 1.15232353e-02 2.84197849e+01] [ 1.53449297e-02 9.99882136e-01 -4.96395879e-04 6.10317370e-01] [-1.15142633e-02 6.73127758e-04 9.99933482e-01 -4.83395404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391418 meters 0.03761850898789869 Centerline is valid? [True, True] Translation: X:28.45, Y:0.60, Z:-0.48 [[ 9.99806956e-01 -1.69045038e-02 1.00143904e-02 2.84505527e+01] [ 1.69096778e-02 9.99856928e-01 -4.32201631e-04 6.01789525e-01] [-1.00056515e-02 6.01458313e-04 9.99949761e-01 -4.84775966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894391418 meters 0.03700468438662163 Centerline is valid? [True, True] Translation: X:28.48, Y:0.60, Z:-0.49 [[ 9.99799771e-01 -1.77366549e-02 9.26435622e-03 2.84830448e+01] [ 1.77411214e-02 9.99842534e-01 -4.00147631e-04 5.99437247e-01] [-9.25580012e-03 5.64427578e-04 9.99957005e-01 -4.85903275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391418 meters 0.037000209858725513 Centerline is valid? [True, True] Translation: X:28.51, Y:0.59, Z:-0.49 [[ 9.99784494e-01 -1.87054216e-02 9.00409459e-03 2.85145422e+01] [ 1.87096876e-02 9.99824882e-01 -3.89776961e-04 5.93878221e-01] [-8.99522688e-03 5.58156758e-04 9.99959386e-01 -4.87445662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954391418 meters 0.03747948188262746 Centerline is valid? [True, True] Translation: X:28.55, Y:0.59, Z:-0.49 [[ 9.99780610e-01 -1.87262245e-02 9.38403266e-03 2.85477037e+01] [ 1.87308600e-02 9.99824479e-01 -4.06322146e-04 5.89898734e-01] [-9.37477669e-03 5.82004005e-04 9.99955886e-01 -4.87379382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391418 meters 0.03705933105093502 Centerline is valid? [True, True] Translation: X:28.58, Y:0.59, Z:-0.49 [[ 9.99789729e-01 -1.79987509e-02 9.82558073e-03 2.85796931e+01] [ 1.80038141e-02 9.99837827e-01 -4.27089186e-04 5.88135400e-01] [-9.81630021e-03 6.03897311e-04 9.99951637e-01 -4.88289710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014391418 meters 0.03804246633519647 Centerline is valid? [True, True] Translation: X:28.61, Y:0.58, Z:-0.49 [[ 9.99792038e-01 -1.75845981e-02 1.03277592e-02 2.86112155e+01] [ 1.75901797e-02 9.99845180e-01 -4.49851589e-04 5.82431759e-01] [-1.03182498e-02 6.31425178e-04 9.99946566e-01 -4.87074733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391418 meters 0.03827815189910881 Centerline is valid? [True, True] Translation: X:28.64, Y:0.58, Z:-0.49 [[ 9.99793813e-01 -1.73770384e-02 1.05057439e-02 2.86436549e+01] [ 1.73828120e-02 9.99848802e-01 -4.58497136e-04 5.79197703e-01] [-1.04961881e-02 6.41021971e-04 9.99944708e-01 -4.87818277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074391418 meters 0.03948598706914394 Centerline is valid? [True, True] Translation: X:28.67, Y:0.57, Z:-0.49 [[ 9.99795746e-01 -1.73880114e-02 1.03015864e-02 2.86744063e+01] [ 1.73935732e-02 9.99848619e-01 -4.50543332e-04 5.74578474e-01] [-1.02921928e-02 6.29632703e-04 9.99946836e-01 -4.88920115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391418 meters 0.038876566443884666 Centerline is valid? [True, True] Translation: X:28.71, Y:0.57, Z:-0.49 [[ 9.99791933e-01 -1.77900639e-02 9.98021855e-03 2.87064688e+01] [ 1.77953080e-02 9.99841556e-01 -4.36889632e-04 5.72520154e-01] [-9.97086494e-03 6.14399793e-04 9.99950101e-01 -4.89644573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134391418 meters 0.041051087073919613 Centerline is valid? [True, True] Translation: X:28.74, Y:0.56, Z:-0.49 [[ 9.99775524e-01 -1.87931876e-02 9.78350091e-03 2.87371567e+01] [ 1.87982773e-02 9.99823205e-01 -4.28522032e-04 5.64839663e-01] [-9.77371794e-03 6.12338802e-04 9.99952049e-01 -4.90098279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391418 meters 0.042115214502502114 Centerline is valid? [True, True] Translation: X:28.77, Y:0.56, Z:-0.49 [[ 9.99759921e-01 -1.93009142e-02 1.03718585e-02 2.87691963e+01] [ 1.93066836e-02 9.99813504e-01 -4.56405483e-04 5.59908140e-01] [-1.03611151e-02 6.56542100e-04 9.99946107e-01 -4.90480932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194391418 meters 0.04243476438923705 Centerline is valid? [True, True] Translation: X:28.80, Y:0.56, Z:-0.49 [[ 9.99733776e-01 -1.99566483e-02 1.15805467e-02 2.88012276e+01] [ 1.99638969e-02 9.99800571e-01 -5.10657530e-04 5.55578705e-01] [-1.15680462e-02 7.41714421e-04 9.99932813e-01 -4.90499456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391418 meters 0.043237386756205705 Centerline is valid? [True, True] Translation: X:28.83, Y:0.55, Z:-0.49 [[ 9.99703756e-01 -2.08035608e-02 1.26337976e-02 2.88333472e+01] [ 2.08122694e-02 9.99783245e-01 -5.58216492e-04 5.48746199e-01] [-1.26194462e-02 8.20989122e-04 9.99920035e-01 -4.91171318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254391418 meters 0.04595443559181486 Centerline is valid? [True, True] Translation: X:28.86, Y:0.54, Z:-0.49 [[ 9.99703285e-01 -2.12340272e-02 1.19355596e-02 2.88640190e+01] [ 2.12418419e-02 9.99774227e-01 -5.28343587e-04 5.42870010e-01] [-1.19216460e-02 7.81720090e-04 9.99928629e-01 -4.92727700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391418 meters 0.04472748390059555 Centerline is valid? [True, True] Translation: X:28.90, Y:0.54, Z:-0.49 [[ 9.99719893e-01 -2.13363087e-02 1.02419673e-02 2.88962531e+01] [ 2.13420714e-02 9.99772129e-01 -4.53677559e-04 5.41372789e-01] [-1.02299537e-02 6.72135279e-04 9.99947447e-01 -4.92995463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314391418 meters 0.044642937325721686 Centerline is valid? [True, True] Translation: X:28.93, Y:0.54, Z:-0.49 [[ 9.99726784e-01 -2.14138778e-02 9.37038362e-03 2.89284285e+01] [ 2.14187104e-02 9.99770507e-01 -4.15671943e-04 5.38928261e-01] [-9.35933203e-03 6.16259908e-04 9.99956011e-01 -4.94222401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391418 meters 0.0409519452345221 Centerline is valid? [True, True] Translation: X:28.96, Y:0.54, Z:-0.49 [[ 9.99733151e-01 -2.10061686e-02 9.61078805e-03 2.89604514e+01] [ 2.10112408e-02 9.99779148e-01 -4.27085898e-04 5.40220426e-01] [-9.59969405e-03 6.28906513e-04 9.99953724e-01 -4.94417550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374391418 meters 0.03969924284710093 Centerline is valid? [True, True] Translation: X:28.99, Y:0.54, Z:-0.50 [[ 9.99744340e-01 -1.98265897e-02 1.08701754e-02 2.89921971e+01] [ 1.98330205e-02 9.99803189e-01 -4.84107632e-04 5.36490236e-01] [-1.08584378e-02 6.99572276e-04 9.99940801e-01 -4.95194129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391418 meters 0.04775670044344777 Centerline is valid? [True, True] Translation: X:29.02, Y:0.52, Z:-0.50 [[ 9.99747639e-01 -1.92044209e-02 1.16554254e-02 2.90223927e+01] [ 1.92117787e-02 9.99815302e-01 -5.19624077e-04 5.23200235e-01] [-1.16432936e-02 7.43414396e-04 9.99931938e-01 -4.96647759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434391418 meters 0.041328795335478515 Centerline is valid? [True, True] Translation: X:29.05, Y:0.53, Z:-0.50 [[ 9.99749516e-01 -1.83772330e-02 1.27743280e-02 2.90549051e+01] [ 1.83860395e-02 9.99830799e-01 -5.72279667e-04 5.28900543e-01] [-1.27616497e-02 8.07005619e-04 9.99918241e-01 -4.95210109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999998 meters 0.042022340868671446 Centerline is valid? [True, True] Translation: X:29.09, Y:0.53, Z:-0.50 [[ 9.99773385e-01 -1.69030139e-02 1.29408790e-02 2.90852782e+01] [ 1.69119459e-02 9.99856814e-01 -5.81088080e-04 5.26925099e-01] [-1.29292039e-02 7.99811841e-04 9.99916094e-01 -4.95479243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494391418 meters 0.04194935746243357 Centerline is valid? [True, True] Translation: X:29.12, Y:0.52, Z:-0.49 [[ 9.99774592e-01 -1.70506482e-02 1.26506820e-02 2.91164418e+01] [ 1.70591963e-02 9.99854320e-01 -5.68089123e-04 5.24450519e-01] [-1.26391528e-02 7.83771539e-04 9.99919816e-01 -4.94899186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391418 meters 0.04275381427348997 Centerline is valid? [True, True] Translation: X:29.15, Y:0.52, Z:-0.50 [[ 9.99816982e-01 -1.59518190e-02 1.05613565e-02 2.91472033e+01] [ 1.59577201e-02 9.99872555e-01 -4.74713974e-04 5.19813810e-01] [-1.05524380e-02 6.43162265e-04 9.99944115e-01 -4.99459263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554391417999998 meters 0.03654444279282075 Centerline is valid? [True, True] Translation: X:29.18, Y:0.52, Z:-0.50 [[ 9.99817440e-01 -1.61269946e-02 1.02472681e-02 2.91795496e+01] [ 1.61325630e-02 9.99869755e-01 -4.60967005e-04 5.24166313e-01] [-1.02384994e-02 6.26197549e-04 9.99947389e-01 -4.97811846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391418 meters 0.038089762979192844 Centerline is valid? [True, True] Translation: X:29.21, Y:0.52, Z:-0.50 [[ 9.99816546e-01 -1.59960718e-02 1.05356861e-02 2.92112481e+01] [ 1.60019588e-02 9.99871848e-01 -4.74698319e-04 5.19575188e-01] [-1.05267426e-02 6.43202848e-04 9.99944385e-01 -4.98452701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614391418 meters 0.03803447414304682 Centerline is valid? [True, True] Translation: X:29.24, Y:0.52, Z:-0.50 [[ 9.99804021e-01 -1.59683342e-02 1.17017819e-02 2.92442517e+01] [ 1.59756096e-02 9.99872242e-01 -5.28516562e-04 5.17832749e-01] [-1.16918474e-02 7.15356084e-04 9.99931392e-01 -4.97367273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391418 meters 0.03911915754055663 Centerline is valid? [True, True] Translation: X:29.27, Y:0.51, Z:-0.50 [[ 9.99797311e-01 -1.58133190e-02 1.24609524e-02 2.92749205e+01] [ 1.58215820e-02 9.99874671e-01 -5.64804566e-04 5.14848814e-01] [-1.24504592e-02 7.61842067e-04 9.99922200e-01 -4.96974917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674391418 meters 0.038580601091054254 Centerline is valid? [True, True] Translation: X:29.31, Y:0.51, Z:-0.50 [[ 9.99798849e-01 -1.56380633e-02 1.25583734e-02 2.93074308e+01] [ 1.56464505e-02 9.99877424e-01 -5.69875202e-04 5.13800812e-01] [-1.25479223e-02 7.66254538e-04 9.99920978e-01 -4.97393533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391418 meters 0.040552137667433666 Centerline is valid? [True, True] Translation: X:29.34, Y:0.51, Z:-0.50 [[ 9.99782931e-01 -1.69637719e-02 1.20963626e-02 2.93382964e+01] [ 1.69716571e-02 9.99855820e-01 -5.49507058e-04 5.07852958e-01] [-1.20852968e-02 7.54683095e-04 9.99926685e-01 -4.99179394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734391418 meters 0.03792935167882874 Centerline is valid? [True, True] Translation: X:29.37, Y:0.51, Z:-0.50 [[ 9.99772290e-01 -1.79504364e-02 1.15390252e-02 2.93705829e+01] [ 1.79576977e-02 9.99838609e-01 -5.25970884e-04 5.07941142e-01] [-1.15277215e-02 7.33065442e-04 9.99933285e-01 -5.00036623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391418 meters 0.03792935167882874 Centerline is valid? [True, True] Translation: X:29.40, Y:0.51, Z:-0.50 [[ 9.99774508e-01 -1.78265321e-02 1.15389942e-02 2.94031409e+01] [ 1.78337929e-02 9.99840827e-01 -5.26650423e-04 5.06336545e-01] [-1.15277691e-02 7.32315701e-04 9.99933285e-01 -5.00624029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794391418 meters 0.043202288408066045 Centerline is valid? [True, True] Translation: X:29.43, Y:0.50, Z:-0.50 [[ 9.99753991e-01 -1.94582658e-02 1.06458508e-02 2.94332576e+01] [ 1.94645569e-02 9.99810429e-01 -4.87647543e-04 4.96442700e-01] [-1.06343438e-02 6.94744346e-04 9.99943212e-01 -5.02911357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391418 meters 0.04177281741800308 Centerline is valid? [True, True] Translation: X:29.46, Y:0.49, Z:-0.50 [[ 9.99714154e-01 -2.21735113e-02 8.94118076e-03 2.94641918e+01] [ 2.21780609e-02 9.99753952e-01 -4.10001266e-04 4.94793272e-01] [-8.92988964e-03 6.08182121e-04 9.99959943e-01 -5.04280354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854391418 meters 0.04313717059002048 Centerline is valid? [True, True] Translation: X:29.50, Y:0.49, Z:-0.51 [[ 9.99704061e-01 -2.30018203e-02 7.91872837e-03 2.94962084e+01] [ 2.30054109e-02 9.99735275e-01 -3.62618548e-04 4.91914387e-01] [-7.90829119e-03 5.44684834e-04 9.99968581e-01 -5.06964058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391418 meters 0.04429640621252391 Centerline is valid? [True, True] Translation: X:29.53, Y:0.49, Z:-0.51 [[ 9.99652860e-01 -2.51942204e-02 7.70782448e-03 2.95263016e+01] [ 2.51976937e-02 9.99682425e-01 -3.53823829e-04 4.87848840e-01] [-7.69646235e-03 5.47920403e-04 9.99970232e-01 -5.05406180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914391418 meters 0.04904192842334705 Centerline is valid? [True, True] Translation: X:29.56, Y:0.48, Z:-0.51 [[ 9.99574228e-01 -2.80181482e-02 8.14533678e-03 2.95562969e+01] [ 2.80221271e-02 9.99607233e-01 -3.74747644e-04 4.78171914e-01] [-8.13163782e-03 6.02837749e-04 9.99966756e-01 -5.06521282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391418 meters 0.04529043002953641 Centerline is valid? [True, True] Translation: X:29.59, Y:0.48, Z:-0.51 [[ 9.99540687e-01 -2.89825796e-02 8.85579719e-03 2.95882734e+01] [ 2.89873173e-02 9.99579697e-01 -4.07076462e-04 4.79669838e-01] [-8.84027694e-03 6.63595290e-04 9.99960704e-01 -5.05090859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974391418 meters 0.04687668852762034 Centerline is valid? [True, True] Translation: X:29.62, Y:0.48, Z:-0.51 [[ 9.99534064e-01 -2.93002109e-02 8.55287005e-03 2.96188512e+01] [ 2.93046488e-02 9.99570449e-01 -3.93996954e-04 4.75276823e-01] [-8.53765196e-03 6.44452230e-04 9.99963346e-01 -5.06047711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391418 meters 0.04541730790389891 Centerline is valid? [True, True] Translation: X:29.65, Y:0.48, Z:-0.51 [[ 9.99546999e-01 -2.90744546e-02 7.77642508e-03 2.96516900e+01] [ 2.90781144e-02 9.99577078e-01 -3.57958527e-04 4.77033261e-01] [-7.76272881e-03 5.83920150e-04 9.99969699e-01 -5.06756975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034391418 meters 0.049740122984767425 Centerline is valid? [True, True] Translation: X:29.68, Y:0.47, Z:-0.51 [[ 9.99593428e-01 -2.76230349e-02 7.06726672e-03 2.96828730e+01] [ 2.76260233e-02 9.99618276e-01 -3.25555689e-04 4.72509536e-01] [-7.05557614e-03 5.20663802e-04 9.99974974e-01 -5.09791234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391418 meters 0.04865487926967904 Centerline is valid? [True, True] Translation: X:29.71, Y:0.47, Z:-0.51 [[ 9.99615330e-01 -2.66623186e-02 7.63623375e-03 2.97149656e+01] [ 2.66657976e-02 9.99644342e-01 -3.54124702e-04 4.72574180e-01] [-7.62407608e-03 5.57614745e-04 9.99970781e-01 -5.07917652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094391418 meters 0.04154848771007376 Centerline is valid? [True, True] Translation: X:29.75, Y:0.48, Z:-0.51 [[ 9.99710915e-01 -2.26140124e-02 8.16655171e-03 2.97462983e+01] [ 2.26178686e-02 9.99744111e-01 -3.80140274e-04 4.80460710e-01] [-8.15586548e-03 5.64740375e-04 9.99966581e-01 -5.06934391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391418 meters 0.04129073391245406 Centerline is valid? [True, True] Translation: X:29.78, Y:0.48, Z:-0.51 [[ 9.99758059e-01 -2.02083092e-02 8.68603834e-03 2.97779008e+01] [ 2.02125778e-02 9.99795623e-01 -4.03916717e-04 4.79096685e-01] [-8.67610064e-03 5.79386218e-04 9.99962194e-01 -5.08450703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154391418 meters 0.038763406433686656 Centerline is valid? [True, True] Translation: X:29.81, Y:0.48, Z:-0.51 [[ 9.99819292e-01 -1.64050404e-02 9.60514381e-03 2.98088545e+01] [ 1.64100955e-02 9.99865245e-01 -4.47709991e-04 4.81655231e-01] [-9.59650477e-03 6.05250414e-04 9.99953769e-01 -5.06633410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391418 meters 0.039051648683955754 Centerline is valid? [True, True] Translation: X:29.84, Y:0.48, Z:-0.51 [[ 9.99850602e-01 -1.44108260e-02 9.54470164e-03 2.98400819e+01] [ 1.44157274e-02 9.99895989e-01 -4.44912121e-04 4.82779093e-01] [-9.53729734e-03 5.82439469e-04 9.99954349e-01 -5.08008758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214391417999998 meters 0.037985965303466464 Centerline is valid? [True, True] Translation: X:29.87, Y:0.48, Z:-0.51 [[ 9.99871263e-01 -1.28327728e-02 9.63205667e-03 2.98716436e+01] [ 1.28376952e-02 9.99917492e-01 -4.49383551e-04 4.84516214e-01] [-9.62549511e-03 5.72979107e-04 9.99953510e-01 -5.06442633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391418 meters 0.038263650850687496 Centerline is valid? [True, True] Translation: X:29.90, Y:0.49, Z:-0.51 [[ 9.99892872e-01 -1.05390952e-02 1.01573650e-02 2.99022466e+01] [ 1.05444573e-02 9.99944293e-01 -4.74495861e-04 4.85282710e-01] [-1.01517984e-02 5.81548931e-04 9.99948300e-01 -5.08041387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274391418 meters 0.03684052908231506 Centerline is valid? [True, True] Translation: X:29.93, Y:0.49, Z:-0.51 [[ 9.99912483e-01 -7.85279502e-03 1.06470554e-02 2.99333302e+01] [ 7.85853580e-03 9.99968997e-01 -4.97460606e-04 4.86947778e-01] [-1.06428189e-02 5.81087336e-04 9.99943195e-01 -5.07549528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999998 meters 0.03437351246996097 Centerline is valid? [True, True] Translation: X:29.97, Y:0.49, Z:-0.51 [[ 9.99914148e-01 -6.30528839e-03 1.14865456e-02 2.99656801e+01] [ 6.31187112e-03 9.99979936e-01 -5.36919626e-04 4.89767464e-01] [-1.14829297e-02 6.09375126e-04 9.99933883e-01 -5.08851693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334391418 meters 0.03196831533751904 Centerline is valid? [True, True] Translation: X:30.00, Y:0.49, Z:-0.51 [[ 9.99919485e-01 -4.95191498e-03 1.16834518e-02 2.99981608e+01] [ 4.95864444e-03 9.99987556e-01 -5.47084352e-04 4.92773511e-01] [-1.16805973e-02 6.04974387e-04 9.99931596e-01 -5.07576206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391418 meters 0.032128806488020016 Centerline is valid? [True, True] Translation: X:30.03, Y:0.49, Z:-0.51 [[ 9.99921224e-01 -4.18679113e-03 1.18328708e-02 3.00301851e+01] [ 4.19365219e-03 9.99991053e-01 -5.55077799e-04 4.92811525e-01] [-1.18304410e-02 6.04657017e-04 9.99929835e-01 -5.08004713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394391418 meters 0.034472009978579535 Centerline is valid? [True, True] Translation: X:30.06, Y:0.49, Z:-0.51 [[ 9.99926687e-01 -3.33248648e-03 1.16411077e-02 3.00616363e+01] [ 3.33908150e-03 9.99994276e-01 -5.47138390e-04 4.93335505e-01] [-1.16392177e-02 5.85968885e-04 9.99932090e-01 -5.09895997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391418 meters 0.0348520098992178 Centerline is valid? [True, True] Translation: X:30.09, Y:0.49, Z:-0.51 [[ 9.99925825e-01 -4.33155825e-03 1.13834322e-02 3.00931228e+01] [ 4.33793682e-03 9.99990448e-01 -5.35707102e-04 4.92339299e-01] [-1.13810030e-02 5.85047976e-04 9.99935063e-01 -5.09286340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454391418 meters 0.03306731800442932 Centerline is valid? [True, True] Translation: X:30.13, Y:0.49, Z:-0.51 [[ 9.99927949e-01 -4.84113545e-03 1.09845891e-02 3.01252792e+01] [ 4.84711040e-03 9.99988119e-01 -5.17381247e-04 4.94947340e-01] [-1.09819539e-02 5.70587485e-04 9.99939534e-01 -5.11592238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391418 meters 0.03442320572375183 Centerline is valid? [True, True] Translation: X:30.16, Y:0.49, Z:-0.51 [[ 9.99924507e-01 -6.21731228e-03 1.05983947e-02 3.01559838e+01] [ 6.22296184e-03 9.99980512e-01 -5.00163162e-04 4.91710505e-01] [-1.05950785e-02 5.66078808e-04 9.99943710e-01 -5.13010024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514391418 meters 0.035562371246086986 Centerline is valid? [True, True] Translation: X:30.19, Y:0.49, Z:-0.51 [[ 9.99894706e-01 -1.09149506e-02 9.56246425e-03 3.01868474e+01] [ 1.09197728e-02 9.99940275e-01 -4.52213380e-04 4.87421080e-01] [-9.55695725e-03 5.56585701e-04 9.99954176e-01 -5.13578026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391418 meters 0.038595628173239506 Centerline is valid? [True, True] Translation: X:30.22, Y:0.48, Z:-0.52 [[ 9.99862990e-01 -1.36623833e-02 9.34563047e-03 3.02169909e+01] [ 1.36671083e-02 9.99906503e-01 -4.41895711e-04 4.82599408e-01] [-9.33871933e-03 5.69562910e-04 9.99956231e-01 -5.15222492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574391418 meters 0.0400270040299463 Centerline is valid? [True, True] Translation: X:30.25, Y:0.48, Z:-0.52 [[ 9.99833381e-01 -1.61400053e-02 8.52706552e-03 3.02481834e+01] [ 1.61440281e-02 9.99869595e-01 -4.03138619e-04 4.81351903e-01] [-8.51944689e-03 5.40732634e-04 9.99963563e-01 -5.17056319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391418 meters 0.04319469161684366 Centerline is valid? [True, True] Translation: X:30.28, Y:0.48, Z:-0.51 [[ 9.99727999e-01 -2.15662352e-02 8.87836930e-03 3.02773103e+01] [ 2.15708174e-02 9.99767234e-01 -4.20660976e-04 4.78418019e-01] [-8.86723065e-03 6.12060239e-04 9.99960498e-01 -5.14266459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634391418 meters 0.04624593794716146 Centerline is valid? [True, True] Translation: X:30.31, Y:0.47, Z:-0.51 [[ 9.99684974e-01 -2.34844032e-02 8.85641000e-03 3.03077225e+01] [ 2.34890304e-02 9.99724007e-01 -4.18795347e-04 4.73706646e-01] [-8.84413053e-03 6.26691899e-04 9.99960694e-01 -5.14606155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391418 meters 0.04994691425759555 Centerline is valid? [True, True] Translation: X:30.34, Y:0.47, Z:-0.52 [[ 9.99608387e-01 -2.66871747e-02 8.41828116e-03 3.03386433e+01] [ 2.66914750e-02 9.99643640e-01 -3.98866904e-04 4.67951794e-01] [-8.40463658e-03 6.23407043e-04 9.99964486e-01 -5.17560024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694391418 meters 0.04975697118711605 Centerline is valid? [True, True] Translation: X:30.37, Y:0.47, Z:-0.52 [[ 9.99555452e-01 -2.85430529e-02 8.61349707e-03 3.03699051e+01] [ 2.85476234e-02 9.99592350e-01 -4.08106279e-04 4.65995488e-01] [-8.59833718e-03 6.53819726e-04 9.99962820e-01 -5.16815951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391418 meters 0.05122571886046146 Centerline is valid? [True, True] Translation: X:30.40, Y:0.46, Z:-0.52 [[ 9.99516498e-01 -3.00095846e-02 8.13607853e-03 3.04018570e+01] [ 3.00137099e-02 9.99549413e-01 -3.85381311e-04 4.62915033e-01] [-8.12084739e-03 6.29388879e-04 9.99966827e-01 -5.18280847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754391418 meters 0.05439345358977841 Centerline is valid? [True, True] Translation: X:30.43, Y:0.46, Z:-0.52 [[ 9.99439651e-01 -3.27895010e-02 6.72557725e-03 3.04317023e+01] [ 3.27923851e-02 9.99462134e-01 -3.18982770e-04 4.59793495e-01] [-6.71150050e-03 5.39351748e-04 9.99977332e-01 -5.18949464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391418 meters 0.05349176736421743 Centerline is valid? [True, True] Translation: X:30.46, Y:0.46, Z:-0.52 [[ 9.99407212e-01 -3.38191169e-02 6.44149937e-03 3.04634236e+01] [ 3.38217868e-02 9.99427833e-01 -3.05972369e-04 4.60841613e-01] [-6.42746604e-03 5.23654011e-04 9.99979207e-01 -5.19137768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814391418 meters 0.0575026285282221 Centerline is valid? [True, True] Translation: X:30.49, Y:0.46, Z:-0.52 [[ 9.99404315e-01 -3.41123020e-02 5.23129420e-03 3.04945231e+01] [ 3.41140675e-02 9.99417915e-01 -2.48602605e-04 4.56483861e-01] [-5.21976873e-03 4.26915239e-04 9.99986286e-01 -5.23016289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391418 meters 0.04684271602349227 Centerline is valid? [True, True] Translation: X:30.53, Y:0.47, Z:-0.52 [[ 9.99386341e-01 -3.44456463e-02 6.35908682e-03 3.05272064e+01] [ 3.44482637e-02 9.99406437e-01 -3.02497903e-04 4.67894692e-01] [-6.34489256e-03 5.21371772e-04 9.99979735e-01 -5.19274583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874391418 meters 0.052216044482914316 Centerline is valid? [True, True] Translation: X:30.56, Y:0.46, Z:-0.52 [[ 9.99374421e-01 -3.46546751e-02 7.05832861e-03 3.05583047e+01] [ 3.46579120e-02 9.99399177e-01 -3.36752986e-04 4.59843322e-01] [-7.04241774e-03 5.81169252e-04 9.99975033e-01 -5.19748455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391418 meters 0.048296668186730944 Centerline is valid? [True, True] Translation: X:30.59, Y:0.47, Z:-0.52 [[ 9.99395902e-01 -3.36537851e-02 8.67486560e-03 3.05906278e+01] [ 3.36586424e-02 9.99433301e-01 -4.14492512e-04 4.65727386e-01] [-8.65600032e-03 7.06226316e-04 9.99962287e-01 -5.17164504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934391418 meters 0.04706133634722772 Centerline is valid? [True, True] Translation: X:30.62, Y:0.47, Z:-0.52 [[ 9.99434464e-01 -3.23450366e-02 9.19518211e-03 3.06220256e+01] [ 3.23504501e-02 9.99476490e-01 -4.40562332e-04 4.67218789e-01] [-9.17611834e-03 7.37781458e-04 9.99957626e-01 -5.16729129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999998 meters 0.04725353156429399 Centerline is valid? [True, True] Translation: X:30.65, Y:0.47, Z:-0.52 [[ 9.99466152e-01 -3.11982127e-02 9.69966162e-03 3.06539814e+01] [ 3.12041839e-02 9.99512923e-01 -4.64841412e-04 4.66480708e-01] [-9.68043491e-03 7.67263282e-04 9.99952849e-01 -5.16745233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994391418 meters 0.05007700174720676 Centerline is valid? [True, True] Translation: X:30.68, Y:0.46, Z:-0.52 [[ 9.99535186e-01 -2.89081731e-02 9.68142025e-03 3.06839476e+01] [ 2.89140277e-02 9.99581794e-01 -4.65274854e-04 4.63298437e-01] [-9.66392117e-03 7.44987441e-04 9.99953026e-01 -5.18087084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391418 meters 0.04751101689605441 Centerline is valid? [True, True] Translation: X:30.72, Y:0.46, Z:-0.52 [[ 9.99542205e-01 -2.82504360e-02 1.08302054e-02 3.07163397e+01] [ 2.82577224e-02 9.99600535e-01 -5.20321817e-04 4.64587570e-01] [-1.08111798e-02 8.26120556e-04 9.99941216e-01 -5.16547755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054391417999998 meters 0.04608120734785272 Centerline is valid? [True, True] Translation: X:30.75, Y:0.46, Z:-0.52 [[ 9.99566894e-01 -2.75896550e-02 1.02389555e-02 3.07485908e+01] [ 2.75961405e-02 9.99619033e-01 -4.92653599e-04 4.64911195e-01] [-1.02214627e-02 7.74995883e-04 9.99947459e-01 -5.17762986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391418 meters 0.04973156096954404 Centerline is valid? [True, True] Translation: X:30.78, Y:0.46, Z:-0.52 [[ 9.99590718e-01 -2.70734379e-02 9.24256172e-03 3.07799626e+01] [ 2.70787063e-02 9.99633205e-01 -4.45329601e-04 4.58712264e-01] [-9.22711499e-03 6.95423950e-04 9.99957187e-01 -5.20498127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114391418 meters 0.049919511438817156 Centerline is valid? [True, True] Translation: X:30.81, Y:0.46, Z:-0.52 [[ 9.99606525e-01 -2.70320859e-02 7.48744394e-03 3.08118712e+01] [ 2.70355448e-02 9.99634408e-01 -3.61110080e-04 4.58363530e-01] [-7.47494502e-03 5.63395118e-04 9.99971903e-01 -5.23355306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391418 meters 0.04867301830165241 Centerline is valid? [True, True] Translation: X:30.84, Y:0.46, Z:-0.52 [[ 9.99584064e-01 -2.77303080e-02 7.92021162e-03 3.08439172e+01] [ 2.77342056e-02 9.99615260e-01 -3.82683612e-04 4.57807626e-01] [-7.90655246e-03 6.02185218e-04 9.99968561e-01 -5.21854983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174391418 meters 0.05121156446036911 Centerline is valid? [True, True] Translation: X:30.87, Y:0.45, Z:-0.52 [[ 9.99537897e-01 -2.94750445e-02 7.43062015e-03 3.08733035e+01] [ 2.94785330e-02 9.99565349e-01 -3.60369461e-04 4.52290152e-01] [-7.41676851e-03 5.79246714e-04 9.99972328e-01 -5.23623843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391418 meters 0.05278695094345924 Centerline is valid? [True, True] Translation: X:30.90, Y:0.45, Z:-0.52 [[ 9.99524921e-01 -2.99770149e-02 7.16321011e-03 3.09041112e+01] [ 2.99802652e-02 9.99550431e-01 -3.46768811e-04 4.47908041e-01] [-7.14959466e-03 5.61359007e-04 9.99974284e-01 -5.24622098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234391418 meters 0.053269351775707054 Centerline is valid? [True, True] Translation: X:30.94, Y:0.45, Z:-0.53 [[ 9.99515084e-01 -3.02819351e-02 7.25267609e-03 3.09363427e+01] [ 3.02852767e-02 9.99541234e-01 -3.51329712e-04 4.45241888e-01] [-7.23870987e-03 5.70808648e-04 9.99973637e-01 -5.25696289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391418 meters 0.047043182231491405 Centerline is valid? [True, True] Translation: X:30.97, Y:0.45, Z:-0.52 [[ 9.99519766e-01 -3.01604114e-02 7.11244383e-03 3.09702767e+01] [ 3.01636221e-02 9.99544915e-01 -3.44554240e-04 4.52150554e-01] [-7.09881517e-03 5.58925842e-04 9.99974647e-01 -5.23894886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294391418 meters 0.04509954079397451 Centerline is valid? [True, True] Translation: X:31.00, Y:0.45, Z:-0.52 [[ 9.99536895e-01 -2.96122506e-02 7.00788750e-03 3.10031392e+01] [ 2.96153615e-02 9.99561311e-01 -3.40537907e-04 4.54215173e-01] [-6.99472912e-03 5.47921324e-04 9.99975386e-01 -5.24293897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391418 meters 0.04795872501041988 Centerline is valid? [True, True] Translation: X:31.03, Y:0.45, Z:-0.53 [[ 9.99568181e-01 -2.85349319e-02 7.01486265e-03 3.10338999e+01] [ 2.85380310e-02 9.99592649e-01 -3.42075894e-04 4.49610706e-01] [-7.00224402e-03 5.42118547e-04 9.99975337e-01 -5.25165712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354391418 meters 0.04614540321764044 Centerline is valid? [True, True] Translation: X:31.07, Y:0.45, Z:-0.53 [[ 9.99599324e-01 -2.73330430e-02 7.35506160e-03 3.10662897e+01] [ 2.73364199e-02 9.99626226e-01 -3.58970901e-04 4.50380146e-01] [-7.34250070e-03 5.59888122e-04 9.99972887e-01 -5.25446117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391418 meters 0.04419612814164969 Centerline is valid? [True, True] Translation: X:31.10, Y:0.45, Z:-0.53 [[ 9.99680585e-01 -2.42485298e-02 7.12301367e-03 3.10968310e+01] [ 2.42516293e-02 9.99705825e-01 -3.49069269e-04 4.51136332e-01] [-7.11245384e-03 5.21702458e-04 9.99974570e-01 -5.26759434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414391418 meters 0.04450511199417679 Centerline is valid? [True, True] Translation: X:31.13, Y:0.45, Z:-0.53 [[ 9.99716631e-01 -2.28869316e-02 6.54567549e-03 3.11278237e+01] [ 2.28895154e-02 9.99737949e-01 -3.20078232e-04 4.49733411e-01] [-6.53663458e-03 4.69814871e-04 9.99978526e-01 -5.28491017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391418 meters 0.04548511927953755 Centerline is valid? [True, True] Translation: X:31.16, Y:0.45, Z:-0.53 [[ 9.99746638e-01 -2.14139991e-02 6.93541229e-03 3.11578463e+01] [ 2.14168709e-02 9.99770575e-01 -3.40076849e-04 4.48846839e-01] [-6.92653872e-03 4.88525516e-04 9.99975892e-01 -5.28029971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474391418 meters 0.04571370277037466 Centerline is valid? [True, True] Translation: X:31.19, Y:0.45, Z:-0.53 [[ 9.99771816e-01 -2.05757682e-02 5.74052394e-03 3.11900296e+01] [ 2.05777181e-02 9.99788217e-01 -2.80810196e-04 4.48976508e-01] [-5.73353031e-03 3.98873003e-04 9.99983484e-01 -5.30569578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391418 meters 0.04541033471595663 Centerline is valid? [True, True] Translation: X:31.22, Y:0.45, Z:-0.53 [[ 9.99765139e-01 -2.05316493e-02 6.93673273e-03 3.12223217e+01] [ 2.05345014e-02 9.99789087e-01 -3.40180758e-04 4.46990935e-01] [-6.92828521e-03 4.82543211e-04 9.99975883e-01 -5.28673778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534391418 meters 0.04687433232373201 Centerline is valid? [True, True] Translation: X:31.25, Y:0.44, Z:-0.53 [[ 9.99745614e-01 -2.10326609e-02 8.14463592e-03 3.12535363e+01] [ 2.10366182e-02 9.99778626e-01 -4.00503304e-04 4.42834358e-01] [-8.13440925e-03 5.71737018e-04 9.99966752e-01 -5.28799600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391418 meters 0.04819040295671104 Centerline is valid? [True, True] Translation: X:31.28, Y:0.44, Z:-0.53 [[ 9.99746018e-01 -2.10677126e-02 8.00323744e-03 3.12846828e+01] [ 2.10715385e-02 9.99777893e-01 -3.94008438e-04 4.40115980e-01] [-7.99315901e-03 5.62548893e-04 9.99967896e-01 -5.30368544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594391418 meters 0.04893674341471154 Centerline is valid? [True, True] Translation: X:31.32, Y:0.44, Z:-0.53 [[ 9.99735352e-01 -2.12644605e-02 8.77773601e-03 3.13170744e+01] [ 2.12690741e-02 9.99773694e-01 -4.32576170e-04 4.37726285e-01] [-8.76655106e-03 6.19156007e-04 9.99961381e-01 -5.29813084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391418 meters 0.05038027110330348 Centerline is valid? [True, True] Translation: X:31.35, Y:0.43, Z:-0.53 [[ 9.99703510e-01 -2.24911309e-02 9.32961970e-03 3.13486619e+01] [ 2.24964051e-02 9.99746818e-01 -4.60742022e-04 4.34474159e-01] [-9.31689500e-03 6.70488320e-04 9.99956372e-01 -5.30196352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654391418 meters 0.05177234081387218 Centerline is valid? [True, True] Translation: X:31.38, Y:0.43, Z:-0.53 [[ 9.99684644e-01 -2.34005324e-02 9.11192316e-03 3.13810461e+01] [ 2.34056039e-02 9.99725950e-01 -4.50324387e-04 4.30337412e-01] [-9.09888821e-03 6.63452438e-04 9.99958384e-01 -5.31685263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391418 meters 0.05177234081387218 Centerline is valid? [True, True] Translation: X:31.41, Y:0.43, Z:-0.53 [[ 9.99687287e-01 -2.32873699e-02 9.11190597e-03 3.14136181e+01] [ 2.32924399e-02 9.99728593e-01 -4.50672333e-04 4.28596107e-01] [-9.09893796e-03 6.62769924e-04 9.99958384e-01 -5.32273045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714391417999998 meters 0.05339624956524889 Centerline is valid? [True, True] Translation: X:31.45, Y:0.42, Z:-0.53 [[ 9.99655036e-01 -2.47315945e-02 8.84066822e-03 3.14456627e+01] [ 2.47364348e-02 9.99693911e-01 -4.38552485e-04 4.23923586e-01] [-8.82711609e-03 6.57087813e-04 9.99960824e-01 -5.33383943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391418 meters 0.05625898587770289 Centerline is valid? [True, True] Translation: X:31.48, Y:0.42, Z:-0.53 [[ 9.99592878e-01 -2.72941182e-02 8.31325211e-03 3.14756009e+01] [ 2.72984909e-02 9.99627241e-01 -4.12958264e-04 4.17986759e-01] [-8.29888195e-03 6.39729377e-04 9.99965359e-01 -5.34877137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774391418 meters 0.04822458871115367 Centerline is valid? [True, True] Translation: X:31.51, Y:0.43, Z:-0.53 [[ 9.99569001e-01 -2.81143222e-02 8.44971662e-03 3.15078661e+01] [ 2.81188751e-02 9.99604498e-01 -4.20479019e-04 4.26901544e-01] [-8.43455326e-03 6.57894319e-04 9.99964212e-01 -5.33677783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999998 meters 0.058894696206589714 Centerline is valid? [True, True] Translation: X:31.54, Y:0.41, Z:-0.53 [[ 9.99548386e-01 -2.85304976e-02 9.43582686e-03 3.15386913e+01] [ 2.85362003e-02 9.99592649e-01 -4.70256296e-04 4.11675149e-01] [-9.41856652e-03 7.39306566e-04 9.99955371e-01 -5.34877001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834391418 meters 0.05044646211087387 Centerline is valid? [True, True] Translation: X:31.57, Y:0.42, Z:-0.53 [[ 9.99518027e-01 -2.91798594e-02 1.05947727e-02 3.15712531e+01] [ 2.91870919e-02 9.99573826e-01 -5.28639518e-04 4.19566052e-01] [-1.05748319e-02 8.37615333e-04 9.99943734e-01 -5.33837396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391418 meters 0.05202555934687306 Centerline is valid? [True, True] Translation: X:31.60, Y:0.42, Z:-0.54 [[ 9.99529679e-01 -2.90032742e-02 9.96151245e-03 3.16042618e+01] [ 2.90096631e-02 9.99579007e-01 -4.97431959e-04 4.15688292e-01] [-9.94289157e-03 7.86178127e-04 9.99950259e-01 -5.36892476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894391418 meters 0.05276539557826185 Centerline is valid? [True, True] Translation: X:31.64, Y:0.41, Z:-0.54 [[ 9.99493934e-01 -3.00067054e-02 1.05581033e-02 3.16353320e+01] [ 3.00139575e-02 9.99549340e-01 -5.29061936e-04 4.12213186e-01] [-1.05374698e-02 8.45684661e-04 9.99944122e-01 -5.35599719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391418 meters 0.05291018491999477 Centerline is valid? [True, True] Translation: X:31.67, Y:0.41, Z:-0.54 [[ 9.99498268e-01 -3.00026459e-02 1.01515548e-02 3.16677879e+01] [ 3.00093541e-02 9.99549488e-01 -5.09096115e-04 4.11032837e-01] [-1.01317072e-02 8.13482288e-04 9.99948342e-01 -5.35631324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954391418 meters 0.05435026322034352 Centerline is valid? [True, True] Translation: X:31.70, Y:0.41, Z:-0.54 [[ 9.99538032e-01 -2.89096106e-02 9.37852254e-03 3.16992765e+01] [ 2.89152941e-02 9.99581755e-01 -4.70963299e-04 4.09034266e-01] [-9.36098465e-03 7.41928467e-04 9.99955910e-01 -5.38727056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391418 meters 0.05324739183687478 Centerline is valid? [True, True] Translation: X:31.73, Y:0.41, Z:-0.54 [[ 9.99581544e-01 -2.69464910e-02 1.05177857e-02 3.17309061e+01] [ 2.69535433e-02 9.99636547e-01 -5.29308419e-04 4.07926137e-01] [-1.04997000e-02 8.12578519e-04 9.99944546e-01 -5.39599868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014391417999995 meters 0.052287010447875856 Centerline is valid? [True, True] Translation: X:31.76, Y:0.41, Z:-0.54 [[ 9.99610689e-01 -2.57252188e-02 1.08020577e-02 3.17631515e+01] [ 2.57325921e-02 9.99668714e-01 -5.44136611e-04 4.06188887e-01] [-1.07844811e-02 8.21889718e-04 9.99941508e-01 -5.40637562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044391418 meters 0.05065076678594908 Centerline is valid? [True, True] Translation: X:31.80, Y:0.41, Z:-0.54 [[ 9.99642389e-01 -2.45632214e-02 1.05708044e-02 3.17956037e+01] [ 2.45702259e-02 9.99697964e-01 -5.33252158e-04 4.06427847e-01] [-1.05545133e-02 7.92788513e-04 9.99943985e-01 -5.42374144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074391418 meters 0.044348011231182864 Centerline is valid? [True, True] Translation: X:31.83, Y:0.41, Z:-0.54 [[ 9.99691010e-01 -2.22104444e-02 1.11615389e-02 3.18273113e+01] [ 2.22181214e-02 9.99752988e-01 -5.64263678e-04 4.13200230e-01] [-1.11462493e-02 8.12077753e-04 9.99937549e-01 -5.40089066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104391418 meters 0.04338124527929003 Centerline is valid? [True, True] Translation: X:31.86, Y:0.41, Z:-0.54 [[ 9.99736218e-01 -2.03829250e-02 1.05844984e-02 3.18587982e+01] [ 2.03897310e-02 9.99791964e-01 -5.35487823e-04 4.14633804e-01] [-1.05713816e-02 7.51161646e-04 9.99943839e-01 -5.40102509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13439141799999 meters 0.04312028587604792 Centerline is valid? [True, True] Translation: X:31.89, Y:0.42, Z:-0.54 [[ 9.99788992e-01 -1.79138846e-02 1.00530487e-02 3.18903511e+01] [ 1.79199038e-02 9.99839296e-01 -5.08976610e-04 4.16106009e-01] [-1.00423154e-02 6.89018877e-04 9.99949337e-01 -5.41892893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters 0.04192532565806689 Centerline is valid? [True, True] Translation: X:31.92, Y:0.42, Z:-0.54 [[ 9.99832078e-01 -1.47949878e-02 1.08131855e-02 3.19199744e+01] [ 1.48017802e-02 9.99890297e-01 -5.48394676e-04 4.17126297e-01] [-1.08038858e-02 7.08356984e-04 9.99941385e-01 -5.41116416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194391417999995 meters 0.04038243440145801 Centerline is valid? [True, True] Translation: X:31.95, Y:0.42, Z:-0.54 [[ 9.99852587e-01 -1.31675985e-02 1.10190143e-02 3.19514524e+01] [ 1.31745463e-02 9.99913056e-01 -5.58181972e-04 4.17485547e-01] [-1.10107063e-02 7.03270204e-04 9.99939133e-01 -5.43185957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224391417999996 meters 0.041895063666241905 Centerline is valid? [True, True] Translation: X:31.98, Y:0.41, Z:-0.54 [[ 9.99855400e-01 -1.24369724e-02 1.15974849e-02 3.19823524e+01] [ 1.24446244e-02 9.99922390e-01 -5.87869566e-04 4.12481503e-01] [-1.15892735e-02 7.32110903e-04 9.99932574e-01 -5.43475026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254391418 meters 0.04259368095615647 Centerline is valid? [True, True] Translation: X:32.01, Y:0.41, Z:-0.54 [[ 9.99847765e-01 -1.25161556e-02 1.21570361e-02 3.20143932e+01] [ 1.25245781e-02 9.99921374e-01 -6.16916571e-04 4.09954437e-01] [-1.21483588e-02 7.69084402e-04 9.99925910e-01 -5.44428337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284391418 meters 0.04214334009504335 Centerline is valid? [True, True] Translation: X:32.05, Y:0.41, Z:-0.54 [[ 9.99841340e-01 -1.24056544e-02 1.27825962e-02 3.20476550e+01] [ 1.24149680e-02 9.99922720e-01 -6.49517718e-04 4.09613925e-01] [-1.27735507e-02 8.08110187e-04 9.99918088e-01 -5.44205366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314391418 meters 0.04271879245684299 Centerline is valid? [True, True] Translation: X:32.08, Y:0.41, Z:-0.55 [[ 9.99846500e-01 -1.20904053e-02 1.26806056e-02 3.20795167e+01] [ 1.20995669e-02 9.99926589e-01 -6.46022162e-04 4.09215108e-01] [-1.26718640e-02 7.99352833e-04 9.99919389e-01 -5.45928748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters 0.04317979282154442 Centerline is valid? [True, True] Translation: X:32.11, Y:0.41, Z:-0.54 [[ 9.99837591e-01 -1.20072423e-02 1.34394442e-02 3.21111579e+01] [ 1.20175424e-02 9.99927551e-01 -6.85910034e-04 4.07466420e-01] [-1.34302346e-02 8.47307726e-04 9.99909451e-01 -5.44911329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374391417999995 meters 0.045697732929406196 Centerline is valid? [True, True] Translation: X:32.14, Y:0.40, Z:-0.55 [[ 9.99827193e-01 -1.26071539e-02 1.36617919e-02 3.21422377e+01] [ 1.26178647e-02 9.99920148e-01 -6.98075995e-04 4.03563487e-01] [-1.36519002e-02 8.70338003e-04 9.99906430e-01 -5.45826757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters 0.04492303869503742 Centerline is valid? [True, True] Translation: X:32.17, Y:0.40, Z:-0.55 [[ 9.99810887e-01 -1.36692068e-02 1.38326909e-02 3.21741922e+01] [ 1.36802985e-02 9.99906170e-01 -7.07538590e-04 4.02149894e-01] [-1.38217215e-02 8.96640126e-04 9.99904073e-01 -5.46594105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434391418 meters 0.04720139831115033 Centerline is valid? [True, True] Translation: X:32.21, Y:0.40, Z:-0.55 [[ 9.99749441e-01 -1.69478166e-02 1.46228344e-02 3.22051778e+01] [ 1.69605814e-02 9.99855878e-01 -7.49354576e-04 3.95771484e-01] [-1.46080270e-02 9.97178591e-04 9.99892800e-01 -5.46401558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464391418 meters 0.0468439292154986 Centerline is valid? [True, True] Translation: X:32.24, Y:0.39, Z:-0.55 [[ 9.99722276e-01 -1.84867857e-02 1.46153695e-02 3.22368620e+01] [ 1.84997032e-02 9.99828585e-01 -7.49116116e-04 3.94443088e-01] [-1.45990154e-02 1.01928807e-03 9.99892909e-01 -5.47901127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494391418 meters 0.046800746590332794 Centerline is valid? [True, True] Translation: X:32.27, Y:0.39, Z:-0.55 [[ 9.99690466e-01 -2.01241958e-02 1.46283376e-02 3.22683787e+01] [ 2.01373231e-02 9.99796942e-01 -7.50635239e-04 3.93259581e-01] [-1.46102613e-02 1.04497845e-03 9.99892718e-01 -5.48949729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters 0.044920258990483866 Centerline is valid? [True, True] Translation: X:32.30, Y:0.39, Z:-0.55 [[ 9.99619650e-01 -2.30476016e-02 1.51447373e-02 3.22990555e+01] [ 2.30620219e-02 9.99733733e-01 -7.78189200e-04 3.93651411e-01] [-1.51227693e-02 1.12716148e-03 9.99885009e-01 -5.47377634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554391417999994 meters 0.046684437130792754 Centerline is valid? [True, True] Translation: X:32.33, Y:0.39, Z:-0.55 [[ 9.99616214e-01 -2.32721684e-02 1.50276507e-02 3.23304485e+01] [ 2.32863855e-02 9.99728537e-01 -7.71754601e-04 3.89470987e-01] [-1.50056108e-02 1.12139808e-03 9.99886781e-01 -5.48587261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters 0.04701911126421164 Centerline is valid? [True, True] Translation: X:32.36, Y:0.39, Z:-0.55 [[ 9.99610363e-01 -2.33190804e-02 1.53408890e-02 3.23624876e+01] [ 2.33339727e-02 9.99727412e-01 -7.92461327e-04 3.86793794e-01] [-1.53182278e-02 1.15011644e-03 9.99882008e-01 -5.49560146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614391418 meters 0.04785648678447592 Centerline is valid? [True, True] Translation: X:32.39, Y:0.38, Z:-0.55 [[ 9.99602709e-01 -2.36738936e-02 1.52961109e-02 3.23947938e+01] [ 2.36887592e-02 9.99719069e-01 -7.91376561e-04 3.82723285e-01] [-1.52730787e-02 1.15340804e-03 9.99882694e-01 -5.50891032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644391418 meters 0.04839480483844788 Centerline is valid? [True, True] Translation: X:32.43, Y:0.38, Z:-0.55 [[ 9.99598862e-01 -2.37977977e-02 1.53551502e-02 3.24266972e+01] [ 2.38128118e-02 9.99716118e-01 -7.95666242e-04 3.79457475e-01] [-1.53318560e-02 1.16099637e-03 9.99881786e-01 -5.51803554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674391418 meters 0.050436862879288426 Centerline is valid? [True, True] Translation: X:32.46, Y:0.37, Z:-0.55 [[ 9.99597139e-01 -2.37715991e-02 1.55071376e-02 3.24578007e+01] [ 2.37869213e-02 9.99716728e-01 -8.04351109e-04 3.74588629e-01] [-1.54836242e-02 1.17289413e-03 9.99879434e-01 -5.52465290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters 0.05055929461682099 Centerline is valid? [True, True] Translation: X:32.49, Y:0.37, Z:-0.55 [[ 9.99603745e-01 -2.36129938e-02 1.53225229e-02 3.24895077e+01] [ 2.36280012e-02 9.99720500e-01 -7.99118996e-04 3.72678235e-01] [-1.52993706e-02 1.16084293e-03 9.99882284e-01 -5.52792760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734391417999994 meters 0.04912485224420688 Centerline is valid? [True, True] Translation: X:32.52, Y:0.37, Z:-0.55 [[ 9.99614310e-01 -2.27202317e-02 1.59693980e-02 3.25221689e+01] [ 2.27364384e-02 9.99741146e-01 -8.34017174e-04 3.72599447e-01] [-1.59463152e-02 1.19678274e-03 9.99872133e-01 -5.52962128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters 0.0497443533932405 Centerline is valid? [True, True] Translation: X:32.55, Y:0.37, Z:-0.55 [[ 9.99625023e-01 -2.21013869e-02 1.61660541e-02 3.25544290e+01] [ 2.21179565e-02 9.99755009e-01 -8.46869332e-04 3.69863111e-01] [-1.61433766e-02 1.20411186e-03 9.99868962e-01 -5.53805956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794391418 meters 0.049574631373180356 Centerline is valid? [True, True] Translation: X:32.59, Y:0.37, Z:-0.55 [[ 9.99633687e-01 -2.08069979e-02 1.73077960e-02 3.25859905e+01] [ 2.08258237e-02 9.99782707e-01 -9.08159302e-04 3.67413394e-01] [-1.72851391e-02 1.26827574e-03 9.99849796e-01 -5.53887264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824391418 meters 0.04688773250267789 Centerline is valid? [True, True] Translation: X:32.62, Y:0.37, Z:-0.55 [[ 9.99645064e-01 -2.02521414e-02 1.73088382e-02 3.26180448e+01] [ 2.02708979e-02 9.99794111e-01 -9.08859616e-04 3.68766595e-01] [-1.72868682e-02 1.25940272e-03 9.99849778e-01 -5.54092812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854391418 meters 0.04348720291976575 Centerline is valid? [True, True] Translation: X:32.65, Y:0.37, Z:-0.56 [[ 9.99649317e-01 -1.98183222e-02 1.75635259e-02 3.26505374e+01] [ 1.98375930e-02 9.99802789e-01 -9.23648737e-04 3.71424525e-01] [-1.75417570e-02 1.27174291e-03 9.99845323e-01 -5.55174870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters 0.04560265416109423 Centerline is valid? [True, True] Translation: X:32.68, Y:0.37, Z:-0.55 [[ 9.99648630e-01 -1.99206460e-02 1.74866863e-02 3.26811926e+01] [ 1.99397876e-02 9.99800759e-01 -9.20948994e-04 3.66764649e-01] [-1.74648564e-02 1.26930621e-03 9.99846672e-01 -5.54446894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914391417999994 meters 0.046733457698388436 Centerline is valid? [True, True] Translation: X:32.71, Y:0.36, Z:-0.56 [[ 9.99675881e-01 -1.91204774e-02 1.68089061e-02 3.27134782e+01] [ 1.91381264e-02 9.99816453e-01 -8.89738603e-04 3.64057666e-01] [-1.67888086e-02 1.21114119e-03 9.99858324e-01 -5.57065801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters 0.04384227995367429 Centerline is valid? [True, True] Translation: X:32.75, Y:0.36, Z:-0.56 [[ 9.99660793e-01 -1.92812857e-02 1.75080253e-02 3.27461351e+01] [ 1.93004837e-02 9.99813297e-01 -9.28203106e-04 3.64426838e-01] [-1.74868596e-02 1.26580161e-03 9.99846292e-01 -5.55863252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974391417999996 meters 0.04732678068417965 Centerline is valid? [True, True] Translation: X:32.78, Y:0.36, Z:-0.56 [[ 9.99646065e-01 -2.02445362e-02 1.72598698e-02 3.27769149e+01] [ 2.02633583e-02 9.99794257e-01 -9.16304362e-04 3.56286396e-01] [-1.72377685e-02 1.26572298e-03 9.99850617e-01 -5.57902127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004391418 meters 0.043543353484649015 Centerline is valid? [True, True] Translation: X:32.81, Y:0.36, Z:-0.56 [[ 9.99647787e-01 -2.09994632e-02 1.62272805e-02 3.28093221e+01] [ 2.10162688e-02 9.99778759e-01 -8.65785161e-04 3.58477298e-01] [-1.62055093e-02 1.20651711e-03 9.99867954e-01 -5.60497888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034391418 meters 0.04615045691593985 Centerline is valid? [True, True] Translation: X:32.84, Y:0.35, Z:-0.56 [[ 9.99619269e-01 -2.22194567e-02 1.63588744e-02 3.28401098e+01] [ 2.22367161e-02 9.99752352e-01 -8.73883600e-04 3.52790928e-01] [-1.63354060e-02 1.23731853e-03 9.99865803e-01 -5.61588882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064391418 meters 0.04659835391829087 Centerline is valid? [True, True] Translation: X:32.87, Y:0.35, Z:-0.56 [[ 9.99534280e-01 -2.50729164e-02 1.73946051e-02 3.28711428e+01] [ 2.50929493e-02 9.99684686e-01 -9.34338490e-04 3.49198649e-01] [-1.73656937e-02 1.37038529e-03 9.99848266e-01 -5.59223663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094391417999994 meters 0.0491888208431517 Centerline is valid? [True, True] Translation: X:32.90, Y:0.34, Z:-0.56 [[ 9.99519997e-01 -2.54670309e-02 1.76410317e-02 3.29018951e+01] [ 2.54877015e-02 9.99674686e-01 -9.47856254e-04 3.43746014e-01] [-1.76111537e-02 1.39703063e-03 9.99843936e-01 -5.59154362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters 0.0480375240669371 Centerline is valid? [True, True] Translation: X:32.93, Y:0.34, Z:-0.56 [[ 9.99484139e-01 -2.66623903e-02 1.79045740e-02 3.29342553e+01] [ 2.66839605e-02 9.99643452e-01 -9.66871534e-04 3.41865683e-01] [-1.78724111e-02 1.44413771e-03 9.99839233e-01 -5.59903497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154391417999996 meters 0.05178621813001413 Centerline is valid? [True, True] Translation: X:32.96, Y:0.33, Z:-0.56 [[ 9.99455205e-01 -2.75543764e-02 1.81672478e-02 3.29648973e+01] [ 2.75767589e-02 9.99619206e-01 -9.82611252e-04 3.34156260e-01] [-1.81332545e-02 1.48306974e-03 9.99834479e-01 -5.60723968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184391418 meters 0.051886681674776725 Centerline is valid? [True, True] Translation: X:33.00, Y:0.33, Z:-0.56 [[ 9.99431028e-01 -2.81027111e-02 1.86509487e-02 3.29966322e+01] [ 2.81264887e-02 9.99603858e-01 -1.01373593e-03 3.30489538e-01] [-1.86150715e-02 1.53774484e-03 9.99825542e-01 -5.61655616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214391418 meters 0.04977962474858678 Centerline is valid? [True, True] Translation: X:33.03, Y:0.33, Z:-0.56 [[ 9.99422894e-01 -2.82648077e-02 1.88408844e-02 3.30287108e+01] [ 2.82891329e-02 9.99599256e-01 -1.02576784e-03 3.29435116e-01] [-1.88043409e-02 1.55816815e-03 9.99821969e-01 -5.62797698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244391418 meters 0.04963443200175828 Centerline is valid? [True, True] Translation: X:33.06, Y:0.33, Z:-0.56 [[ 9.99456736e-01 -2.79784060e-02 1.74195969e-02 3.30612968e+01] [ 2.79992382e-02 9.99607490e-01 -9.53118518e-04 3.26972048e-01] [-1.73860928e-02 1.44033617e-03 9.99847813e-01 -5.64529462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27439141799999 meters 0.05039255671716573 Centerline is valid? [True, True] Translation: X:33.09, Y:0.33, Z:-0.57 [[ 9.99499789e-01 -2.70333889e-02 1.64124255e-02 3.30926015e+01] [ 2.70517766e-02 9.99633629e-01 -8.99336638e-04 3.25066994e-01] [-1.63821003e-02 1.34287205e-03 9.99864903e-01 -5.65420878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters 0.05065183587236792 Centerline is valid? [True, True] Translation: X:33.12, Y:0.32, Z:-0.57 [[ 9.99596101e-01 -2.40330964e-02 1.51672313e-02 3.31221647e+01] [ 2.40485230e-02 9.99710443e-01 -8.35509335e-04 3.23553554e-01] [-1.51427596e-02 1.19992138e-03 9.99884622e-01 -5.66797897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334391417999996 meters 0.047716279830157186 Centerline is valid? [True, True] Translation: X:33.15, Y:0.33, Z:-0.57 [[ 9.99643365e-01 -2.20350044e-02 1.50864366e-02 3.31539047e+01] [ 2.20500382e-02 9.99756523e-01 -8.30881167e-04 3.25139455e-01] [-1.50644549e-02 1.16324135e-03 9.99885848e-01 -5.67766596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364391418 meters 0.04775847478170662 Centerline is valid? [True, True] Translation: X:33.18, Y:0.32, Z:-0.57 [[ 9.99691467e-01 -1.97898600e-02 1.50110782e-02 3.31848251e+01] [ 1.98045069e-02 9.99803529e-01 -8.27701051e-04 3.23052820e-01] [-1.49917488e-02 1.12473268e-03 9.99886985e-01 -5.68638524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394391418 meters 0.046677937221028504 Centerline is valid? [True, True] Translation: X:33.21, Y:0.32, Z:-0.57 [[ 9.99772348e-01 -1.47646429e-02 1.54031883e-02 3.32149538e+01] [ 1.47794833e-02 9.99890416e-01 -8.50068227e-04 3.23539765e-01] [-1.53889494e-02 1.07752587e-03 9.99881003e-01 -5.69719200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424391418 meters 0.046074285889219246 Centerline is valid? [True, True] Translation: X:33.25, Y:0.32, Z:-0.57 [[ 9.99787233e-01 -1.28068997e-02 1.61700771e-02 3.32455638e+01] [ 1.28229993e-02 9.99917384e-01 -8.92346052e-04 3.23534489e-01] [-1.61573130e-02 1.09950508e-03 9.99868858e-01 -5.68161438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45439141799999 meters 0.037502604330706776 Centerline is valid? [True, True] Translation: X:33.28, Y:0.34, Z:-0.57 [[ 9.99832628e-01 -6.96383962e-03 1.69180916e-02 3.32769507e+01] [ 6.98063673e-03 9.99975199e-01 -9.33997555e-04 3.36694873e-01] [-1.69111678e-02 1.05194028e-03 9.99856443e-01 -5.66515550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters 0.04156168588237941 Centerline is valid? [True, True] Translation: X:33.31, Y:0.33, Z:-0.57 [[ 9.99844522e-01 -4.06433932e-03 1.71584408e-02 3.33070860e+01] [ 4.08119139e-03 9.99991223e-01 -9.47242623e-04 3.30917901e-01] [-1.71544403e-02 1.01712223e-03 9.99852334e-01 -5.66874961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514391417999995 meters 0.040526417370101896 Centerline is valid? [True, True] Translation: X:33.34, Y:0.33, Z:-0.57 [[ 9.99852595e-01 -1.66901086e-03 1.70881026e-02 3.33384972e+01] [ 1.68538214e-03 9.99998134e-01 -9.43695565e-04 3.31294598e-01] [-1.70864957e-02 9.72356442e-04 9.99853542e-01 -5.67626231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544391418 meters 0.03484456363701607 Centerline is valid? [True, True] Translation: X:33.37, Y:0.34, Z:-0.57 [[ 9.99859563e-01 4.18992921e-04 1.67534826e-02 3.33701701e+01] [-4.03538375e-04 9.99999490e-01 -9.25837618e-04 3.37533005e-01] [-1.67538620e-02 9.18946923e-04 9.99859222e-01 -5.68921706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574391418 meters 0.03484456363701607 Centerline is valid? [True, True] Translation: X:33.40, Y:0.34, Z:-0.57 [[ 9.99859505e-01 5.40152865e-04 1.67534507e-02 3.34026972e+01] [-5.24705641e-04 9.99999433e-01 -9.26414293e-04 3.35616030e-01] [-1.67539416e-02 9.17493506e-04 9.99859222e-01 -5.69509007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604391418 meters 0.03342745112618107 Centerline is valid? [True, True] Translation: X:33.43, Y:0.34, Z:-0.57 [[ 9.99864409e-01 4.43415291e-03 1.58588338e-02 3.34332664e+01] [-4.42076712e-03 9.99989842e-01 -8.79015950e-04 3.38657782e-01] [-1.58625704e-02 8.08788552e-04 9.99873854e-01 -5.73101470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63439141799999 meters 0.03421205296964603 Centerline is valid? [True, True] Translation: X:33.46, Y:0.34, Z:-0.57 [[ 9.99856564e-01 5.50214997e-03 1.60180673e-02 3.34646966e+01] [-5.48863898e-03 9.99984544e-01 -8.87324290e-04 3.35979234e-01] [-1.60227019e-02 7.99279627e-04 9.99871309e-01 -5.72819431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters 0.033140068166861936 Centerline is valid? [True, True] Translation: X:33.50, Y:0.34, Z:-0.57 [[ 9.99849157e-01 5.88529709e-03 1.63409582e-02 3.34975416e+01] [-5.87121116e-03 9.99982350e-01 -9.09842207e-04 3.37052532e-01] [-1.63460244e-02 8.13763747e-04 9.99866064e-01 -5.71517439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694391417999995 meters 0.03415102933376224 Centerline is valid? [True, True] Translation: X:33.53, Y:0.33, Z:-0.57 [[ 9.99850793e-01 6.05488994e-03 1.61780562e-02 3.35293670e+01] [-6.04108578e-03 9.99981346e-01 -9.01998656e-04 3.34628256e-01] [-1.61832160e-02 8.04131046e-04 9.99868720e-01 -5.72309245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724391417999996 meters 0.03122485049617729 Centerline is valid? [True, True] Translation: X:33.56, Y:0.34, Z:-0.57 [[ 9.99852883e-01 5.99940526e-03 1.60692358e-02 3.35617908e+01] [-5.98570343e-03 9.99981680e-01 -9.00635285e-04 3.37066853e-01] [-1.60743447e-02 8.04317107e-04 9.99870476e-01 -5.73286971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754391418 meters 0.03399395130306316 Centerline is valid? [True, True] Translation: X:33.59, Y:0.33, Z:-0.57 [[ 9.99868334e-01 3.88043483e-03 1.57561534e-02 3.35929191e+01] [-3.86692454e-03 9.99992129e-01 -8.87836783e-04 3.31197355e-01] [-1.57594746e-02 8.26792029e-04 9.99875470e-01 -5.74694885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784391418 meters 0.03386366189102518 Centerline is valid? [True, True] Translation: X:33.63, Y:0.33, Z:-0.58 [[ 9.99885735e-01 2.05387126e-03 1.49765710e-02 3.36250431e+01] [-2.04142955e-03 9.99997558e-01 -8.45984948e-04 3.29858484e-01] [-1.49782720e-02 8.15314667e-04 9.99887487e-01 -5.75528564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814391418 meters 0.03555973958144324 Centerline is valid? [True, True] Translation: X:33.66, Y:0.33, Z:-0.58 [[ 9.99893944e-01 2.99541270e-04 1.45605789e-02 3.36556903e+01] [-2.87577042e-04 9.99999619e-01 -8.23773102e-04 3.26306573e-01] [-1.45608201e-02 8.19498448e-04 9.99893650e-01 -5.76095187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters 0.03599775433125916 Centerline is valid? [True, True] Translation: X:33.69, Y:0.32, Z:-0.58 [[ 9.99895490e-01 -1.51494795e-03 1.43775814e-02 3.36873808e+01] [ 1.52680353e-03 9.99998503e-01 -8.13647638e-04 3.24093858e-01] [-1.43763272e-02 8.35514345e-04 9.99896306e-01 -5.76706868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874391417999995 meters 0.03762519034533485 Centerline is valid? [True, True] Translation: X:33.72, Y:0.32, Z:-0.58 [[ 9.99892157e-01 -4.36774196e-03 1.40213317e-02 3.37187159e+01] [ 4.37932807e-03 9.99990094e-01 -7.95722834e-04 3.18849403e-01] [-1.40177173e-02 8.57041032e-04 9.99901380e-01 -5.78520279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904391417999996 meters 0.03935696201333207 Centerline is valid? [True, True] Translation: X:33.75, Y:0.31, Z:-0.58 [[ 9.99887442e-01 -4.87665461e-03 1.41887681e-02 3.37507938e+01] [ 4.88857626e-03 9.99987726e-01 -8.05655747e-04 3.14483961e-01] [-1.41846650e-02 8.74927939e-04 9.99899010e-01 -5.81331538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934391418 meters 0.040495735176669864 Centerline is valid? [True, True] Translation: X:33.78, Y:0.31, Z:-0.58 [[ 9.99869418e-01 -6.88660459e-03 1.46192142e-02 3.37830765e+01] [ 6.89949260e-03 9.99975853e-01 -8.31326934e-04 3.10367909e-01] [-1.46131362e-02 9.32083538e-04 9.99892788e-01 -5.79534593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964391418 meters 0.04062816062523581 Centerline is valid? [True, True] Translation: X:33.82, Y:0.31, Z:-0.58 [[ 9.99875896e-01 -6.89575481e-03 1.41647741e-02 3.38152131e+01] [ 6.90787015e-03 9.99975815e-01 -8.06565421e-04 3.09474703e-01] [-1.41588696e-02 9.04313743e-04 9.99899349e-01 -5.80008301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994391418 meters 0.04108452054346053 Centerline is valid? [True, True] Translation: X:33.85, Y:0.31, Z:-0.58 [[ 9.99889154e-01 -6.48647915e-03 1.34016537e-02 3.38473790e+01] [ 6.49730091e-03 9.99978600e-01 -7.64112741e-04 3.08358542e-01] [-1.33964105e-02 8.51102619e-04 9.99909902e-01 -5.80863462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters 0.04104552262724211 Centerline is valid? [True, True] Translation: X:33.88, Y:0.31, Z:-0.58 [[ 9.99918338e-01 -4.38671602e-03 1.20030704e-02 3.38780380e+01] [ 4.39525862e-03 9.99990106e-01 -6.85414412e-04 3.08461993e-01] [-1.19999449e-02 7.38115039e-04 9.99927726e-01 -5.83698740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054391417999994 meters 0.04163121059996736 Centerline is valid? [True, True] Translation: X:33.91, Y:0.31, Z:-0.58 [[ 9.99923015e-01 -3.38783111e-03 1.19367979e-02 3.39092257e+01] [ 3.39621292e-03 9.99994000e-01 -6.81982428e-04 3.05277602e-01] [-1.19344159e-02 7.22469832e-04 9.99928521e-01 -5.83456021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters 0.03889322336025822 Centerline is valid? [True, True] Translation: X:33.94, Y:0.31, Z:-0.59 [[ 9.99930677e-01 -7.51972431e-04 1.17505371e-02 3.39406253e+01] [ 7.59922628e-04 9.99999485e-01 -6.72131361e-04 3.08274270e-01] [-1.17500256e-02 6.81014266e-04 9.99930734e-01 -5.86148057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114391418 meters 0.03788021962602172 Centerline is valid? [True, True] Translation: X:33.97, Y:0.31, Z:-0.58 [[ 9.99923485e-01 3.87655060e-05 1.23702377e-02 3.39725971e+01] [-3.00110327e-05 9.99999749e-01 -7.07889374e-04 3.07327871e-01] [-1.23702620e-02 7.07463966e-04 9.99923235e-01 -5.84268784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144391418 meters 0.03645269397760293 Centerline is valid? [True, True] Translation: X:34.01, Y:0.31, Z:-0.58 [[ 9.99921201e-01 1.54912736e-03 1.24575821e-02 3.40052905e+01] [-1.54035472e-03 9.99998559e-01 -7.13764611e-04 3.08754278e-01] [-1.24586698e-02 6.94519272e-04 9.99922147e-01 -5.84371713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174391418 meters 0.036460703676088765 Centerline is valid? [True, True] Translation: X:34.04, Y:0.31, Z:-0.59 [[ 9.99910782e-01 3.98770684e-03 1.27485758e-02 3.40362732e+01] [-3.97869653e-03 9.99991817e-01 -7.32054406e-04 3.09169091e-01] [-1.27513907e-02 6.81266379e-04 9.99918466e-01 -5.85933793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters 0.03281082927339647 Centerline is valid? [True, True] Translation: X:34.07, Y:0.31, Z:-0.58 [[ 9.99891255e-01 5.77219845e-03 1.35705420e-02 3.40676733e+01] [-5.76214475e-03 9.99983095e-01 -7.79830315e-04 3.13363938e-01] [-1.35748139e-02 7.01550085e-04 9.99907612e-01 -5.83599958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234391417999994 meters 0.029587170794742886 Centerline is valid? [True, True] Translation: X:34.10, Y:0.32, Z:-0.58 [[ 9.99839879e-01 1.15512750e-02 1.36669396e-02 3.40986896e+01] [-1.15416075e-02 9.99933084e-01 -7.86034549e-04 3.18470655e-01] [-1.36751048e-02 6.28170236e-04 9.99906294e-01 -5.83584899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters 0.03377833549454347 Centerline is valid? [True, True] Translation: X:34.13, Y:0.31, Z:-0.58 [[ 9.99792397e-01 1.44637727e-02 1.43513993e-02 3.41286037e+01] [-1.44534085e-02 9.99895203e-01 -8.25638824e-04 3.12077997e-01] [-1.43618372e-02 6.18040783e-04 9.99896672e-01 -5.84041508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294391418 meters 0.02554344748946522 Centerline is valid? [True, True] Translation: X:34.16, Y:0.32, Z:-0.58 [[ 9.99688677e-01 1.97096460e-02 1.52996565e-02 3.41602301e+01] [-1.96984749e-02 9.99805578e-01 -8.80527846e-04 3.24023450e-01] [-1.53140369e-02 5.78873818e-04 9.99882566e-01 -5.82820866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324391418 meters 0.02609685971968698 Centerline is valid? [True, True] Translation: X:34.19, Y:0.32, Z:-0.58 [[ 9.99633839e-01 2.20620997e-02 1.56668769e-02 3.41915137e+01] [-2.20506780e-02 9.99756448e-01 -9.01428807e-04 3.22733142e-01] [-1.56829486e-02 5.55633482e-04 9.99876861e-01 -5.83035773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354391418 meters 0.024864524775008348 Centerline is valid? [True, True] Translation: X:34.22, Y:0.33, Z:-0.59 [[ 9.99541495e-01 2.63424538e-02 1.49289803e-02 3.42234087e+01] [-2.63324949e-02 9.99652867e-01 -8.63296894e-04 3.28592483e-01] [-1.49465393e-02 4.69783771e-04 9.99888184e-01 -5.86211241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters 0.022694808087342172 Centerline is valid? [True, True] Translation: X:34.25, Y:0.33, Z:-0.58 [[ 9.99525965e-01 2.69028996e-02 1.49693066e-02 3.42533707e+01] [-2.68929371e-02 9.99637944e-01 -8.66467352e-04 3.29792730e-01] [-1.49871974e-02 4.63487995e-04 9.99887578e-01 -5.84034190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414391417999994 meters 0.021995122475207313 Centerline is valid? [True, True] Translation: X:34.28, Y:0.33, Z:-0.59 [[ 9.99505072e-01 2.79824544e-02 1.43733323e-02 3.42833894e+01] [-2.79733887e-02 9.99608322e-01 -8.31429782e-04 3.30205166e-01] [-1.43909680e-02 4.28947474e-04 9.99896353e-01 -5.85915508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters 0.021059592992334134 Centerline is valid? [True, True] Translation: X:34.31, Y:0.33, Z:-0.59 [[ 9.99494221e-01 2.88834401e-02 1.33059450e-02 3.43134546e+01] [-2.88757570e-02 9.99582712e-01 -7.69212132e-04 3.30903096e-01] [-1.33226101e-02 3.84603847e-04 9.99911176e-01 -5.87453036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474391417999996 meters 0.021159651125038512 Centerline is valid? [True, True] Translation: X:34.34, Y:0.33, Z:-0.59 [[ 9.99505405e-01 2.89071613e-02 1.23822633e-02 3.43424878e+01] [-2.89005126e-02 9.99582037e-01 -7.15588944e-04 3.31050812e-01] [-1.23977736e-02 3.57381261e-04 9.99923081e-01 -5.89977149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504391418 meters 0.022960902431958818 Centerline is valid? [True, True] Translation: X:34.37, Y:0.33, Z:-0.59 [[ 9.99528363e-01 2.82820909e-02 1.19655677e-02 3.43701987e+01] [-2.82758470e-02 9.99599920e-01 -6.90706768e-04 3.27370947e-01] [-1.19803152e-02 3.52044443e-04 9.99928171e-01 -5.90949106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534391418 meters 0.0236251110238959 Centerline is valid? [True, True] Translation: X:34.40, Y:0.33, Z:-0.59 [[ 9.99604190e-01 2.54550213e-02 1.19793363e-02 3.44000522e+01] [-2.54485790e-02 9.99675894e-01 -6.89937090e-04 3.27331625e-01] [-1.19930161e-02 3.84806921e-04 9.99928007e-01 -5.90881992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564391418 meters 0.02453670415172883 Centerline is valid? [True, True] Translation: X:34.43, Y:0.33, Z:-0.59 [[ 9.99643936e-01 2.41284566e-02 1.13937887e-02 3.44291635e+01] [-2.41225468e-02 9.99708794e-01 -6.55854642e-04 3.26704208e-01] [-1.14062956e-02 3.80773914e-04 9.99934874e-01 -5.92636647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594391417999994 meters 0.02629841460808443 Centerline is valid? [True, True] Translation: X:34.46, Y:0.32, Z:-0.59 [[ 9.99686961e-01 2.19764018e-02 1.19589730e-02 3.44571208e+01] [-2.19697422e-02 9.99758399e-01 -6.87973290e-04 3.23085122e-01] [-1.19712029e-02 4.25022374e-04 9.99928252e-01 -5.92583028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters 0.02573438111403178 Centerline is valid? [True, True] Translation: X:34.49, Y:0.32, Z:-0.59 [[ 9.99752571e-01 1.80451314e-02 1.30065344e-02 3.44878887e+01] [-1.80369418e-02 9.99837042e-01 -7.46692336e-04 3.22205925e-01] [-1.30178890e-02 5.11909479e-04 9.99915133e-01 -5.90308758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654391417999996 meters 0.029348537997213795 Centerline is valid? [True, True] Translation: X:34.52, Y:0.32, Z:-0.59 [[ 9.99782072e-01 1.64824579e-02 1.28116194e-02 3.45182614e+01] [-1.64743865e-02 9.99864018e-01 -7.35292551e-04 3.16633032e-01] [-1.28219967e-02 5.24068740e-04 9.99917657e-01 -5.92642691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684391418 meters 0.029898215273792245 Centerline is valid? [True, True] Translation: X:34.55, Y:0.31, Z:-0.59 [[ 9.99804267e-01 1.44568347e-02 1.35065403e-02 3.45495995e+01] [-1.44476714e-02 9.99895326e-01 -7.75769750e-04 3.14433440e-01] [-1.35163417e-02 5.80479850e-04 9.99908482e-01 -5.91254517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714391418 meters 0.02962591471494262 Centerline is valid? [True, True] Translation: X:34.58, Y:0.31, Z:-0.59 [[ 9.99856690e-01 1.07909256e-02 1.30443816e-02 3.45805718e+01] [-1.07820621e-02 9.99941591e-01 -7.49629071e-04 3.13982402e-01] [-1.30517089e-02 6.08876310e-04 9.99914637e-01 -5.91290267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744391418 meters 0.03224427564823946 Centerline is valid? [True, True] Translation: X:34.61, Y:0.31, Z:-0.59 [[ 9.99870829e-01 8.89737001e-03 1.33851782e-02 3.46115775e+01] [-8.88786338e-03 9.99960206e-01 -7.69555115e-04 3.08694971e-01] [-1.33914925e-02 6.50490075e-04 9.99910118e-01 -5.91977228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77439141799999 meters 0.03460145295944289 Centerline is valid? [True, True] Translation: X:34.64, Y:0.30, Z:-0.60 [[ 9.99890098e-01 6.93127935e-03 1.31053153e-02 3.46432992e+01] [-6.92198074e-03 9.99975758e-01 -7.54756096e-04 3.04312845e-01] [-1.31102290e-02 6.63958407e-04 9.99913837e-01 -5.95116135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters 0.035071208590920916 Centerline is valid? [True, True] Translation: X:34.67, Y:0.30, Z:-0.59 [[ 9.99921609e-01 1.52715144e-03 1.24275758e-02 3.46735375e+01] [-1.51831985e-03 9.99998588e-01 -7.20048562e-04 3.01480692e-01] [-1.24286579e-02 7.01123081e-04 9.99922515e-01 -5.93577002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834391417999996 meters 0.03665796504397127 Centerline is valid? [True, True] Translation: X:34.70, Y:0.30, Z:-0.60 [[ 9.99928327e-01 -1.29498516e-04 1.19717853e-02 3.47048926e+01] [ 1.37803420e-04 9.99999750e-01 -6.92884075e-04 2.97091577e-01] [-1.19716926e-02 6.94484167e-04 9.99928096e-01 -5.95201931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864391418 meters 0.037172547838720094 Centerline is valid? [True, True] Translation: X:34.74, Y:0.29, Z:-0.60 [[ 9.99944330e-01 -4.11977851e-04 1.05435703e-02 3.47369439e+01] [ 4.18435834e-04 9.99999726e-01 -6.10305780e-04 2.93259940e-01] [-1.05433159e-02 6.14683612e-04 9.99944229e-01 -5.97117994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894391418 meters 0.03630342319833836 Centerline is valid? [True, True] Translation: X:34.77, Y:0.29, Z:-0.60 [[ 9.99951411e-01 -8.15119897e-04 9.82406036e-03 3.47695593e+01] [ 8.20768863e-04 9.99999500e-01 -5.70995331e-04 2.92870319e-01] [-9.82359002e-03 5.79030869e-04 9.99951580e-01 -6.00421973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924391418 meters 0.03763233892097458 Centerline is valid? [True, True] Translation: X:34.80, Y:0.29, Z:-0.60 [[ 9.99951880e-01 -1.16786035e-03 9.74031712e-03 3.48008869e+01] [ 1.17345877e-03 9.99999150e-01 -5.69073012e-04 2.89467561e-01] [-9.73964424e-03 5.80475489e-04 9.99952400e-01 -6.00794512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95439141799999 meters 0.03789578613238749 Centerline is valid? [True, True] Translation: X:34.83, Y:0.29, Z:-0.60 [[ 9.99957458e-01 -1.30636176e-03 9.13107155e-03 3.48333418e+01] [ 1.31132161e-03 9.99998996e-01 -5.37217727e-04 2.87735797e-01] [-9.13036058e-03 5.49168644e-04 9.99958167e-01 -6.01986179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters 0.03710245807375202 Centerline is valid? [True, True] Translation: X:34.87, Y:0.29, Z:-0.60 [[ 9.99942499e-01 -1.73439994e-03 1.05825202e-02 3.48651706e+01] [ 1.74109751e-03 9.99998290e-01 -6.23709501e-04 2.85487270e-01] [-1.05814204e-02 6.42098837e-04 9.99943809e-01 -5.97892755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014391417999995 meters 0.037956061331540496 Centerline is valid? [True, True] Translation: X:34.90, Y:0.28, Z:-0.60 [[ 9.99941676e-01 -1.29707771e-03 1.07220287e-02 3.48963584e+01] [ 1.30393921e-03 9.99998950e-01 -6.32977767e-04 2.82352614e-01] [-1.07211964e-02 6.46921722e-04 9.99942317e-01 -5.98467503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044391418 meters 0.03895533544313985 Centerline is valid? [True, True] Translation: X:34.93, Y:0.28, Z:-0.60 [[ 9.99941530e-01 -4.21426014e-04 1.08055362e-02 3.49279070e+01] [ 4.28349558e-04 9.99999704e-01 -6.38434109e-04 2.79015386e-01] [-1.08052640e-02 6.43025326e-04 9.99941415e-01 -5.99800238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074391418 meters 0.03641371443422642 Centerline is valid? [True, True] Translation: X:34.96, Y:0.28, Z:-0.60 [[ 9.99941077e-01 1.24003446e-03 1.07844441e-02 3.49601285e+01] [-1.23322506e-03 9.99999036e-01 -6.38035943e-04 2.81493514e-01] [-1.07852249e-02 6.24698701e-04 9.99941643e-01 -6.02869032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104391418 meters 0.036685748763207744 Centerline is valid? [True, True] Translation: X:34.99, Y:0.28, Z:-0.60 [[ 9.99929726e-01 1.37048978e-03 1.17756251e-02 3.49921972e+01] [-1.36238353e-03 9.99998829e-01 -6.96386700e-04 2.78534409e-01] [-1.17765657e-02 6.80294844e-04 9.99930422e-01 -6.00000689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13439141799999 meters 0.03721976773270179 Centerline is valid? [True, True] Translation: X:35.02, Y:0.28, Z:-0.60 [[ 9.99927520e-01 1.86966155e-03 1.18936860e-02 3.50233713e+01] [-1.86138043e-03 9.99998017e-01 -7.07293651e-04 2.76252868e-01] [-1.18949848e-02 6.85103712e-04 9.99929017e-01 -6.00451259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters 0.03662444496251798 Centerline is valid? [True, True] Translation: X:35.06, Y:0.28, Z:-0.60 [[ 9.99930767e-01 1.90042056e-03 1.16124525e-02 3.50552291e+01] [-1.89249664e-03 9.99997969e-01 -6.93314265e-04 2.75481447e-01] [-1.16137466e-02 6.71289738e-04 9.99932333e-01 -6.00915808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194391417999995 meters 0.03820040417754997 Centerline is valid? [True, True] Translation: X:35.09, Y:0.27, Z:-0.60 [[ 9.99933452e-01 8.46601450e-04 1.15053852e-02 3.50860221e+01] [-8.38715179e-04 9.99999410e-01 -6.90249429e-04 2.71006459e-01] [-1.15059627e-02 6.80553753e-04 9.99933573e-01 -6.01265803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224391417999996 meters 0.0369983289773055 Centerline is valid? [True, True] Translation: X:35.12, Y:0.27, Z:-0.60 [[ 9.99936717e-01 1.11961732e-04 1.12493854e-02 3.51184796e+01] [-1.04346611e-04 9.99999765e-01 -6.77521318e-04 2.70040098e-01] [-1.12494586e-02 6.76304607e-04 9.99936494e-01 -6.01382926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254391418 meters 0.04100606223729038 Centerline is valid? [True, True] Translation: X:35.15, Y:0.26, Z:-0.60 [[ 9.99938773e-01 -9.36411310e-04 1.10259990e-02 3.51494705e+01] [ 9.43825691e-04 9.99999332e-01 -6.67260999e-04 2.62258154e-01] [-1.10253668e-02 6.77626766e-04 9.99938989e-01 -6.02847876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284391418 meters 0.03994650443468864 Centerline is valid? [True, True] Translation: X:35.18, Y:0.26, Z:-0.61 [[ 9.99935335e-01 -3.87721249e-03 1.06907469e-02 3.51806546e+01] [ 3.88439597e-03 9.99992244e-01 -6.51252579e-04 2.59401529e-01] [-1.06881389e-02 6.92737560e-04 9.99942640e-01 -6.05549466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31439141799999 meters 0.04276610972150488 Centerline is valid? [True, True] Translation: X:35.21, Y:0.25, Z:-0.61 [[ 9.99925176e-01 -5.66025973e-03 1.08445317e-02 3.52113312e+01] [ 5.66774356e-03 9.99983721e-01 -6.59492655e-04 2.52223184e-01] [-1.08406222e-02 7.20907334e-04 9.99940979e-01 -6.06479398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters 0.044150738889540686 Centerline is valid? [True, True] Translation: X:35.24, Y:0.25, Z:-0.61 [[ 9.99914541e-01 -7.00303882e-03 1.10393891e-02 3.52434778e+01] [ 7.01092222e-03 9.99975195e-01 -6.75577660e-04 2.47012853e-01] [-1.10343841e-02 7.52916224e-04 9.99938836e-01 -6.07185896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374391417999995 meters 0.04518023075338594 Centerline is valid? [True, True] Translation: X:35.27, Y:0.24, Z:-0.61 [[ 9.99908689e-01 -8.39157310e-03 1.05921949e-02 3.52749546e+01] [ 8.39891805e-03 9.99964518e-01 -6.49137690e-04 2.43012624e-01] [-1.05863717e-02 7.38041394e-04 9.99943690e-01 -6.08746252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404391417999996 meters 0.04614071273846669 Centerline is valid? [True, True] Translation: X:35.31, Y:0.24, Z:-0.61 [[ 9.99913149e-01 -8.47554511e-03 1.00925074e-02 3.53063470e+01] [ 8.48222325e-03 9.99963834e-01 -6.19071394e-04 2.39222285e-01] [-1.00868954e-02 7.04624528e-04 9.99948878e-01 -6.06409113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434391418 meters 0.046004846015357925 Centerline is valid? [True, True] Translation: X:35.34, Y:0.24, Z:-0.61 [[ 9.99916956e-01 -7.77727847e-03 1.02759542e-02 3.53388218e+01] [ 7.78416988e-03 9.99969504e-01 -6.30807653e-04 2.37300332e-01] [-1.02707349e-02 7.10745042e-04 9.99947002e-01 -6.05249370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464391418 meters 0.04577291411732506 Centerline is valid? [True, True] Translation: X:35.37, Y:0.24, Z:-0.61 [[ 9.99920661e-01 -6.89777506e-03 1.05400278e-02 3.53707885e+01] [ 6.90498568e-03 9.99975950e-01 -6.47879486e-04 2.35378461e-01] [-1.05353054e-02 7.20606825e-04 9.99944242e-01 -6.05103831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494391418 meters 0.04577291411732506 Centerline is valid? [True, True] Translation: X:35.40, Y:0.23, Z:-0.61 [[ 9.99921460e-01 -6.78105189e-03 1.05399956e-02 3.54033314e+01] [ 6.78826154e-03 9.99976749e-01 -6.48403435e-04 2.33250914e-01] [-1.05353537e-02 7.19900756e-04 9.99944242e-01 -6.05691447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters 0.04564055166256005 Centerline is valid? [True, True] Translation: X:35.44, Y:0.23, Z:-0.61 [[ 9.99922718e-01 -6.02854820e-03 1.08726693e-02 3.54356155e+01] [ 6.03619354e-03 9.99981557e-01 -6.70491390e-04 2.30605131e-01] [-1.08684267e-02 7.36069110e-04 9.99940666e-01 -6.06209795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554391417999994 meters 0.04648982359693713 Centerline is valid? [True, True] Translation: X:35.47, Y:0.23, Z:-0.61 [[ 9.99930894e-01 -4.92324741e-03 1.06755990e-02 3.54663386e+01] [ 4.93056550e-03 9.99987627e-01 -6.59286842e-04 2.26787181e-01] [-1.06722211e-02 7.11878022e-04 9.99942797e-01 -6.08998795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584391417999996 meters 0.045259348091411 Centerline is valid? [True, True] Translation: X:35.50, Y:0.22, Z:-0.61 [[ 9.99929799e-01 -3.57984540e-03 1.12952312e-02 3.54989390e+01] [ 3.58795758e-03 9.99993320e-01 -6.98013182e-04 2.24870354e-01] [-1.12926570e-02 7.38490992e-04 9.99935963e-01 -6.06896912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614391418 meters 0.04331623423950522 Centerline is valid? [True, True] Translation: X:35.53, Y:0.23, Z:-0.61 [[ 9.99937855e-01 -2.34046425e-03 1.08999155e-02 3.55317213e+01] [ 2.34795577e-03 9.99997016e-01 -6.74554533e-04 2.25806846e-01] [-1.08983042e-02 7.00105132e-04 9.99940367e-01 -6.06601167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644391418 meters 0.03840695610074536 Centerline is valid? [True, True] Translation: X:35.56, Y:0.23, Z:-0.61 [[ 9.99946914e-01 -1.06344195e-03 1.02488524e-02 3.55641845e+01] [ 1.07000870e-03 9.99999226e-01 -6.35268488e-04 2.30883187e-01] [-1.02481689e-02 6.46201125e-04 9.99947277e-01 -6.07333638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674391418 meters 0.03864483065035934 Centerline is valid? [True, True] Translation: X:35.60, Y:0.23, Z:-0.61 [[ 9.99962248e-01 1.61048715e-03 8.53863637e-03 3.55950610e+01] [-1.60601909e-03 9.99998570e-01 -5.30107562e-04 2.28865511e-01] [-8.53947789e-03 5.16374337e-04 9.99963405e-01 -6.11757184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters 0.03708580897178986 Centerline is valid? [True, True] Translation: X:35.63, Y:0.23, Z:-0.61 [[ 9.99961793e-01 2.09111875e-03 8.48761674e-03 3.56278853e+01] [-2.08674140e-03 9.99997685e-01 -5.24556160e-04 2.27380684e-01] [-8.48869400e-03 5.06824657e-04 9.99963842e-01 -6.10677356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734391417999994 meters 0.036928570858517015 Centerline is valid? [True, True] Translation: X:35.66, Y:0.22, Z:-0.61 [[ 9.99957530e-01 2.75016944e-03 8.79629470e-03 3.56597116e+01] [-2.74546259e-03 9.99996082e-01 -5.47125287e-04 2.23540123e-01] [-8.79776492e-03 5.22952153e-04 9.99961162e-01 -6.09550560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters 0.03771549156440897 Centerline is valid? [True, True] Translation: X:35.69, Y:0.22, Z:-0.61 [[ 9.99957779e-01 3.80760120e-03 8.36313893e-03 3.56904364e+01] [-3.80336375e-03 9.99992631e-01 -5.22528480e-04 2.20284778e-01] [-8.36506688e-03 4.90698359e-04 9.99964892e-01 -6.11926382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794391418 meters 0.03839501171779326 Centerline is valid? [True, True] Translation: X:35.72, Y:0.22, Z:-0.61 [[ 9.99960105e-01 4.54383478e-03 7.69034829e-03 3.57222314e+01] [-4.54026224e-03 9.99989577e-01 -4.81943440e-04 2.17622810e-01] [-7.69245800e-03 4.47008015e-04 9.99970313e-01 -6.13623221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824391418 meters 0.03798436341830924 Centerline is valid? [True, True] Translation: X:35.75, Y:0.21, Z:-0.61 [[ 9.99951886e-01 4.11755313e-03 8.90350535e-03 3.57542723e+01] [-4.11271819e-03 9.99991385e-01 -5.61279523e-04 2.14483932e-01] [-8.90573975e-03 5.24634909e-04 9.99960205e-01 -6.09808779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854391418 meters 0.03886784867795194 Centerline is valid? [True, True] Translation: X:35.79, Y:0.21, Z:-0.61 [[ 9.99948416e-01 4.49224673e-03 9.10962444e-03 3.57851257e+01] [-4.48716676e-03 9.99989766e-01 -5.78010915e-04 2.10607546e-01] [-9.11212777e-03 5.37104695e-04 9.99958339e-01 -6.11336516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters 0.03919528632619319 Centerline is valid? [True, True] Translation: X:35.82, Y:0.21, Z:-0.61 [[ 9.99944266e-01 4.92193073e-03 9.34025443e-03 3.58161050e+01] [-4.91659451e-03 9.99987737e-01 -5.94190291e-04 2.06719810e-01] [-9.34306445e-03 5.48234931e-04 9.99956202e-01 -6.11478748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914391417999994 meters 0.03637619277923223 Centerline is valid? [True, True] Translation: X:35.85, Y:0.21, Z:-0.61 [[ 9.99941226e-01 5.71739064e-03 9.21174238e-03 3.58485438e+01] [-5.71223125e-03 9.99983513e-01 -5.86301352e-04 2.05909226e-01] [-9.21494262e-03 5.33647290e-04 9.99957399e-01 -6.12560445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters 0.03780518282533444 Centerline is valid? [True, True] Translation: X:35.88, Y:0.20, Z:-0.61 [[ 9.99940690e-01 5.84514011e-03 9.18973246e-03 3.58807930e+01] [-5.83998838e-03 9.99982775e-01 -5.87331579e-04 2.00953117e-01] [-9.19300720e-03 5.33628813e-04 9.99957601e-01 -6.13798131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974391417999996 meters 0.041896395883721495 Centerline is valid? [True, True] Translation: X:35.91, Y:0.19, Z:-0.61 [[ 9.99942886e-01 6.04660331e-03 8.81263849e-03 3.59119099e+01] [-6.04184370e-03 9.99981587e-01 -5.66611983e-04 1.92687840e-01] [-8.81590230e-03 5.13335038e-04 9.99961007e-01 -6.14824897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004391418 meters 0.03860426030096734 Centerline is valid? [True, True] Translation: X:35.95, Y:0.19, Z:-0.61 [[ 9.99936277e-01 6.30999090e-03 9.36089030e-03 3.59455449e+01] [-6.30462219e-03 9.99979944e-01 -6.02924342e-04 1.94481204e-01] [-9.36450700e-03 5.43869045e-04 9.99956004e-01 -6.13973375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034391418 meters 0.03818729719333329 Centerline is valid? [True, True] Translation: X:35.98, Y:0.19, Z:-0.61 [[ 9.99931848e-01 6.75660663e-03 9.52091160e-03 3.59783933e+01] [-6.75104358e-03 9.99977022e-01 -6.16316122e-04 1.92326051e-01] [-9.52485703e-03 5.51998030e-04 9.99954485e-01 -6.13544002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters 0.03772563571056444 Centerline is valid? [True, True] Translation: X:36.01, Y:0.19, Z:-0.61 [[ 9.99926410e-01 7.30943645e-03 9.68225139e-03 3.60109046e+01] [-7.30367523e-03 9.99973129e-01 -6.30254737e-04 1.89798553e-01] [-9.68659802e-03 5.59492338e-04 9.99952927e-01 -6.13953466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094391417999994 meters 0.03708201708968197 Centerline is valid? [True, True] Translation: X:36.04, Y:0.19, Z:-0.61 [[ 9.99922314e-01 7.66121091e-03 9.83223105e-03 3.60434626e+01] [-7.65526251e-03 9.99970492e-01 -6.42483172e-04 1.87319512e-01] [-9.83686312e-03 5.67164950e-04 9.99951456e-01 -6.14697697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters 0.03902330175954234 Centerline is valid? [True, True] Translation: X:36.07, Y:0.18, Z:-0.62 [[ 9.99914799e-01 8.99032858e-03 9.46409031e-03 3.60747432e+01] [-8.98484643e-03 9.99959442e-01 -6.21617542e-04 1.80136326e-01] [-9.46929502e-03 5.36531181e-04 9.99955021e-01 -6.16406270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154391417999996 meters 0.03918820946828795 Centerline is valid? [True, True] Translation: X:36.11, Y:0.18, Z:-0.62 [[ 9.99911019e-01 1.01760624e-02 8.62566326e-03 3.61069563e+01] [-1.01715349e-02 9.99948107e-01 -5.68589747e-04 1.77578312e-01] [-8.63100166e-03 4.80802918e-04 9.99962637e-01 -6.18793445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184391418 meters 0.03844019700719062 Centerline is valid? [True, True] Translation: X:36.14, Y:0.18, Z:-0.62 [[ 9.99899036e-01 1.09645300e-02 9.03865483e-03 3.61382356e+01] [-1.09595479e-02 9.99939762e-01 -6.00545383e-04 1.75937667e-01] [-9.04469506e-03 5.01425179e-04 9.99958970e-01 -6.18156313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214391418 meters 0.03719879634448403 Centerline is valid? [True, True] Translation: X:36.17, Y:0.17, Z:-0.62 [[ 9.99864298e-01 1.34261306e-02 9.54590797e-03 3.61696908e+01] [-1.34206816e-02 9.99909737e-01 -6.34652509e-04 1.74619169e-01] [-9.55356726e-03 5.06453794e-04 9.99954235e-01 -6.18583306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244391418 meters 0.03398028122966049 Centerline is valid? [True, True] Translation: X:36.20, Y:0.18, Z:-0.62 [[ 9.99844135e-01 1.54397931e-02 8.56259470e-03 3.62009437e+01] [-1.54354804e-02 9.99880704e-01 -5.69516915e-04 1.77600983e-01] [-8.57036644e-03 4.37260384e-04 9.99963178e-01 -6.21587859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27439141799999 meters 0.034021176192852706 Centerline is valid? [True, True] Translation: X:36.23, Y:0.17, Z:-0.62 [[ 9.99815979e-01 1.65789331e-02 9.65124881e-03 3.62301021e+01] [-1.65734975e-02 9.99862443e-01 -6.42915570e-04 1.73899682e-01] [-9.66058007e-03 4.82842312e-04 9.99953219e-01 -6.20282290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters 0.030689125770623365 Centerline is valid? [True, True] Translation: X:36.26, Y:0.18, Z:-0.62 [[ 9.99766222e-01 1.90009991e-02 1.03180842e-02 3.62609943e+01] [-1.89949190e-02 9.99819344e-01 -6.86952418e-04 1.76749281e-01] [-1.03292730e-02 4.90800649e-04 9.99946531e-01 -6.19550070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334391417999996 meters 0.036047626182179486 Centerline is valid? [True, True] Translation: X:36.29, Y:0.17, Z:-0.62 [[ 9.99745776e-01 1.99793330e-02 1.04503042e-02 3.62900945e+01] [-1.99731519e-02 9.99800275e-01 -6.95512792e-04 1.66829151e-01] [-1.04621128e-02 4.86610464e-04 9.99945152e-01 -6.20403247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364391418 meters 0.030084015290193784 Centerline is valid? [True, True] Translation: X:36.32, Y:0.17, Z:-0.62 [[ 9.99718146e-01 2.13465805e-02 1.03900161e-02 3.63199660e+01] [-2.13405350e-02 9.99772025e-01 -6.92382620e-04 1.73219181e-01] [-1.04024274e-02 4.70458967e-04 9.99945783e-01 -6.21706358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394391418 meters 0.02862817683524378 Centerline is valid? [True, True] Translation: X:36.35, Y:0.17, Z:-0.62 [[ 9.99662766e-01 2.33587363e-02 1.13456233e-02 3.63500286e+01] [-2.33516623e-02 9.99727027e-01 -7.55588064e-04 1.71051123e-01] [-1.13601759e-02 4.90394089e-04 9.99935351e-01 -6.21235364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424391418 meters 0.02760363792772761 Centerline is valid? [True, True] Translation: X:36.38, Y:0.17, Z:-0.62 [[ 9.99630145e-01 2.44551839e-02 1.18960720e-02 3.63801505e+01] [-2.44474937e-02 9.99700802e-01 -7.91467518e-04 1.69537940e-01] [-1.19118682e-02 5.00345645e-04 9.99928926e-01 -6.20910659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45439141799999 meters 0.028201628496351282 Centerline is valid? [True, True] Translation: X:36.41, Y:0.17, Z:-0.62 [[ 9.99607165e-01 2.55249762e-02 1.15754342e-02 3.64086919e+01] [-2.55177661e-02 9.99674072e-01 -7.70166623e-04 1.66332629e-01] [-1.15913200e-02 4.74484851e-04 9.99932706e-01 -6.21808635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters 0.02670100539908172 Centerline is valid? [True, True] Translation: X:36.44, Y:0.17, Z:-0.62 [[ 9.99552695e-01 2.78411959e-02 1.09214412e-02 3.64383918e+01] [-2.78349237e-02 9.99612270e-01 -7.25910535e-04 1.65817452e-01] [-1.09374168e-02 4.21588350e-04 9.99940096e-01 -6.22760125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514391417999995 meters 0.0259844049352495 Centerline is valid? [True, True] Translation: X:36.47, Y:0.16, Z:-0.62 [[ 9.99516858e-01 2.90908257e-02 1.09441863e-02 3.64670557e+01] [-2.90846039e-02 9.99576689e-01 -7.27266495e-04 1.64693486e-01] [-1.09607103e-02 4.08607798e-04 9.99939846e-01 -6.23009974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544391418 meters 0.025565879359965425 Centerline is valid? [True, True] Translation: X:36.49, Y:0.16, Z:-0.62 [[ 9.99465926e-01 3.06250666e-02 1.14003895e-02 3.64946560e+01] [-3.06184245e-02 9.99530860e-01 -7.56737677e-04 1.62672447e-01] [-1.14182162e-02 4.07271557e-04 9.99934727e-01 -6.23268187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574391418 meters 0.0245234866518137 Centerline is valid? [True, True] Translation: X:36.52, Y:0.16, Z:-0.62 [[ 9.99415911e-01 3.22898737e-02 1.11893058e-02 3.65231480e+01] [-3.22835931e-02 9.99478474e-01 -7.41518519e-04 1.61347589e-01] [-1.12074139e-02 3.79854410e-04 9.99937123e-01 -6.24102431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604391418 meters 0.023382801264119117 Centerline is valid? [True, True] Translation: X:36.55, Y:0.16, Z:-0.63 [[ 9.99264190e-01 3.67833723e-02 1.08656808e-02 3.65522506e+01] [-3.67777271e-02 9.99323212e-01 -7.18964361e-04 1.59467221e-01] [-1.08847729e-02 3.18820297e-04 9.99940708e-01 -6.25799839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63439141799999 meters 0.020613601768769384 Centerline is valid? [True, True] Translation: X:36.58, Y:0.16, Z:-0.62 [[ 9.99155319e-01 3.94480455e-02 1.15108388e-02 3.65811884e+01] [-3.94418892e-02 9.99221576e-01 -7.61433871e-04 1.62029621e-01] [-1.15319156e-02 3.06781473e-04 9.99933458e-01 -6.24972647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters 0.01993772643677807 Centerline is valid? [True, True] Translation: X:36.61, Y:0.16, Z:-0.63 [[ 9.99032349e-01 4.24197854e-02 1.16158633e-02 3.66093089e+01] [-4.24137268e-02 9.99099838e-01 -7.67542051e-04 1.61976440e-01] [-1.16379662e-02 2.74127284e-04 9.99932239e-01 -6.25142945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694391417999995 meters 0.018184903331637737 Centerline is valid? [True, True] Translation: X:36.64, Y:0.16, Z:-0.63 [[ 9.98885806e-01 4.58820202e-02 1.10447746e-02 3.66380380e+01] [-4.58767671e-02 9.98946841e-01 -7.28645622e-04 1.63874305e-01] [-1.10665744e-02 2.21135218e-04 9.99938739e-01 -6.25149101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724391417999996 meters 0.01645858566807624 Centerline is valid? [True, True] Translation: X:36.67, Y:0.17, Z:-0.63 [[ 9.98534357e-01 5.31675792e-02 1.01166253e-02 3.66659011e+01] [-5.31635511e-02 9.98585596e-01 -6.66859938e-04 1.66028639e-01] [-1.01377717e-02 1.28046832e-04 9.99948603e-01 -6.26803044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754391418 meters 0.015819163111059475 Centerline is valid? [True, True] Translation: X:36.70, Y:0.17, Z:-0.63 [[ 9.98335384e-01 5.68240788e-02 9.87344687e-03 3.66950878e+01] [-5.68204320e-02 9.98384203e-01 -6.49700707e-04 1.65793170e-01] [-9.89441202e-03 8.76056884e-05 9.99951045e-01 -6.27577044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784391418 meters 0.015326766030721578 Centerline is valid? [True, True] Translation: X:36.72, Y:0.17, Z:-0.63 [[ 9.98117174e-01 6.04744730e-02 1.02442433e-02 3.67231058e+01] [-6.04707469e-02 9.98169743e-01 -6.73359629e-04 1.65385992e-01] [-1.02662147e-02 5.26147682e-05 9.99947300e-01 -6.27889136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81439141799999 meters 0.015298839430342407 Centerline is valid? [True, True] Translation: X:36.75, Y:0.17, Z:-0.63 [[ 9.97625194e-01 6.79864023e-02 1.10373081e-02 3.67524704e+01] [-6.79825520e-02 9.97686247e-01 -7.24088782e-04 1.67852618e-01] [-1.10609987e-02 -2.79751630e-05 9.99938825e-01 -6.26952317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters 0.015563327685861756 Centerline is valid? [True, True] Translation: X:36.78, Y:0.17, Z:-0.63 [[ 9.97390246e-01 7.12241833e-02 1.18242167e-02 3.67808206e+01] [-7.12200030e-02 9.97460330e-01 -7.74775788e-04 1.68733390e-01] [-1.18493699e-02 -6.93669331e-05 9.99929791e-01 -6.26435812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874391417999995 meters 0.015991817517015297 Centerline is valid? [True, True] Translation: X:36.81, Y:0.17, Z:-0.63 [[ 9.97158318e-01 7.43621242e-02 1.20649706e-02 3.68097873e+01] [-7.43580180e-02 9.97231298e-01 -7.89187831e-04 1.68717772e-01] [-1.20902520e-02 -1.10182093e-04 9.99926904e-01 -6.26375004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904391417999996 meters 0.016153565767574218 Centerline is valid? [True, True] Translation: X:36.84, Y:0.17, Z:-0.63 [[ 9.96990532e-01 7.65404187e-02 1.23062480e-02 3.68385646e+01] [-7.65363103e-02 9.97066470e-01 -8.05143267e-04 1.66877441e-01] [-1.23317732e-02 -1.39154599e-04 9.99923951e-01 -6.26402472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934391418 meters 0.01820441043362182 Centerline is valid? [True, True] Translation: X:36.87, Y:0.16, Z:-0.63 [[ 9.96779292e-01 7.92560174e-02 1.22281458e-02 3.68660763e+01] [-7.92522204e-02 9.96854279e-01 -7.95537391e-04 1.64244312e-01] [-1.22527306e-02 -1.76132512e-04 9.99924917e-01 -6.29632058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964391418 meters 0.016931604538409476 Centerline is valid? [True, True] Translation: X:36.89, Y:0.16, Z:-0.63 [[ 9.96770979e-01 7.93639947e-02 1.22053765e-02 3.68931882e+01] [-7.93602259e-02 9.96845688e-01 -7.93566326e-04 1.58577083e-01] [-1.22298575e-02 -1.77617550e-04 9.99925197e-01 -6.29320004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994391418 meters 0.016769185301110424 Centerline is valid? [True, True] Translation: X:36.92, Y:0.16, Z:-0.63 [[ 9.96830310e-01 7.85652629e-02 1.25232419e-02 3.69206006e+01] [-7.85612777e-02 9.96908957e-01 -8.10604560e-04 1.55400243e-01] [-1.25482174e-02 -1.75806687e-04 9.99921253e-01 -6.29942074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters 0.016456279630292826 Centerline is valid? [True, True] Translation: X:36.95, Y:0.15, Z:-0.63 [[ 9.96920872e-01 7.74139865e-02 1.24839964e-02 3.69496226e+01] [-7.74099533e-02 9.96999021e-01 -8.06679896e-04 1.51111058e-01] [-1.25089805e-02 -1.62189556e-04 9.99921746e-01 -6.30339145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054391417999994 meters 0.015987806615027692 Centerline is valid? [True, True] Translation: X:36.98, Y:0.15, Z:-0.63 [[ 9.97222190e-01 7.35062967e-02 1.20303313e-02 3.69776532e+01] [-7.35022782e-02 9.97294747e-01 -7.76433445e-04 1.45334105e-01] [-1.20548590e-02 -1.09980097e-04 9.99927331e-01 -6.30309793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084391417999996 meters 0.015098667798126207 Centerline is valid? [True, True] Translation: X:37.01, Y:0.14, Z:-0.63 [[ 9.97432986e-01 7.04963881e-02 1.25577614e-02 3.70061826e+01] [-7.04917845e-02 9.97512032e-01 -8.09395856e-04 1.39316740e-01] [-1.25835775e-02 -7.79008824e-05 9.99920821e-01 -6.30711667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114391418 meters 0.014681610098730551 Centerline is valid? [True, True] Translation: X:37.03, Y:0.13, Z:-0.63 [[ 9.97947220e-01 6.29481167e-02 1.17847522e-02 3.70337568e+01] [-6.29435461e-02 9.98016801e-01 -7.58710580e-04 1.26372707e-01] [-1.18091401e-02 1.53790211e-05 9.99930270e-01 -6.32770061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144391418 meters 0.014825976411930964 Centerline is valid? [True, True] Translation: X:37.06, Y:0.12, Z:-0.63 [[ 9.98227651e-01 5.84001537e-02 1.14446074e-02 3.70607656e+01] [-5.83955528e-02 9.98293252e-01 -7.36056294e-04 1.18659433e-01] [-1.14680601e-02 6.64375701e-05 9.99934237e-01 -6.33867630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174391418 meters 0.015381686479094622 Centerline is valid? [True, True] Translation: X:37.09, Y:0.11, Z:-0.63 [[ 9.98493013e-01 5.36765608e-02 1.14250040e-02 3.70890408e+01] [-5.36716809e-02 9.98558367e-01 -7.33531810e-04 1.11492262e-01] [-1.14479068e-02 1.19227216e-04 9.99934463e-01 -6.34408382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters 0.01779203861308446 Centerline is valid? [True, True] Translation: X:37.12, Y:0.10, Z:-0.64 [[ 9.98746495e-01 4.87573788e-02 1.13206379e-02 3.71162696e+01] [-4.87522805e-02 9.98810637e-01 -7.26045958e-04 1.01113103e-01] [-1.13425737e-02 1.73228940e-04 9.99935656e-01 -6.36284915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234391417999994 meters 0.01969786398448967 Centerline is valid? [True, True] Translation: X:37.14, Y:0.09, Z:-0.64 [[ 9.99117001e-01 4.02850200e-02 1.19304672e-02 3.71447038e+01] [-4.02787723e-02 9.99188189e-01 -7.63590478e-04 9.05991594e-02] [-1.19515432e-02 2.82371655e-04 9.99928538e-01 -6.35296580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264391417999995 meters 0.02114477109367439 Centerline is valid? [True, True] Translation: X:37.17, Y:0.08, Z:-0.64 [[ 9.99248430e-01 3.67141768e-02 1.24356458e-02 3.71737842e+01] [-3.67071234e-02 9.99325750e-01 -7.95037761e-04 8.41343168e-02] [-1.24564503e-02 3.37963447e-04 9.99922358e-01 -6.35624831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294391418 meters 0.021850853274620337 Centerline is valid? [True, True] Translation: X:37.20, Y:0.08, Z:-0.64 [[ 9.99336619e-01 3.40736855e-02 1.28571007e-02 3.72035032e+01] [-3.40659344e-02 9.99419250e-01 -8.21453470e-04 7.83873651e-02] [-1.28776239e-02 3.82919386e-04 9.99917007e-01 -6.35797998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324391418 meters 0.024105640453960537 Centerline is valid? [True, True] Translation: X:37.23, Y:0.07, Z:-0.64 [[ 9.99397261e-01 3.19598781e-02 1.35529056e-02 3.72315124e+01] [-3.19510778e-02 9.99489059e-01 -8.65413067e-04 7.07283267e-02] [-1.35736393e-02 4.31861508e-04 9.99907781e-01 -6.36527545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354391418 meters 0.02353129000547568 Centerline is valid? [True, True] Translation: X:37.26, Y:0.07, Z:-0.64 [[ 9.99442526e-01 3.03684088e-02 1.38707540e-02 3.72614579e+01] [-3.03590507e-02 9.99538666e-01 -8.84775414e-04 6.79205065e-02] [-1.38912242e-02 4.63179250e-04 9.99903405e-01 -6.36497053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters 0.02353129000547568 Centerline is valid? [True, True] Translation: X:37.29, Y:0.07, Z:-0.64 [[ 9.99443738e-01 3.03284783e-02 1.38707893e-02 3.72905678e+01] [-3.03191240e-02 9.99539879e-01 -8.84221371e-04 6.61037965e-02] [-1.38912241e-02 4.63179331e-04 9.99903405e-01 -6.37023118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414391417999994 meters 0.02532640573768584 Centerline is valid? [True, True] Translation: X:37.32, Y:0.06, Z:-0.64 [[ 9.99505310e-01 2.82896105e-02 1.37416507e-02 3.73193875e+01] [-2.82802458e-02 9.99599651e-01 -8.75358749e-04 5.94056819e-02] [-1.37609128e-02 4.86308458e-04 9.99905196e-01 -6.37135614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters 0.0247706120020483 Centerline is valid? [True, True] Translation: X:37.35, Y:0.06, Z:-0.64 [[ 9.99527451e-01 2.75729060e-02 1.35871465e-02 3.73499827e+01] [-2.75636894e-02 9.99619675e-01 -8.65162929e-04 5.74564520e-02] [-1.36058340e-02 4.90242210e-04 9.99907316e-01 -6.37568555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474391417999996 meters 0.025636157806652828 Centerline is valid? [True, True] Translation: X:37.38, Y:0.05, Z:-0.64 [[ 9.99581661e-01 2.59064433e-02 1.28592395e-02 3.73799939e+01] [-2.58980502e-02 9.99664254e-01 -8.18813377e-04 5.18576299e-02] [-1.28761346e-02 4.85441604e-04 9.99916981e-01 -6.39009943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504391418 meters 0.028562087078714646 Centerline is valid? [True, True] Translation: X:37.41, Y:0.05, Z:-0.64 [[ 9.99613111e-01 2.53083848e-02 1.15374631e-02 3.74100112e+01] [-2.53015903e-02 9.99679594e-01 -7.34520847e-04 4.53821780e-02] [-1.15523560e-02 4.42320504e-04 9.99933171e-01 -6.42135833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534391418 meters 0.02764335338171016 Centerline is valid? [True, True] Translation: X:37.44, Y:0.04, Z:-0.64 [[ 9.99640633e-01 2.36528844e-02 1.26153025e-02 3.74403579e+01] [-2.36446243e-02 9.99720104e-01 -8.03531435e-04 4.15855470e-02] [-1.26307773e-02 5.04958585e-04 9.99920101e-01 -6.41713558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters 0.02823368822932357 Centerline is valid? [True, True] Translation: X:37.47, Y:0.04, Z:-0.64 [[ 9.99676741e-01 2.22831962e-02 1.22422693e-02 3.74715636e+01] [-2.22753177e-02 9.99751570e-01 -7.79544404e-04 3.70187171e-02] [-1.22565987e-02 5.06591972e-04 9.99924757e-01 -6.42959070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594391417999994 meters 0.029135112586366207 Centerline is valid? [True, True] Translation: X:37.50, Y:0.03, Z:-0.64 [[ 9.99722592e-01 2.02893146e-02 1.19617162e-02 3.75026669e+01] [-2.02816452e-02 9.99794016e-01 -7.62134633e-04 3.22679540e-02] [-1.19747154e-02 5.19319928e-04 9.99928166e-01 -6.44369578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters 0.031087300047467493 Centerline is valid? [True, True] Translation: X:37.53, Y:0.03, Z:-0.65 [[ 9.99746170e-01 1.94930859e-02 1.12966685e-02 3.75335380e+01] [-1.94861985e-02 9.99809867e-01 -7.19447993e-04 2.77219815e-02] [-1.13085449e-02 4.99136252e-04 9.99935932e-01 -6.45511168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654391417999996 meters 0.032175991490323824 Centerline is valid? [True, True] Translation: X:37.56, Y:0.02, Z:-0.65 [[ 9.99752029e-01 1.92555365e-02 1.11850277e-02 3.75648777e+01] [-1.92487593e-02 9.99814471e-01 -7.13269563e-04 2.44253318e-02] [-1.11966870e-02 4.97794786e-04 9.99937191e-01 -6.46748581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684391418 meters 0.03238112092397444 Centerline is valid? [True, True] Translation: X:37.60, Y:0.02, Z:-0.65 [[ 9.99761575e-01 1.89701938e-02 1.08131540e-02 3.75961515e+01] [-1.89637993e-02 9.99819930e-01 -6.93601000e-04 2.22406943e-02] [-1.08243647e-02 4.88377146e-04 9.99941296e-01 -6.47842973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714391418 meters 0.028971150947696468 Centerline is valid? [True, True] Translation: X:37.63, Y:0.03, Z:-0.65 [[ 9.99774254e-01 1.86578287e-02 1.01650112e-02 3.76280652e+01] [-1.86521584e-02 9.99825821e-01 -6.52350642e-04 2.50098052e-02] [-1.01754121e-02 4.62603978e-04 9.99948122e-01 -6.48467845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744391418 meters 0.030279294207997125 Centerline is valid? [True, True] Translation: X:37.66, Y:0.02, Z:-0.65 [[ 9.99779367e-01 1.88279351e-02 9.31264835e-03 3.76581699e+01] [-1.88231786e-02 9.99822649e-01 -5.98144370e-04 2.17596197e-02] [-9.32225857e-03 4.22718756e-04 9.99956457e-01 -6.50249338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77439141799999 meters 0.0316590075071148 Centerline is valid? [True, True] Translation: X:37.69, Y:0.02, Z:-0.65 [[ 9.99780045e-01 1.82785068e-02 1.02839003e-02 3.76881464e+01] [-1.82726749e-02 9.99832822e-01 -6.60773771e-04 1.71336143e-02] [-1.02942590e-02 4.72714064e-04 9.99946901e-01 -6.49412998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters 0.031748243285375566 Centerline is valid? [True, True] Translation: X:37.72, Y:0.02, Z:-0.65 [[ 9.99789243e-01 1.78719276e-02 1.01026726e-02 3.77198070e+01] [-1.78662783e-02 9.99840175e-01 -6.49170248e-04 1.63634572e-02] [-1.01126599e-02 4.68536270e-04 9.99948756e-01 -6.50005419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834391417999996 meters 0.03233252848485797 Centerline is valid? [True, True] Translation: X:37.75, Y:0.01, Z:-0.65 [[ 9.99798127e-01 1.71848658e-02 1.04108040e-02 3.77506410e+01] [-1.71788250e-02 9.99852209e-01 -6.69403622e-04 1.39037050e-02] [-1.04207689e-02 4.90423108e-04 9.99945582e-01 -6.49614998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864391418 meters 0.032469377671781305 Centerline is valid? [True, True] Translation: X:37.78, Y:0.01, Z:-0.65 [[ 9.99799248e-01 1.65377205e-02 1.13122624e-02 3.77815279e+01] [-1.65305411e-02 9.99863096e-01 -7.27869779e-04 1.20443409e-02] [-1.13227510e-02 5.40725840e-04 9.99935749e-01 -6.48630469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894391418 meters 0.03253742286494367 Centerline is valid? [True, True] Translation: X:37.81, Y:0.01, Z:-0.65 [[ 9.99791931e-01 1.66973020e-02 1.17172482e-02 3.78140567e+01] [-1.66896218e-02 9.99860435e-01 -7.52941671e-04 1.07219696e-02] [-1.17281849e-02 5.57228566e-04 9.99931067e-01 -6.48685622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924391418 meters 0.03363182805366044 Centerline is valid? [True, True] Translation: X:37.84, Y:0.01, Z:-0.65 [[ 9.99792756e-01 1.62247427e-02 1.22964841e-02 3.78448913e+01] [-1.62162029e-02 9.99868194e-01 -7.93881946e-04 7.98961270e-03] [-1.23077439e-02 5.94315136e-04 9.99924080e-01 -6.48559072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95439141799999 meters 0.03472552657373583 Centerline is valid? [True, True] Translation: X:37.88, Y:0.00, Z:-0.65 [[ 9.99790611e-01 1.55893718e-02 1.32554272e-02 3.78771203e+01] [-1.55793444e-02 9.99878265e-01 -8.59403859e-04 4.37727629e-03] [-1.32672112e-02 6.52713042e-04 9.99911774e-01 -6.48525596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters 0.03569100284902893 Centerline is valid? [True, True] Translation: X:37.91, Y:0.00, Z:-0.65 [[ 9.99792421e-01 1.55209965e-02 1.31990191e-02 3.79078529e+01] [-1.55110007e-02 9.99879328e-01 -8.59354334e-04 1.04292661e-03] [-1.32107644e-02 6.54445956e-04 9.99912520e-01 -6.49033409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014391417999995 meters 0.035900767673189976 Centerline is valid? [True, True] Translation: X:37.94, Y:-0.00, Z:-0.65 [[ 9.99796377e-01 1.53064841e-02 1.31497628e-02 3.79398096e+01] [-1.52965031e-02 9.99882632e-01 -8.59274973e-04 -7.33813372e-04] [-1.31613719e-02 6.57954619e-04 9.99913169e-01 -6.49958767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044391418 meters 0.032365029588399305 Centerline is valid? [True, True] Translation: X:37.97, Y:0.00, Z:-0.65 [[ 9.99803564e-01 1.54750611e-02 1.23837181e-02 3.79732325e+01] [-1.54661888e-02 9.99880062e-01 -8.11898893e-04 2.55549044e-03] [-1.23947970e-02 6.20210484e-04 9.99922989e-01 -6.51279597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074391418 meters 0.0352530739311813 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.00, Z:-0.65 [[ 9.99826654e-01 1.49567556e-02 1.10885944e-02 3.80039887e+01] [-1.49495725e-02 9.99887982e-01 -7.30402658e-04 -2.94032143e-03] [-1.10982768e-02 5.64506299e-04 9.99938253e-01 -6.51977487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104391418 meters 0.03605100306028684 Centerline is valid? [True, True] Translation: X:38.04, Y:-0.01, Z:-0.65 [[ 9.99825576e-01 1.49966344e-02 1.11318261e-02 3.80359108e+01] [-1.49893658e-02 9.99887382e-01 -7.36109974e-04 -5.01315283e-03] [-1.11416116e-02 5.69122566e-04 9.99937768e-01 -6.52401581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13439141799999 meters 0.037098145041036264 Centerline is valid? [True, True] Translation: X:38.07, Y:-0.01, Z:-0.65 [[ 9.99821603e-01 1.55292749e-02 1.07519636e-02 3.80675682e+01] [-1.55224953e-02 9.99879264e-01 -7.13717810e-04 -7.00307059e-03] [-1.07617490e-02 5.46693180e-04 9.99941941e-01 -6.53974642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters 0.033074255379234065 Centerline is valid? [True, True] Translation: X:38.10, Y:-0.00, Z:-0.65 [[ 9.99815322e-01 1.56548705e-02 1.11466219e-02 3.81004192e+01] [-1.56475578e-02 9.99877293e-01 -7.42952915e-04 -4.09119499e-03] [-1.11568849e-02 5.68398298e-04 9.99937598e-01 -6.52629294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194391417999995 meters 0.03362092620053569 Centerline is valid? [True, True] Translation: X:38.13, Y:-0.01, Z:-0.65 [[ 9.99776318e-01 1.76288196e-02 1.16849397e-02 3.81307137e+01] [-1.76208577e-02 9.99844433e-01 -7.83990871e-04 -5.59730556e-03] [-1.16969427e-02 5.77916847e-04 9.99931421e-01 -6.54041115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224391417999996 meters 0.0327019605522935 Centerline is valid? [True, True] Translation: X:38.16, Y:-0.01, Z:-0.65 [[ 9.99745586e-01 1.89304836e-02 1.22638074e-02 3.81631048e+01] [-1.89218256e-02 9.99820629e-01 -8.21638273e-04 -5.98043318e-03] [-1.22771617e-02 5.89375611e-04 9.99924459e-01 -6.52976234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254391418 meters 0.031957702768360234 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.00, Z:-0.65 [[ 9.99700498e-01 2.10421084e-02 1.24957301e-02 3.81952015e+01] [-2.10332257e-02 9.99778423e-01 -8.41869939e-04 -4.95462985e-03] [-1.25106761e-02 5.78792285e-04 9.99921571e-01 -6.53041874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284391418 meters 0.031634008055606934 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.00, Z:-0.65 [[ 9.99645996e-01 2.33489097e-02 1.27558404e-02 3.82254019e+01] [-2.33398282e-02 9.99727219e-01 -8.60369015e-04 -4.53353250e-03] [-1.27724495e-02 5.62345317e-04 9.99918271e-01 -6.53409165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31439141799999 meters 0.02843003524011972 Centerline is valid? [True, True] Translation: X:38.26, Y:0.00, Z:-0.65 [[ 9.99498056e-01 2.88796227e-02 1.30231693e-02 3.82568875e+01] [-2.88706217e-02 9.99582771e-01 -8.78660026e-04 1.51754743e-03] [-1.30431110e-02 5.02231993e-04 9.99914809e-01 -6.52931012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters 0.02732290925817122 Centerline is valid? [True, True] Translation: X:38.29, Y:0.00, Z:-0.65 [[ 9.99399503e-01 3.19389144e-02 1.34365014e-02 3.82860254e+01] [-3.19296020e-02 9.99489709e-01 -9.07071441e-04 3.11889308e-03] [-1.34586157e-02 4.77504606e-04 9.99909315e-01 -6.53356656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374391417999995 meters 0.025823994081322497 Centerline is valid? [True, True] Translation: X:38.32, Y:0.01, Z:-0.65 [[ 9.99308014e-01 3.48443482e-02 1.30140143e-02 3.83165328e+01] [-3.48358656e-02 9.99392661e-01 -8.77986736e-04 5.31382636e-03] [-1.30367033e-02 4.24024727e-04 9.99914929e-01 -6.53713823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404391417999996 meters 0.02500538635319126 Centerline is valid? [True, True] Translation: X:38.35, Y:0.01, Z:-0.66 [[ 9.99103551e-01 4.05935756e-02 1.20106928e-02 3.83454588e+01] [-4.05867654e-02 9.99175689e-01 -8.10319829e-04 1.04087835e-02] [-1.20336861e-02 3.22118246e-04 9.99927541e-01 -6.57063512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434391418 meters 0.02245064119626669 Centerline is valid? [True, True] Translation: X:38.37, Y:0.01, Z:-0.66 [[ 9.99032032e-01 4.22317001e-02 1.23077959e-02 3.83744034e+01] [-4.22246805e-02 9.99107796e-01 -8.29755475e-04 1.16839834e-02] [-1.23318568e-02 3.09259550e-04 9.99923912e-01 -6.55354317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464391418 meters 0.022085514975439757 Centerline is valid? [True, True] Translation: X:38.40, Y:0.01, Z:-0.66 [[ 9.98946649e-01 4.42502430e-02 1.21452887e-02 3.84034015e+01] [-4.42435672e-02 9.99020439e-01 -8.17936308e-04 1.36990095e-02] [-1.21695856e-02 2.79723836e-04 9.99925909e-01 -6.57142995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494391418 meters 0.02021319870429761 Centerline is valid? [True, True] Translation: X:38.43, Y:0.02, Z:-0.66 [[ 9.98827082e-01 4.70596942e-02 1.13949901e-02 3.84313563e+01] [-4.70540077e-02 9.98892052e-01 -7.66771933e-04 1.71728300e-02] [-1.14184491e-02 2.29692619e-04 9.99934781e-01 -6.57406464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters 0.01971623141044366 Centerline is valid? [True, True] Translation: X:38.46, Y:0.02, Z:-0.66 [[ 9.98780124e-01 4.81019557e-02 1.11564352e-02 3.84600591e+01] [-4.80965821e-02 9.98842408e-01 -7.49616612e-04 1.72296143e-02] [-1.11795786e-02 2.12115772e-04 9.99937484e-01 -6.58271197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554391417999994 meters 0.019274775549588445 Centerline is valid? [True, True] Translation: X:38.49, Y:0.02, Z:-0.66 [[ 9.98721915e-01 4.92175516e-02 1.14964940e-02 3.84893813e+01] [-4.92119292e-02 9.98788061e-01 -7.71607431e-04 1.73446409e-02] [-1.15205376e-02 2.04856600e-04 9.99933615e-01 -6.58819413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584391417999996 meters 0.016498177873345947 Centerline is valid? [True, True] Translation: X:38.52, Y:0.02, Z:-0.66 [[ 9.98637293e-01 5.09167266e-02 1.14474466e-02 3.85188041e+01] [-5.09112720e-02 9.98702885e-01 -7.67582596e-04 2.16658066e-02] [-1.14716808e-02 1.83732537e-04 9.99934181e-01 -6.57669745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614391418 meters 0.01671724463773413 Centerline is valid? [True, True] Translation: X:38.55, Y:0.02, Z:-0.66 [[ 9.98572731e-01 5.21476813e-02 1.15377718e-02 3.85467551e+01] [-5.21422301e-02 9.98639370e-01 -7.72978750e-04 2.10772476e-02] [-1.15623822e-02 1.70270348e-04 9.99933139e-01 -6.58606164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644391418 meters 0.016715335499841655 Centerline is valid? [True, True] Translation: X:38.58, Y:0.02, Z:-0.66 [[ 9.98334082e-01 5.65046487e-02 1.16741211e-02 3.85755762e+01] [-5.64993866e-02 9.98402329e-01 -7.80321343e-04 2.49880961e-02] [-1.16995615e-02 1.19440708e-04 9.99931551e-01 -6.59881972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674391418 meters 0.015697864054233884 Centerline is valid? [True, True] Translation: X:38.60, Y:0.03, Z:-0.66 [[ 9.98224847e-01 5.83870661e-02 1.17518325e-02 3.86044922e+01] [-5.83818755e-02 9.98294015e-01 -7.84549747e-04 2.61904374e-02] [-1.17775916e-02 9.70630307e-05 9.99930637e-01 -6.58930137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters 0.01448338900608392 Centerline is valid? [True, True] Translation: X:38.63, Y:0.03, Z:-0.66 [[ 9.97996870e-01 6.20285496e-02 1.24381044e-02 3.86335581e+01] [-6.20230312e-02 9.98074374e-01 -8.29290159e-04 2.98260539e-02] [-1.24655929e-02 5.61800446e-05 9.99922300e-01 -6.57939858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734391417999994 meters 0.014516121551460407 Centerline is valid? [True, True] Translation: X:38.66, Y:0.03, Z:-0.66 [[ 9.97919163e-01 6.32166439e-02 1.26886078e-02 3.86616876e+01] [-6.32110093e-02 9.97999827e-01 -8.45027828e-04 2.92636548e-02] [-1.27166482e-02 4.12097584e-05 9.99919139e-01 -6.58305506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764391417999995 meters 0.015540118891006621 Centerline is valid? [True, True] Translation: X:38.69, Y:0.03, Z:-0.66 [[ 9.97850951e-01 6.42270462e-02 1.29756126e-02 3.86886756e+01] [-6.42212543e-02 9.97935311e-01 -8.62980598e-04 2.84597452e-02] [-1.30042486e-02 2.78158972e-05 9.99915441e-01 -6.60065108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794391418 meters 0.014569292674643327 Centerline is valid? [True, True] Translation: X:38.72, Y:0.03, Z:-0.66 [[ 9.97808075e-01 6.47611680e-02 1.36028363e-02 3.87179295e+01] [-6.47548834e-02 9.97900792e-01 -9.02409820e-04 2.72624725e-02] [-1.36327222e-02 1.95817274e-05 9.99907070e-01 -6.59173241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824391418 meters 0.014439790689757055 Centerline is valid? [True, True] Translation: X:38.75, Y:0.03, Z:-0.66 [[ 9.97836018e-01 6.43152854e-02 1.36684015e-02 3.87457976e+01] [-6.43089106e-02 9.97929629e-01 -9.05856701e-04 2.58520968e-02] [-1.36983632e-02 2.48964361e-05 9.99906173e-01 -6.59326362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854391418 meters 0.01452154168833335 Centerline is valid? [True, True] Translation: X:38.77, Y:0.02, Z:-0.66 [[ 9.97898467e-01 6.33718890e-02 1.35149221e-02 3.87733076e+01] [-6.33655917e-02 9.97989981e-01 -8.94079458e-04 2.39288665e-02] [-1.35444164e-02 3.58194837e-05 9.99908270e-01 -6.59888129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters 0.014688331370364188 Centerline is valid? [True, True] Translation: X:38.80, Y:0.02, Z:-0.66 [[ 9.97993730e-01 6.19731580e-02 1.29554020e-02 3.88016618e+01] [-6.19672751e-02 9.98077815e-01 -8.55405263e-04 2.17106979e-02] [-1.29835115e-02 5.08781309e-05 9.99915709e-01 -6.60845088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914391417999994 meters 0.017589651383790435 Centerline is valid? [True, True] Translation: X:38.83, Y:0.02, Z:-0.66 [[ 9.98091246e-01 6.05090618e-02 1.23497850e-02 3.88289739e+01] [-6.05036139e-02 9.98167646e-01 -8.14617951e-04 1.86163467e-02] [-1.23764475e-02 6.58564253e-05 9.99923407e-01 -6.64315897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944391417999995 meters 0.015127538002919253 Centerline is valid? [True, True] Translation: X:38.86, Y:0.01, Z:-0.66 [[ 9.98248891e-01 5.78914870e-02 1.21543010e-02 3.88578488e+01] [-5.78860317e-02 9.98322877e-01 -8.00447610e-04 1.48682925e-02] [-1.21802559e-02 9.54816842e-05 9.99925813e-01 -6.63154997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974391417999996 meters 0.016663649968038572 Centerline is valid? [True, True] Translation: X:38.89, Y:0.01, Z:-0.67 [[ 9.98579883e-01 5.20616775e-02 1.13048055e-02 3.88854164e+01] [-5.20565893e-02 9.98643859e-01 -7.44084461e-04 7.25133877e-03] [-1.13282129e-02 1.54538157e-04 9.99935822e-01 -6.65059492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004391418 meters 0.01782677631616064 Centerline is valid? [True, True] Translation: X:38.91, Y:0.00, Z:-0.67 [[ 9.98731725e-01 4.90741024e-02 1.12549361e-02 3.89124664e+01] [-4.90688883e-02 9.98795123e-01 -7.39111777e-04 2.49036071e-03] [-1.12776465e-02 1.85907179e-04 9.99936388e-01 -6.65536663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034391418 meters 0.018725555042474508 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.00, Z:-0.66 [[ 9.98970053e-01 4.37869248e-02 1.18970337e-02 3.89407620e+01] [-4.37807396e-02 9.99040859e-01 -7.79965581e-04 -1.68763476e-03] [-1.19197751e-02 2.58301322e-04 9.99928924e-01 -6.64177549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters 0.02195073853720927 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.01, Z:-0.67 [[ 9.99067178e-01 4.15087477e-02 1.19078668e-02 3.89681050e+01] [-4.15024038e-02 9.99138100e-01 -7.79480045e-04 -8.61672118e-03] [-1.19299587e-02 2.84547832e-04 9.99928795e-01 -6.65678591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094391417999994 meters 0.020680199647412217 Centerline is valid? [True, True] Translation: X:39.00, Y:-0.01, Z:-0.66 [[ 9.99154492e-01 3.92218677e-02 1.23266392e-02 3.89972779e+01] [-3.92149132e-02 9.99230475e-01 -8.05474413e-04 -9.33953020e-03] [-1.23487458e-02 3.21405291e-04 9.99923700e-01 -6.64344174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters 0.02184994990104171 Centerline is valid? [True, True] Translation: X:39.03, Y:-0.01, Z:-0.67 [[ 9.99216024e-01 3.76522273e-02 1.22330320e-02 3.90261380e+01] [-3.76452723e-02 9.99290847e-01 -7.98390947e-04 -1.29698525e-02] [-1.22544181e-02 3.37249206e-04 9.99924855e-01 -6.65875123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154391417999996 meters 0.023265476574825153 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.02, Z:-0.67 [[ 9.99335380e-01 3.44416121e-02 1.19403837e-02 3.90546851e+01] [-3.44347694e-02 9.99406644e-01 -7.78248279e-04 -1.83960302e-02] [-1.19601029e-02 3.66566682e-04 9.99928408e-01 -6.66654090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184391418 meters 0.026444343229955477 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.03, Z:-0.67 [[ 9.99375732e-01 3.32654305e-02 1.18978243e-02 3.90831867e+01] [-3.32585617e-02 9.99446481e-01 -7.74766847e-04 -2.52609366e-02] [-1.19170116e-02 3.78578661e-04 9.99928918e-01 -6.67912176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214391418 meters 0.023973277757707006 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.02, Z:-0.67 [[ 9.99417931e-01 3.21191862e-02 1.14959320e-02 3.91118621e+01] [-3.21127036e-02 9.99483974e-01 -7.48092976e-04 -2.32055715e-02] [-1.15140279e-02 3.78492077e-04 9.99933640e-01 -6.67814703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244391418 meters 0.024429339873623328 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.03, Z:-0.67 [[ 9.99443444e-01 3.13457506e-02 1.14125576e-02 3.91410208e+01] [-3.13393217e-02 9.99508528e-01 -7.41766077e-04 -2.56198013e-02] [-1.14301998e-02 3.83691430e-04 9.99934600e-01 -6.68461662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27439141799999 meters 0.02459495924897131 Centerline is valid? [True, True] Translation: X:39.17, Y:-0.03, Z:-0.67 [[ 9.99453726e-01 3.10041784e-02 1.14450903e-02 3.91695922e+01] [-3.09977009e-02 9.99519180e-01 -7.42967304e-04 -2.73444725e-02] [-1.14626224e-02 3.87789953e-04 9.99934227e-01 -6.68647783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters 0.02459495924897131 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.03, Z:-0.67 [[ 9.99456160e-01 3.09255969e-02 1.14451487e-02 3.91978581e+01] [-3.09191245e-02 9.99521614e-01 -7.42067494e-04 -2.90973694e-02] [-1.14626223e-02 3.87789952e-04 9.99934227e-01 -6.69158798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334391417999996 meters 0.024561671184358043 Centerline is valid? [True, True] Translation: X:39.23, Y:-0.03, Z:-0.67 [[ 9.99462925e-01 3.08020944e-02 1.11845112e-02 3.92262731e+01] [-3.07959152e-02 9.99525431e-01 -7.24321101e-04 -2.97905502e-02] [-1.12015139e-02 3.79494828e-04 9.99937189e-01 -6.69326548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364391418 meters 0.024490428088043234 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.03, Z:-0.67 [[ 9.99450371e-01 3.14042920e-02 1.06172555e-02 3.92539958e+01] [-3.13987644e-02 9.99506701e-01 -6.86954553e-04 -3.03603695e-02] [-1.06335913e-02 3.53208280e-04 9.99943399e-01 -6.69700507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394391418 meters 0.023846251738670433 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.03, Z:-0.67 [[ 9.99398792e-01 3.32630778e-02 9.77867995e-03 3.92824191e+01] [-3.32584875e-02 9.99446584e-01 -6.31706385e-04 -2.83087094e-02] [-9.79428077e-03 3.06102493e-04 9.99951988e-01 -6.70439160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424391418 meters 0.023609112236814455 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.03, Z:-0.67 [[ 9.99341643e-01 3.51420746e-02 9.01753142e-03 3.93112803e+01] [-3.51382529e-02 9.99382291e-01 -5.81939312e-04 -2.77902959e-02] [-9.03241177e-03 2.64695888e-04 9.99959172e-01 -6.72363537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45439141799999 meters 0.023394136680696724 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.03, Z:-0.67 [[ 9.99268981e-01 3.72615444e-02 8.54872088e-03 3.93389726e+01] [-3.72581907e-02 9.99305521e-01 -5.51284590e-04 -2.70568910e-02] [-8.56332568e-03 2.32371718e-04 9.99963307e-01 -6.73924357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters 0.02253583514758978 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.03, Z:-0.67 [[ 9.99187662e-01 3.94971755e-02 7.99935237e-03 3.93675391e+01] [-3.94943177e-02 9.99219662e-01 -5.14971570e-04 -2.61318262e-02] [-8.01345010e-03 1.98624275e-04 9.99967872e-01 -6.74828722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514391417999995 meters 0.019875387927061727 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.02, Z:-0.67 [[ 9.98987326e-01 4.43019812e-02 7.85224108e-03 3.93960248e+01] [-4.42993789e-02 9.99018173e-01 -5.05112709e-04 -2.07947766e-02] [-7.86690903e-03 1.56751792e-04 9.99969043e-01 -6.74401818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544391418 meters 0.01859655514381257 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.02, Z:-0.67 [[ 9.98840130e-01 4.74799996e-02 8.00282185e-03 3.94252580e+01] [-4.74774064e-02 9.98872180e-01 -5.13808444e-04 -1.77288592e-02] [-8.01819173e-03 1.33259267e-04 9.99967845e-01 -6.74702412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574391418 meters 0.017360327945501047 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.01, Z:-0.67 [[ 9.98672495e-01 5.08094467e-02 8.46444854e-03 3.94543393e+01] [-5.08066713e-02 9.98708360e-01 -5.42739836e-04 -1.44592271e-02] [-8.48109183e-03 1.11968892e-04 9.99964029e-01 -6.74244487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604391418 meters 0.015546646149716882 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.01, Z:-0.67 [[ 9.98309246e-01 5.74156323e-02 9.06064279e-03 3.94843367e+01] [-5.74127257e-02 9.98350360e-01 -5.80790365e-04 -5.32691481e-03] [-9.07904244e-03 5.96121922e-05 9.99958783e-01 -6.72548934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63439141799999 meters 0.015427258547094104 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.00, Z:-0.67 [[ 9.98140679e-01 6.02556736e-02 9.18905182e-03 3.95122782e+01] [-6.02528200e-02 9.98182976e-01 -5.87313600e-04 -3.49446190e-03] [-9.20774407e-03 3.25553102e-05 9.99957607e-01 -6.73873374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters 0.01678084132780858 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.00, Z:-0.67 [[ 9.97979741e-01 6.29811541e-02 8.35523824e-03 3.95406588e+01] [-6.29788939e-02 9.98014716e-01 -5.33606209e-04 -1.38491929e-03] [-8.37225786e-03 6.32452427e-06 9.99964952e-01 -6.74259433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694391417999995 meters 0.015238992187083859 Centerline is valid? [True, True] Translation: X:39.57, Y:0.00, Z:-0.67 [[ 9.97815155e-01 6.54273903e-02 9.17455068e-03 3.95690434e+01] [-6.54247825e-02 9.97857333e-01 -5.84402528e-04 1.12295264e-03] [-9.19312860e-03 -1.71172837e-05 9.99957742e-01 -6.73150265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724391417999996 meters 0.015169584641220556 Centerline is valid? [True, True] Translation: X:39.60, Y:0.00, Z:-0.67 [[ 9.97795623e-01 6.57133069e-02 9.25508872e-03 3.95956898e+01] [-6.57106712e-02 9.97838544e-01 -5.88919445e-04 7.30786568e-04] [-9.27378410e-03 -2.05368467e-05 9.99956997e-01 -6.73448187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754391418 meters 0.018076097199950153 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.00, Z:-0.68 [[ 9.97768930e-01 6.62764056e-02 8.03738079e-03 3.96246206e+01] [-6.62744472e-02 9.97801302e-01 -5.10056194e-04 -6.87874414e-04] [-8.05351370e-03 -2.37547458e-05 9.99967570e-01 -6.76653508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784391418 meters 0.016468870284724327 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.00, Z:-0.68 [[ 9.97832924e-01 6.51710533e-02 9.06588255e-03 3.96525613e+01] [-6.51685186e-02 9.97874107e-01 -5.75033054e-04 -1.99781141e-03] [-9.08408497e-03 -1.70232228e-05 9.99958739e-01 -6.75959178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81439141799999 meters 0.01514183364867999 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.00, Z:-0.67 [[ 9.97969897e-01 6.30481186e-02 9.00109099e-03 3.96807022e+01] [-6.30455484e-02 9.98010488e-01 -5.69284910e-04 -2.78502330e-03] [-9.01907555e-03 6.50484824e-07 9.99959327e-01 -6.74730143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters 0.015382596139908737 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.00, Z:-0.68 [[ 9.98023241e-01 6.22241616e-02 8.81837558e-03 3.97088879e+01] [-6.22216713e-02 9.98062199e-01 -5.56732577e-04 -4.65862228e-03] [-8.83592954e-03 6.93798453e-06 9.99960962e-01 -6.75823005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874391417999995 meters 0.01545471917411698 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.01, Z:-0.68 [[ 9.98101454e-01 6.08940904e-02 9.24102091e-03 3.97358896e+01] [-6.08913084e-02 9.98144233e-01 -5.82371492e-04 -7.45052011e-03] [-9.25933471e-03 1.85679791e-05 9.99957131e-01 -6.78664830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904391417999996 meters 0.016703283440383056 Centerline is valid? [True, True] Translation: X:39.76, Y:-0.01, Z:-0.68 [[ 9.98218829e-01 5.90186324e-02 8.71604872e-03 3.97641100e+01] [-5.90160984e-02 9.98256881e-01 -5.47867497e-04 -9.88036604e-03] [-8.73319000e-03 3.25044622e-05 9.99961864e-01 -6.77867279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934391418 meters 0.015334531060704511 Centerline is valid? [True, True] Translation: X:39.79, Y:-0.01, Z:-0.68 [[ 9.98324634e-01 5.70346445e-02 9.74549178e-03 3.97916307e+01] [-5.70313920e-02 9.98372198e-01 -6.11547421e-04 -1.22890534e-02] [-9.76450744e-03 5.47238924e-05 9.99952325e-01 -6.76326172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964391418 meters 0.015497294606883134 Centerline is valid? [True, True] Translation: X:39.82, Y:-0.01, Z:-0.68 [[ 9.98404632e-01 5.55236575e-02 1.02623110e-02 3.98199939e+01] [-5.55199881e-02 9.98457369e-01 -6.42329954e-04 -1.46618275e-02] [-1.02821446e-02 7.15418147e-05 9.99947135e-01 -6.76243492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994391418 meters 0.015634884623947135 Centerline is valid? [True, True] Translation: X:39.85, Y:-0.02, Z:-0.68 [[ 9.98473554e-01 5.41785635e-02 1.07352658e-02 3.98487389e+01] [-5.41744802e-02 9.98531259e-01 -6.71016227e-04 -1.70154418e-02] [-1.07558532e-02 8.84145114e-05 9.99942150e-01 -6.76241426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters 0.017622872989641995 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.02, Z:-0.68 [[ 9.98615282e-01 5.15225786e-02 1.06274148e-02 3.98757765e+01] [-5.15184322e-02 9.98671823e-01 -6.63735386e-04 -2.08739281e-02] [-1.06474971e-02 1.15308550e-04 9.99943307e-01 -6.78375539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054391417999994 meters 0.016677213083466834 Centerline is valid? [True, True] Translation: X:39.90, Y:-0.02, Z:-0.68 [[ 9.98711137e-01 4.94276818e-02 1.15312294e-02 3.99042515e+01] [-4.94226812e-02 9.98777694e-01 -7.18394924e-04 -2.47206865e-02] [-1.15526433e-02 1.47564737e-04 9.99933255e-01 -6.77651117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084391417999996 meters 0.01667187482794955 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.03, Z:-0.68 [[ 9.98787537e-01 4.78329871e-02 1.16388059e-02 3.99327681e+01] [-4.78277950e-02 9.98855334e-01 -7.24196293e-04 -2.75898106e-02] [-1.16601238e-02 1.66659812e-04 9.99932005e-01 -6.78036253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114391418 meters 0.01886057823801525 Centerline is valid? [True, True] Translation: X:39.96, Y:-0.03, Z:-0.68 [[ 9.98835199e-01 4.70149114e-02 1.08556066e-02 3.99613385e+01] [-4.70103548e-02 9.98894174e-01 -6.74682638e-04 -3.04913907e-02] [-1.08753223e-02 1.63570851e-04 9.99940849e-01 -6.81049520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144391418 meters 0.01759527236636365 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.03, Z:-0.68 [[ 9.98898695e-01 4.52266075e-02 1.24880076e-02 3.99895233e+01] [-4.52204515e-02 9.98976732e-01 -7.75029737e-04 -3.34515140e-02] [-1.25102810e-02 2.09462853e-04 9.99921721e-01 -6.78828171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174391418 meters 0.017484947163092186 Centerline is valid? [True, True] Translation: X:40.02, Y:-0.03, Z:-0.68 [[ 9.98905341e-01 4.52023099e-02 1.20362434e-02 4.00174211e+01] [-4.51966015e-02 9.98977833e-01 -7.45994367e-04 -3.40905282e-02] [-1.20576611e-02 2.01180460e-04 9.99927284e-01 -6.79608782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters 0.019095658083121816 Centerline is valid? [True, True] Translation: X:40.04, Y:-0.04, Z:-0.68 [[ 9.98897416e-01 4.56415506e-02 1.09909149e-02 4.00442786e+01] [-4.56368284e-02 9.98957866e-01 -6.80198437e-04 -3.68840574e-02] [-1.10105062e-02 1.77857965e-04 9.99939367e-01 -6.82499763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234391417999994 meters 0.019421302632923864 Centerline is valid? [True, True] Translation: X:40.07, Y:-0.04, Z:-0.68 [[ 9.98851469e-01 4.68909200e-02 9.84808571e-03 4.00728118e+01] [-4.68872053e-02 9.98900005e-01 -6.07875274e-04 -3.58556659e-02] [-9.86575670e-03 1.45427895e-04 9.99951322e-01 -6.84170903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264391417999995 meters 0.017453439450028693 Centerline is valid? [True, True] Translation: X:40.10, Y:-0.04, Z:-0.68 [[ 9.98823255e-01 4.71784157e-02 1.12384114e-02 4.01002311e+01] [-4.71736070e-02 9.98886465e-01 -6.92723958e-04 -3.86710374e-02] [-1.12585787e-02 1.61752395e-04 9.99936607e-01 -6.83016203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294391418 meters 0.016541102595022582 Centerline is valid? [True, True] Translation: X:40.13, Y:-0.04, Z:-0.68 [[ 9.98775714e-01 4.82440378e-02 1.09355051e-02 4.01287509e+01] [-4.82395616e-02 9.98835568e-01 -6.72886678e-04 -3.76319564e-02] [-1.09552342e-02 1.44538904e-04 9.99939979e-01 -6.83354121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324391418 meters 0.01601577352095567 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.04, Z:-0.68 [[ 9.98713500e-01 4.96376623e-02 1.03656822e-02 4.01580320e+01] [-4.96337233e-02 9.98767284e-01 -6.37075256e-04 -3.82270759e-02] [-1.03845272e-02 1.21768256e-04 9.99946072e-01 -6.83949823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354391418 meters 0.015312270806445392 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.04, Z:-0.68 [[ 9.98509298e-01 5.36926170e-02 9.81248409e-03 4.01871024e+01] [-5.36892897e-02 9.98557508e-01 -6.02381892e-04 -3.55986958e-02] [-9.83067312e-03 7.46586186e-05 9.99951675e-01 -6.84839883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters 0.015168448602444911 Centerline is valid? [True, True] Translation: X:40.21, Y:-0.03, Z:-0.69 [[ 9.98382255e-01 5.60651852e-02 9.46400296e-03 4.02146801e+01] [-5.60621981e-02 9.98427109e-01 -5.80831512e-04 -3.47279205e-02] [-9.48168154e-03 4.93190663e-05 9.99955047e-01 -6.85813931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414391417999994 meters 0.015067415316083379 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.03, Z:-0.69 [[ 9.98225855e-01 5.87857290e-02 9.45414543e-03 4.02422527e+01] [-5.87828876e-02 9.98270623e-01 -5.78382475e-04 -3.31003564e-02] [-9.47179628e-03 2.16143727e-05 9.99955141e-01 -6.86482724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444391417999995 meters 0.015017154742289896 Centerline is valid? [True, True] Translation: X:40.27, Y:-0.03, Z:-0.69 [[ 9.98056047e-01 6.16335019e-02 9.24324280e-03 4.02705164e+01] [-6.16309141e-02 9.98098849e-01 -5.64826484e-04 -3.15184292e-02] [-9.26048223e-03 -5.94101406e-06 9.99957121e-01 -6.86087755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474391417999996 meters 0.01597380073837585 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.03, Z:-0.69 [[ 9.97682324e-01 6.73656769e-02 9.58366932e-03 4.02986380e+01] [-6.73631730e-02 9.97728351e-01 -5.84191746e-04 -2.78275118e-02] [-9.60125306e-03 -6.27485969e-05 9.99953905e-01 -6.87073653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504391418 meters 0.01579530085740858 Centerline is valid? [True, True] Translation: X:40.33, Y:-0.03, Z:-0.69 [[ 9.97520776e-01 6.96771169e-02 9.86916421e-03 4.03278120e+01] [-6.96745868e-02 9.97569592e-01 -6.00370495e-04 -2.77548628e-02] [-9.88701020e-03 -8.87478961e-05 9.99951118e-01 -6.86649786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534391418 meters 0.016084356525826637 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.03, Z:-0.69 [[ 9.97392551e-01 7.14303892e-02 1.02858601e-02 4.03555421e+01] [-7.14277418e-02 9.97445581e-01 -6.24977780e-04 -2.75018314e-02] [-1.03042281e-02 -1.11347575e-04 9.99946904e-01 -6.86624769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters 0.016860378902417095 Centerline is valid? [True, True] Translation: X:40.38, Y:-0.03, Z:-0.69 [[ 9.97187506e-01 7.41990630e-02 1.05629717e-02 4.03847642e+01] [-7.41964241e-02 9.97243440e-01 -6.42028394e-04 -2.63860091e-02] [-1.05814921e-02 -1.43512036e-04 9.99944004e-01 -6.86268010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594391417999994 meters 0.017382791644515505 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.03, Z:-0.69 [[ 9.97127325e-01 7.50324799e-02 1.03549132e-02 4.04128436e+01] [-7.50300279e-02 9.97181079e-01 -6.25617728e-04 -2.66851247e-02] [-1.03726652e-02 -1.53108893e-04 9.99946191e-01 -6.86544896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624391417999995 meters 0.01786623164288963 Centerline is valid? [True, True] Translation: X:40.44, Y:-0.03, Z:-0.69 [[ 9.97075574e-01 7.57605596e-02 1.00318029e-02 4.04413775e+01] [-7.57582983e-02 9.97126027e-01 -6.05774013e-04 -2.83776565e-02] [-1.00488655e-02 -1.55989844e-04 9.99949497e-01 -6.87140433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654391417999996 meters 0.01729488250775478 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.03, Z:-0.69 [[ 9.97055194e-01 7.59939541e-02 1.02887944e-02 4.04698645e+01] [-7.59916348e-02 9.97108264e-01 -6.16739470e-04 -3.02276296e-02] [-1.03059104e-02 -1.66939017e-04 9.99946879e-01 -6.86278508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684391418 meters 0.017266091584507832 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.03, Z:-0.69 [[ 9.97082049e-01 7.55745104e-02 1.07648387e-02 4.04982836e+01] [-7.55719571e-02 9.97140143e-01 -6.44348618e-04 -3.47383323e-02] [-1.07827491e-02 -1.71051487e-04 9.99941850e-01 -6.87019051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714391418 meters 0.01809671329665906 Centerline is valid? [True, True] Translation: X:40.53, Y:-0.04, Z:-0.69 [[ 9.97117181e-01 7.51429362e-02 1.05292872e-02 4.05258497e+01] [-7.51404746e-02 9.97172760e-01 -6.29748456e-04 -3.86109077e-02] [-1.05468395e-02 -1.63242630e-04 9.99944367e-01 -6.88433798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744391418 meters 0.016496836598356428 Centerline is valid? [True, True] Translation: X:40.55, Y:-0.04, Z:-0.69 [[ 9.97224134e-01 7.36343565e-02 1.10457386e-02 4.05543337e+01] [-7.36315738e-02 9.97285294e-01 -6.58941168e-04 -4.28280200e-02] [-1.10642734e-02 -1.56203082e-04 9.99938777e-01 -6.86666670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77439141799999 meters 0.017297839167958802 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.05, Z:-0.69 [[ 9.97405788e-01 7.11673313e-02 1.08122379e-02 4.05822451e+01] [-7.11645276e-02 9.97464383e-01 -6.44305454e-04 -4.66093475e-02] [-1.08306757e-02 -1.26813816e-04 9.99941338e-01 -6.88275333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters 0.01617496262769846 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.05, Z:-0.69 [[ 9.97484964e-01 7.00554300e-02 1.07695890e-02 4.06108311e+01] [-7.00525968e-02 9.97543093e-01 -6.40541304e-04 -5.09081388e-02] [-1.07880026e-02 -1.15507360e-04 9.99941801e-01 -6.87617839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834391417999996 meters 0.015893116039058942 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.05, Z:-0.69 [[ 9.97552793e-01 6.91266046e-02 1.04851464e-02 4.06397117e+01] [-6.91238762e-02 9.97607890e-01 -6.22831629e-04 -5.48836351e-02] [-1.05031190e-02 -1.03466530e-04 9.99944835e-01 -6.88025353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864391418 meters 0.017918542382068345 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.06, Z:-0.69 [[ 9.97586630e-01 6.87546169e-02 9.68077817e-03 4.06670802e+01] [-6.87522784e-02 9.97633597e-01 -5.74539234e-04 -5.80104597e-02] [-9.69737178e-03 -9.24228974e-05 9.99952975e-01 -6.91249732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894391418 meters 0.016081750897682098 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.06, Z:-0.69 [[ 9.97658535e-01 6.76383709e-02 1.01241857e-02 4.06954468e+01] [-6.76357688e-02 9.97709899e-01 -5.99580256e-04 -6.38985122e-02] [-1.01415549e-02 -8.65807229e-05 9.99948569e-01 -6.90002557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924391418 meters 0.016075901162772688 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.07, Z:-0.69 [[ 9.97653067e-01 6.76492193e-02 1.05802647e-02 4.07221879e+01] [-6.76463769e-02 9.97709164e-01 -6.26699766e-04 -6.72027694e-02] [-1.05984228e-02 -9.04876309e-05 9.99943831e-01 -6.90475094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95439141799999 meters 0.015988642254651294 Centerline is valid? [True, True] Translation: X:40.75, Y:-0.07, Z:-0.69 [[ 9.97638282e-01 6.78573761e-02 1.06412009e-02 4.07496334e+01] [-6.78545443e-02 9.97695027e-01 -6.27344052e-04 -7.06812508e-02] [-1.06592431e-02 -9.61913959e-05 9.99943184e-01 -6.90144163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters 0.01608883323413913 Centerline is valid? [True, True] Translation: X:40.78, Y:-0.07, Z:-0.69 [[ 9.97587490e-01 6.85053148e-02 1.12348655e-02 4.07783551e+01] [-6.85022189e-02 9.97650745e-01 -6.60605617e-04 -7.49414797e-02] [-1.12537269e-02 -1.10601315e-04 9.99936669e-01 -6.89115079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014391417999995 meters 0.017507235525823197 Centerline is valid? [True, True] Translation: X:40.81, Y:-0.08, Z:-0.69 [[ 9.97525618e-01 6.95096851e-02 1.05378269e-02 4.08058602e+01] [-6.95070240e-02 9.97581270e-01 -6.18997862e-04 -7.72545113e-02] [-1.05553651e-02 -1.14986762e-04 9.99944284e-01 -6.91054521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044391418 meters 0.016569130389375745 Centerline is valid? [True, True] Translation: X:40.83, Y:-0.08, Z:-0.69 [[ 9.97535581e-01 6.93017896e-02 1.09556401e-02 4.08331233e+01] [-6.92989047e-02 9.97595734e-01 -6.43175776e-04 -8.03482963e-02] [-1.09738731e-02 -1.17623139e-04 9.99939778e-01 -6.90640612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074391418 meters 0.016441452834136006 Centerline is valid? [True, True] Translation: X:40.86, Y:-0.09, Z:-0.69 [[ 9.97492067e-01 7.00546020e-02 1.00960212e-02 4.08613592e+01] [-7.00522204e-02 9.97543151e-01 -5.89774187e-04 -8.69522175e-02] [-1.01125332e-02 -1.18953626e-04 9.99948860e-01 -6.91569488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104391418 meters 0.016513647405835694 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.09, Z:-0.69 [[ 9.97465405e-01 7.04737094e-02 9.80926667e-03 4.08899261e+01] [-7.04714889e-02 9.97513630e-01 -5.72266826e-04 -9.08313166e-02] [-9.82520697e-03 -1.20457266e-04 9.99951724e-01 -6.92334058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13439141799999 meters 0.016895368273665032 Centerline is valid? [True, True] Translation: X:40.92, Y:-0.09, Z:-0.69 [[ 9.97462209e-01 7.04921817e-02 9.99969313e-03 4.09162585e+01] [-7.04898786e-02 9.97512324e-01 -5.83013843e-04 -9.45627251e-02] [-1.00159151e-02 -1.23342879e-04 9.99949832e-01 -6.93319407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters 0.016810297139278386 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.10, Z:-0.69 [[ 9.97449534e-01 7.06485735e-02 1.01590929e-02 4.09441631e+01] [-7.06462210e-02 9.97501259e-01 -5.90690838e-04 -9.83793218e-02] [-1.01754394e-02 -1.28517219e-04 9.99948221e-01 -6.93255133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194391417999995 meters 0.016810297139278386 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.10, Z:-0.69 [[ 9.97457947e-01 7.05296837e-02 1.01591634e-02 4.09715804e+01] [-7.05273374e-02 9.97509673e-01 -5.89474476e-04 -9.98552620e-02] [-1.01754392e-02 -1.28522744e-04 9.99948221e-01 -6.93750854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224391417999996 meters 0.01667137706392854 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.10, Z:-0.69 [[ 9.97457510e-01 7.04962781e-02 1.04303146e-02 4.09983095e+01] [-7.04938152e-02 9.97512034e-01 -6.04044828e-04 -1.03669918e-01] [-1.04469472e-02 -1.32763617e-04 9.99945420e-01 -6.93909294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254391418 meters 0.016527456762357215 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.11, Z:-0.69 [[ 9.97543835e-01 6.93071688e-02 1.01396864e-02 4.10265171e+01] [-6.93047980e-02 9.97595360e-01 -5.85417846e-04 -1.11949379e-01] [-1.01558778e-02 -1.18748956e-04 9.99948421e-01 -6.94864071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284391418 meters 0.016321098048450756 Centerline is valid? [True, True] Translation: X:41.05, Y:-0.12, Z:-0.70 [[ 9.97612497e-01 6.83718046e-02 9.72634864e-03 4.10547383e+01] [-6.83695856e-02 9.97659905e-01 -5.60848586e-04 -1.17680198e-01] [-9.74193429e-03 -1.05476868e-04 9.99952541e-01 -6.95664811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31439141799999 meters 0.017972728830356555 Centerline is valid? [True, True] Translation: X:41.08, Y:-0.13, Z:-0.70 [[ 9.97730093e-01 6.68582162e-02 8.03992475e-03 4.10822561e+01] [-6.68566508e-02 9.97762483e-01 -4.63616288e-04 -1.26884022e-01] [-8.05293184e-03 -7.49585189e-05 9.99967572e-01 -6.99080578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters 0.015726827976584968 Centerline is valid? [True, True] Translation: X:41.11, Y:-0.13, Z:-0.70 [[ 9.97844948e-01 6.50583750e-02 8.53630547e-03 4.11112161e+01] [-6.50565577e-02 9.97881458e-01 -4.90688258e-04 -1.32305740e-01] [-8.55014433e-03 -6.57118504e-05 9.99963445e-01 -6.98066559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374391417999995 meters 0.015639190141955694 Centerline is valid? [True, True] Translation: X:41.14, Y:-0.14, Z:-0.70 [[ 9.97865155e-01 6.47332110e-02 8.64550782e-03 4.11384094e+01] [-6.47313362e-02 9.97902604e-01 -4.96797589e-04 -1.36616385e-01] [-8.65953407e-03 -6.38982699e-05 9.99962503e-01 -6.98602609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404391417999996 meters 0.015889908962964158 Centerline is valid? [True, True] Translation: X:41.17, Y:-0.14, Z:-0.70 [[ 9.97857278e-01 6.48589228e-02 8.61235176e-03 4.11655930e+01] [-6.48570776e-02 9.97894441e-01 -4.93658422e-04 -1.39709993e-01] [-8.62623610e-03 -6.59713169e-05 9.99962791e-01 -6.99625970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434391418 meters 0.01640405814783788 Centerline is valid? [True, True] Translation: X:41.19, Y:-0.14, Z:-0.70 [[ 9.97737940e-01 6.66325649e-02 8.89408232e-03 4.11927593e+01] [-6.66306827e-02 9.97777577e-01 -5.08090854e-04 -1.44739906e-01] [-8.90817131e-03 -8.56772552e-05 9.99960318e-01 -7.00453499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464391418 meters 0.017403935863319446 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.15, Z:-0.70 [[ 9.97628247e-01 6.83100118e-02 8.46301009e-03 4.12211160e+01] [-6.83083750e-02 9.97664138e-01 -4.82653249e-04 -1.49872251e-01] [-8.47621172e-03 -9.65859521e-05 9.99964072e-01 -7.00973904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494391418 meters 0.01704803520882671 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.15, Z:-0.70 [[ 9.97585412e-01 6.87492029e-02 9.84343455e-03 4.12491619e+01] [-6.87470185e-02 9.97633968e-01 -5.60504233e-04 -1.51605937e-01] [-9.85867889e-03 -1.17555931e-04 9.99951395e-01 -7.00865001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters 0.019463149492918247 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.16, Z:-0.70 [[ 9.97466642e-01 7.05435623e-02 9.15988908e-03 4.12780244e+01] [-7.05417552e-02 9.97508692e-01 -5.20617502e-04 -1.57780036e-01] [-9.17379518e-03 -1.26856062e-04 9.99957912e-01 -7.02439227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554391417999994 meters 0.01949148124857644 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.16, Z:-0.70 [[ 9.97389852e-01 7.14093019e-02 1.06861955e-02 4.13049461e+01] [-7.14068993e-02 9.97447085e-01 -6.06695749e-04 -1.64031682e-01] [-1.07022383e-02 -1.57955905e-04 9.99942717e-01 -7.02440633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584391417999996 meters 0.01827265157378727 Centerline is valid? [True, True] Translation: X:41.33, Y:-0.17, Z:-0.70 [[ 9.97401735e-01 7.11946219e-02 1.10048030e-02 4.13312905e+01] [-7.11920745e-02 9.97462430e-01 -6.23542512e-04 -1.67568151e-01] [-1.10212704e-02 -1.61532370e-04 9.99939251e-01 -7.02496746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614391418 meters 0.01691961163885605 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.17, Z:-0.70 [[ 9.97432732e-01 7.07169249e-02 1.12721596e-02 4.13596538e+01] [-7.07142562e-02 9.97496411e-01 -6.35641246e-04 -1.72251536e-01] [-1.12888894e-02 -1.63092999e-04 9.99936265e-01 -7.01985984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644391418 meters 0.0178622683433658 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.18, Z:-0.70 [[ 9.97491267e-01 6.99261835e-02 1.10227646e-02 4.13868400e+01] [-6.99235922e-02 9.97552157e-01 -6.20776785e-04 -1.79098074e-01] [-1.10391912e-02 -1.51531875e-04 9.99939055e-01 -7.04432698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674391418 meters 0.01886148955738417 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.18, Z:-0.71 [[ 9.97504856e-01 6.97306185e-02 1.10319330e-02 4.14141672e+01] [-6.97280179e-02 9.97565847e-01 -6.20654851e-04 -1.84616936e-01] [-1.10483582e-02 -1.50128595e-04 9.99938954e-01 -7.06544913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters 0.019952040321404317 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.19, Z:-0.71 [[ 9.97534215e-01 6.93579072e-02 1.07224069e-02 4.14413860e+01] [-6.93554429e-02 9.97591830e-01 -6.01943708e-04 -1.89590384e-01] [-1.07383351e-02 -1.43197833e-04 9.99942332e-01 -7.07887802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734391417999994 meters 0.016830388185604235 Centerline is valid? [True, True] Translation: X:41.47, Y:-0.20, Z:-0.71 [[ 9.97618451e-01 6.80087123e-02 1.14996087e-02 4.14695445e+01] [-6.80058092e-02 9.97684717e-01 -6.43745022e-04 -1.96125992e-01] [-1.15167641e-02 -1.39828281e-04 9.99933670e-01 -7.05198147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764391417999995 meters 0.016524763656953316 Centerline is valid? [True, True] Translation: X:41.50, Y:-0.20, Z:-0.71 [[ 9.97689107e-01 6.68766326e-02 1.19983739e-02 4.14980838e+01] [-6.68734041e-02 9.97761243e-01 -6.70529904e-04 -2.04845725e-01] [-1.20163553e-02 -1.33391727e-04 9.99927792e-01 -7.05278605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794391418 meters 0.016796749402331442 Centerline is valid? [True, True] Translation: X:41.53, Y:-0.21, Z:-0.71 [[ 9.97729351e-01 6.61883539e-02 1.24597019e-02 4.15258877e+01] [-6.61848317e-02 9.97807138e-01 -6.95267673e-04 -2.08698415e-01] [-1.24783981e-02 -1.30954310e-04 9.99922133e-01 -7.06004407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824391418 meters 0.017233598993748676 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.21, Z:-0.71 [[ 9.97755139e-01 6.57812895e-02 1.25500801e-02 4.15531084e+01] [-6.57777018e-02 9.97834057e-01 -6.98879321e-04 -2.13207556e-01] [-1.25688705e-02 -1.28204992e-04 9.99921000e-01 -7.06785275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854391418 meters 0.017739475507010376 Centerline is valid? [True, True] Translation: X:41.58, Y:-0.22, Z:-0.71 [[ 9.97781925e-01 6.53775371e-02 1.25302803e-02 4.15811330e+01] [-6.53739434e-02 9.97860593e-01 -6.96619349e-04 -2.17343079e-01] [-1.25490161e-02 -1.24079637e-04 9.99921250e-01 -7.07893018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters 0.017579892751887583 Centerline is valid? [True, True] Translation: X:41.61, Y:-0.22, Z:-0.71 [[ 9.97769634e-01 6.55478407e-02 1.26189312e-02 4.16087104e+01] [-6.55442303e-02 9.97849420e-01 -6.99906610e-04 -2.23404012e-01] [-1.26376705e-02 -1.28752570e-04 9.99920133e-01 -7.08372522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914391417999994 meters 0.01902814355254011 Centerline is valid? [True, True] Translation: X:41.64, Y:-0.23, Z:-0.71 [[ 9.97726431e-01 6.63897199e-02 1.15920145e-02 4.16375344e+01] [-6.63867427e-02 9.97793760e-01 -6.41860534e-04 -2.28781274e-01] [-1.16090526e-02 -1.29154862e-04 9.99932604e-01 -7.10190117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944391417999995 meters 0.018782339776701792 Centerline is valid? [True, True] Translation: X:41.67, Y:-0.23, Z:-0.71 [[ 9.97694115e-01 6.68311739e-02 1.18341389e-02 4.16663079e+01] [-6.68281145e-02 9.97764288e-01 -6.54217705e-04 -2.33139297e-01] [-1.18514033e-02 -1.38144033e-04 9.99929760e-01 -7.10581877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974391417999996 meters 0.016853221601096792 Centerline is valid? [True, True] Translation: X:41.69, Y:-0.24, Z:-0.71 [[ 9.97665659e-01 6.71232664e-02 1.25578304e-02 4.16940107e+01] [-6.71198584e-02 9.97744679e-01 -6.93120212e-04 -2.38689274e-01] [-1.25760330e-02 -1.51377567e-04 9.99920907e-01 -7.08788302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004391418 meters 0.01881663326079032 Centerline is valid? [True, True] Translation: X:41.72, Y:-0.24, Z:-0.71 [[ 9.97606813e-01 6.79446785e-02 1.28128173e-02 4.17228091e+01] [-6.79412187e-02 9.97689076e-01 -7.05615270e-04 -2.41478670e-01] [-1.28311506e-02 -1.66591821e-04 9.99917664e-01 -7.10972147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034391418 meters 0.017124726507654987 Centerline is valid? [True, True] Translation: X:41.75, Y:-0.24, Z:-0.71 [[ 9.97633257e-01 6.73991678e-02 1.36101734e-02 4.17501479e+01] [-6.73952295e-02 9.97726076e-01 -7.48331301e-04 -2.44172626e-01] [-1.36296618e-02 -1.70700565e-04 9.99907097e-01 -7.08653079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters 0.017080016325672926 Centerline is valid? [True, True] Translation: X:41.78, Y:-0.25, Z:-0.71 [[ 9.97622649e-01 6.75231493e-02 1.37722049e-02 4.17778549e+01] [-6.75191481e-02 9.97717692e-01 -7.55817828e-04 -2.47831639e-01] [-1.37918077e-02 -1.75866559e-04 9.99904873e-01 -7.08441255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094391417999994 meters 0.016870196760682916 Centerline is valid? [True, True] Translation: X:41.81, Y:-0.25, Z:-0.71 [[ 9.97631841e-01 6.70881897e-02 1.51619580e-02 4.18067620e+01] [-6.70833255e-02 9.97747032e-01 -8.29751366e-04 -2.54461306e-01] [-1.51834651e-02 -1.89328182e-04 9.99884707e-01 -7.08475387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124391417999995 meters 0.02040013775076248 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.26, Z:-0.71 [[ 9.97636354e-01 6.72802336e-02 1.39669045e-02 4.18346548e+01] [-6.72761388e-02 9.97734102e-01 -7.63349794e-04 -2.57844444e-01] [-1.39866153e-02 -1.78093902e-04 9.99902167e-01 -7.12684512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154391417999996 meters 0.0170868160370937 Centerline is valid? [True, True] Translation: X:41.86, Y:-0.26, Z:-0.71 [[ 9.97660095e-01 6.66053002e-02 1.54294830e-02 4.18635478e+01] [-6.66002519e-02 9.97779384e-01 -8.41365909e-04 -2.62665596e-01] [-1.54512595e-02 -1.88210263e-04 9.99880604e-01 -7.09950693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184391418 meters 0.01716073118620173 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.27, Z:-0.71 [[ 9.97710084e-01 6.59935122e-02 1.48136565e-02 4.18907125e+01] [-6.59888083e-02 9.97820037e-01 -8.06642466e-04 -2.69220764e-01] [-1.48345964e-02 -1.72740213e-04 9.99889946e-01 -7.11635295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214391418 meters 0.01842689471762622 Centerline is valid? [True, True] Translation: X:41.92, Y:-0.27, Z:-0.71 [[ 9.97709547e-01 6.61017837e-02 1.43601419e-02 4.19190153e+01] [-6.60973968e-02 9.97812871e-01 -7.80404123e-04 -2.73059076e-01] [-1.43803205e-02 -1.70551355e-04 9.99896583e-01 -7.13857055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters 0.016653368632966837 Centerline is valid? [True, True] Translation: X:41.95, Y:-0.28, Z:-0.71 [[ 9.97714893e-01 6.58084307e-02 1.53050190e-02 4.19477246e+01] [-6.58034342e-02 9.97832260e-01 -8.30366092e-04 -2.76455649e-01] [-1.53264868e-02 -1.78654193e-04 9.99882527e-01 -7.11769622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27439141799999 meters 0.01687405830136513 Centerline is valid? [True, True] Translation: X:41.98, Y:-0.28, Z:-0.71 [[ 9.97695416e-01 6.60115799e-02 1.56948346e-02 4.19751314e+01] [-6.60063714e-02 9.97818839e-01 -8.50206488e-04 -2.79028319e-01] [-1.57167251e-02 -1.87711966e-04 9.99876467e-01 -7.11814078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304391417999994 meters 0.020244680032104338 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.28, Z:-0.72 [[ 9.97630894e-01 6.71518523e-02 1.49407991e-02 4.20029223e+01] [-6.71472821e-02 9.97742747e-01 -8.07885968e-04 -2.81504636e-01] [-1.49613249e-02 -1.97262050e-04 9.99888054e-01 -7.15579598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334391417999996 meters 0.020168919967727905 Centerline is valid? [True, True] Translation: X:42.03, Y:-0.29, Z:-0.72 [[ 9.97620760e-01 6.73956952e-02 1.45134079e-02 4.20310544e+01] [-6.73914291e-02 9.97726306e-01 -7.83363756e-04 -2.85471851e-01] [-1.45332041e-02 -1.96579350e-04 9.99894368e-01 -7.16488413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364391418 meters 0.019799590516234093 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.29, Z:-0.72 [[ 9.97616814e-01 6.74281549e-02 1.46334113e-02 4.20596708e+01] [-6.74238458e-02 9.97724112e-01 -7.88177883e-04 -2.89072694e-01] [-1.46532527e-02 -2.00341359e-04 9.99892615e-01 -7.16973474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394391418 meters 0.016903464306270634 Centerline is valid? [True, True] Translation: X:42.09, Y:-0.29, Z:-0.71 [[ 9.97707059e-01 6.58877895e-02 1.54733425e-02 4.20872060e+01] [-6.58828078e-02 9.97827021e-01 -8.32032694e-04 -2.93743948e-01] [-1.54945401e-02 -1.89302360e-04 9.99879934e-01 -7.14330816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424391418 meters 0.01896363048439924 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.30, Z:-0.72 [[ 9.97785079e-01 6.48674171e-02 1.47361450e-02 4.21155313e+01] [-6.48628106e-02 9.97893877e-01 -7.90828778e-04 -2.97080274e-01] [-1.47564079e-02 -1.66750629e-04 9.99891104e-01 -7.17308786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45439141799999 meters 0.01718306917821193 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.30, Z:-0.72 [[ 9.97904013e-01 6.28483057e-02 1.54165975e-02 4.21429782e+01] [-6.28430435e-02 9.98023081e-01 -8.26013317e-04 -3.00105742e-01] [-1.54380336e-02 -1.44543902e-04 9.99880816e-01 -7.16426481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters 0.01660967204308804 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.31, Z:-0.72 [[ 9.98050148e-01 6.05257045e-02 1.52492800e-02 4.21718104e+01] [-6.05203100e-02 9.98166633e-01 -8.15402816e-04 -3.06602107e-01] [-1.52706753e-02 -1.09078251e-04 9.99883390e-01 -7.17412180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514391417999995 meters 0.016576798717795833 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.32, Z:-0.72 [[ 9.98388765e-01 5.47570078e-02 1.48843522e-02 4.22010027e+01] [-5.47512475e-02 9.98499709e-01 -7.94529965e-04 -3.16312636e-01] [-1.49055274e-02 -2.16870598e-05 9.99888906e-01 -7.19232371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544391418 meters 0.016128855601214902 Centerline is valid? [True, True] Translation: X:42.23, Y:-0.32, Z:-0.72 [[ 9.98569817e-01 5.14566425e-02 1.45098155e-02 4.22291505e+01] [-5.14508275e-02 9.98675229e-01 -7.74017900e-04 -3.21699628e-01] [-1.45304216e-02 2.63689008e-05 9.99894428e-01 -7.19567186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574391418 meters 0.014412454867458575 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.33, Z:-0.72 [[ 9.98716754e-01 4.82278096e-02 1.54571674e-02 4.22589212e+01] [-4.82208406e-02 9.98836359e-01 -8.23461331e-04 -3.26944680e-01] [-1.54788946e-02 7.70470203e-05 9.99880192e-01 -7.16850892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604391418 meters 0.017215144407862898 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.33, Z:-0.72 [[ 9.98827691e-01 4.60845350e-02 1.48141659e-02 4.22899717e+01] [-4.60779104e-02 9.98937538e-01 -7.88369007e-04 -3.31671423e-01] [-1.48347580e-02 1.04838987e-04 9.99889953e-01 -7.20231740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63439141799999 meters 0.018384220856242 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.34, Z:-0.72 [[ 9.98990650e-01 4.26656048e-02 1.40472947e-02 4.23198590e+01] [-4.26593006e-02 9.99089397e-01 -7.48255666e-04 -3.37071091e-01] [-1.40664280e-02 1.48252648e-04 9.99901052e-01 -7.21168226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters 0.017040889813182865 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.34, Z:-0.72 [[ 9.99013963e-01 4.16935083e-02 1.52562545e-02 4.23506786e+01] [-4.16859588e-02 9.99130432e-01 -8.12653189e-04 -3.40127745e-01] [-1.52768705e-02 1.75880289e-04 9.99883286e-01 -7.19959376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694391417999995 meters 0.019007408066929698 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.34, Z:-0.72 [[ 9.98998994e-01 4.22273316e-02 1.47601977e-02 4.23814160e+01] [-4.22203244e-02 9.99108015e-01 -7.86158990e-04 -3.41403816e-01] [-1.47802292e-02 1.62191706e-04 9.99890753e-01 -7.21653738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724391417999996 meters 0.016711397907998096 Centerline is valid? [True, True] Translation: X:42.41, Y:-0.34, Z:-0.72 [[ 9.98920318e-01 4.32877198e-02 1.68633131e-02 4.24117937e+01] [-4.32787167e-02 9.99062633e-01 -8.98624473e-04 -3.41928266e-01] [-1.68864054e-02 1.67831694e-04 9.99857400e-01 -7.19364894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754391418 meters 0.017873434527104517 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.34, Z:-0.72 [[ 9.98859303e-01 4.48142906e-02 1.64855117e-02 4.24431131e+01] [-4.48058954e-02 9.98995325e-01 -8.78425630e-04 -3.41892962e-01] [-1.65083151e-02 1.38775500e-04 9.99863719e-01 -7.20587052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784391418 meters 0.015874423822002607 Centerline is valid? [True, True] Translation: X:42.47, Y:-0.34, Z:-0.72 [[ 9.98762119e-01 4.65056758e-02 1.76479926e-02 4.24734149e+01] [-4.64963041e-02 9.98918019e-01 -9.41202749e-04 -3.42533611e-01] [-1.76726691e-02 1.19471221e-04 9.99843819e-01 -7.18618137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81439141799999 meters 0.017131896470341114 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.34, Z:-0.72 [[ 9.98568538e-01 5.08685913e-02 1.65306043e-02 4.25044345e+01] [-5.08609604e-02 9.98705354e-01 -8.81974809e-04 -3.37127172e-01] [-1.65540679e-02 3.99498827e-05 9.99862971e-01 -7.21303037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters 0.017156711067921434 Centerline is valid? [True, True] Translation: X:42.54, Y:-0.34, Z:-0.72 [[ 9.98468997e-01 5.27809268e-02 1.65480076e-02 4.25351475e+01] [-5.27735424e-02 9.98606115e-01 -8.82903341e-04 -3.36101354e-01] [-1.65715420e-02 8.25463501e-06 9.99862683e-01 -7.22415218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874391417999995 meters 0.017790242070274926 Centerline is valid? [True, True] Translation: X:42.57, Y:-0.34, Z:-0.72 [[ 9.98370384e-01 5.47673697e-02 1.60347138e-02 4.25660142e+01] [-5.47606926e-02 9.98499141e-01 -8.55517035e-04 -3.35582320e-01] [-1.60575023e-02 -2.39491601e-05 9.99871070e-01 -7.24085451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904391417999996 meters 0.01423000646298142 Centerline is valid? [True, True] Translation: X:42.59, Y:-0.34, Z:-0.72 [[ 9.98295018e-01 5.57203535e-02 1.73867333e-02 4.25944777e+01] [-5.57126466e-02 9.98446413e-01 -9.27692752e-04 -3.35050665e-01] [-1.74114128e-02 -4.25498737e-05 9.99848409e-01 -7.21320547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934391418 meters 0.014466087223419946 Centerline is valid? [True, True] Translation: X:42.62, Y:-0.33, Z:-0.72 [[ 9.98159807e-01 5.82374216e-02 1.68938838e-02 4.26233627e+01] [-5.82305239e-02 9.98302757e-01 -9.00329632e-04 -3.32288229e-01] [-1.69176436e-02 -8.50668510e-05 9.99856883e-01 -7.22599712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964391418 meters 0.014622692388608246 Centerline is valid? [True, True] Translation: X:42.65, Y:-0.33, Z:-0.72 [[ 9.98120767e-01 5.89192709e-02 1.68361138e-02 4.26526500e+01] [-5.89125357e-02 9.98262746e-01 -8.96162364e-04 -3.32196355e-01] [-1.68596664e-02 -9.73798876e-05 9.99857861e-01 -7.23455849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99439141799999 meters 0.018796633627170163 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.33, Z:-0.73 [[ 9.98079626e-01 6.00338885e-02 1.52640592e-02 4.26815543e+01] [-6.00284907e-02 9.98196334e-01 -8.11960263e-04 -3.31919485e-01] [-1.52852730e-02 -1.05877437e-04 9.99883168e-01 -7.28276080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters 0.018352055241509627 Centerline is valid? [True, True] Translation: X:42.71, Y:-0.33, Z:-0.73 [[ 9.98071949e-01 6.02230099e-02 1.50191398e-02 4.27101100e+01] [-6.02178184e-02 9.98184942e-01 -7.98070921e-04 -3.32467216e-01] [-1.50399414e-02 -1.07887631e-04 9.99886888e-01 -7.29293653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054391417999994 meters 0.01772312138462331 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.33, Z:-0.73 [[ 9.98113926e-01 5.94724408e-02 1.52190626e-02 4.27385311e+01] [-5.94670434e-02 9.98229943e-01 -8.07342411e-04 -3.34429727e-01] [-1.52401386e-02 -9.92129506e-05 9.99883857e-01 -7.29387534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084391417999996 meters 0.014664149832459897 Centerline is valid? [True, True] Translation: X:42.77, Y:-0.34, Z:-0.73 [[ 9.98198245e-01 5.75959019e-02 1.68218631e-02 4.27670029e+01] [-5.75890695e-02 9.98339975e-01 -8.90698317e-04 -3.36385579e-01] [-1.68452390e-02 -7.96619464e-05 9.99858106e-01 -7.27015665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114391418 meters 0.014664149832459897 Centerline is valid? [True, True] Translation: X:42.80, Y:-0.34, Z:-0.73 [[ 9.98200767e-01 5.75521608e-02 1.68219440e-02 4.27961178e+01] [-5.75453479e-02 9.98342498e-01 -8.89168662e-04 -3.37878515e-01] [-1.68452351e-02 -8.04557776e-05 9.99858106e-01 -7.27541572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144391418 meters 0.014892671887538567 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.34, Z:-0.73 [[ 9.98277877e-01 5.62986013e-02 1.64847673e-02 4.28244567e+01] [-5.62918991e-02 9.98413974e-01 -8.70670502e-04 -3.40150577e-01] [-1.65076396e-02 -5.87877587e-05 9.99863738e-01 -7.28677510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174391418 meters 0.015165484904384465 Centerline is valid? [True, True] Translation: X:42.85, Y:-0.34, Z:-0.73 [[ 9.98498234e-01 5.23925856e-02 1.60091924e-02 4.28543594e+01] [-5.23857793e-02 9.98626565e-01 -8.44497469e-04 -3.44068609e-01] [-1.60314502e-02 4.57521459e-06 9.99871488e-01 -7.30283748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters 0.015957926229834763 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.35, Z:-0.73 [[ 9.98608860e-01 5.04029581e-02 1.54882970e-02 4.28834263e+01] [-5.03963591e-02 9.98728963e-01 -8.16319188e-04 -3.47021600e-01] [-1.55097557e-02 3.46297964e-05 9.99879716e-01 -7.31938414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234391417999994 meters 0.017770319408453417 Centerline is valid? [True, True] Translation: X:42.91, Y:-0.35, Z:-0.73 [[ 9.98704673e-01 4.87769291e-02 1.44840208e-02 4.29125065e+01] [-4.87709913e-02 9.98809696e-01 -7.63102739e-04 -3.49932709e-01] [-1.45040022e-02 5.57142207e-05 9.99894810e-01 -7.33787148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264391417999995 meters 0.01856128826267987 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.35, Z:-0.73 [[ 9.98881066e-01 4.47754040e-02 1.52242999e-02 4.29423892e+01] [-4.47683849e-02 9.98997072e-01 -8.01705013e-04 -3.54419847e-01] [-1.52449277e-02 1.19240639e-04 9.99883782e-01 -7.33329565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294391418 meters 0.01599189004143295 Centerline is valid? [True, True] Translation: X:42.97, Y:-0.36, Z:-0.73 [[ 9.98967189e-01 4.21670027e-02 1.69262946e-02 4.29714751e+01] [-4.21579516e-02 9.99110561e-01 -8.91354177e-04 -3.57519700e-01] [-1.69488255e-02 1.76855666e-04 9.99856343e-01 -7.30173076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324391418 meters 0.02027539370980453 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.36, Z:-0.73 [[ 9.99063616e-01 4.04343935e-02 1.53932226e-02 4.30028204e+01] [-4.04267093e-02 9.99182178e-01 -8.10162322e-04 -3.60549227e-01] [-1.54133921e-02 1.87106364e-04 9.99881189e-01 -7.33981297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354391418 meters 0.01823267195820961 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.37, Z:-0.73 [[ 9.99222179e-01 3.55231357e-02 1.71214597e-02 4.30342773e+01] [-3.55128941e-02 9.99368811e-01 -9.01936519e-04 -3.65041301e-01] [-1.71426925e-02 2.93202387e-04 9.99853010e-01 -7.30426039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters 0.019683392428408757 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.37, Z:-0.73 [[ 9.99298420e-01 3.32546443e-02 1.72277856e-02 4.30656011e+01] [-3.32439269e-02 9.99446855e-01 -9.08190974e-04 -3.69107607e-01] [-1.72484578e-02 3.34834559e-04 9.99851178e-01 -7.30882165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414391417999994 meters 0.024071762037163366 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.37, Z:-0.74 [[ 9.99381068e-01 3.15964908e-02 1.54642664e-02 4.30966426e+01] [-3.15876231e-02 9.99500652e-01 -8.17409976e-04 -3.73033202e-01] [-1.54823717e-02 3.28424634e-04 9.99880087e-01 -7.35577522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444391417999995 meters 0.0226375788724196 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.38, Z:-0.73 [[ 9.99444623e-01 2.87792384e-02 1.67988125e-02 4.31291095e+01] [-2.87683309e-02 9.99585709e-01 -8.90646416e-04 -3.77142045e-01] [-1.68174850e-02 4.06877975e-04 9.99858493e-01 -7.32841551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474391417999996 meters 0.027067885373399516 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.38, Z:-0.74 [[ 9.99600215e-01 2.41292045e-02 1.47373948e-02 4.31605723e+01] [-2.41202512e-02 9.99708756e-01 -7.84989805e-04 -3.81613301e-01] [-1.47520438e-02 4.29206314e-04 9.99891091e-01 -7.37572098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504391418 meters 0.027980254248153792 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.38, Z:-0.74 [[ 9.99656281e-01 2.19870975e-02 1.42789083e-02 4.31926005e+01] [-2.19784224e-02 9.99758153e-01 -7.64205319e-04 -3.83306271e-01] [-1.42922576e-02 4.50114769e-04 9.99897759e-01 -7.38315066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534391418 meters 0.029766811952966227 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.39, Z:-0.74 [[ 9.99703075e-01 1.99930879e-02 1.39297779e-02 4.32233696e+01] [-1.99845745e-02 9.99800007e-01 -7.50108462e-04 -3.85895682e-01] [-1.39419890e-02 4.71505051e-04 9.99902695e-01 -7.39124772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters 0.029080002544694467 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.39, Z:-0.74 [[ 9.99712479e-01 1.76631191e-02 1.62164422e-02 4.32539645e+01] [-1.76512266e-02 9.99843821e-01 -8.76209558e-04 -3.88103641e-01] [-1.62293861e-02 5.89717533e-04 9.99868121e-01 -7.35949812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594391417999994 meters 0.03181282393155621 Centerline is valid? [True, True] Translation: X:43.29, Y:-0.39, Z:-0.74 [[ 9.99776041e-01 1.50764510e-02 1.48515264e-02 4.32862925e+01] [-1.50661597e-02 9.99886175e-01 -8.04597713e-04 -3.91112405e-01] [-1.48619664e-02 5.80662049e-04 9.99889386e-01 -7.39342514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624391417999995 meters 0.031461112909634284 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.39, Z:-0.74 [[ 9.99793369e-01 1.36021527e-02 1.51063179e-02 4.33187114e+01] [-1.35913270e-02 9.99907298e-01 -8.19073392e-04 -3.92465212e-01] [-1.51160587e-02 6.13589240e-04 9.99885558e-01 -7.38415560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654391417999996 meters 0.032641768597584116 Centerline is valid? [True, True] Translation: X:43.35, Y:-0.39, Z:-0.74 [[ 9.99831102e-01 1.31262890e-02 1.28634172e-02 4.33508646e+01] [-1.31183625e-02 9.99913705e-01 -7.00395056e-04 -3.92229134e-01] [-1.28715008e-02 5.31529791e-04 9.99917018e-01 -7.42198548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684391418 meters 0.030431926368856985 Centerline is valid? [True, True] Translation: X:43.38, Y:-0.38, Z:-0.74 [[ 9.99852042e-01 1.16407051e-02 1.26644709e-02 4.33831641e+01] [-1.16328552e-02 9.99932096e-01 -6.93328054e-04 -3.84684458e-01] [-1.26716817e-02 5.45901514e-04 9.99919562e-01 -7.41977367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714391418 meters 0.03138556896679106 Centerline is valid? [True, True] Translation: X:43.41, Y:-0.39, Z:-0.74 [[ 9.99841015e-01 1.11553703e-02 1.39104973e-02 4.34138680e+01] [-1.11457845e-02 9.99937590e-01 -7.66445265e-04 -3.87228524e-01] [-1.39181791e-02 6.11280006e-04 9.99902951e-01 -7.40980442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters 0.031406058085420796 Centerline is valid? [True, True] Translation: X:43.45, Y:-0.39, Z:-0.74 [[ 9.99834537e-01 1.10052556e-02 1.44838549e-02 4.34458255e+01] [-1.09948192e-02 9.99939235e-01 -7.99983314e-04 -3.87157966e-01] [-1.44917788e-02 6.40603581e-04 9.99894783e-01 -7.40897716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77439141799999 meters 0.029614283594643933 Centerline is valid? [True, True] Translation: X:43.48, Y:-0.38, Z:-0.74 [[ 9.99812114e-01 1.07729887e-02 1.61145626e-02 4.34778964e+01] [-1.07599605e-02 9.99941709e-01 -8.94956475e-04 -3.83042555e-01] [-1.61232646e-02 7.21396268e-04 9.99869751e-01 -7.40309738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804391417999994 meters 0.029655037070846484 Centerline is valid? [True, True] Translation: X:43.51, Y:-0.38, Z:-0.74 [[ 9.99810118e-01 1.07970258e-02 1.62219678e-02 4.35114583e+01] [-1.07837531e-02 9.99941444e-01 -9.05441506e-04 -3.82658081e-01] [-1.62307940e-02 7.30335882e-04 9.99868005e-01 -7.40944937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834391417999996 meters 0.03048872775210287 Centerline is valid? [True, True] Translation: X:43.54, Y:-0.38, Z:-0.74 [[ 9.99824361e-01 1.05831752e-02 1.54675317e-02 4.35437346e+01] [-1.05710082e-02 9.99943748e-01 -8.68165091e-04 -3.82730589e-01] [-1.54758496e-02 7.04505201e-04 9.99879994e-01 -7.42322740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864391418 meters 0.03159006289486399 Centerline is valid? [True, True] Translation: X:43.58, Y:-0.38, Z:-0.74 [[ 9.99845747e-01 9.55671751e-03 1.47360891e-02 4.35765081e+01] [-9.54550549e-03 9.99954095e-01 -8.31003807e-04 -3.79658105e-01] [-1.47433543e-02 6.90212203e-04 9.99891073e-01 -7.43548929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894391418 meters 0.03095770146036178 Centerline is valid? [True, True] Translation: X:43.61, Y:-0.38, Z:-0.74 [[ 9.99853776e-01 9.30650950e-03 1.43462730e-02 4.36090187e+01] [-9.29580202e-03 9.99956463e-01 -8.12864280e-04 -3.76528733e-01] [-1.43532133e-02 6.79385306e-04 9.99896757e-01 -7.44772805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924391418 meters 0.03133352200261776 Centerline is valid? [True, True] Translation: X:43.64, Y:-0.38, Z:-0.75 [[ 9.99861238e-01 8.79727691e-03 1.41461363e-02 4.36411986e+01] [-8.78675838e-03 9.99961071e-01 -8.05544443e-04 -3.76234576e-01] [-1.41526722e-02 6.81133983e-04 9.99899614e-01 -7.45345852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95439141799999 meters 0.03510036838993033 Centerline is valid? [True, True] Translation: X:43.67, Y:-0.38, Z:-0.75 [[ 9.99881087e-01 6.91468530e-03 1.37840089e-02 4.36718131e+01] [-6.90445294e-03 9.99975852e-01 -7.89785566e-04 -3.79062917e-01] [-1.37891372e-02 6.94520610e-04 9.99904684e-01 -7.45807289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984391417999994 meters 0.03326991856568409 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.38, Z:-0.75 [[ 9.99898179e-01 7.14398030e-03 1.23529692e-02 4.37053065e+01] [-7.13579432e-03 9.99974290e-01 -7.06622728e-04 -3.75004173e-01] [-1.23576997e-02 6.18402532e-04 9.99923449e-01 -7.48398133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014391417999995 meters 0.03364863466802091 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.38, Z:-0.75 [[ 9.99901348e-01 6.45000234e-03 1.24776528e-02 4.37376028e+01] [-6.44154207e-03 9.99978995e-01 -7.18104361e-04 -3.75205841e-01] [-1.24820225e-02 6.37658193e-04 9.99921893e-01 -7.47841591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044391418 meters 0.033614575869737526 Centerline is valid? [True, True] Translation: X:43.77, Y:-0.37, Z:-0.75 [[ 9.99900854e-01 6.51817401e-03 1.24818381e-02 4.37703925e+01] [-6.50967263e-03 9.99978551e-01 -7.21607497e-04 -3.73768909e-01] [-1.24862739e-02 6.40283273e-04 9.99921838e-01 -7.47980888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074391418 meters 0.03407130271641022 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.37, Z:-0.75 [[ 9.99895639e-01 8.20642495e-03 1.18897549e-02 4.38017518e+01] [-8.19878320e-03 9.99966150e-01 -6.91317840e-04 -3.68429368e-01] [-1.18950257e-02 5.93764170e-04 9.99929075e-01 -7.49618807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104391418 meters 0.03319079433551466 Centerline is valid? [True, True] Translation: X:43.83, Y:-0.37, Z:-0.75 [[ 9.99876640e-01 9.41239771e-03 1.25742286e-02 4.38338092e+01] [-9.40390313e-03 9.99955513e-01 -7.34510544e-04 -3.65838269e-01] [-1.25805827e-02 6.16173108e-04 9.99920671e-01 -7.49197349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13439141799999 meters 0.032622708941210256 Centerline is valid? [True, True] Translation: X:43.87, Y:-0.36, Z:-0.75 [[ 9.99852654e-01 1.10253091e-02 1.31572450e-02 4.38652543e+01] [-1.10160891e-02 9.99939022e-01 -7.73028309e-04 -3.64283061e-01] [-1.31649656e-02 6.27973022e-04 9.99913141e-01 -7.48372055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters 0.03293974125485808 Centerline is valid? [True, True] Translation: X:43.90, Y:-0.36, Z:-0.75 [[ 9.99795330e-01 1.55871491e-02 1.28972275e-02 4.38958885e+01] [-1.55786327e-02 9.99878356e-01 -7.60535857e-04 -3.58243942e-01] [-1.29075133e-02 5.59459027e-04 9.99916538e-01 -7.50186857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194391417999995 meters 0.027392234043579242 Centerline is valid? [True, True] Translation: X:43.93, Y:-0.35, Z:-0.75 [[ 9.99738514e-01 1.74104980e-02 1.48249451e-02 4.39285829e+01] [-1.73994587e-02 9.99848237e-01 -8.73309050e-04 -3.50906416e-01] [-1.48379000e-02 6.15134672e-04 9.99889723e-01 -7.46969366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224391417999996 meters 0.02812393447631772 Centerline is valid? [True, True] Translation: X:43.96, Y:-0.35, Z:-0.75 [[ 9.99688262e-01 1.99287860e-02 1.50407146e-02 4.39603910e+01] [-1.99176419e-02 9.99801228e-01 -8.90381521e-04 -3.50146578e-01] [-1.50554691e-02 5.90528389e-04 9.99886486e-01 -7.47146009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254391418 meters 0.024540624928576036 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.34, Z:-0.75 [[ 9.99589126e-01 2.44259396e-02 1.49984181e-02 4.39923425e+01] [-2.44152894e-02 9.99701504e-01 -8.92812755e-04 -3.39516637e-01] [-1.50157490e-02 5.26255202e-04 9.99887119e-01 -7.47114751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284391418 meters 0.023519674002592573 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.34, Z:-0.75 [[ 9.99540805e-01 2.65076317e-02 1.46807368e-02 4.40241550e+01] [-2.64976437e-02 9.99648493e-01 -8.74479230e-04 -3.36272429e-01] [-1.46987568e-02 4.85072743e-04 9.99891850e-01 -7.48510619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31439141799999 meters 0.022763567136150287 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.33, Z:-0.75 [[ 9.99506455e-01 2.75883530e-02 1.50243184e-02 4.40546986e+01] [-2.75780026e-02 9.99619253e-01 -8.95693489e-04 -3.34860571e-01] [-1.50433086e-02 4.80910731e-04 9.99886727e-01 -7.48461678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters 0.02410944098771993 Centerline is valid? [True, True] Translation: X:44.08, Y:-0.34, Z:-0.75 [[ 9.99484053e-01 2.84883352e-02 1.48338511e-02 4.40846180e+01] [-2.84783446e-02 9.99594019e-01 -8.84338545e-04 -3.36843119e-01] [-1.48530222e-02 4.61438748e-04 9.99889581e-01 -7.49538980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374391417999995 meters 0.022469462754666124 Centerline is valid? [True, True] Translation: X:44.12, Y:-0.33, Z:-0.75 [[ 9.99488700e-01 2.88196946e-02 1.38478878e-02 4.41150030e+01] [-2.88110199e-02 9.99584535e-01 -8.25559113e-04 -3.32092517e-01] [-1.38659269e-02 4.26165233e-04 9.99903773e-01 -7.51342321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404391417999996 meters 0.02293172774690115 Centerline is valid? [True, True] Translation: X:44.14, Y:-0.33, Z:-0.75 [[ 9.99494512e-01 2.91981187e-02 1.25773733e-02 4.41442993e+01] [-2.91909900e-02 9.99573571e-01 -7.50034792e-04 -3.31022706e-01] [-1.25939095e-02 3.82509680e-04 9.99920620e-01 -7.53638718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434391418 meters 0.02195129769987587 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.33, Z:-0.75 [[ 9.99508378e-01 2.84407457e-02 1.31957285e-02 4.41744881e+01] [-2.84328403e-02 9.99595396e-01 -7.86342770e-04 -3.29892900e-01] [-1.32127536e-02 4.10764146e-04 9.99912623e-01 -7.52721494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464391418 meters 0.023641656120041533 Centerline is valid? [True, True] Translation: X:44.20, Y:-0.33, Z:-0.75 [[ 9.99533957e-01 2.77610757e-02 1.26961482e-02 4.42032732e+01] [-2.77537077e-02 9.99614506e-01 -7.56186938e-04 -3.31585909e-01] [-1.27122465e-02 4.03469336e-04 9.99919115e-01 -7.53352803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49439141799999 meters 0.02304212129954901 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.33, Z:-0.76 [[ 9.99548757e-01 2.76159502e-02 1.18169942e-02 4.42329586e+01] [-2.76095663e-02 9.99618536e-01 -7.03056484e-04 -3.26732166e-01] [-1.18319020e-02 3.76477150e-04 9.99929930e-01 -7.55027797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters 0.024840469548095073 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.33, Z:-0.76 [[ 9.99543702e-01 2.76407556e-02 1.21810077e-02 4.42618006e+01] [-2.76339806e-02 9.99617846e-01 -7.24189995e-04 -3.30501605e-01] [-1.21963698e-02 3.87249819e-04 9.99925547e-01 -7.55177592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554391417999994 meters 0.025609423748328752 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.33, Z:-0.76 [[ 9.99534950e-01 2.83150006e-02 1.13201232e-02 4.42919043e+01] [-2.83091974e-02 9.99598988e-01 -6.72590412e-04 -3.30229669e-01] [-1.13346280e-02 3.51814023e-04 9.99935699e-01 -7.57614021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584391417999996 meters 0.021843812830763122 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.32, Z:-0.76 [[ 9.99499229e-01 2.89425538e-02 1.27914039e-02 4.43216899e+01] [-2.89351965e-02 9.99581001e-01 -7.59906411e-04 -3.24220524e-01] [-1.28080379e-02 3.89404088e-04 9.99917898e-01 -7.55265283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614391418 meters 0.022387232290768416 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.32, Z:-0.76 [[ 9.99494821e-01 2.95191361e-02 1.17780888e-02 4.43510624e+01] [-2.95129604e-02 9.99564154e-01 -6.97845100e-04 -3.22390427e-01] [-1.17935551e-02 3.49886296e-04 9.99930392e-01 -7.57298834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644391418 meters 0.022162083597007918 Centerline is valid? [True, True] Translation: X:44.38, Y:-0.32, Z:-0.76 [[ 9.99493044e-01 2.90689610e-02 1.29865660e-02 4.43800718e+01] [-2.90614215e-02 9.99577332e-01 -7.68937647e-04 -3.23103228e-01] [-1.30034292e-02 3.91139760e-04 9.99915375e-01 -7.55751802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674391418 meters 0.024965511745817903 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.33, Z:-0.76 [[ 9.99493468e-01 2.88198568e-02 1.34990345e-02 4.44087931e+01] [-2.88117004e-02 9.99584538e-01 -7.98345250e-04 -3.26754011e-01] [-1.35164344e-02 4.09010724e-04 9.99908565e-01 -7.56508970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters 0.025690863117048313 Centerline is valid? [True, True] Translation: X:44.44, Y:-0.33, Z:-0.76 [[ 9.99524637e-01 2.78630071e-02 1.31966637e-02 4.44387359e+01] [-2.78551371e-02 9.99611666e-01 -7.79825597e-04 -3.26236012e-01] [-1.32132673e-02 4.11860021e-04 9.99912616e-01 -7.57601706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734391417999994 meters 0.021961987704524268 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.32, Z:-0.76 [[ 9.99542589e-01 2.71025526e-02 1.34188435e-02 4.44682824e+01] [-2.70943521e-02 9.99632566e-01 -7.92568158e-04 -3.20702410e-01] [-1.34353936e-02 4.28630757e-04 9.99909649e-01 -7.57241824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764391417999995 meters 0.0245187318557597 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.32, Z:-0.76 [[ 9.99561124e-01 2.64392171e-02 1.33614366e-02 4.44964619e+01] [-2.64310384e-02 9.99650328e-01 -7.88355233e-04 -3.24515175e-01] [-1.33776080e-02 4.34852597e-04 9.99910421e-01 -7.58164924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794391418 meters 0.023470092042171386 Centerline is valid? [True, True] Translation: X:44.53, Y:-0.32, Z:-0.76 [[ 9.99619703e-01 2.47024341e-02 1.22572106e-02 4.45260180e+01] [-2.46954292e-02 9.99694760e-01 -7.22544002e-04 -3.20140191e-01] [-1.22713178e-02 4.19572146e-04 9.99924617e-01 -7.59216478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824391418 meters 0.02649687184453108 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.32, Z:-0.76 [[ 9.99652736e-01 2.35842014e-02 1.17555876e-02 4.45545453e+01] [-2.35776897e-02 9.99721768e-01 -6.92220937e-04 -3.24026605e-01] [-1.17686423e-02 4.14810955e-04 9.99930661e-01 -7.60851302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854391418 meters 0.025325630644469993 Centerline is valid? [True, True] Translation: X:44.58, Y:-0.32, Z:-0.76 [[ 9.99669513e-01 2.30117101e-02 1.14597454e-02 4.45841917e+01] [-2.30054909e-02 9.99735111e-01 -6.74240570e-04 -3.21380478e-01] [-1.14722252e-02 4.10380675e-04 9.99934108e-01 -7.62297085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters 0.025192354710853883 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.32, Z:-0.76 [[ 9.99700047e-01 2.15306409e-02 1.16724893e-02 4.46140585e+01] [-2.15240936e-02 9.99768094e-01 -6.86273509e-04 -3.22397836e-01] [-1.16845583e-02 4.34827907e-04 9.99931639e-01 -7.61510498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914391417999994 meters 0.02665775644839349 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.32, Z:-0.76 [[ 9.99741919e-01 2.00943339e-02 1.05977729e-02 4.46437996e+01] [-2.00888599e-02 9.99798005e-01 -6.22731464e-04 -3.20931469e-01] [-1.06081456e-02 4.09673573e-04 9.99943648e-01 -7.64472677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944391417999995 meters 0.027030125431988128 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.32, Z:-0.76 [[ 9.99744568e-01 1.94540702e-02 1.15037888e-02 4.46728528e+01] [-1.94475854e-02 9.99810650e-01 -6.75310589e-04 -3.22455347e-01] [-1.15147481e-02 4.51417177e-04 9.99933601e-01 -7.63383018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974391417999996 meters 0.02766878617195896 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.32, Z:-0.77 [[ 9.99752496e-01 1.94361108e-02 1.08251494e-02 4.47031762e+01] [-1.94303712e-02 9.99811011e-01 -6.35132624e-04 -3.21393181e-01] [-1.08354481e-02 4.24638754e-04 9.99941205e-01 -7.65525897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004391418 meters 0.02766878617195896 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.32, Z:-0.77 [[ 9.99753260e-01 1.93967824e-02 1.08251329e-02 4.47323000e+01] [-1.93910375e-02 9.99811774e-01 -6.35414797e-04 -3.23062372e-01] [-1.08354203e-02 4.25347457e-04 9.99941205e-01 -7.66051877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034391418 meters 0.027024509509480536 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.32, Z:-0.77 [[ 9.99738427e-01 2.01812360e-02 1.07608062e-02 4.47620435e+01] [-2.01756106e-02 9.99796252e-01 -6.31074249e-04 -3.19542051e-01] [-1.07713496e-02 4.13803340e-04 9.99941902e-01 -7.65077050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters 0.0271051891259533 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.32, Z:-0.77 [[ 9.99719823e-01 2.11424450e-02 1.06429364e-02 4.47913715e+01] [-2.11369988e-02 9.99776394e-01 -6.23955079e-04 -3.18586749e-01] [-1.06537486e-02 3.98820527e-04 9.99943168e-01 -7.65986230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094391417999994 meters 0.026261039194025445 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.32, Z:-0.77 [[ 9.99698741e-01 2.20726213e-02 1.07343747e-02 4.48213423e+01] [-2.20671354e-02 9.99756293e-01 -6.29246634e-04 -3.16007111e-01] [-1.07456478e-02 3.92180167e-04 9.99942187e-01 -7.65940489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124391417999995 meters 0.025529069755544965 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.31, Z:-0.76 [[ 9.99642651e-01 2.40015832e-02 1.17683844e-02 4.48510340e+01] [-2.39951291e-02 9.99711838e-01 -6.89337806e-04 -3.10721006e-01] [-1.17815384e-02 4.06707570e-04 9.99930513e-01 -7.64952414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154391417999996 meters 0.0242454285861979 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.31, Z:-0.76 [[ 9.99618275e-01 2.45955577e-02 1.25842544e-02 4.48806775e+01] [-2.45882313e-02 9.99697392e-01 -7.36596970e-04 -3.07749783e-01] [-1.25985633e-02 4.26891234e-04 9.99920544e-01 -7.64075595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184391418 meters 0.023662540070041583 Centerline is valid? [True, True] Translation: X:44.91, Y:-0.30, Z:-0.77 [[ 9.99602722e-01 2.55501140e-02 1.18991726e-02 4.49101174e+01] [-2.55436362e-02 9.99673466e-01 -6.96075081e-04 -3.04295330e-01] [-1.19130719e-02 3.91850411e-04 9.99928960e-01 -7.65621989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214391418 meters 0.02455183040790326 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.30, Z:-0.77 [[ 9.99573664e-01 2.65544507e-02 1.21388055e-02 4.49385865e+01] [-2.65477882e-02 9.99647293e-01 -7.09695059e-04 -3.01595845e-01] [-1.21533696e-02 3.87134054e-04 9.99926070e-01 -7.66413765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters 0.02358439412462831 Centerline is valid? [True, True] Translation: X:44.97, Y:-0.30, Z:-0.76 [[ 9.99548955e-01 2.68246870e-02 1.35027060e-02 4.49663071e+01] [-2.68164782e-02 9.99640062e-01 -7.88655363e-04 -3.02100140e-01] [-1.35190013e-02 4.26204623e-04 9.99908523e-01 -7.64049076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27439141799999 meters 0.023858159787478857 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.30, Z:-0.77 [[ 9.99542802e-01 2.76780845e-02 1.21700736e-02 4.49949404e+01] [-2.76714933e-02 9.99616819e-01 -7.09671373e-04 -2.99391294e-01] [-1.21850526e-02 3.72582801e-04 9.99925690e-01 -7.66712139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304391417999994 meters 0.021512946884799187 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.29, Z:-0.77 [[ 9.99534290e-01 2.81396567e-02 1.18051685e-02 4.50236791e+01] [-2.81334974e-02 9.99603938e-01 -6.87519363e-04 -2.94245668e-01] [-1.18198395e-02 3.55078502e-04 9.99930080e-01 -7.65831944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334391417999996 meters 0.02282777287477832 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.29, Z:-0.77 [[ 9.99530752e-01 2.88327747e-02 1.03414800e-02 4.50521675e+01] [-2.88280920e-02 9.99584203e-01 -6.01619638e-04 -2.93154075e-01] [-1.03545265e-02 3.03212191e-04 9.99946344e-01 -7.68584147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364391418 meters 0.021379844672216618 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.29, Z:-0.77 [[ 9.99520322e-01 2.88581460e-02 1.12397875e-02 4.50807309e+01] [-2.88526277e-02 9.99583463e-01 -6.52837763e-04 -2.92626475e-01] [-1.12539454e-02 3.28227207e-04 9.99936618e-01 -7.67612514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394391418 meters 0.020743332428179117 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.29, Z:-0.77 [[ 9.99485764e-01 3.00737216e-02 1.11255800e-02 4.51099053e+01] [-3.00684000e-02 9.99547635e-01 -6.45316274e-04 -2.90074560e-01] [-1.11399542e-02 3.10456040e-04 9.99937901e-01 -7.68109032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424391418 meters 0.02142360801192546 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.29, Z:-0.77 [[ 9.99445922e-01 3.15902779e-02 1.04834423e-02 4.51383097e+01] [-3.15856443e-02 9.99500865e-01 -6.07306388e-04 -2.89192171e-01] [-1.04973946e-02 2.75843614e-04 9.99944863e-01 -7.70339826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45439141799999 meters 0.019990203970872835 Centerline is valid? [True, True] Translation: X:45.17, Y:-0.29, Z:-0.77 [[ 9.99386852e-01 3.31369080e-02 1.13077804e-02 4.51666444e+01] [-3.31316258e-02 9.99450783e-01 -6.54194701e-04 -2.87650736e-01] [-1.13232480e-02 2.79148433e-04 9.99935851e-01 -7.68919860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484391417999994 meters 0.019192590247272653 Centerline is valid? [True, True] Translation: X:45.20, Y:-0.28, Z:-0.77 [[ 9.99305270e-01 3.53762976e-02 1.17258107e-02 4.51958256e+01] [-3.53707881e-02 9.99374029e-01 -6.76975982e-04 -2.84922506e-01] [-1.17424195e-02 2.61754502e-04 9.99931021e-01 -7.68868373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514391417999995 meters 0.017630809641371085 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.28, Z:-0.77 [[ 9.99085201e-01 4.10259621e-02 1.20677606e-02 4.52257005e+01] [-4.10205516e-02 9.99158061e-01 -6.95625479e-04 -2.76700292e-01] [-1.20861390e-02 1.99962925e-04 9.99926940e-01 -7.68796394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544391418 meters 0.018232558650224693 Centerline is valid? [True, True] Translation: X:45.25, Y:-0.27, Z:-0.77 [[ 9.98972227e-01 4.37501387e-02 1.18496959e-02 4.52538653e+01] [-4.37451188e-02 9.99042491e-01 -6.82612639e-04 -2.74298502e-01] [-1.18682141e-02 1.63544714e-04 9.99929557e-01 -7.69939093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574391418 meters 0.01663017910977687 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.27, Z:-0.77 [[ 9.98883335e-01 4.55995650e-02 1.23597524e-02 4.52831612e+01] [-4.55942623e-02 9.98959788e-01 -7.10614088e-04 -2.71839323e-01] [-1.23792993e-02 1.46286778e-04 9.99923363e-01 -7.69267203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604391418 meters 0.0153408954489457 Centerline is valid? [True, True] Translation: X:45.31, Y:-0.27, Z:-0.77 [[ 9.98814706e-01 4.68908507e-02 1.30549158e-02 4.53108238e+01] [-4.68850582e-02 9.98900010e-01 -7.49569776e-04 -2.71723226e-01] [-1.30757035e-02 1.36600828e-04 9.99914500e-01 -7.69104917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63439141799999 meters 0.015127398648167336 Centerline is valid? [True, True] Translation: X:45.34, Y:-0.27, Z:-0.77 [[ 9.98667083e-01 5.00053878e-02 1.27874535e-02 4.53384079e+01] [-5.00001012e-02 9.98748944e-01 -7.32985632e-04 -2.69321954e-01] [-1.28081089e-02 9.26346531e-05 9.99917969e-01 -7.71293822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664391417999994 meters 0.014666753647630993 Centerline is valid? [True, True] Translation: X:45.37, Y:-0.27, Z:-0.77 [[ 9.98635990e-01 5.05376719e-02 1.31188313e-02 4.53672425e+01] [-5.05321716e-02 9.98722152e-01 -7.50622447e-04 -2.69294558e-01] [-1.31400021e-02 8.66755582e-05 9.99913663e-01 -7.70955909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694391417999995 meters 0.014559636838674608 Centerline is valid? [True, True] Translation: X:45.39, Y:-0.27, Z:-0.77 [[ 9.98626021e-01 5.05981602e-02 1.36343525e-02 4.53947627e+01] [-5.05922371e-02 9.98719089e-01 -7.79208500e-04 -2.69412182e-01] [-1.36563146e-02 8.83454898e-05 9.99906744e-01 -7.70955106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724391417999996 meters 0.014813980166255571 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.27, Z:-0.77 [[ 9.98715806e-01 4.90741916e-02 1.25882240e-02 4.54235599e+01] [-4.90690397e-02 9.98795131e-01 -7.17984433e-04 -2.69894506e-01] [-1.26082913e-02 9.93703387e-05 9.99920507e-01 -7.71459844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754391418 meters 0.015026726566964202 Centerline is valid? [True, True] Translation: X:45.45, Y:-0.27, Z:-0.77 [[ 9.98815104e-01 4.71467079e-02 1.20655222e-02 4.54527015e+01] [-4.71418447e-02 9.98887969e-01 -6.87314121e-04 -2.72771527e-01] [-1.20845096e-02 1.17708751e-04 9.99926973e-01 -7.72162487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784391418 meters 0.015414492755656116 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.28, Z:-0.77 [[ 9.98894346e-01 4.55541943e-02 1.16146859e-02 4.54814717e+01] [-4.55495900e-02 9.98961860e-01 -6.60774665e-04 -2.75944077e-01] [-1.16327293e-02 1.30999896e-04 9.99932329e-01 -7.73478127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81439141799999 meters 0.017321519177820734 Centerline is valid? [True, True] Translation: X:45.51, Y:-0.28, Z:-0.78 [[ 9.98983059e-01 4.39270216e-02 1.01619356e-02 4.55104973e+01] [-4.39234193e-02 9.99034734e-01 -5.77504943e-04 -2.79460427e-01] [-1.01774947e-02 1.30570694e-04 9.99948199e-01 -7.77089672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters 0.017155877719883326 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.29, Z:-0.78 [[ 9.99143658e-01 4.01774102e-02 9.88570051e-03 4.55390382e+01] [-4.01738247e-02 9.99192549e-01 -5.61084628e-04 -2.85713545e-01] [-9.90026122e-03 1.63457747e-04 9.99950978e-01 -7.78137730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874391417999995 meters 0.01781677018600408 Centerline is valid? [True, True] Translation: X:45.57, Y:-0.29, Z:-0.78 [[ 9.99217826e-01 3.82863340e-02 9.89403409e-03 4.55665096e+01] [-3.82826561e-02 9.99266793e-01 -5.60920831e-04 -2.90516524e-01] [-9.90825532e-03 1.81712190e-04 9.99950896e-01 -7.78579027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904391417999996 meters 0.018602891618076323 Centerline is valid? [True, True] Translation: X:45.60, Y:-0.29, Z:-0.78 [[ 9.99266448e-01 3.70508894e-02 9.68487519e-03 4.55954023e+01] [-3.70473179e-02 9.99313362e-01 -5.47969768e-04 -2.92568578e-01] [-9.69852795e-03 1.88769154e-04 9.99952950e-01 -7.79815989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934391418 meters 0.01831455813422014 Centerline is valid? [True, True] Translation: X:45.62, Y:-0.30, Z:-0.78 [[ 9.99300078e-01 3.60360686e-02 1.00376767e-02 4.56242108e+01] [-3.60321895e-02 9.99350469e-01 -5.67090172e-04 -2.95294588e-01] [-1.00515926e-02 2.05013785e-04 9.99949460e-01 -7.78904262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964391418 meters 0.01880016309047188 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.30, Z:-0.78 [[ 9.99310297e-01 3.55643196e-02 1.06822392e-02 4.56515610e+01] [-3.55599077e-02 9.99367365e-01 -6.02719509e-04 -2.97909563e-01] [-1.06969166e-02 2.22444371e-04 9.99942762e-01 -7.78811855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99439141799999 meters 0.019313277768067346 Centerline is valid? [True, True] Translation: X:45.68, Y:-0.30, Z:-0.78 [[ 9.99273749e-01 3.65422410e-02 1.07999936e-02 4.56807966e+01] [-3.65378030e-02 9.99332087e-01 -6.08017698e-04 -2.98986021e-01] [-1.08149985e-02 2.12968086e-04 9.99941494e-01 -7.80086604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters 0.01903489134143793 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.30, Z:-0.78 [[ 9.99232981e-01 3.75080948e-02 1.12513141e-02 4.57100475e+01] [-3.75033454e-02 9.99296302e-01 -6.32882154e-04 -2.98557251e-01] [-1.12671347e-02 2.10434804e-04 9.99936502e-01 -7.79843753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054391417999994 meters 0.017200764643458624 Centerline is valid? [True, True] Translation: X:45.74, Y:-0.30, Z:-0.78 [[ 9.99160195e-01 3.91710375e-02 1.20222670e-02 4.57381891e+01] [-3.91657465e-02 9.99232500e-01 -6.75312621e-04 -2.99838389e-01] [-1.20394926e-02 2.03884426e-04 9.99927502e-01 -7.78364533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084391417999996 meters 0.01664067398958255 Centerline is valid? [True, True] Translation: X:45.77, Y:-0.30, Z:-0.78 [[ 9.99134966e-01 3.99088296e-02 1.16878033e-02 4.57665760e+01] [-3.99038936e-02 9.99203308e-01 -6.55306511e-04 -3.00687457e-01] [-1.17046442e-02 1.88350789e-04 9.99931481e-01 -7.79384688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114391418 meters 0.016741191136788184 Centerline is valid? [True, True] Translation: X:45.79, Y:-0.30, Z:-0.78 [[ 9.99103350e-01 4.08083990e-02 1.12769990e-02 4.57949339e+01] [-4.08038705e-02 9.99166976e-01 -6.31450443e-04 -3.01040338e-01] [-1.12933735e-02 1.70739044e-04 9.99936213e-01 -7.80966120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144391418 meters 0.01703526239036119 Centerline is valid? [True, True] Translation: X:45.82, Y:-0.30, Z:-0.78 [[ 9.99005635e-01 4.32468620e-02 1.08374442e-02 4.58229856e+01] [-4.32428276e-02 9.99064407e-01 -6.06430446e-04 -3.00594018e-01] [-1.08535310e-02 1.37185700e-04 9.99941089e-01 -7.82670177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174391418 meters 0.016958685096805624 Centerline is valid? [True, True] Translation: X:45.85, Y:-0.30, Z:-0.78 [[ 9.98934184e-01 4.49421493e-02 1.05213959e-02 4.58518813e+01] [-4.49384599e-02 9.98989585e-01 -5.86924196e-04 -3.00623465e-01] [-1.05371426e-02 1.13483314e-04 9.99944476e-01 -7.83321945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters 0.016256409080367438 Centerline is valid? [True, True] Translation: X:45.88, Y:-0.30, Z:-0.78 [[ 9.98869634e-01 4.63175577e-02 1.06835283e-02 4.58803454e+01] [-4.63138419e-02 9.98926761e-01 -5.95080397e-04 -3.00887954e-01] [-1.06996250e-02 9.96124971e-05 9.99942752e-01 -7.83578809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234391417999994 meters 0.014518014014067713 Centerline is valid? [True, True] Translation: X:45.91, Y:-0.30, Z:-0.78 [[ 9.98705026e-01 4.97536367e-02 1.06228997e-02 4.59094677e+01] [-4.97501663e-02 9.98761519e-01 -5.90859667e-04 -3.00385705e-01] [-1.06391409e-02 6.16034918e-05 9.99943401e-01 -7.83376241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264391417999995 meters 0.015130719815241488 Centerline is valid? [True, True] Translation: X:45.94, Y:-0.30, Z:-0.79 [[ 9.98617910e-01 5.16477850e-02 9.73529482e-03 4.59377986e+01] [-5.16449635e-02 9.98665362e-01 -5.41168340e-04 -3.00495653e-01] [-9.75025187e-03 3.76414520e-05 9.99952464e-01 -7.85235234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294391418 meters 0.014506769397880459 Centerline is valid? [True, True] Translation: X:45.96, Y:-0.30, Z:-0.79 [[ 9.98545168e-01 5.30713669e-02 9.53823038e-03 4.59645341e+01] [-5.30687260e-02 9.98590722e-01 -5.29932676e-04 -3.00275673e-01] [-9.55291261e-03 2.29799776e-05 9.99954370e-01 -7.85171404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324391418 meters 0.01509615994460342 Centerline is valid? [True, True] Translation: X:45.99, Y:-0.30, Z:-0.79 [[ 9.98345813e-01 5.67658019e-02 9.12584058e-03 4.59919567e+01] [-5.67635553e-02 9.98387522e-01 -5.05211266e-04 -2.97542868e-01] [-9.13980409e-03 -1.36396050e-05 9.99958231e-01 -7.85805135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354391418 meters 0.014685564233674656 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.30, Z:-0.79 [[ 9.98246651e-01 5.84432943e-02 9.38111270e-03 4.60211982e+01] [-5.84410254e-02 9.98290729e-01 -5.16042005e-04 -2.97628812e-01] [-9.39523703e-03 -3.31046414e-05 9.99955863e-01 -7.85497036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters 0.015008807531061692 Centerline is valid? [True, True] Translation: X:46.05, Y:-0.30, Z:-0.79 [[ 9.98126723e-01 6.04239629e-02 9.59111280e-03 4.60492952e+01] [-6.04216886e-02 9.98172802e-01 -5.26977629e-04 -2.98248283e-01] [-9.60543001e-03 -5.35207765e-05 9.99953865e-01 -7.86609224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414391417999994 meters 0.01651201052674211 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.30, Z:-0.79 [[ 9.97888056e-01 6.41973826e-02 9.90576107e-03 4.60775963e+01] [-6.41951378e-02 9.97937216e-01 -5.44735659e-04 -2.99203993e-01] [-9.92029823e-03 -9.23164891e-05 9.99950788e-01 -7.88456843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444391417999995 meters 0.015753231555781 Centerline is valid? [True, True] Translation: X:46.11, Y:-0.30, Z:-0.79 [[ 9.97813844e-01 6.52747743e-02 1.03313350e-02 4.61064993e+01] [-6.52724221e-02 9.97867322e-01 -5.65065409e-04 -2.99978354e-01] [-1.03461861e-02 -1.10521172e-04 9.99946471e-01 -7.87297243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474391417999996 meters 0.016219451318348756 Centerline is valid? [True, True] Translation: X:46.13, Y:-0.30, Z:-0.79 [[ 9.97701451e-01 6.68722120e-02 1.09508946e-02 4.61347205e+01] [-6.68697161e-02 9.97761539e-01 -5.94321602e-04 -2.99943887e-01] [-1.09661251e-02 -1.39327690e-04 9.99939861e-01 -7.87217101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504391418 meters 0.016449416057263765 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.30, Z:-0.79 [[ 9.97645698e-01 6.76532618e-02 1.12293012e-02 4.61635172e+01] [-6.76506863e-02 9.97708882e-01 -6.09482081e-04 -2.99728019e-01] [-1.12448070e-02 -1.51622755e-04 9.99936764e-01 -7.86596006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534391418 meters 0.017507823931078095 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.30, Z:-0.79 [[ 9.97548357e-01 6.90075946e-02 1.16287142e-02 4.61909940e+01] [-6.90049774e-02 9.97616119e-01 -6.26629539e-04 -2.98823737e-01] [-1.16442350e-02 -1.77345896e-04 9.99932188e-01 -7.86703759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters 0.016797137687206077 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.30, Z:-0.79 [[ 9.97569873e-01 6.85835919e-02 1.22735020e-02 4.62194638e+01] [-6.85806617e-02 9.97645356e-01 -6.59963287e-04 -3.01659489e-01] [-1.22898649e-02 -1.83365394e-04 9.99924460e-01 -7.86314669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594391417999994 meters 0.016402419564197825 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.31, Z:-0.79 [[ 9.97694771e-01 6.66271706e-02 1.28826774e-02 4.62469493e+01] [-6.66237886e-02 9.97777927e-01 -6.91985970e-04 -3.08159790e-01] [-1.29001562e-02 -1.67901993e-04 9.99916775e-01 -7.87917020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624391417999995 meters 0.016070945916463922 Centerline is valid? [True, True] Translation: X:46.28, Y:-0.31, Z:-0.79 [[ 9.97803134e-01 6.49944187e-02 1.28308940e-02 4.62755174e+01] [-6.49909567e-02 9.97885616e-01 -6.87035203e-04 -3.12426856e-01] [-1.28484180e-02 -1.48366196e-04 9.99917445e-01 -7.88755175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654391417999996 meters 0.015567978901967506 Centerline is valid? [True, True] Translation: X:46.30, Y:-0.32, Z:-0.79 [[ 9.97915421e-01 6.31834704e-02 1.31400516e-02 4.63038462e+01] [-6.31796962e-02 9.98001920e-01 -7.02552242e-04 -3.16519961e-01] [-1.31581864e-02 -1.29096750e-04 9.99913419e-01 -7.89382657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684391418 meters 0.015292635404455196 Centerline is valid? [True, True] Translation: X:46.33, Y:-0.32, Z:-0.79 [[ 9.98020529e-01 6.15059271e-02 1.31165957e-02 4.63328018e+01] [-6.15020346e-02 9.98106712e-01 -7.00305331e-04 -3.20021051e-01] [-1.31348352e-02 -1.07778227e-04 9.99913729e-01 -7.89899550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714391418 meters 0.014676767226122354 Centerline is valid? [True, True] Translation: X:46.36, Y:-0.33, Z:-0.79 [[ 9.98189588e-01 5.88400002e-02 1.24660001e-02 4.63612144e+01] [-5.88362871e-02 9.98267424e-01 -6.64710190e-04 -3.25217615e-01] [-1.24835133e-02 -6.99463681e-05 9.99922075e-01 -7.89632632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters 0.0159131348645088 Centerline is valid? [True, True] Translation: X:46.39, Y:-0.33, Z:-0.79 [[ 9.98240864e-01 5.79680560e-02 1.24451588e-02 4.63900566e+01] [-5.79642997e-02 9.98318437e-01 -6.62617005e-04 -3.28521058e-01] [-1.24626421e-02 -5.99235443e-05 9.99922336e-01 -7.91573753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77439141799999 meters 0.014849425678824895 Centerline is valid? [True, True] Translation: X:46.42, Y:-0.33, Z:-0.79 [[ 9.98295828e-01 5.68359773e-02 1.32329496e-02 4.64190270e+01] [-5.68316459e-02 9.98383528e-01 -7.03434094e-04 -3.32649886e-01] [-1.32515392e-02 -4.98149828e-05 9.99912193e-01 -7.90703089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804391417999994 meters 0.014408617617322707 Centerline is valid? [True, True] Translation: X:46.45, Y:-0.34, Z:-0.79 [[ 9.98335660e-01 5.60723024e-02 1.34835691e-02 4.64467601e+01] [-5.60677476e-02 9.98426710e-01 -7.15879638e-04 -3.36983887e-01] [-1.35024966e-02 -4.13051782e-05 9.99908836e-01 -7.90344352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834391417999996 meters 0.014605067105707562 Centerline is valid? [True, True] Translation: X:46.47, Y:-0.34, Z:-0.79 [[ 9.98337270e-01 5.58640721e-02 1.42091483e-02 4.64737198e+01] [-5.58590181e-02 9.98438383e-01 -7.52622804e-04 -3.42329592e-01] [-1.42290036e-02 -4.23376735e-05 9.99898762e-01 -7.91190815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864391418 meters 0.014651674870500831 Centerline is valid? [True, True] Translation: X:46.50, Y:-0.34, Z:-0.79 [[ 9.98317756e-01 5.61689496e-02 1.43772912e-02 4.65010449e+01] [-5.61638367e-02 9.98421277e-01 -7.59455496e-04 -3.44471767e-01] [-1.43972512e-02 -4.93059266e-05 9.99896353e-01 -7.91563017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894391418 meters 0.015617406681283492 Centerline is valid? [True, True] Translation: X:46.53, Y:-0.35, Z:-0.79 [[ 9.98263645e-01 5.70798413e-02 1.45460160e-02 4.65302434e+01] [-5.70747369e-02 9.98369615e-01 -7.66140613e-04 -3.46408830e-01] [-1.45660316e-02 -6.53997142e-05 9.99893908e-01 -7.92257876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924391418 meters 0.015617406681283492 Centerline is valid? [True, True] Translation: X:46.56, Y:-0.35, Z:-0.79 [[ 9.98270556e-01 5.69588414e-02 1.45460706e-02 4.65576580e+01] [-5.69537393e-02 9.98376525e-01 -7.65102672e-04 -3.47738637e-01] [-1.45660348e-02 -6.46736419e-05 9.99893908e-01 -7.92753283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95439141799999 meters 0.015061013924331781 Centerline is valid? [True, True] Translation: X:46.59, Y:-0.35, Z:-0.79 [[ 9.98166414e-01 5.86740497e-02 1.48716460e-02 4.65858028e+01] [-5.86689356e-02 9.98277190e-01 -7.80304768e-04 -3.48586624e-01] [-1.48918086e-02 -9.36296262e-05 9.99889106e-01 -7.91619257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984391417999994 meters 0.015356495788428645 Centerline is valid? [True, True] Translation: X:46.61, Y:-0.35, Z:-0.79 [[ 9.98079209e-01 6.01462005e-02 1.48433868e-02 4.66140444e+01] [-6.01412909e-02 9.98189572e-01 -7.77321739e-04 -3.50345383e-01] [-1.48632668e-02 -1.16871775e-04 9.99889529e-01 -7.92518987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014391417999995 meters 0.015845715104908887 Centerline is valid? [True, True] Translation: X:46.64, Y:-0.35, Z:-0.79 [[ 9.97877453e-01 6.33683280e-02 1.50014425e-02 4.66429131e+01] [-6.33637000e-02 9.97990194e-01 -7.84086730e-04 -3.54327408e-01] [-1.50209788e-02 -1.68124434e-04 9.99887165e-01 -7.93490853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044391418 meters 0.016312806581245003 Centerline is valid? [True, True] Translation: X:46.67, Y:-0.36, Z:-0.79 [[ 9.97768561e-01 6.50940782e-02 1.48546006e-02 4.66715665e+01] [-6.50897488e-02 9.97879113e-01 -7.75247336e-04 -3.56613558e-01] [-1.48735597e-02 -1.93364802e-04 9.99889364e-01 -7.94103352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074391418 meters 0.016884346517655236 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.36, Z:-0.79 [[ 9.97675414e-01 6.64586783e-02 1.50669631e-02 4.66989665e+01] [-6.64543951e-02 9.97789154e-01 -7.85316465e-04 -3.58243689e-01] [-1.50858435e-02 -2.17774990e-04 9.99886178e-01 -7.94637594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104391418 meters 0.018448320750674835 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.36, Z:-0.80 [[ 9.97553894e-01 6.82509399e-02 1.51008987e-02 4.67272307e+01] [-6.82468790e-02 9.97668155e-01 -7.84680282e-04 -3.60763215e-01] [-1.51192409e-02 -2.47828337e-04 9.99885667e-01 -7.97109555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13439141799999 meters 0.017325770502896465 Centerline is valid? [True, True] Translation: X:46.76, Y:-0.36, Z:-0.79 [[ 9.97469143e-01 6.94019175e-02 1.54493767e-02 4.67556814e+01] [-6.93978247e-02 9.97588743e-01 -8.01513652e-04 -3.63097900e-01] [-1.54677509e-02 -2.72668003e-04 9.99880330e-01 -7.94962898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164391417999994 meters 0.017432242923162544 Centerline is valid? [True, True] Translation: X:46.78, Y:-0.37, Z:-0.80 [[ 9.97464069e-01 6.96491360e-02 1.46433977e-02 4.67847152e+01] [-6.96455019e-02 9.97571516e-01 -7.58592824e-04 -3.65780728e-01] [-1.46606718e-02 -2.63177699e-04 9.99892492e-01 -7.96015834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194391417999995 meters 0.017929771534547296 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.37, Z:-0.80 [[ 9.97504223e-01 6.92437457e-02 1.38068622e-02 4.68121496e+01] [-6.92404881e-02 9.97599742e-01 -7.14394235e-04 -3.69405259e-01] [-1.38231894e-02 -2.43382609e-04 9.99904426e-01 -7.98642501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224391417999996 meters 0.01711254551040797 Centerline is valid? [True, True] Translation: X:46.84, Y:-0.38, Z:-0.80 [[ 9.97644911e-01 6.73854347e-02 1.27998116e-02 4.68408995e+01] [-6.73825026e-02 9.97726998e-01 -6.60685423e-04 -3.77150870e-01] [-1.28152382e-02 -2.03353888e-04 9.99917861e-01 -8.00254978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254391418 meters 0.01697393632342221 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.38, Z:-0.80 [[ 9.97754257e-01 6.57477799e-02 1.27934375e-02 4.68690351e+01] [-6.57447296e-02 9.97836257e-01 -6.59303369e-04 -3.80216548e-01] [-1.28091035e-02 -1.83278346e-04 9.99917943e-01 -8.01082547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284391418 meters 0.016366928720336005 Centerline is valid? [True, True] Translation: X:46.90, Y:-0.38, Z:-0.80 [[ 9.97868141e-01 6.40890021e-02 1.23196319e-02 4.68972871e+01] [-6.40860589e-02 9.97944174e-01 -6.33930795e-04 -3.84513357e-01] [-1.23349329e-02 -1.56937311e-04 9.99923910e-01 -8.01257076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31439141799999 meters 0.018730349850113064 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.39, Z:-0.80 [[ 9.97941592e-01 6.29259789e-02 1.23653090e-02 4.69256470e+01] [-6.29229366e-02 9.98018186e-01 -6.35312865e-04 -3.89440329e-01] [-1.23807810e-02 -1.44056423e-04 9.99923345e-01 -8.04615826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters 0.016257593457989487 Centerline is valid? [True, True] Translation: X:46.95, Y:-0.40, Z:-0.80 [[ 9.98206835e-01 5.83358751e-02 1.34179263e-02 4.69531039e+01] [-5.83318930e-02 9.98297008e-01 -6.88281204e-04 -3.97825614e-01] [-1.34352271e-02 -9.56460362e-05 9.99909739e-01 -8.02997122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374391417999995 meters 0.014591799739457033 Centerline is valid? [True, True] Translation: X:46.98, Y:-0.40, Z:-0.80 [[ 9.98342660e-01 5.56627721e-02 1.46146801e-02 4.69821734e+01] [-5.56577861e-02 9.98449624e-01 -7.47987314e-04 -4.02941876e-01] [-1.46336569e-02 -6.66730951e-05 9.99892920e-01 -8.01084634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404391417999996 meters 0.014435639378703758 Centerline is valid? [True, True] Translation: X:47.01, Y:-0.41, Z:-0.80 [[ 9.98455051e-01 5.34783530e-02 1.50856654e-02 4.70111929e+01] [-5.34728101e-02 9.98569008e-01 -7.70841062e-04 -4.07664344e-01] [-1.51053013e-02 -3.70227712e-05 9.99885908e-01 -8.01249666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434391418 meters 0.014476813235494752 Centerline is valid? [True, True] Translation: X:47.04, Y:-0.41, Z:-0.80 [[ 9.98610491e-01 5.02433125e-02 1.58964305e-02 4.70391243e+01] [-5.02367690e-02 9.98737007e-01 -8.10936544e-04 -4.14603900e-01] [-1.59170976e-02 1.12244317e-05 9.99873315e-01 -8.01228257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464391418 meters 0.016467546887299508 Centerline is valid? [True, True] Translation: X:47.07, Y:-0.42, Z:-0.80 [[ 9.98659089e-01 4.95185842e-02 1.50974813e-02 4.70671084e+01] [-4.95126199e-02 9.98773202e-01 -7.68805170e-04 -4.18179306e-01] [-1.51170299e-02 2.02584183e-05 9.99885731e-01 -8.04098237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49439141799999 meters 0.014305735474330181 Centerline is valid? [True, True] Translation: X:47.10, Y:-0.42, Z:-0.80 [[ 9.98699588e-01 4.82996483e-02 1.63179632e-02 4.70951919e+01] [-4.82925534e-02 9.98832890e-01 -8.28784247e-04 -4.21645918e-01] [-1.63389483e-02 3.96703785e-05 9.99866510e-01 -8.02004772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters 0.016526973992027443 Centerline is valid? [True, True] Translation: X:47.12, Y:-0.43, Z:-0.81 [[ 9.98721195e-01 4.81125198e-02 1.55293012e-02 4.71233899e+01] [-4.81061008e-02 9.98841921e-01 -7.86847982e-04 -4.25094321e-01] [-1.55491743e-02 3.87876291e-05 9.99879104e-01 -8.05037512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554391417999994 meters 0.014421898605556368 Centerline is valid? [True, True] Translation: X:47.15, Y:-0.43, Z:-0.80 [[ 9.98744738e-01 4.70552107e-02 1.71684278e-02 4.71524270e+01] [-4.70472351e-02 9.98892288e-01 -8.68373128e-04 -4.30393337e-01] [-1.71902716e-02 5.95560331e-05 9.99852235e-01 -8.02684771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584391417999996 meters 0.016525486541469125 Centerline is valid? [True, True] Translation: X:47.18, Y:-0.43, Z:-0.81 [[ 9.98726412e-01 4.77571384e-02 1.62729927e-02 4.71800160e+01] [-4.77500861e-02 9.98858976e-01 -8.21866159e-04 -4.33619354e-01] [-1.62936748e-02 4.37826378e-05 9.99867248e-01 -8.05779307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614391418 meters 0.015219859747990679 Centerline is valid? [True, True] Translation: X:47.21, Y:-0.44, Z:-0.80 [[ 9.98721422e-01 4.76428681e-02 1.69020342e-02 4.72087002e+01] [-4.76352740e-02 9.98864433e-01 -8.51838537e-04 -4.36184918e-01] [-1.69234248e-02 4.56163650e-05 9.99856788e-01 -8.04863662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644391418 meters 0.014698043806789806 Centerline is valid? [True, True] Translation: X:47.24, Y:-0.44, Z:-0.80 [[ 9.98618979e-01 4.97046858e-02 1.70169924e-02 4.72378481e+01] [-4.96973111e-02 9.98763958e-01 -8.56239842e-04 -4.38975044e-01] [-1.70385178e-02 9.35859022e-06 9.99854834e-01 -8.04785136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674391418 meters 0.014336414406000728 Centerline is valid? [True, True] Translation: X:47.27, Y:-0.44, Z:-0.80 [[ 9.98555366e-01 5.09844533e-02 1.69636618e-02 4.72655845e+01] [-5.09773322e-02 9.98699447e-01 -8.52212529e-04 -4.40777914e-01] [-1.69850492e-02 -1.37808265e-05 9.99855744e-01 -8.04982545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters 0.014762399608798493 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.44, Z:-0.81 [[ 9.98476011e-01 5.27565729e-02 1.61987188e-02 4.72946620e+01] [-5.27503383e-02 9.98607401e-01 -8.12209019e-04 -4.42726069e-01] [-1.62190099e-02 -4.35166775e-05 9.99868462e-01 -8.06556142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734391417999994 meters 0.016300459163974622 Centerline is valid? [True, True] Translation: X:47.32, Y:-0.44, Z:-0.81 [[ 9.98387605e-01 5.47253355e-02 1.50774212e-02 4.73220373e+01] [-5.47201744e-02 9.98501443e-01 -7.54944286e-04 -4.44528590e-01] [-1.50961415e-02 -7.13121037e-05 9.99886044e-01 -8.09753755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764391417999995 meters 0.01515824053759562 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.45, Z:-0.81 [[ 9.98203112e-01 5.79078659e-02 1.54021649e-02 4.73503678e+01] [-5.79028836e-02 9.98321924e-01 -7.69599591e-04 -4.46119065e-01] [-1.54208848e-02 -1.23613055e-04 9.99881083e-01 -8.09009222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794391418 meters 0.01606658721262921 Centerline is valid? [True, True] Translation: X:47.38, Y:-0.45, Z:-0.81 [[ 9.98093778e-01 5.98447273e-02 1.50804450e-02 4.73778634e+01] [-5.98401885e-02 9.98207687e-01 -7.52434137e-04 -4.47046904e-01] [-1.50984453e-02 -1.51416841e-04 9.99886001e-01 -8.10303732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824391418 meters 0.016191964418911433 Centerline is valid? [True, True] Translation: X:47.41, Y:-0.45, Z:-0.81 [[ 9.97973714e-01 6.17104899e-02 1.55010338e-02 4.74067888e+01] [-6.17059441e-02 9.98094074e-01 -7.71825244e-04 -4.48147025e-01] [-1.55191197e-02 -1.86244623e-04 9.99879554e-01 -8.09864798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854391418 meters 0.01688353173352921 Centerline is valid? [True, True] Translation: X:47.44, Y:-0.45, Z:-0.81 [[ 9.97767416e-01 6.47547957e-02 1.63401537e-02 4.74351776e+01] [-6.47501741e-02 9.97901175e-01 -8.12280998e-04 -4.50442594e-01] [-1.63584576e-02 -2.47560282e-04 9.99866161e-01 -8.09752509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters 0.018148882842554094 Centerline is valid? [True, True] Translation: X:47.46, Y:-0.45, Z:-0.81 [[ 9.97700943e-01 6.58515662e-02 1.60124944e-02 4.74636607e+01] [-6.58472888e-02 9.97829396e-01 -7.94782540e-04 -4.53018718e-01] [-1.60300753e-02 -2.61424055e-04 9.99871476e-01 -8.12175680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914391417999994 meters 0.017720486452072238 Centerline is valid? [True, True] Translation: X:47.49, Y:-0.46, Z:-0.81 [[ 9.97698823e-01 6.58033017e-02 1.63396259e-02 4.74909470e+01] [-6.57988607e-02 9.97832578e-01 -8.09831614e-04 -4.55453898e-01] [-1.63575006e-02 -2.67160718e-04 9.99866171e-01 -8.11581873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944391417999995 meters 0.0176936962530037 Centerline is valid? [True, True] Translation: X:47.52, Y:-0.46, Z:-0.81 [[ 9.97716239e-01 6.55285255e-02 1.63804193e-02 4.75181756e+01] [-6.55240616e-02 9.97850661e-01 -8.09632983e-04 -4.60883429e-01] [-1.63982663e-02 -2.65527631e-04 9.99865504e-01 -8.12121260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974391417999996 meters 0.01639618637640576 Centerline is valid? [True, True] Translation: X:47.55, Y:-0.47, Z:-0.81 [[ 9.97777114e-01 6.46779216e-02 1.60498514e-02 4.75468026e+01] [-6.46735554e-02 9.97906160e-01 -7.91470742e-04 -4.67284488e-01] [-1.60674363e-02 -2.48289559e-04 9.99870880e-01 -8.12459427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004391418 meters 0.016590105577432335 Centerline is valid? [True, True] Translation: X:47.57, Y:-0.47, Z:-0.81 [[ 9.97837615e-01 6.35197100e-02 1.68920201e-02 4.75745489e+01] [-6.35147320e-02 9.97980555e-01 -8.31555349e-04 -4.70548564e-01] [-1.69107277e-02 -2.43134922e-04 9.99856974e-01 -8.12935506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034391418 meters 0.01797753598187992 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.48, Z:-0.82 [[ 9.97880889e-01 6.30129734e-02 1.62202392e-02 4.76027871e+01] [-6.30083429e-02 9.98012682e-01 -7.96869606e-04 -4.76216039e-01] [-1.62382176e-02 -2.26829442e-04 9.99868126e-01 -8.15561881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters 0.015402976591034035 Centerline is valid? [True, True] Translation: X:47.63, Y:-0.49, Z:-0.81 [[ 9.98114245e-01 5.88005661e-02 1.76195387e-02 4.76309280e+01] [-5.87944731e-02 9.98269735e-01 -8.64066198e-04 -4.85178032e-01] [-1.76398598e-02 -1.73494714e-04 9.99844391e-01 -8.13264806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094391417999994 meters 0.01683162224850557 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.49, Z:-0.82 [[ 9.98233522e-01 5.68591016e-02 1.72301701e-02 4.76584433e+01] [-5.68530085e-02 9.98382203e-01 -8.43648140e-04 -4.88855935e-01] [-1.72502643e-02 -1.37429156e-04 9.99851194e-01 -8.15661458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124391417999995 meters 0.01695321546285218 Centerline is valid? [True, True] Translation: X:47.69, Y:-0.50, Z:-0.82 [[ 9.98367270e-01 5.44619844e-02 1.72246029e-02 4.76867598e+01] [-5.44555705e-02 9.98515840e-01 -8.41524914e-04 -4.95801222e-01] [-1.72448700e-02 -9.78246487e-05 9.99851291e-01 -8.16299227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154391417999996 meters 0.014609240587535615 Centerline is valid? [True, True] Translation: X:47.71, Y:-0.50, Z:-0.81 [[ 9.98651358e-01 4.84804525e-02 1.85771875e-02 4.77147420e+01] [-4.84719866e-02 9.98824132e-01 -9.05981298e-04 -5.04900198e-01] [-1.85992656e-02 4.28626907e-06 9.99827019e-01 -8.14112987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184391418 meters 0.015455466951879935 Centerline is valid? [True, True] Translation: X:47.74, Y:-0.51, Z:-0.82 [[ 9.98783626e-01 4.58207263e-02 1.82134422e-02 4.77427930e+01] [-4.58121729e-02 9.98949678e-01 -8.86798505e-04 -5.10515678e-01] [-1.82349459e-02 5.13224651e-05 9.99833728e-01 -8.16062648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214391418 meters 0.014828776366214812 Centerline is valid? [True, True] Translation: X:47.77, Y:-0.52, Z:-0.82 [[ 9.98913237e-01 4.26721614e-02 1.87464939e-02 4.77719523e+01] [-4.26625740e-02 9.99089122e-01 -9.11230767e-04 -5.16483161e-01] [-1.87683023e-02 1.10466792e-04 9.99823854e-01 -8.15906561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters 0.015519998717595308 Centerline is valid? [True, True] Translation: X:47.80, Y:-0.52, Z:-0.82 [[ 9.99058328e-01 3.93538311e-02 1.82683867e-02 4.78000772e+01] [-3.93441850e-02 9.99225324e-01 -8.87270226e-04 -5.23459242e-01] [-1.82891521e-02 1.67679925e-04 9.99832725e-01 -8.17068553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27439141799999 meters 0.01893046705189508 Centerline is valid? [True, True] Translation: X:47.83, Y:-0.53, Z:-0.82 [[ 9.99286624e-01 3.39047704e-02 1.66345911e-02 4.78301529e+01] [-3.38960340e-02 9.99425039e-01 -8.06941233e-04 -5.32852693e-01] [-1.66523860e-02 2.42518915e-04 9.99861310e-01 -8.21167708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304391417999994 meters 0.020810055577789543 Centerline is valid? [True, True] Translation: X:47.86, Y:-0.54, Z:-0.82 [[ 9.99377919e-01 3.13937293e-02 1.60688989e-02 4.78590472e+01] [-3.13852519e-02 9.99507058e-01 -7.79538707e-04 -5.39934528e-01] [-1.60854505e-02 2.74727332e-04 9.99870583e-01 -8.22249617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334391417999996 meters 0.020145304092111842 Centerline is valid? [True, True] Translation: X:47.89, Y:-0.54, Z:-0.82 [[ 9.99436346e-01 2.92441717e-02 1.64854157e-02 4.78895791e+01] [-2.92349629e-02 9.99572247e-01 -7.99372006e-04 -5.41901744e-01] [-1.65017410e-02 3.16970921e-04 9.99863787e-01 -8.21947159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364391418 meters 0.020552158608590984 Centerline is valid? [True, True] Translation: X:47.92, Y:-0.55, Z:-0.82 [[ 9.99476105e-01 2.75678246e-02 1.69567098e-02 4.79210920e+01] [-2.75578452e-02 9.99619873e-01 -8.21947490e-04 -5.47012062e-01] [-1.69729234e-02 3.54226492e-04 9.99855887e-01 -8.21804287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394391418 meters 0.01925258727032806 Centerline is valid? [True, True] Translation: X:47.95, Y:-0.55, Z:-0.82 [[ 9.99468642e-01 2.72037352e-02 1.79552560e-02 4.79537811e+01] [-2.71923967e-02 9.99629835e-01 -8.75374089e-04 -5.49142274e-01] [-1.79724230e-02 3.86662509e-04 9.99838408e-01 -8.20486213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424391418 meters 0.020131058912115665 Centerline is valid? [True, True] Translation: X:47.99, Y:-0.55, Z:-0.82 [[ 9.99473905e-01 2.71254189e-02 1.77799250e-02 4.79863341e+01] [-2.71141983e-02 9.99631962e-01 -8.71887141e-04 -5.52268745e-01] [-1.77970316e-02 3.89340033e-04 9.99841544e-01 -8.21639808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45439141799999 meters 0.02026743698456721 Centerline is valid? [True, True] Translation: X:48.02, Y:-0.56, Z:-0.82 [[ 9.99491984e-01 2.62550738e-02 1.80677905e-02 4.80186385e+01] [-2.62432500e-02 9.99655189e-01 -8.91240158e-04 -5.56653051e-01] [-1.80849601e-02 4.16629851e-04 9.99836367e-01 -8.22220467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484391417999994 meters 0.019455774023246206 Centerline is valid? [True, True] Translation: X:48.05, Y:-0.56, Z:-0.82 [[ 9.99501120e-01 2.55364094e-02 1.85849967e-02 4.80506405e+01] [-2.55236734e-02 9.99673793e-01 -9.22202706e-04 -5.59133818e-01] [-1.86024839e-02 4.47385251e-04 9.99826859e-01 -8.21774243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514391417999995 meters 0.0211878795785577 Centerline is valid? [True, True] Translation: X:48.08, Y:-0.56, Z:-0.82 [[ 9.99524840e-01 2.51268738e-02 1.78531455e-02 4.80812491e+01] [-2.51149675e-02 9.99684173e-01 -8.90832623e-04 -5.64098350e-01] [-1.78698909e-02 4.42028165e-04 9.99840223e-01 -8.23131817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544391418 meters 0.021379501750359343 Centerline is valid? [True, True] Translation: X:48.11, Y:-0.57, Z:-0.83 [[ 9.99573407e-01 2.39851036e-02 1.66649278e-02 4.81136633e+01] [-2.39745028e-02 9.99712221e-01 -8.35628504e-04 -5.66251619e-01] [-1.66801746e-02 4.35738670e-04 9.99860781e-01 -8.25713235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574391418 meters 0.02275196566917125 Centerline is valid? [True, True] Translation: X:48.15, Y:-0.57, Z:-0.83 [[ 9.99594033e-01 2.35601480e-02 1.60215139e-02 4.81455098e+01] [-2.35502262e-02 9.99722329e-01 -8.07687075e-04 -5.68657492e-01] [-1.60360945e-02 4.30048903e-04 9.99871321e-01 -8.28212280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604391418 meters 0.02139558591108557 Centerline is valid? [True, True] Translation: X:48.18, Y:-0.57, Z:-0.83 [[ 9.99607693e-01 2.22632674e-02 1.69943197e-02 4.81779862e+01] [-2.22518290e-02 9.99752026e-01 -8.61892283e-04 -5.71491833e-01] [-1.70092941e-02 4.83399462e-04 9.99855215e-01 -8.25868814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63439141799999 meters 0.02169058201094141 Centerline is valid? [True, True] Translation: X:48.21, Y:-0.57, Z:-0.83 [[ 9.99621714e-01 2.16172994e-02 1.70035802e-02 4.82103830e+01] [-2.16056728e-02 9.99766194e-01 -8.67202619e-04 -5.73772919e-01] [-1.70183512e-02 4.99500779e-04 9.99855053e-01 -8.26316901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664391417999994 meters 0.025027277168919046 Centerline is valid? [True, True] Translation: X:48.24, Y:-0.58, Z:-0.83 [[ 9.99688539e-01 2.06665991e-02 1.39898665e-02 4.82419060e+01] [-2.06585854e-02 9.99786331e-01 -7.17105307e-04 -5.76125680e-01] [-1.40016974e-02 4.27871105e-04 9.99901880e-01 -8.31335738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694391417999995 meters 0.023248419111650157 Centerline is valid? [True, True] Translation: X:48.27, Y:-0.58, Z:-0.83 [[ 9.99688354e-01 2.00150824e-02 1.49195142e-02 4.82739803e+01] [-2.00058647e-02 9.99799569e-01 -7.66831470e-04 -5.77474456e-01] [-1.49318720e-02 4.68114708e-04 9.99888404e-01 -8.29800448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724391417999996 meters 0.02440886366433328 Centerline is valid? [True, True] Translation: X:48.31, Y:-0.58, Z:-0.83 [[ 9.99695144e-01 2.07628676e-02 1.33612634e-02 4.83066926e+01] [-2.07555008e-02 9.99784343e-01 -6.89800288e-04 -5.78654984e-01] [-1.33727041e-02 4.12270286e-04 9.99910496e-01 -8.32723934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754391418 meters 0.0256983631027949 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.58, Z:-0.83 [[ 9.99691603e-01 2.13750033e-02 1.26415301e-02 4.83377533e+01] [-2.13683986e-02 9.99771454e-01 -6.57314456e-04 -5.79694356e-01] [-1.26526910e-02 3.86982488e-04 9.99919877e-01 -8.34331350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784391418 meters 0.022426746602892428 Centerline is valid? [True, True] Translation: X:48.37, Y:-0.58, Z:-0.83 [[ 9.99625097e-01 2.34437384e-02 1.41441369e-02 4.83688311e+01] [-2.34356459e-02 9.99725075e-01 -7.37644517e-04 -5.78196938e-01] [-1.41575415e-02 4.05890989e-04 9.99899695e-01 -8.31374641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81439141799999 meters 0.022426746602892428 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.58, Z:-0.83 [[ 9.99624173e-01 2.34832272e-02 1.41439018e-02 4.83996390e+01] [-2.34750753e-02 9.99724147e-01 -7.42124694e-04 -5.79850900e-01] [-1.41574276e-02 4.09816625e-04 9.99899695e-01 -8.31929897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844391417999994 meters 0.02356934146733409 Centerline is valid? [True, True] Translation: X:48.43, Y:-0.58, Z:-0.84 [[ 9.99556467e-01 2.67103892e-02 1.31690365e-02 4.84315214e+01] [-2.67035973e-02 9.99643156e-01 -6.91350431e-04 -5.79294535e-01] [-1.31828034e-02 3.39383148e-04 9.99913045e-01 -8.35261047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874391417999995 meters 0.02216707207400213 Centerline is valid? [True, True] Translation: X:48.46, Y:-0.58, Z:-0.83 [[ 9.99468502e-01 2.94113898e-02 1.40600265e-02 4.84623123e+01] [-2.94038986e-02 9.99567339e-01 -7.39263885e-04 -5.77426813e-01] [-1.40756860e-02 3.25451374e-04 9.99900880e-01 -8.34755883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904391417999996 meters 0.02009806137754479 Centerline is valid? [True, True] Translation: X:48.49, Y:-0.58, Z:-0.83 [[ 9.99358554e-01 3.23934236e-02 1.52691436e-02 4.84924733e+01] [-3.23849364e-02 9.99475148e-01 -8.02838203e-04 -5.76269569e-01] [-1.52871362e-02 3.07832982e-04 9.99883098e-01 -8.32493050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934391418 meters 0.0173993451955989 Centerline is valid? [True, True] Translation: X:48.52, Y:-0.57, Z:-0.83 [[ 9.99071003e-01 4.00759755e-02 1.58444824e-02 4.85233323e+01] [-4.00678014e-02 9.99196616e-01 -8.33132876e-04 -5.66380833e-01] [-1.58651418e-02 1.97505322e-04 9.99874121e-01 -8.32013550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964391418 meters 0.018837712061298934 Centerline is valid? [True, True] Translation: X:48.55, Y:-0.56, Z:-0.83 [[ 9.98895075e-01 4.44970216e-02 1.51209978e-02 4.85517942e+01] [-4.44900851e-02 9.99009510e-01 -7.94974291e-04 -5.64092536e-01] [-1.51413946e-02 1.21361424e-04 9.99885355e-01 -8.34392154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99439141799999 meters 0.015083582595931478 Centerline is valid? [True, True] Translation: X:48.58, Y:-0.56, Z:-0.83 [[ 9.98743352e-01 4.74625452e-02 1.60942239e-02 4.85807921e+01] [-4.74550945e-02 9.98873015e-01 -8.44744087e-04 -5.60643081e-01] [-1.61161797e-02 7.99296240e-05 9.99870123e-01 -8.31521710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters 0.014862136972523008 Centerline is valid? [True, True] Translation: X:48.61, Y:-0.56, Z:-0.83 [[ 9.98440941e-01 5.36355946e-02 1.54566959e-02 4.86090825e+01] [-5.36294793e-02 9.98560575e-01 -8.10163602e-04 -5.55048338e-01] [-1.54779008e-02 -2.00340426e-05 9.99880210e-01 -8.32853451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054391417999994 meters 0.016658076677774237 Centerline is valid? [True, True] Translation: X:48.64, Y:-0.55, Z:-0.84 [[ 9.98321794e-01 5.59917536e-02 1.47824145e-02 4.86383107e+01] [-5.59864395e-02 9.98431230e-01 -7.73402056e-04 -5.54538095e-01] [-1.48025285e-02 -5.55106287e-05 9.99890435e-01 -8.35526069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084391417999996 meters 0.015176059283750338 Centerline is valid? [True, True] Translation: X:48.67, Y:-0.55, Z:-0.83 [[ 9.98282819e-01 5.67081162e-02 1.46834524e-02 4.86657796e+01] [-5.67029667e-02 9.98390798e-01 -7.67119299e-04 -5.53379640e-01] [-1.47033256e-02 -6.67932949e-05 9.99891898e-01 -8.34512879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114391418 meters 0.015253237494729689 Centerline is valid? [True, True] Translation: X:48.69, Y:-0.55, Z:-0.84 [[ 9.98264641e-01 5.71067508e-02 1.43709670e-02 4.86939585e+01] [-5.71018799e-02 9.98368075e-01 -7.49377538e-04 -5.53331210e-01] [-1.43903092e-02 -7.25321318e-05 9.99896452e-01 -8.35219147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144391418 meters 0.01479780444463614 Centerline is valid? [True, True] Translation: X:48.72, Y:-0.55, Z:-0.84 [[ 9.98316376e-01 5.62314294e-02 1.42281575e-02 4.87222625e+01] [-5.62265827e-02 9.98417760e-01 -7.40746975e-04 -5.54623540e-01] [-1.42472984e-02 -6.05008397e-05 9.99898500e-01 -8.35268476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174391418 meters 0.014590092111446993 Centerline is valid? [True, True] Translation: X:48.75, Y:-0.56, Z:-0.84 [[ 9.98392240e-01 5.49203349e-02 1.40246840e-02 4.87506276e+01] [-5.49155195e-02 9.98490739e-01 -7.28520555e-04 -5.56823531e-01] [-1.40435277e-02 -4.28235398e-05 9.99901384e-01 -8.35472484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters 0.015095304343628945 Centerline is valid? [True, True] Translation: X:48.78, Y:-0.56, Z:-0.84 [[ 9.98468287e-01 5.34394323e-02 1.43285237e-02 4.87780770e+01] [-5.34342799e-02 9.98571092e-01 -7.42461495e-04 -5.59354764e-01] [-1.43477263e-02 -2.43100910e-05 9.99897066e-01 -8.37046894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234391417999994 meters 0.01651745718061288 Centerline is valid? [True, True] Translation: X:48.81, Y:-0.56, Z:-0.84 [[ 9.98585906e-01 5.15304705e-02 1.30690292e-02 4.88067213e+01] [-5.15260401e-02 9.98671423e-01 -6.75712634e-04 -5.62553074e-01] [-1.30864858e-02 1.36179101e-06 9.99914368e-01 -8.39777679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264391417999995 meters 0.01765799444681377 Centerline is valid? [True, True] Translation: X:48.84, Y:-0.56, Z:-0.84 [[ 9.98619056e-01 5.09579598e-02 1.27776314e-02 4.88357234e+01] [-5.09536905e-02 9.98700799e-01 -6.59654737e-04 -5.64322179e-01] [-1.27946453e-02 7.67631645e-06 9.99918145e-01 -8.41710505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294391418 meters 0.014660287155802693 Centerline is valid? [True, True] Translation: X:48.86, Y:-0.57, Z:-0.84 [[ 9.98659775e-01 5.00353567e-02 1.32331904e-02 4.88635049e+01] [-5.00307102e-02 9.98747447e-01 -6.82143138e-04 -5.65508944e-01] [-1.32507464e-02 1.91629975e-05 9.99912205e-01 -8.39937886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324391418 meters 0.014662642364375587 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.57, Z:-0.84 [[ 9.98646414e-01 5.02702770e-02 1.33506225e-02 4.88922609e+01] [-5.02655880e-02 9.98735650e-01 -6.86751064e-04 -5.65737461e-01] [-1.33682658e-02 1.47445962e-05 9.99910641e-01 -8.39102424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354391418 meters 0.015300226129021943 Centerline is valid? [True, True] Translation: X:48.92, Y:-0.57, Z:-0.84 [[ 9.98568592e-01 5.16456464e-02 1.39102525e-02 4.89199017e+01] [-5.16407048e-02 9.98665473e-01 -7.14437464e-04 -5.65376059e-01] [-1.39285865e-02 -4.92043102e-06 9.99902993e-01 -8.39932186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters 0.014611973914598397 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.57, Z:-0.84 [[ 9.98528617e-01 5.23193512e-02 1.42578502e-02 4.89474694e+01] [-5.23142492e-02 9.98630405e-01 -7.30820983e-04 -5.65863312e-01] [-1.42765588e-02 -1.61430645e-05 9.99898085e-01 -8.39000241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414391417999994 meters 0.01450363007411137 Centerline is valid? [True, True] Translation: X:48.98, Y:-0.57, Z:-0.84 [[ 9.98472573e-01 5.33203253e-02 1.44728828e-02 4.89761646e+01] [-5.33151954e-02 9.98577459e-01 -7.40321238e-04 -5.66587138e-01] [-1.44917687e-02 -3.24341223e-05 9.99894988e-01 -8.38690991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444391417999995 meters 0.014964367334548123 Centerline is valid? [True, True] Translation: X:49.00, Y:-0.57, Z:-0.84 [[ 9.98404845e-01 5.44541312e-02 1.49168687e-02 4.90040652e+01] [-5.44488260e-02 9.98516272e-01 -7.61846244e-04 -5.67394779e-01] [-1.49362218e-02 -5.15750105e-05 9.99888447e-01 -8.40140342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474391417999996 meters 0.01590567880328635 Centerline is valid? [True, True] Translation: X:49.03, Y:-0.57, Z:-0.84 [[ 9.98303056e-01 5.64240954e-02 1.43989702e-02 4.90324178e+01] [-5.64193779e-02 9.98406889e-01 -7.33955076e-04 -5.68280133e-01] [-1.44174438e-02 -7.96713450e-05 9.99896060e-01 -8.41886481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504391418 meters 0.01515668001474686 Centerline is valid? [True, True] Translation: X:49.06, Y:-0.57, Z:-0.84 [[ 9.98314206e-01 5.62641460e-02 1.42510611e-02 4.90592525e+01] [-5.62595218e-02 9.98415915e-01 -7.25492447e-04 -5.69282830e-01] [-1.42693055e-02 -7.74884681e-05 9.99898185e-01 -8.41609130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534391418 meters 0.015373313922187711 Centerline is valid? [True, True] Translation: X:49.09, Y:-0.57, Z:-0.84 [[ 9.98301495e-01 5.65517862e-02 1.40007581e-02 4.90879092e+01] [-5.65473819e-02 9.98399664e-01 -7.10569735e-04 -5.70766577e-01] [-1.40185362e-02 -8.23433866e-05 9.99901732e-01 -8.42687574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters 0.014494296527619315 Centerline is valid? [True, True] Translation: X:49.11, Y:-0.57, Z:-0.84 [[ 9.98315518e-01 5.61715469e-02 1.45218371e-02 4.91149337e+01] [-5.61667832e-02 9.98421129e-01 -7.35994536e-04 -5.72662592e-01] [-1.45402510e-02 -8.08901120e-05 9.99894282e-01 -8.42506825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594391417999994 meters 0.014676712123244198 Centerline is valid? [True, True] Translation: X:49.14, Y:-0.57, Z:-0.84 [[ 9.98353366e-01 5.55259971e-02 1.44021219e-02 4.91427991e+01] [-5.55212744e-02 9.98457239e-01 -7.27846791e-04 -5.74772787e-01] [-1.44203173e-02 -7.29758710e-05 9.99896019e-01 -8.43539058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624391417999995 meters 0.016752455627893195 Centerline is valid? [True, True] Translation: X:49.17, Y:-0.58, Z:-0.85 [[ 9.98346944e-01 5.57809584e-02 1.38515023e-02 4.91701257e+01] [-5.57766374e-02 9.98443027e-01 -6.98370002e-04 -5.76754573e-01] [-1.38688917e-02 -7.53746648e-05 9.99903819e-01 -8.46727072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654391417999996 meters 0.014748125074884825 Centerline is valid? [True, True] Translation: X:49.20, Y:-0.58, Z:-0.85 [[ 9.98390749e-01 5.49773110e-02 1.39071163e-02 4.91968086e+01] [-5.49728941e-02 9.98487602e-01 -6.99963668e-04 -5.78096191e-01] [-1.39245653e-02 -6.56771812e-05 9.99903046e-01 -8.45226201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684391418 meters 0.017619496741672996 Centerline is valid? [True, True] Translation: X:49.23, Y:-0.58, Z:-0.85 [[ 9.98380899e-01 5.54749205e-02 1.25743629e-02 4.92254759e+01] [-5.54713719e-02 9.98460079e-01 -6.31078342e-04 -5.79645472e-01] [-1.25900084e-02 -6.74605963e-05 9.99920740e-01 -8.49119115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714391418 meters 0.016023532117144558 Centerline is valid? [True, True] Translation: X:49.25, Y:-0.58, Z:-0.85 [[ 9.98401218e-01 5.48738593e-02 1.35597758e-02 4.92538242e+01] [-5.48696925e-02 9.98493293e-01 -6.79404357e-04 -5.81851158e-01] [-1.35766267e-02 -6.57025919e-05 9.99907831e-01 -8.47467466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters 0.016417950465250433 Centerline is valid? [True, True] Translation: X:49.28, Y:-0.58, Z:-0.85 [[ 9.98405284e-01 5.47726479e-02 1.36691701e-02 4.92819041e+01] [-5.47684188e-02 9.98498850e-01 -6.83818869e-04 -5.82852492e-01] [-1.36861052e-02 -6.59104630e-05 9.99906339e-01 -8.48478260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77439141799999 meters 0.015518787706943402 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.59, Z:-0.85 [[ 9.98439253e-01 5.40646766e-02 1.40024516e-02 4.93105241e+01] [-5.40601911e-02 9.98537434e-01 -6.98924129e-04 -5.85655808e-01] [-1.40197592e-02 -5.91419267e-05 9.99901717e-01 -8.47266457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804391417999994 meters 0.01682350650221818 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.59, Z:-0.85 [[ 9.98459201e-01 5.38559404e-02 1.33701810e-02 4.93384350e+01] [-5.38518440e-02 9.98548714e-01 -6.66475185e-04 -5.87236474e-01] [-1.33866707e-02 -5.45606206e-05 9.99910393e-01 -8.49379701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834391417999996 meters 0.014605371622931126 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.59, Z:-0.85 [[ 9.98476676e-01 5.33683397e-02 1.40052687e-02 4.93674283e+01] [-5.33638228e-02 9.98574893e-01 -6.96293233e-04 -5.88500230e-01] [-1.40224697e-02 -5.21421208e-05 9.99901679e-01 -8.47160471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864391418 meters 0.015516430352722163 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.59, Z:-0.85 [[ 9.98478089e-01 5.35296911e-02 1.32694520e-02 4.93956059e+01] [-5.35256628e-02 9.98566257e-01 -6.58787139e-04 -5.89788906e-01] [-1.32856917e-02 -5.24716891e-05 9.99911740e-01 -8.49531284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894391418 meters 0.014799163041351157 Centerline is valid? [True, True] Translation: X:49.42, Y:-0.59, Z:-0.85 [[ 9.98476759e-01 5.34193938e-02 1.38032439e-02 4.94241947e+01] [-5.34150460e-02 9.98572163e-01 -6.83721830e-04 -5.92216848e-01] [-1.38200592e-02 -5.46205529e-05 9.99904497e-01 -8.48808980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924391418 meters 0.0170315707046407 Centerline is valid? [True, True] Translation: X:49.45, Y:-0.59, Z:-0.85 [[ 9.98460979e-01 5.38434200e-02 1.32876001e-02 4.94520273e+01] [-5.38394410e-02 9.98549389e-01 -6.57244407e-04 -5.94303396e-01] [-1.33037132e-02 -5.91640658e-05 9.99911500e-01 -8.51799562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95439141799999 meters 0.017327275053769686 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.60, Z:-0.85 [[ 9.98475602e-01 5.34988422e-02 1.35773903e-02 4.94806362e+01] [-5.34946761e-02 9.98567910e-01 -6.70089660e-04 -5.96462695e-01] [-1.35937953e-02 -5.72499213e-05 9.99907598e-01 -8.52163417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984391417999994 meters 0.014823828049836622 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.60, Z:-0.85 [[ 9.98539870e-01 5.21173490e-02 1.42095263e-02 4.95098145e+01] [-5.21126636e-02 9.98640967e-01 -7.00057362e-04 -5.99106792e-01] [-1.42267003e-02 -4.14610792e-05 9.99898795e-01 -8.49723062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014391417999995 meters 0.014563570736447545 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.60, Z:-0.85 [[ 9.98568807e-01 5.15570120e-02 1.42201106e-02 4.95382666e+01] [-5.15522794e-02 9.98670052e-01 -6.99416519e-04 -6.01605165e-01] [-1.42372584e-02 -3.46635936e-05 9.99898644e-01 -8.50113217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044391418 meters 0.014633121422582388 Centerline is valid? [True, True] Translation: X:49.57, Y:-0.60, Z:-0.85 [[ 9.98594498e-01 5.11291137e-02 1.39585586e-02 4.95672982e+01] [-5.11245272e-02 9.98692051e-01 -6.85448804e-04 -6.03795162e-01] [-1.39753479e-02 -2.91393037e-05 9.99902340e-01 -8.50721168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074391418 meters 0.015550314786142059 Centerline is valid? [True, True] Translation: X:49.60, Y:-0.61, Z:-0.85 [[ 9.98599386e-01 5.12468423e-02 1.31539908e-02 4.95956922e+01] [-5.12427923e-02 9.98686017e-01 -6.44963891e-04 -6.06056774e-01] [-1.31697591e-02 -2.99866749e-05 9.99913275e-01 -8.52726737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104391418 meters 0.014671207999311051 Centerline is valid? [True, True] Translation: X:49.62, Y:-0.61, Z:-0.85 [[ 9.98610019e-01 5.09208881e-02 1.36049016e-02 4.96233161e+01] [-5.09165399e-02 9.98702690e-01 -6.66012260e-04 -6.07486527e-01] [-1.36211658e-02 -2.76280009e-05 9.99907227e-01 -8.52087727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13439141799999 meters 0.01608513092875485 Centerline is valid? [True, True] Translation: X:49.65, Y:-0.61, Z:-0.85 [[ 9.98620337e-01 5.09035888e-02 1.28936563e-02 4.96524846e+01] [-5.08996985e-02 9.98703572e-01 -6.29910120e-04 -6.09742615e-01] [-1.29090053e-02 -2.72421606e-05 9.99916675e-01 -8.54120068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164391417999994 meters 0.016091125190066072 Centerline is valid? [True, True] Translation: X:49.68, Y:-0.61, Z:-0.85 [[ 9.98629159e-01 5.06706293e-02 1.31259190e-02 4.96804593e+01] [-5.06665907e-02 9.98715418e-01 -6.40250341e-04 -6.11765500e-01] [-1.31414995e-02 -2.56729041e-05 9.99913646e-01 -8.54838722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194391417999995 meters 0.014340275881327082 Centerline is valid? [True, True] Translation: X:49.71, Y:-0.62, Z:-0.85 [[ 9.98717641e-01 4.86825071e-02 1.38956044e-02 4.97090243e+01] [-4.86778108e-02 9.98814304e-01 -6.76190214e-04 -6.15401655e-01] [-1.39120471e-02 -1.08450887e-06 9.99903223e-01 -8.54190178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224391417999996 meters 0.014444856539548221 Centerline is valid? [True, True] Translation: X:49.74, Y:-0.62, Z:-0.85 [[ 9.98778282e-01 4.73473819e-02 1.41481367e-02 4.97381813e+01] [-4.73423962e-02 9.98878484e-01 -6.87294842e-04 -6.18655153e-01] [-1.41648110e-02 1.66484679e-05 9.99899674e-01 -8.54956200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254391418 meters 0.014333760882943582 Centerline is valid? [True, True] Translation: X:49.77, Y:-0.62, Z:-0.86 [[ 9.98835804e-01 4.59737089e-02 1.46100580e-02 4.97665363e+01] [-4.59682633e-02 9.98942649e-01 -7.08507075e-04 -6.21622221e-01] [-1.46271827e-02 3.60832430e-05 9.99893016e-01 -8.55752503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284391418 meters 0.014512788227471034 Centerline is valid? [True, True] Translation: X:49.80, Y:-0.62, Z:-0.86 [[ 9.98913776e-01 4.41089979e-02 1.50221358e-02 4.97955632e+01] [-4.41030490e-02 9.99026722e-01 -7.27220968e-04 -6.24470999e-01] [-1.50395921e-02 6.39090499e-05 9.99886897e-01 -8.55951502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31439141799999 meters 0.015111858817465322 Centerline is valid? [True, True] Translation: X:49.82, Y:-0.63, Z:-0.86 [[ 9.99094521e-01 3.98128794e-02 1.50024494e-02 4.98234559e+01] [-3.98064803e-02 9.99207145e-01 -7.25034066e-04 -6.29484333e-01] [-1.50194203e-02 1.27182856e-04 9.99887194e-01 -8.56581474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344391417999994 meters 0.015439385015153524 Centerline is valid? [True, True] Translation: X:49.85, Y:-0.63, Z:-0.86 [[ 9.99183594e-01 3.74759880e-02 1.50896051e-02 4.98524154e+01] [-3.74692665e-02 9.99297515e-01 -7.28007613e-04 -6.32638515e-01] [-1.51062877e-02 1.62016828e-04 9.99885880e-01 -8.57568145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374391417999995 meters 0.016474843750233975 Centerline is valid? [True, True] Translation: X:49.88, Y:-0.64, Z:-0.86 [[ 9.99266269e-01 3.51970847e-02 1.51026256e-02 4.98812105e+01] [-3.51901114e-02 9.99380372e-01 -7.27310444e-04 -6.37515996e-01] [-1.51188668e-02 1.95313718e-04 9.99885684e-01 -8.59087282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404391417999996 meters 0.016542417907605793 Centerline is valid? [True, True] Translation: X:49.91, Y:-0.64, Z:-0.86 [[ 9.99325702e-01 3.31611161e-02 1.57632780e-02 4.99111201e+01] [-3.31532786e-02 9.99449991e-01 -7.58328373e-04 -6.40659230e-01] [-1.57797551e-02 2.35212686e-04 9.99875464e-01 -8.59374213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434391418 meters 0.018533477330290885 Centerline is valid? [True, True] Translation: X:49.94, Y:-0.65, Z:-0.86 [[ 9.99398478e-01 2.96630420e-02 1.79662229e-02 4.99406583e+01] [-2.96523103e-02 9.99559901e-01 -8.63479742e-04 -6.48848865e-01] [-1.79839294e-02 3.30220322e-04 9.99838222e-01 -8.59282444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464391418 meters 0.01854234793348213 Centerline is valid? [True, True] Translation: X:49.97, Y:-0.65, Z:-0.86 [[ 9.99413977e-01 2.87363579e-02 1.85990673e-02 4.99728035e+01] [-2.87247003e-02 9.99586961e-01 -8.93685160e-04 -6.50844930e-01] [-1.86170664e-02 3.58908808e-04 9.99826623e-01 -8.59214719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49439141799999 meters 0.01957560095660092 Centerline is valid? [True, True] Translation: X:50.00, Y:-0.65, Z:-0.86 [[ 9.99409017e-01 2.87264859e-02 1.88786873e-02 5.00049852e+01] [-2.87143742e-02 9.99587241e-01 -9.12367876e-04 -6.54190338e-01] [-1.88971041e-02 3.69738990e-04 9.99821365e-01 -8.59513324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52439141799999 meters 0.018024582071907512 Centerline is valid? [True, True] Translation: X:50.04, Y:-0.65, Z:-0.86 [[ 9.99398401e-01 2.91844006e-02 1.87378654e-02 5.00371861e+01] [-2.91724479e-02 9.99573978e-01 -9.10971626e-04 -6.52189351e-01] [-1.87564688e-02 3.63794186e-04 9.99824016e-01 -8.60127006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554391417999994 meters 0.017515263597468782 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.65, Z:-0.86 [[ 9.99341510e-01 3.08944451e-02 1.90283689e-02 5.00695603e+01] [-3.08823240e-02 9.99522594e-01 -9.30588958e-04 -6.52339886e-01] [-1.90480346e-02 3.42335923e-04 9.99818511e-01 -8.60825741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584391417999996 meters 0.017422426360378686 Centerline is valid? [True, True] Translation: X:50.10, Y:-0.65, Z:-0.86 [[ 9.99304629e-01 3.22249392e-02 1.87566708e-02 5.01010521e+01] [-3.22132971e-02 9.99480591e-01 -9.22570668e-04 -6.53850727e-01] [-1.87766582e-02 3.17714929e-04 9.99823653e-01 -8.62277400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614391418 meters 0.016746956478292423 Centerline is valid? [True, True] Translation: X:50.13, Y:-0.65, Z:-0.86 [[ 9.99263878e-01 3.38299875e-02 1.80896313e-02 5.01327221e+01] [-3.38193390e-02 9.99427562e-01 -8.94332844e-04 -6.54149533e-01] [-1.81095314e-02 2.81895133e-04 9.99835969e-01 -8.63558345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644391418 meters 0.01654221685018495 Centerline is valid? [True, True] Translation: X:50.16, Y:-0.65, Z:-0.86 [[ 9.99214174e-01 3.53250271e-02 1.79770987e-02 5.01636781e+01] [-3.53147394e-02 9.99375844e-01 -8.89495589e-04 -6.54600984e-01] [-1.79972997e-02 2.53940043e-04 9.99838003e-01 -8.64885700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67439141799999 meters 0.01567488237308329 Centerline is valid? [True, True] Translation: X:50.19, Y:-0.65, Z:-0.87 [[ 9.99053647e-01 3.93822738e-02 1.84620331e-02 5.01935783e+01] [-3.93721025e-02 9.99224200e-01 -9.14226189e-04 -6.52155363e-01] [-1.84837146e-02 1.86471949e-04 9.99829144e-01 -8.65227421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters 0.01732867475090953 Centerline is valid? [True, True] Translation: X:50.22, Y:-0.65, Z:-0.87 [[ 9.98955267e-01 4.19552296e-02 1.81144239e-02 5.02229796e+01] [-4.19458671e-02 9.99119482e-01 -8.96655511e-04 -6.50588230e-01] [-1.81360932e-02 1.35893529e-04 9.99835518e-01 -8.66786841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734391417999994 meters 0.01732867475090953 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.65, Z:-0.87 [[ 9.98956912e-01 4.19160334e-02 1.81144591e-02 5.02520972e+01] [-4.19066774e-02 9.99121128e-01 -8.95943153e-04 -6.51989937e-01] [-1.81360932e-02 1.35891811e-04 9.99835518e-01 -8.67312624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764391417999995 meters 0.014567020408957382 Centerline is valid? [True, True] Translation: X:50.28, Y:-0.65, Z:-0.87 [[ 9.98749455e-01 4.62073065e-02 1.90895345e-02 5.02822538e+01] [-4.61977147e-02 9.98931870e-01 -9.43381091e-04 -6.47689840e-01] [-1.91127355e-02 6.03084829e-05 9.99817333e-01 -8.66561570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794391418 meters 0.014569633386955634 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.65, Z:-0.87 [[ 9.98680137e-01 4.79014127e-02 1.85320934e-02 5.03115792e+01] [-4.78926783e-02 9.98852068e-01 -9.15094469e-04 -6.46813269e-01] [-1.85546541e-02 2.63350816e-05 9.99827847e-01 -8.67707846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824391418 meters 0.01436770799867064 Centerline is valid? [True, True] Translation: X:50.34, Y:-0.65, Z:-0.87 [[ 9.98618247e-01 4.93544912e-02 1.80480309e-02 5.03402750e+01] [-4.93464699e-02 9.98781325e-01 -8.89783993e-04 -6.46782329e-01] [-1.80699511e-02 -2.05208287e-06 9.99836725e-01 -8.69057940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854391418 meters 0.014412988913722682 Centerline is valid? [True, True] Translation: X:50.37, Y:-0.65, Z:-0.87 [[ 9.98574484e-01 5.03847958e-02 1.76173882e-02 5.03677049e+01] [-5.03773379e-02 9.98729879e-01 -8.67144368e-04 -6.47123942e-01] [-1.76387029e-02 -2.16088774e-05 9.99844426e-01 -8.70618640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters 0.014239833587029417 Centerline is valid? [True, True] Translation: X:50.40, Y:-0.65, Z:-0.87 [[ 9.98567880e-01 5.06652129e-02 1.71821034e-02 5.03965715e+01] [-5.06581903e-02 9.98715693e-01 -8.43992778e-04 -6.48109003e-01] [-1.72027974e-02 -2.76301832e-05 9.99852021e-01 -8.71567469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914391417999994 meters 0.014507570845474164 Centerline is valid? [True, True] Translation: X:50.43, Y:-0.65, Z:-0.87 [[ 9.98606764e-01 5.00715509e-02 1.66544341e-02 5.04255125e+01] [-5.00648923e-02 9.98745633e-01 -8.16759094e-04 -6.49323929e-01] [-1.66744397e-02 -1.81812939e-05 9.99860972e-01 -8.72679338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944391417999995 meters 0.014254299033539428 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.65, Z:-0.87 [[ 9.98658620e-01 4.91004722e-02 1.64348631e-02 5.04540954e+01] [-4.90938783e-02 9.98793844e-01 -8.04668760e-04 -6.50412087e-01] [-1.64545497e-02 -3.26177487e-06 9.99864615e-01 -8.73218843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974391417999996 meters 0.016662961632704826 Centerline is valid? [True, True] Translation: X:50.48, Y:-0.65, Z:-0.88 [[ 9.98713158e-01 4.82998992e-02 1.54643947e-02 5.04823029e+01] [-4.82939826e-02 9.98832879e-01 -7.56029969e-04 -6.51967324e-01] [-1.54828620e-02 8.21987186e-06 9.99880133e-01 -8.75955801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004391418 meters 0.01442961699014613 Centerline is valid? [True, True] Translation: X:50.51, Y:-0.66, Z:-0.87 [[ 9.98861904e-01 4.48962574e-02 1.61004170e-02 5.05108263e+01] [-4.48894298e-02 9.98991653e-01 -7.85388152e-04 -6.55167355e-01] [-1.61194432e-02 6.17557641e-05 9.99870071e-01 -8.74795384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034391418 meters 0.014513223631234569 Centerline is valid? [True, True] Translation: X:50.54, Y:-0.66, Z:-0.87 [[ 9.98932331e-01 4.31742668e-02 1.64371665e-02 5.05392271e+01] [-4.31669402e-02 9.99067553e-01 -8.00435767e-04 -6.57880101e-01] [-1.64563980e-02 9.00389831e-05 9.99864580e-01 -8.74811478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters 0.014857607635642759 Centerline is valid? [True, True] Translation: X:50.57, Y:-0.66, Z:-0.87 [[ 9.99004849e-01 4.12845417e-02 1.68789543e-02 5.05668610e+01] [-4.12765700e-02 9.99147422e-01 -8.20543774e-04 -6.61022024e-01] [-1.68984395e-02 1.23021871e-04 9.99857204e-01 -8.74843227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094391417999994 meters 0.018367426762358228 Centerline is valid? [True, True] Translation: X:50.60, Y:-0.66, Z:-0.88 [[ 9.99086112e-01 3.92074943e-02 1.70209737e-02 5.05962463e+01] [-3.91991172e-02 9.99231078e-01 -8.25640151e-04 -6.64129302e-01] [-1.70402572e-02 1.57678465e-04 9.99854792e-01 -8.76591592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124391417999995 meters 0.01575307687191605 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.67, Z:-0.87 [[ 9.99144923e-01 3.76433801e-02 1.70996933e-02 5.06243695e+01] [-3.76347091e-02 9.99291220e-01 -8.28711207e-04 -6.66643411e-01] [-1.71187688e-02 1.84460613e-04 9.99853446e-01 -8.74896109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154391417999996 meters 0.015523006631007428 Centerline is valid? [True, True] Translation: X:50.65, Y:-0.67, Z:-0.88 [[ 9.99185603e-01 3.67513721e-02 1.66573636e-02 5.06536944e+01] [-3.67430163e-02 9.99324421e-01 -8.07493423e-04 -6.66906944e-01] [-1.66757868e-02 1.94794018e-04 9.99860930e-01 -8.75509038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184391418 meters 0.018175471611416544 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.67, Z:-0.88 [[ 9.99204306e-01 3.64795931e-02 1.61243172e-02 5.06818638e+01] [-3.64717379e-02 9.99334380e-01 -7.81054506e-04 -6.69096171e-01] [-1.61420771e-02 1.92351155e-04 9.99869690e-01 -8.78223923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214391418 meters 0.01605039047996578 Centerline is valid? [True, True] Translation: X:50.71, Y:-0.67, Z:-0.88 [[ 9.99243422e-01 3.49170044e-02 1.71285169e-02 5.07117643e+01] [-3.49079300e-02 9.99390189e-01 -8.28572604e-04 -6.71421267e-01] [-1.71470031e-02 2.30024655e-04 9.99852953e-01 -8.77078559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters 0.016635810363994877 Centerline is valid? [True, True] Translation: X:50.74, Y:-0.67, Z:-0.88 [[ 9.99251963e-01 3.47289398e-02 1.70122135e-02 5.07424136e+01] [-3.47199732e-02 9.99396742e-01 -8.22227558e-04 -6.73384675e-01] [-1.70305059e-02 2.30948904e-04 9.99854944e-01 -8.78207299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27439141799999 meters 0.016390139073327148 Centerline is valid? [True, True] Translation: X:50.77, Y:-0.67, Z:-0.88 [[ 9.99277167e-01 3.40404768e-02 1.69230578e-02 5.07732398e+01] [-3.40315052e-02 9.99420426e-01 -8.17918520e-04 -6.74789739e-01] [-1.69410920e-02 2.41410170e-04 9.99856460e-01 -8.78378061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304391417999994 meters 0.016374645135600528 Centerline is valid? [True, True] Translation: X:50.80, Y:-0.68, Z:-0.88 [[ 9.99289731e-01 3.38768586e-02 1.65043202e-02 5.08037845e+01] [-3.38683033e-02 9.99425986e-01 -7.97680258e-04 -6.75353213e-01] [-1.65218694e-02 2.38140368e-04 9.99863476e-01 -8.79160981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334391417999996 meters 0.01654471550399076 Centerline is valid? [True, True] Translation: X:50.83, Y:-0.68, Z:-0.88 [[ 9.99288914e-01 3.40204814e-02 1.62564887e-02 5.08330127e+01] [-3.40121995e-02 9.99421109e-01 -7.85736904e-04 -6.75448164e-01] [-1.62738092e-02 2.32259239e-04 9.99867546e-01 -8.79934253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364391418 meters 0.019035535652159048 Centerline is valid? [True, True] Translation: X:50.86, Y:-0.68, Z:-0.88 [[ 9.99264037e-01 3.51163284e-02 1.54346313e-02 5.08631280e+01] [-3.51089979e-02 9.99383211e-01 -7.45725360e-04 -6.75892264e-01] [-1.54512985e-02 2.03282097e-04 9.99880601e-01 -8.83390503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394391418 meters 0.01722380290862352 Centerline is valid? [True, True] Translation: X:50.89, Y:-0.68, Z:-0.88 [[ 9.99265257e-01 3.50817628e-02 1.54342290e-02 5.08914747e+01] [-3.50744318e-02 9.99384425e-01 -7.45499778e-04 -6.77079818e-01] [-1.54508815e-02 2.03605216e-04 9.99880607e-01 -8.83048115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters 0.016459971643380568 Centerline is valid? [True, True] Translation: X:50.92, Y:-0.68, Z:-0.88 [[ 9.99239878e-01 3.63691169e-02 1.40340176e-02 5.09200558e+01] [-3.63631931e-02 9.99338411e-01 -6.77125805e-04 -6.77306882e-01] [-1.40493593e-02 1.66289414e-04 9.99901289e-01 -8.84919612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45439141799999 meters 0.0171793530697835 Centerline is valid? [True, True] Translation: X:50.95, Y:-0.68, Z:-0.89 [[ 9.99193961e-01 3.78337838e-02 1.34176600e-02 5.09490524e+01] [-3.78285098e-02 9.99284036e-01 -6.46738348e-04 -6.77380411e-01] [-1.34325220e-02 1.38646969e-04 9.99909770e-01 -8.87470460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484391417999994 meters 0.015427392155603428 Centerline is valid? [True, True] Translation: X:50.98, Y:-0.68, Z:-0.89 [[ 9.99152175e-01 3.90193909e-02 1.31308458e-02 5.09783044e+01] [-3.90144549e-02 9.99238446e-01 -6.31951366e-04 -6.76477927e-01] [-1.31455043e-02 1.19122789e-04 9.99913587e-01 -8.86869770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514391417999995 meters 0.01694269926459669 Centerline is valid? [True, True] Translation: X:51.01, Y:-0.68, Z:-0.89 [[ 9.99057613e-01 4.14733422e-02 1.28003095e-02 5.10067442e+01] [-4.14688650e-02 9.99139607e-01 -6.15107011e-04 -6.75562943e-01] [-1.28148067e-02 8.37130381e-05 9.99917883e-01 -8.89179041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544391418 meters 0.014604916846950406 Centerline is valid? [True, True] Translation: X:51.04, Y:-0.67, Z:-0.89 [[ 9.98891784e-01 4.52144997e-02 1.30710925e-02 5.10355579e+01] [-4.52101645e-02 9.98977301e-01 -6.27109212e-04 -6.71762343e-01] [-1.30860791e-02 3.54679972e-05 9.99914373e-01 -8.87419365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574391418 meters 0.014365344366882795 Centerline is valid? [True, True] Translation: X:51.06, Y:-0.67, Z:-0.89 [[ 9.98790613e-01 4.74013195e-02 1.30547238e-02 5.10644621e+01] [-4.73971948e-02 9.98875926e-01 -6.25344366e-04 -6.70593551e-01] [-1.30696915e-02 5.83079428e-06 9.99914588e-01 -8.87575195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604391418 meters 0.016210788197864305 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.67, Z:-0.89 [[ 9.98664003e-01 5.00673317e-02 1.27855696e-02 5.10925919e+01] [-5.00636047e-02 9.98745844e-01 -6.11599747e-04 -6.69532238e-01] [-1.28001557e-02 -2.93090494e-05 9.99918074e-01 -8.90081752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63439141799999 meters 0.014827144288874512 Centerline is valid? [True, True] Translation: X:51.12, Y:-0.67, Z:-0.89 [[ 9.98541009e-01 5.24872949e-02 1.26861042e-02 5.11210434e+01] [-5.24838360e-02 9.98621590e-01 -6.05654584e-04 -6.67737167e-01] [-1.27004067e-02 -6.10444737e-05 9.99919345e-01 -8.88670881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664391417999994 meters 0.014605718854761137 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.67, Z:-0.89 [[ 9.98498760e-01 5.32712626e-02 1.27435428e-02 5.11497600e+01] [-5.32678524e-02 9.98580076e-01 -6.07117090e-04 -6.68617827e-01] [-1.27577898e-02 -7.26154959e-05 9.99918613e-01 -8.87990735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694391417999995 meters 0.014731243786913737 Centerline is valid? [True, True] Translation: X:51.18, Y:-0.67, Z:-0.89 [[ 9.98486622e-01 5.34272040e-02 1.30384027e-02 5.11779488e+01] [-5.34236591e-02 9.98571744e-01 -6.20275541e-04 -6.69501939e-01] [-1.30529201e-02 -7.72223513e-05 9.99914804e-01 -8.88101286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724391417999996 meters 0.014704693366367046 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.67, Z:-0.89 [[ 9.98509792e-01 5.30534907e-02 1.27875789e-02 5.12059884e+01] [-5.30500696e-02 9.98591669e-01 -6.06830764e-04 -6.70999128e-01] [-1.28017643e-02 -7.24554904e-05 9.99918051e-01 -8.88753773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754391418 meters 0.014293784034798883 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.68, Z:-0.89 [[ 9.98651096e-01 5.02603905e-02 1.30338405e-02 5.12332530e+01] [-5.02566208e-02 9.98736147e-01 -6.16803089e-04 -6.75506627e-01] [-1.30483684e-02 -3.90656972e-05 9.99914866e-01 -8.89695996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784391418 meters 0.016425853275567653 Centerline is valid? [True, True] Translation: X:51.26, Y:-0.68, Z:-0.89 [[ 9.98715306e-01 4.91648034e-02 1.22702954e-02 5.12619856e+01] [-4.91613949e-02 9.98790680e-01 -5.79441843e-04 -6.79459108e-01] [-1.22839448e-02 -2.45273984e-05 9.99924549e-01 -8.92573168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81439141799999 meters 0.01612587047283584 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.68, Z:-0.89 [[ 9.98825669e-01 4.69450020e-02 1.19770593e-02 5.12910788e+01] [-4.69416059e-02 9.98897476e-01 -5.64663173e-04 -6.82883465e-01] [-1.19903624e-02 1.77767272e-06 9.99928113e-01 -8.93194395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844391417999994 meters 0.015936019452602417 Centerline is valid? [True, True] Translation: X:51.32, Y:-0.69, Z:-0.89 [[ 9.99008601e-01 4.29784087e-02 1.16047950e-02 5.13185297e+01] [-4.29749611e-02 9.99076000e-01 -5.46401013e-04 -6.87645529e-01] [-1.16175556e-02 4.71436985e-05 9.99932513e-01 -8.93554616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874391417999995 meters 0.016327443292610683 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.69, Z:-0.89 [[ 9.99076345e-01 4.14402183e-02 1.13650504e-02 5.13468160e+01] [-4.14368283e-02 9.99140983e-01 -5.33698784e-04 -6.90147556e-01] [-1.13774043e-02 6.22741875e-05 9.99935273e-01 -8.94004538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904391417999996 meters 0.01777961118110797 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.69, Z:-0.90 [[ 9.99116314e-01 4.05193315e-02 1.11702910e-02 5.13760218e+01] [-4.05160088e-02 9.99178752e-01 -5.23686194e-04 -6.92170874e-01] [-1.11823368e-02 7.06478124e-05 9.99937473e-01 -8.95403215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934391418 meters 0.016163691906635948 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.69, Z:-0.89 [[ 9.99141131e-01 3.99062801e-02 1.11574741e-02 5.14039814e+01] [-3.99029353e-02 9.99203424e-01 -5.22321726e-04 -6.93944679e-01] [-1.11694302e-02 7.66571536e-05 9.99937617e-01 -8.94435891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964391418 meters 0.017410119149806818 Centerline is valid? [True, True] Translation: X:51.43, Y:-0.69, Z:-0.89 [[ 9.99117522e-01 4.04488741e-02 1.13166308e-02 5.14315313e+01] [-4.04454812e-02 9.99181607e-01 -5.28609694e-04 -6.94911359e-01] [-1.13287510e-02 7.04366296e-05 9.99935825e-01 -8.94557096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99439141799999 meters 0.015334781566841814 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.70, Z:-0.89 [[ 9.99106127e-01 4.04638082e-02 1.22321817e-02 5.14607710e+01] [-4.04598631e-02 9.99181002e-01 -5.69914561e-04 -6.95391797e-01] [-1.22452244e-02 7.44927351e-05 9.99925022e-01 -8.92720819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02439141799999 meters 0.01793257883479781 Centerline is valid? [True, True] Translation: X:51.49, Y:-0.70, Z:-0.90 [[ 9.99066895e-01 4.16834729e-02 1.13060427e-02 5.14897865e+01] [-4.16801895e-02 9.99130865e-01 -5.25987193e-04 -6.95767426e-01] [-1.13181412e-02 5.42583916e-05 9.99935946e-01 -8.95018324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054391417999994 meters 0.014175061189719416 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.70, Z:-0.89 [[ 9.99040768e-01 4.20527310e-02 1.22110923e-02 5.15187731e+01] [-4.20489414e-02 9.99115391e-01 -5.67029858e-04 -6.96327893e-01] [-1.22241355e-02 5.30224400e-05 9.99925281e-01 -8.92457941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084391417999996 meters 0.014074045050287417 Centerline is valid? [True, True] Translation: X:51.55, Y:-0.70, Z:-0.89 [[ 9.98964340e-01 4.36889142e-02 1.27092771e-02 5.15478159e+01] [-4.36849544e-02 9.99045183e-01 -5.89146014e-04 -6.96616911e-01] [-1.27228812e-02 3.33316693e-05 9.99919060e-01 -8.92494702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114391418 meters 0.014059888791687007 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.70, Z:-0.89 [[ 9.98944259e-01 4.41322089e-02 1.27560164e-02 5.15764477e+01] [-4.41282691e-02 9.99025699e-01 -5.90291275e-04 -6.97444929e-01] [-1.27696391e-02 2.67671555e-05 9.99918464e-01 -8.92506237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144391418 meters 0.014062269186142723 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.70, Z:-0.89 [[ 9.98933604e-01 4.43244445e-02 1.29227516e-02 5.16049122e+01] [-4.43204311e-02 9.99017189e-01 -5.96931327e-04 -6.98370952e-01] [-1.29365097e-02 2.35528387e-05 9.99916320e-01 -8.92714503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17439141799999 meters 0.015842001384937226 Centerline is valid? [True, True] Translation: X:51.63, Y:-0.70, Z:-0.90 [[ 9.98963841e-01 4.38975709e-02 1.20103095e-02 5.16327107e+01] [-4.38940826e-02 9.99036037e-01 -5.54021590e-04 -7.01040640e-01] [-1.20230522e-02 2.62660194e-05 9.99927720e-01 -8.95919768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20439141799999 meters 0.014146065633640278 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.70, Z:-0.89 [[ 9.99021527e-01 4.26097039e-02 1.18490974e-02 5.16619816e+01] [-4.26062334e-02 9.99091793e-01 -5.45282907e-04 -7.02798132e-01] [-1.18615703e-02 3.99039550e-05 9.99929648e-01 -8.94664612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234391417999994 meters 0.015489017079645239 Centerline is valid? [True, True] Translation: X:51.69, Y:-0.71, Z:-0.90 [[ 9.99068086e-01 4.17333778e-02 1.10129367e-02 5.16910736e+01] [-4.17303353e-02 9.99128782e-01 -5.06011057e-04 -7.05220408e-01] [-1.10244596e-02 4.59659580e-05 9.99939228e-01 -8.96851973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264391417999995 meters 0.014677010997155243 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.71, Z:-0.90 [[ 9.99182604e-01 3.92889195e-02 9.51337418e-03 5.17187936e+01] [-3.92865422e-02 9.99227890e-01 -4.36708986e-04 -7.09119235e-01] [-9.52318664e-03 6.26044462e-05 9.99954651e-01 -8.97746391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294391418 meters 0.018533664294249585 Centerline is valid? [True, True] Translation: X:51.75, Y:-0.71, Z:-0.90 [[ 9.99204070e-01 3.92089553e-02 7.34063660e-03 5.17478797e+01] [-3.92075416e-02 9.99231032e-01 -3.36458105e-04 -7.12019133e-01] [-7.34818406e-03 4.83819930e-05 9.99973001e-01 -9.00792957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324391418 meters 0.016415708513880214 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.71, Z:-0.90 [[ 9.99243897e-01 3.80083637e-02 8.18521885e-03 5.17757022e+01] [-3.80065709e-02 9.99277419e-01 -3.74524509e-04 -7.14944872e-01] [-8.19353943e-03 6.31492297e-05 9.99966430e-01 -8.99952674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354391418 meters 0.01571090283832222 Centerline is valid? [True, True] Translation: X:51.80, Y:-0.72, Z:-0.90 [[ 9.99262779e-01 3.74373812e-02 8.50535415e-03 5.18047270e+01] [-3.74354341e-02 9.99298973e-01 -3.88065069e-04 -7.17442798e-01] [-8.51391981e-03 6.93773540e-05 9.99963754e-01 -8.99343550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters 0.014804128579420347 Centerline is valid? [True, True] Translation: X:51.83, Y:-0.72, Z:-0.90 [[ 9.99267455e-01 3.70403571e-02 9.62104949e-03 5.18323384e+01] [-3.70378550e-02 9.99313767e-01 -4.38177597e-04 -7.20134819e-01] [-9.63067746e-03 8.15135764e-05 9.99953621e-01 -8.98381275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414391417999994 meters 0.014742090941754793 Centerline is valid? [True, True] Translation: X:51.86, Y:-0.72, Z:-0.90 [[ 9.99260212e-01 3.72037411e-02 9.74215393e-03 5.18611372e+01] [-3.72011945e-02 9.99307698e-01 -4.42546521e-04 -7.21350196e-01] [-9.75187381e-03 7.97993673e-05 9.99952446e-01 -8.98313512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444391417999995 meters 0.016852595686922253 Centerline is valid? [True, True] Translation: X:51.89, Y:-0.72, Z:-0.90 [[ 9.99247337e-01 3.77158341e-02 9.07059224e-03 5.18889086e+01] [-3.77136517e-02 9.99288502e-01 -4.11592553e-04 -7.22921047e-01] [-9.07966209e-03 6.91976059e-05 9.99958777e-01 -9.00614926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474391417999996 meters 0.014730199340139374 Centerline is valid? [True, True] Translation: X:51.92, Y:-0.72, Z:-0.90 [[ 9.99259280e-01 3.72969720e-02 9.47772042e-03 5.19176817e+01] [-3.72945812e-02 9.99304223e-01 -4.28928133e-04 -7.23860550e-01] [-9.48712376e-03 7.51428040e-05 9.99954993e-01 -8.98877997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504391418 meters 0.014746417211101863 Centerline is valid? [True, True] Translation: X:51.95, Y:-0.73, Z:-0.90 [[ 9.99236878e-01 3.79933028e-02 9.06482874e-03 5.19452748e+01] [-3.79911478e-02 9.99277992e-01 -4.09866408e-04 -7.27546278e-01] [-9.07385604e-03 6.51703810e-05 9.99958830e-01 -9.00897271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534391418 meters 0.017552914473374842 Centerline is valid? [True, True] Translation: X:51.97, Y:-0.73, Z:-0.90 [[ 9.99212381e-01 3.89119339e-02 7.77686976e-03 5.19737154e+01] [-3.89103830e-02 9.99242643e-01 -3.50687472e-04 -7.29793869e-01] [-7.78462582e-03 4.78102836e-05 9.99969698e-01 -9.03247314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters 0.014441016235470313 Centerline is valid? [True, True] Translation: X:52.00, Y:-0.73, Z:-0.90 [[ 9.99190031e-01 3.91111674e-02 9.46560252e-03 5.20020895e+01] [-3.91088887e-02 9.99234864e-01 -4.25786547e-04 -7.31527880e-01] [-9.47501306e-03 5.52524782e-05 9.99955110e-01 -9.00919866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594391417999994 meters 0.014766846464807882 Centerline is valid? [True, True] Translation: X:52.03, Y:-0.73, Z:-0.90 [[ 9.99158700e-01 3.99395859e-02 9.31244039e-03 5.20295367e+01] [-3.99374204e-02 9.99202095e-01 -4.18459195e-04 -7.33314357e-01] [-9.32172304e-03 4.61922989e-05 9.99956551e-01 -9.01836527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624391417999995 meters 0.014766846464807882 Centerline is valid? [True, True] Translation: X:52.06, Y:-0.73, Z:-0.90 [[ 9.99161782e-01 3.98624092e-02 9.31249841e-03 5.20578198e+01] [-3.98602524e-02 9.99205177e-01 -4.17162512e-04 -7.34500842e-01] [-9.32172572e-03 4.56143020e-05 9.99956551e-01 -9.02347403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654391417999996 meters 0.014136584509267367 Centerline is valid? [True, True] Translation: X:52.09, Y:-0.74, Z:-0.90 [[ 9.99053557e-01 4.22926093e-02 1.01649548e-02 5.20856696e+01] [-4.22901732e-02 9.99105267e-01 -4.54580490e-04 -7.35250632e-01] [-1.01750853e-02 2.42725539e-05 9.99948232e-01 -9.01162203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684391418 meters 0.014450890921521726 Centerline is valid? [True, True] Translation: X:52.11, Y:-0.74, Z:-0.90 [[ 9.98986588e-01 4.38371304e-02 1.02031260e-02 5.21146210e+01] [-4.38347682e-02 9.99038691e-01 -4.55149218e-04 -7.35990219e-01] [-1.02132700e-02 7.43630322e-06 9.99947843e-01 -9.01728745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714391418 meters 0.017505750439982662 Centerline is valid? [True, True] Translation: X:52.14, Y:-0.74, Z:-0.90 [[ 9.98903445e-01 4.59618524e-02 8.91150173e-03 5.21435841e+01] [-4.59601395e-02 9.98943196e-01 -3.97020599e-04 -7.37006605e-01] [-8.92033182e-03 -1.29886175e-05 9.99960213e-01 -9.04591633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters 0.014187828231742363 Centerline is valid? [True, True] Translation: X:52.17, Y:-0.74, Z:-0.90 [[ 9.98844047e-01 4.69706828e-02 1.02139842e-02 5.21720515e+01] [-4.69684952e-02 9.98896268e-01 -4.54077377e-04 -7.38381982e-01] [-1.02240390e-02 -2.61829823e-05 9.99947733e-01 -9.02527959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77439141799999 meters 0.015537572637913315 Centerline is valid? [True, True] Translation: X:52.20, Y:-0.74, Z:-0.91 [[ 9.98683106e-01 5.05388048e-02 8.82514120e-03 5.21995669e+01] [-5.05373138e-02 9.98722097e-01 -3.92016141e-04 -7.39870713e-01] [-8.83367554e-03 -5.44990330e-05 9.99960981e-01 -9.05201395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804391417999994 meters 0.015931944901838736 Centerline is valid? [True, True] Translation: X:52.23, Y:-0.74, Z:-0.91 [[ 9.98609571e-01 5.20543950e-02 8.32252398e-03 5.22279319e+01] [-5.20531289e-02 9.98644249e-01 -3.68812954e-04 -7.40940648e-01] [-8.33043905e-03 -6.49132673e-05 9.99965299e-01 -9.06132093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834391417999996 meters 0.015285125507195622 Centerline is valid? [True, True] Translation: X:52.26, Y:-0.74, Z:-0.91 [[ 9.98548246e-01 5.32322321e-02 8.22977822e-03 5.22568316e+01] [-5.32310389e-02 9.98582157e-01 -3.64116263e-04 -7.42210005e-01] [-8.23749241e-03 -7.44919889e-05 9.99966069e-01 -9.05579014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864391418 meters 0.016056410569165257 Centerline is valid? [True, True] Translation: X:52.28, Y:-0.74, Z:-0.91 [[ 9.98462075e-01 5.47744777e-02 8.55811743e-03 5.22847771e+01] [-5.47732487e-02 9.98498747e-01 -3.78105651e-04 -7.43371412e-01] [-8.56598007e-03 -9.12317414e-05 9.99963307e-01 -9.06658666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894391418 meters 0.017370034088442662 Centerline is valid? [True, True] Translation: X:52.31, Y:-0.75, Z:-0.91 [[ 9.98444394e-01 5.51478774e-02 8.21604649e-03 5.23139627e+01] [-5.51467659e-02 9.98478194e-01 -3.61945713e-04 -7.45183353e-01] [-8.22350380e-03 -9.17057250e-05 9.99966182e-01 -9.08763601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters 0.018061505333501135 Centerline is valid? [True, True] Translation: X:52.34, Y:-0.75, Z:-0.91 [[ 9.98461371e-01 5.48772959e-02 7.96068489e-03 5.23421577e+01] [-5.48762424e-02 9.98493102e-01 -3.50862104e-04 -7.48527394e-01] [-7.96794332e-03 -8.65302166e-05 9.99968252e-01 -9.10027079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95439141799999 meters 0.018701966997957297 Centerline is valid? [True, True] Translation: X:52.37, Y:-0.75, Z:-0.91 [[ 9.98488310e-01 5.43605576e-02 8.12559236e-03 5.23696156e+01] [-5.43594532e-02 9.98521368e-01 -3.56867408e-04 -7.51879184e-01] [-8.13297711e-03 -8.53748228e-05 9.99966923e-01 -9.10950900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984391417999994 meters 0.015751255385494066 Centerline is valid? [True, True] Translation: X:52.40, Y:-0.76, Z:-0.91 [[ 9.98607153e-01 5.19840871e-02 9.02262391e-03 5.23982211e+01] [-5.19826398e-02 9.98647910e-01 -3.95003647e-04 -7.58366939e-01] [-9.03095842e-03 -7.45663410e-05 9.99959217e-01 -9.08144836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014391417999995 meters 0.015885896846082947 Centerline is valid? [True, True] Translation: X:52.43, Y:-0.76, Z:-0.91 [[ 9.98683417e-01 5.06010026e-02 8.42443013e-03 5.24262189e+01] [-5.05996953e-02 9.98718947e-01 -3.68381045e-04 -7.59976387e-01] [-8.43227843e-03 -5.83775567e-05 9.99964446e-01 -9.10292782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044391418 meters 0.016834469581032716 Centerline is valid? [True, True] Translation: X:52.45, Y:-0.76, Z:-0.91 [[ 9.98755059e-01 4.93714292e-02 7.12693477e-03 5.24547843e+01] [-4.93704673e-02 9.98780487e-01 -3.10938014e-04 -7.63512940e-01] [-7.13359483e-03 -4.13091856e-05 9.99974555e-01 -9.11568067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074391418 meters 0.01612549767848039 Centerline is valid? [True, True] Translation: X:52.48, Y:-0.77, Z:-0.91 [[ 9.98836557e-01 4.77374342e-02 6.83155153e-03 5.24820712e+01] [-4.77365142e-02 9.98859918e-01 -2.97763079e-04 -7.66587896e-01] [-6.83797745e-03 -2.86978082e-05 9.99976620e-01 -9.12890516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104391418 meters 0.015201170458563068 Centerline is valid? [True, True] Translation: X:52.51, Y:-0.77, Z:-0.91 [[ 9.98986988e-01 4.42774797e-02 8.03136536e-03 5.25096217e+01] [-4.42761061e-02 9.99019271e-01 -3.48832568e-04 -7.74405804e-01] [-8.03893420e-03 -7.11838894e-06 9.99967687e-01 -9.12943727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13439141799999 meters 0.01568082843486145 Centerline is valid? [True, True] Translation: X:52.54, Y:-0.78, Z:-0.91 [[ 9.99070099e-01 4.23838082e-02 7.90891396e-03 5.25382114e+01] [-4.23824243e-02 9.99101403e-01 -3.42574949e-04 -7.78945472e-01] [-7.91632666e-03 7.05744051e-06 9.99968665e-01 -9.12238230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164391417999994 meters 0.01639563774246439 Centerline is valid? [True, True] Translation: X:52.57, Y:-0.78, Z:-0.91 [[ 9.99133165e-01 4.07404548e-02 8.55179864e-03 5.25673781e+01] [-4.07387833e-02 9.99169763e-01 -3.69633976e-04 -7.82368597e-01] [-8.55975768e-03 2.09236932e-05 9.99963364e-01 -9.11620652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194391417999995 meters 0.015596171491158902 Centerline is valid? [True, True] Translation: X:52.59, Y:-0.79, Z:-0.91 [[ 9.99193652e-01 3.89765343e-02 9.63720982e-03 5.25948137e+01] [-3.89743377e-02 9.99240125e-01 -4.15692871e-04 -7.85792716e-01] [-9.64608901e-03 3.97538072e-05 9.99953475e-01 -9.11128973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224391417999996 meters 0.014472451446128395 Centerline is valid? [True, True] Translation: X:52.62, Y:-0.79, Z:-0.91 [[ 9.99305774e-01 3.55984074e-02 1.09874391e-02 5.26232686e+01] [-3.55953653e-02 9.99366173e-01 -4.72365889e-04 -7.88660366e-01] [-1.09972905e-02 8.09360515e-05 9.99939525e-01 -9.07509210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254391418 meters 0.014519590865942542 Centerline is valid? [True, True] Translation: X:52.65, Y:-0.79, Z:-0.91 [[ 9.99342943e-01 3.44663880e-02 1.12138363e-02 5.26518478e+01] [-3.44631613e-02 9.99405853e-01 -4.80905956e-04 -7.90999726e-01] [-1.12237487e-02 9.41257232e-05 9.99937007e-01 -9.08096554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284391418 meters 0.017122349434853704 Centerline is valid? [True, True] Translation: X:52.68, Y:-0.79, Z:-0.91 [[ 9.99381256e-01 3.38123012e-02 9.68680322e-03 5.26807516e+01] [-3.38098670e-02 9.99428197e-01 -4.14981641e-04 -7.93700990e-01] [-9.69529576e-03 8.72153447e-05 9.99952996e-01 -9.11309337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31439141799999 meters 0.016833994968623114 Centerline is valid? [True, True] Translation: X:52.71, Y:-0.80, Z:-0.91 [[ 9.99408541e-01 3.31665651e-02 9.08552689e-03 5.27092013e+01] [-3.31643998e-02 9.99449834e-01 -3.88931065e-04 -7.96028029e-01] [-9.09342785e-03 8.73849827e-05 9.99958650e-01 -9.12111518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344391417999994 meters 0.01669856433723446 Centerline is valid? [True, True] Translation: X:52.74, Y:-0.80, Z:-0.91 [[ 9.99408828e-01 3.31850894e-02 8.98583044e-03 5.27382435e+01] [-3.31829783e-02 9.99449220e-01 -3.83974445e-04 -7.97303344e-01] [-8.99362345e-03 8.55708337e-05 9.99959553e-01 -9.12648190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374391417999995 meters 0.014775273837039716 Centerline is valid? [True, True] Translation: X:52.77, Y:-0.80, Z:-0.91 [[ 9.99394805e-01 3.33227096e-02 9.98098065e-03 5.27672717e+01] [-3.33201213e-02 9.99444640e-01 -4.25551140e-04 -7.98065901e-01] [-9.98961813e-03 9.27261125e-05 9.99950098e-01 -9.11621209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404391417999996 meters 0.016710226319398478 Centerline is valid? [True, True] Translation: X:52.80, Y:-0.80, Z:-0.91 [[ 9.99355530e-01 3.47703270e-02 8.91900078e-03 5.27960897e+01] [-3.47683246e-02 9.99395327e-01 -3.79520256e-04 -7.99200041e-01] [-8.92680375e-03 6.91769523e-05 9.99960153e-01 -9.14216902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434391418 meters 0.014258392804776343 Centerline is valid? [True, True] Translation: X:52.83, Y:-0.80, Z:-0.91 [[ 9.99248729e-01 3.74977155e-02 9.79274959e-03 5.28253917e+01] [-3.74954378e-02 9.99296712e-01 -4.16147566e-04 -7.97290414e-01] [-9.80146705e-03 4.86514933e-05 9.99951963e-01 -9.12892959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464391418 meters 0.01612918457156024 Centerline is valid? [True, True] Translation: X:52.85, Y:-0.80, Z:-0.91 [[ 9.99174041e-01 3.96650229e-02 8.82737274e-03 5.28540791e+01] [-3.96632614e-02 9.99213033e-01 -3.74596578e-04 -7.96532294e-01] [-8.83528427e-03 2.41647841e-05 9.99960968e-01 -9.14332031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49439141799999 meters 0.014021265491899472 Centerline is valid? [True, True] Translation: X:52.88, Y:-0.80, Z:-0.91 [[ 9.99115049e-01 4.08444440e-02 1.00424487e-02 5.28824900e+01] [-4.08422335e-02 9.99165517e-01 -4.25194122e-04 -7.96122359e-01] [-1.00514353e-02 1.46618113e-05 9.99949483e-01 -9.12889964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52439141799999 meters 0.014939951682050378 Centerline is valid? [True, True] Translation: X:52.91, Y:-0.80, Z:-0.91 [[ 9.99064346e-01 4.23225366e-02 8.90147052e-03 5.29102146e+01] [-4.23208618e-02 9.99104000e-01 -3.76508705e-04 -7.96665400e-01] [-8.90942961e-03 -5.61481323e-07 9.99960310e-01 -9.14434891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554391417999994 meters 0.018379798101722366 Centerline is valid? [True, True] Translation: X:52.94, Y:-0.80, Z:-0.92 [[ 9.98995079e-01 4.44006668e-02 6.11655669e-03 5.29382757e+01] [-4.43999163e-02 9.99013804e-01 -2.58491432e-04 -7.96861722e-01] [-6.12200176e-03 -1.33429368e-05 9.99981260e-01 -9.20470552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584391417999996 meters 0.014785161481006713 Centerline is valid? [True, True] Translation: X:52.97, Y:-0.80, Z:-0.92 [[ 9.98999455e-01 4.41674307e-02 7.02336318e-03 5.29659078e+01] [-4.41664392e-02 9.99024143e-01 -2.96285276e-04 -7.97505540e-01] [-7.02959554e-03 -1.42081145e-05 9.99975292e-01 -9.19935954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614391418 meters 0.014891508624644962 Centerline is valid? [True, True] Translation: X:52.99, Y:-0.80, Z:-0.92 [[ 9.98986785e-01 4.45547823e-02 6.34618796e-03 5.29937389e+01] [-4.45539847e-02 9.99006942e-01 -2.67071337e-04 -7.97797951e-01] [-6.35178514e-03 -1.59472251e-05 9.99979827e-01 -9.21231730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644391418 meters 0.01770536772679711 Centerline is valid? [True, True] Translation: X:53.02, Y:-0.80, Z:-0.92 [[ 9.98937729e-01 4.57903221e-02 5.16326442e-03 5.30220488e+01] [-4.57898127e-02 9.98951073e-01 -2.16890326e-04 -7.98815004e-01] [-5.16778001e-03 -1.97649813e-05 9.99986647e-01 -9.22715888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67439141799999 meters 0.018524875260331662 Centerline is valid? [True, True] Translation: X:53.05, Y:-0.80, Z:-0.92 [[ 9.98929650e-01 4.59892154e-02 4.95436566e-03 5.30511220e+01] [-4.59887506e-02 9.98941936e-01 -2.07756533e-04 -7.99787480e-01] [-4.95867819e-03 -2.03109256e-05 9.99987705e-01 -9.23588429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70439141799999 meters 0.015895725377186726 Centerline is valid? [True, True] Translation: X:53.08, Y:-0.80, Z:-0.92 [[ 9.98917455e-01 4.61222082e-02 6.05476469e-03 5.30803113e+01] [-4.61215213e-02 9.98935804e-01 -2.53111730e-04 -8.01021779e-01] [-6.05999531e-03 -2.64172333e-05 9.99981638e-01 -9.21352411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734391417999994 meters 0.015624474932545415 Centerline is valid? [True, True] Translation: X:53.11, Y:-0.80, Z:-0.92 [[ 9.98905360e-01 4.62580810e-02 6.94778630e-03 5.31081593e+01] [-4.62571840e-02 9.98929522e-01 -2.89835676e-04 -8.01665849e-01] [-6.95375608e-03 -3.18666182e-05 9.99975822e-01 -9.20464575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764391417999995 meters 0.015514859739704963 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.80, Z:-0.92 [[ 9.98923440e-01 4.58368225e-02 7.13776010e-03 5.31367936e+01] [-4.58358725e-02 9.98948940e-01 -2.96708501e-04 -8.03587221e-01] [-7.14385806e-03 -3.07763857e-05 9.99974482e-01 -9.20325439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794391418 meters 0.016220134899522776 Centerline is valid? [True, True] Translation: X:53.16, Y:-0.81, Z:-0.92 [[ 9.98954419e-01 4.52007223e-02 6.85292827e-03 5.31649834e+01] [-4.51998331e-02 9.98977925e-01 -2.84665665e-04 -8.05555178e-01] [-6.85879116e-03 -2.53831900e-05 9.99976478e-01 -9.21301442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824391418 meters 0.01666073266917789 Centerline is valid? [True, True] Translation: X:53.19, Y:-0.81, Z:-0.92 [[ 9.98996970e-01 4.42197759e-02 7.04733759e-03 5.31937299e+01] [-4.42188197e-02 9.99021827e-01 -2.91506459e-04 -8.07778709e-01] [-7.05333442e-03 -2.04108807e-05 9.99975125e-01 -9.21570898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854391418 meters 0.014088046618907437 Centerline is valid? [True, True] Translation: X:53.22, Y:-0.81, Z:-0.92 [[ 9.99120190e-01 4.10767983e-02 8.45824491e-03 5.32221981e+01] [-4.10753174e-02 9.99155992e-01 -3.48807976e-04 -8.12276737e-01] [-8.46543400e-03 1.07599704e-06 9.99964168e-01 -9.19683153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88439141799999 meters 0.014237495163136969 Centerline is valid? [True, True] Translation: X:53.25, Y:-0.82, Z:-0.92 [[ 9.99193370e-01 3.92779811e-02 8.35755833e-03 5.32513095e+01] [-3.92764781e-02 9.99228322e-01 -3.43951151e-04 -8.15859638e-01] [-8.36461870e-03 1.54182530e-05 9.99965016e-01 -9.20602552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914391417999994 meters 0.014555357467583258 Centerline is valid? [True, True] Translation: X:53.28, Y:-0.82, Z:-0.92 [[ 9.99348902e-01 3.51738402e-02 8.03572800e-03 5.32799633e+01] [-3.51723227e-02 9.99381208e-01 -3.30124123e-04 -8.21997211e-01] [-8.04236729e-03 4.72739617e-05 9.99967659e-01 -9.20607154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944391417999995 meters 0.014555357467583258 Centerline is valid? [True, True] Translation: X:53.31, Y:-0.82, Z:-0.92 [[ 9.99352037e-01 3.50846493e-02 8.03575752e-03 5.33082525e+01] [-3.50831347e-02 9.99384343e-01 -3.29403166e-04 -8.23063910e-01] [-8.04236724e-03 4.72701618e-05 9.99967659e-01 -9.21117904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974391417999996 meters 0.015124549274186142 Centerline is valid? [True, True] Translation: X:53.34, Y:-0.83, Z:-0.92 [[ 9.99491368e-01 3.05345248e-02 9.20049248e-03 5.33367608e+01] [-3.05323582e-02 9.99533708e-01 -3.75889778e-04 -8.29033057e-01] [-9.20767999e-03 9.47858563e-05 9.99957604e-01 -9.20565244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004391418 meters 0.0156148148058029 Centerline is valid? [True, True] Translation: X:53.37, Y:-0.83, Z:-0.92 [[ 9.99561516e-01 2.81194287e-02 9.27759894e-03 5.33659485e+01] [-2.81171296e-02 9.99604564e-01 -3.78178780e-04 -8.31821544e-01] [-9.28456442e-03 1.17153503e-04 9.99956891e-01 -9.20186141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034391418 meters 0.01916541732392196 Centerline is valid? [True, True] Translation: X:53.39, Y:-0.83, Z:-0.92 [[ 9.99612468e-01 2.68721578e-02 7.26639083e-03 5.33949504e+01] [-2.68707139e-02 9.99638873e-01 -2.96275922e-04 -8.34785695e-01] [-7.27172831e-03 1.00907997e-04 9.99973556e-01 -9.22616747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters 0.016953254102195302 Centerline is valid? [True, True] Translation: X:53.42, Y:-0.84, Z:-0.92 [[ 9.99709128e-01 2.26061022e-02 8.40375817e-03 5.34248364e+01] [-2.26040274e-02 9.99744438e-01 -3.41799858e-04 -8.39285112e-01] [-8.40933725e-03 1.51741658e-04 9.99964629e-01 -9.21441024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094391417999994 meters 0.021496502828715125 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.84, Z:-0.93 [[ 9.99734367e-01 2.20875407e-02 6.58295098e-03 5.34544223e+01] [-2.20862601e-02 9.99756033e-01 -2.67181235e-04 -8.44748855e-01] [-6.58724634e-03 1.21717496e-04 9.99978296e-01 -9.25982914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124391417999995 meters 0.019785240777574077 Centerline is valid? [True, True] Translation: X:53.48, Y:-0.85, Z:-0.93 [[ 9.99745011e-01 2.13239952e-02 7.42964003e-03 5.34843409e+01] [-2.13223395e-02 9.99772607e-01 -3.02001080e-04 -8.46072983e-01] [-7.43439046e-03 1.43506766e-04 9.99972354e-01 -9.25105988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154391417999996 meters 0.022341018042121494 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.85, Z:-0.93 [[ 9.99749432e-01 2.16086390e-02 5.84295914e-03 5.35136979e+01] [-2.16076219e-02 9.99766500e-01 -2.37155547e-04 -8.49012479e-01] [-5.84671941e-03 1.10843672e-04 9.99982902e-01 -9.28131717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184391418 meters 0.021817145945958964 Centerline is valid? [True, True] Translation: X:53.54, Y:-0.85, Z:-0.93 [[ 9.99724496e-01 2.27676294e-02 5.70682923e-03 5.35434516e+01] [-2.27666772e-02 9.99740779e-01 -2.31768343e-04 -8.49590497e-01] [-5.71062671e-03 1.01778951e-04 9.99983689e-01 -9.28562695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214391418 meters 0.01821326060134917 Centerline is valid? [True, True] Translation: X:53.57, Y:-0.85, Z:-0.93 [[ 9.99696190e-01 2.34690611e-02 7.53196335e-03 5.35733266e+01] [-2.34674265e-02 9.99724555e-01 -3.05338141e-04 -8.49333878e-01] [-7.53705471e-03 1.28489579e-04 9.99971588e-01 -9.26047690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters 0.017613269718078917 Centerline is valid? [True, True] Translation: X:53.60, Y:-0.85, Z:-0.93 [[ 9.99654060e-01 2.51026165e-02 7.84973151e-03 5.36033957e+01] [-2.51008943e-02 9.99684872e-01 -3.17854361e-04 -8.48660979e-01] [-7.85523682e-03 1.20709122e-04 9.99969140e-01 -9.26162056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27439141799999 meters 0.01685461764999833 Centerline is valid? [True, True] Translation: X:53.63, Y:-0.85, Z:-0.93 [[ 9.99598512e-01 2.71442459e-02 8.12432502e-03 5.36332903e+01] [-2.71424714e-02 9.99631521e-01 -3.28607822e-04 -8.47893677e-01] [-8.13025119e-03 1.07961630e-04 9.99966943e-01 -9.26355532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304391417999994 meters 0.0191984886025714 Centerline is valid? [True, True] Translation: X:53.66, Y:-0.84, Z:-0.93 [[ 9.99473984e-01 3.16584607e-02 7.03535300e-03 5.36623155e+01] [-3.16572417e-02 9.99498743e-01 -2.84592089e-04 -8.44966578e-01] [-7.04083623e-03 6.17225193e-05 9.99975211e-01 -9.29191825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334391417999996 meters 0.017910281970576376 Centerline is valid? [True, True] Translation: X:53.69, Y:-0.84, Z:-0.93 [[ 9.99441080e-01 3.27120598e-02 6.88823938e-03 5.36914275e+01] [-3.27109175e-02 9.99464816e-01 -2.78472017e-04 -8.44338774e-01] [-6.89366230e-03 5.29957440e-05 9.99976237e-01 -9.29885239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364391418 meters 0.01645694834806399 Centerline is valid? [True, True] Translation: X:53.72, Y:-0.84, Z:-0.93 [[ 9.99421579e-01 3.33130983e-02 6.83705520e-03 5.37187558e+01] [-3.33119892e-02 9.99444964e-01 -2.76073177e-04 -8.44283652e-01] [-6.84245724e-03 4.81575817e-05 9.99976589e-01 -9.30923661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394391418 meters 0.015131455194407367 Centerline is valid? [True, True] Translation: X:53.75, Y:-0.84, Z:-0.93 [[ 9.99399457e-01 3.40219524e-02 6.57516220e-03 5.37464887e+01] [-3.40209459e-02 9.99421085e-01 -2.64890108e-04 -8.44364924e-01] [-6.58036781e-03 4.10377926e-05 9.99978348e-01 -9.32435407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters 0.014760644594061616 Centerline is valid? [True, True] Translation: X:53.78, Y:-0.84, Z:-0.93 [[ 9.99382814e-01 3.45210323e-02 6.50297391e-03 5.37753990e+01] [-3.45200637e-02 9.99403971e-01 -2.61168974e-04 -8.44663271e-01] [-6.50811377e-03 3.65247107e-05 9.99978821e-01 -9.32152143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45439141799999 meters 0.01776633738059348 Centerline is valid? [True, True] Translation: X:53.80, Y:-0.85, Z:-0.94 [[ 9.99358691e-01 3.53516163e-02 5.69823966e-03 5.38035829e+01] [-3.53508856e-02 9.99374936e-01 -2.28927135e-04 -8.45898354e-01] [-5.70277084e-03 2.73425032e-05 9.99983739e-01 -9.35450139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484391417999994 meters 0.017971667509674962 Centerline is valid? [True, True] Translation: X:53.83, Y:-0.85, Z:-0.93 [[ 9.99350401e-01 3.55153620e-02 6.11841780e-03 5.38326810e+01] [-3.55145300e-02 9.99369130e-01 -2.44599965e-04 -8.46256237e-01] [-6.12324493e-03 2.71483407e-05 9.99981252e-01 -9.34402973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514391417999995 meters 0.014573137054966772 Centerline is valid? [True, True] Translation: X:53.86, Y:-0.85, Z:-0.93 [[ 9.99363942e-01 3.46557204e-02 8.40786618e-03 5.38604715e+01] [-3.46541279e-02 9.99399309e-01 -3.35062350e-04 -8.46837765e-01] [-8.41442748e-03 4.34819613e-05 9.99964597e-01 -9.31502446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544391418 meters 0.014573137054966772 Centerline is valid? [True, True] Translation: X:53.89, Y:-0.85, Z:-0.93 [[ 9.99366758e-01 3.45744187e-02 8.40790818e-03 5.38887637e+01] [-3.45728322e-02 9.99402125e-01 -3.34003378e-04 -8.47863842e-01] [-8.41442927e-03 4.31066741e-05 9.99964597e-01 -9.32013264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574391418 meters 0.014721297568193856 Centerline is valid? [True, True] Translation: X:53.92, Y:-0.85, Z:-0.93 [[ 9.99387469e-01 3.39564526e-02 8.46441385e-03 5.39168032e+01] [-3.39548270e-02 9.99423312e-01 -3.35734630e-04 -8.49267305e-01] [-8.47093289e-03 4.81212746e-05 9.99964120e-01 -9.32237943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604391418 meters 0.015923433663243846 Centerline is valid? [True, True] Translation: X:53.95, Y:-0.85, Z:-0.93 [[ 9.99399639e-01 3.36377202e-02 8.29846528e-03 5.39451837e+01] [-3.36361550e-02 9.99434091e-01 -3.28145801e-04 -8.50698568e-01] [-8.30480718e-03 4.88203303e-05 9.99965513e-01 -9.33229585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63439141799999 meters 0.016718404458033218 Centerline is valid? [True, True] Translation: X:53.97, Y:-0.85, Z:-0.93 [[ 9.99423726e-01 3.30046659e-02 7.93148391e-03 5.39739672e+01] [-3.30032208e-02 9.99455196e-01 -3.13056865e-04 -8.52435459e-01] [-7.93749514e-03 5.11119437e-05 9.99968496e-01 -9.34366160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664391417999994 meters 0.015511370462582013 Centerline is valid? [True, True] Translation: X:54.00, Y:-0.86, Z:-0.93 [[ 9.99485935e-01 3.10296487e-02 8.06386667e-03 5.40020987e+01] [-3.10280988e-02 9.99518462e-01 -3.17270204e-04 -8.55231079e-01] [-8.06982840e-03 6.69006549e-05 9.99967436e-01 -9.34397204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694391417999995 meters 0.01489191436748177 Centerline is valid? [True, True] Translation: X:54.03, Y:-0.86, Z:-0.93 [[ 9.99504600e-01 3.02837423e-02 8.57028582e-03 5.40319789e+01] [-3.02819679e-02 9.99541339e-01 -3.36764231e-04 -8.56004931e-01] [-8.57655345e-03 7.70722782e-05 9.99963218e-01 -9.33067266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724391417999996 meters 0.019353035719134964 Centerline is valid? [True, True] Translation: X:54.06, Y:-0.86, Z:-0.94 [[ 9.99528952e-01 2.95765100e-02 8.19177114e-03 5.40602319e+01] [-2.95748661e-02 9.99562516e-01 -3.21773779e-04 -8.59442260e-01] [-8.19770432e-03 7.93516732e-05 9.99966395e-01 -9.35537543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754391418 meters 0.015674198750710456 Centerline is valid? [True, True] Translation: X:54.09, Y:-0.86, Z:-0.93 [[ 9.99563730e-01 2.78511487e-02 9.83173625e-03 5.40902797e+01] [-2.78487075e-02 9.99612075e-01 -3.85139380e-04 -8.60901849e-01] [-9.83864885e-03 1.11170208e-04 9.99951593e-01 -9.33320982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784391418 meters 0.01583950995277228 Centerline is valid? [True, True] Translation: X:54.12, Y:-0.86, Z:-0.93 [[ 9.99574260e-01 2.72369058e-02 1.04618146e-02 5.41203271e+01] [-2.72341132e-02 9.99628999e-01 -4.09330432e-04 -8.62551381e-01] [-1.04690822e-02 1.24237920e-04 9.99945190e-01 -9.33201661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81439141799999 meters 0.017695423728704213 Centerline is valid? [True, True] Translation: X:54.15, Y:-0.86, Z:-0.93 [[ 9.99587561e-01 2.67935530e-02 1.03351023e-02 5.41510801e+01] [-2.67908117e-02 9.99640980e-01 -4.03623767e-04 -8.63457947e-01] [-1.03422063e-02 1.26571517e-04 9.99946510e-01 -9.34043506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844391417999994 meters 0.016177797571859855 Centerline is valid? [True, True] Translation: X:54.18, Y:-0.87, Z:-0.93 [[ 9.99602393e-01 2.59898145e-02 1.09355558e-02 5.41800560e+01] [-2.59866957e-02 9.99662198e-01 -4.27226890e-04 -8.65481661e-01] [-1.09429653e-02 1.42878062e-04 9.99940114e-01 -9.33693651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874391417999995 meters 0.016522855166856018 Centerline is valid? [True, True] Translation: X:54.21, Y:-0.87, Z:-0.93 [[ 9.99614494e-01 2.56643774e-02 1.05925537e-02 5.42105944e+01] [-2.56614385e-02 9.99670606e-01 -4.13290660e-04 -8.67617818e-01] [-1.05996714e-02 1.41311170e-04 9.99943812e-01 -9.34890428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904391417999996 meters 0.017432706493655054 Centerline is valid? [True, True] Translation: X:54.24, Y:-0.87, Z:-0.94 [[ 9.99609208e-01 2.60055708e-02 1.02538931e-02 5.42409191e+01] [-2.60028327e-02 9.99661789e-01 -4.00285351e-04 -8.69957692e-01] [-1.02608348e-02 1.33498655e-04 9.99947347e-01 -9.36618127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934391418 meters 0.017985103967571987 Centerline is valid? [True, True] Translation: X:54.27, Y:-0.87, Z:-0.94 [[ 9.99602568e-01 2.64139051e-02 9.84945046e-03 5.42710844e+01] [-2.64113950e-02 9.99651084e-01 -3.84861778e-04 -8.70693429e-01] [-9.85617953e-03 1.24571096e-04 9.99951419e-01 -9.37841354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964391418 meters 0.015877409720756262 Centerline is valid? [True, True] Translation: X:54.30, Y:-0.87, Z:-0.94 [[ 9.99567996e-01 2.77049681e-02 9.81101707e-03 5.43008492e+01] [-2.77025363e-02 9.99616137e-01 -3.83707822e-04 -8.68819000e-01] [-9.81788160e-03 1.11752002e-04 9.99951797e-01 -9.37239177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99439141799999 meters 0.01719743952070487 Centerline is valid? [True, True] Translation: X:54.33, Y:-0.87, Z:-0.94 [[ 9.99512648e-01 2.95808196e-02 9.97202341e-03 5.43304918e+01] [-2.95784048e-02 9.99562387e-01 -3.89579599e-04 -8.67465605e-01] [-9.97918361e-03 9.44331915e-05 9.99950202e-01 -9.37728735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02439141799999 meters 0.01695580434383838 Centerline is valid? [True, True] Translation: X:54.36, Y:-0.87, Z:-0.94 [[ 9.99456574e-01 3.12382684e-02 1.05227067e-02 5.43603160e+01] [-3.12356766e-02 9.99511963e-01 -4.10595981e-04 -8.66380308e-01] [-1.05303976e-02 8.16889879e-05 9.99944550e-01 -9.37544952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054391417999994 meters 0.014443446448926615 Centerline is valid? [True, True] Translation: X:54.39, Y:-0.87, Z:-0.94 [[ 9.99419117e-01 3.23714560e-02 1.06544120e-02 5.43889944e+01] [-3.23688669e-02 9.99475905e-01 -4.15408641e-04 -8.65561622e-01] [-1.06622754e-02 7.02960954e-05 9.99943154e-01 -9.36665221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084391417999996 meters 0.01493541618407646 Centerline is valid? [True, True] Translation: X:54.42, Y:-0.86, Z:-0.94 [[ 9.99369903e-01 3.38533479e-02 1.06652939e-02 5.44181370e+01] [-3.38508454e-02 9.99426810e-01 -4.15123555e-04 -8.64909236e-01] [-1.06732340e-02 5.38327728e-05 9.99943038e-01 -9.37716293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114391418 meters 0.013998165089041156 Centerline is valid? [True, True] Translation: X:54.45, Y:-0.86, Z:-0.94 [[ 9.99288837e-01 3.64214793e-02 9.76201762e-03 5.44480658e+01] [-3.64195123e-02 9.99336518e-01 -3.79252843e-04 -8.62002487e-01] [-9.76935364e-03 2.34552120e-05 9.99952278e-01 -9.38779767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144391418 meters 0.013749007480185288 Centerline is valid? [True, True] Translation: X:54.48, Y:-0.86, Z:-0.94 [[ 9.99256996e-01 3.73439184e-02 9.53349416e-03 5.44765900e+01] [-3.73420846e-02 9.99302473e-01 -3.70354692e-04 -8.61548197e-01] [-9.54067478e-03 1.40789719e-05 9.99954487e-01 -9.39359834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17439141799999 meters 0.014639876784305943 Centerline is valid? [True, True] Translation: X:54.51, Y:-0.86, Z:-0.94 [[ 9.99216016e-01 3.84481585e-02 9.43885947e-03 5.45053520e+01] [-3.84464178e-02 9.99260596e-01 -3.65868790e-04 -8.61372097e-01] [-9.44594732e-03 2.69161999e-06 9.99955386e-01 -9.40572928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20439141799999 meters 0.013926164537734171 Centerline is valid? [True, True] Translation: X:54.53, Y:-0.86, Z:-0.94 [[ 9.99193408e-01 3.89569502e-02 9.74113297e-03 5.45337101e+01] [-3.89551291e-02 9.99240890e-01 -3.76690838e-04 -8.61263466e-01] [-9.74841310e-03 -3.08009019e-06 9.99952483e-01 -9.40307166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234391417999994 meters 0.013796386892102712 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.86, Z:-0.94 [[ 9.99145751e-01 4.00793952e-02 1.00702348e-02 5.45626233e+01] [-4.00775154e-02 9.99196498e-01 -3.88481923e-04 -8.59957358e-01] [-1.00777135e-02 -1.54399287e-05 9.99949218e-01 -9.40034841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264391417999995 meters 0.013904809553404871 Centerline is valid? [True, True] Translation: X:54.59, Y:-0.86, Z:-0.94 [[ 9.99136509e-01 4.03509396e-02 9.90138461e-03 5.45907849e+01] [-4.03491416e-02 9.99185569e-01 -3.81367756e-04 -8.60180942e-01] [-9.90870917e-03 -1.84739209e-05 9.99950907e-01 -9.40633721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294391418 meters 0.014293791827553687 Centerline is valid? [True, True] Translation: X:54.62, Y:-0.86, Z:-0.94 [[ 9.99137333e-01 4.03303575e-02 9.90211172e-03 5.46183618e+01] [-4.03285701e-02 9.99186400e-01 -3.80197038e-04 -8.60969776e-01] [-9.90938885e-03 -1.94689516e-05 9.99950901e-01 -9.41772095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324391418 meters 0.015042011655283322 Centerline is valid? [True, True] Translation: X:54.65, Y:-0.86, Z:-0.94 [[ 9.99182027e-01 3.91429214e-02 1.01542378e-02 5.46465334e+01] [-3.91409957e-02 9.99233622e-01 -3.88376276e-04 -8.64367654e-01] [-1.01616580e-02 -9.38838252e-06 9.99948369e-01 -9.43416013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354391418 meters 0.015149546558235425 Centerline is valid? [True, True] Translation: X:54.68, Y:-0.87, Z:-0.94 [[ 9.99221993e-01 3.79562215e-02 1.07113900e-02 5.46752170e+01] [-3.79540210e-02 9.99279403e-01 -4.08713840e-04 -8.67028035e-01] [-1.07191847e-02 1.85553596e-06 9.99942548e-01 -9.43638992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38439141799999 meters 0.013908052488675254 Centerline is valid? [True, True] Translation: X:54.70, Y:-0.87, Z:-0.94 [[ 9.99279729e-01 3.61420405e-02 1.15661548e-02 5.47046231e+01] [-3.61393686e-02 9.99346663e-01 -4.40002300e-04 -8.69403820e-01] [-1.15745008e-02 2.16918464e-05 9.99933013e-01 -9.42934914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414391417999994 meters 0.013844824344805627 Centerline is valid? [True, True] Translation: X:54.73, Y:-0.87, Z:-0.94 [[ 9.99331436e-01 3.45575078e-02 1.19356841e-02 5.47339216e+01] [-3.45545553e-02 9.99402710e-01 -4.53562617e-04 -8.71719048e-01] [-1.19442291e-02 4.08271238e-05 9.99928664e-01 -9.42532540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444391417999995 meters 0.014299345094342058 Centerline is valid? [True, True] Translation: X:54.76, Y:-0.88, Z:-0.94 [[ 9.99395984e-01 3.26311674e-02 1.19530225e-02 5.47633967e+01] [-3.26280763e-02 9.99467460e-01 -4.53577715e-04 -8.75299313e-01] [-1.19614578e-02 6.32996172e-05 9.99928457e-01 -9.43752365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474391417999996 meters 0.014457056904106463 Centerline is valid? [True, True] Translation: X:54.79, Y:-0.88, Z:-0.94 [[ 9.99519610e-01 2.86324498e-02 1.18630643e-02 5.47938797e+01] [-2.86291278e-02 9.99590001e-01 -4.49786064e-04 -8.79216151e-01] [-1.18710790e-02 1.09940806e-04 9.99929530e-01 -9.42773337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504391418 meters 0.015306763575201825 Centerline is valid? [True, True] Translation: X:54.82, Y:-0.88, Z:-0.94 [[ 9.99573391e-01 2.65992806e-02 1.20628995e-02 5.48237751e+01] [-2.65956963e-02 9.99646167e-01 -4.57484178e-04 -8.82514259e-01] [-1.20708000e-02 1.36467799e-04 9.99927136e-01 -9.43961349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534391418 meters 0.01690086444954025 Centerline is valid? [True, True] Translation: X:54.85, Y:-0.89, Z:-0.95 [[ 9.99610506e-01 2.53181369e-02 1.17399946e-02 5.48540025e+01] [-2.53146592e-02 9.99679434e-01 -4.44753649e-04 -8.85626123e-01] [-1.17474914e-02 1.47386459e-04 9.99930985e-01 -9.45249240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56439141799999 meters 0.01828634401528768 Centerline is valid? [True, True] Translation: X:54.88, Y:-0.89, Z:-0.95 [[ 9.99665579e-01 2.26843923e-02 1.24156423e-02 5.48847895e+01] [-2.26802964e-02 9.99742658e-01 -4.70621913e-04 -8.89044625e-01] [-1.24231230e-02 1.88874081e-04 9.99922812e-01 -9.45517544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594391417999994 meters 0.01767499515662602 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.89, Z:-0.94 [[ 9.99690945e-01 2.08013143e-02 1.36132404e-02 5.49151116e+01] [-2.07962126e-02 9.99783602e-01 -5.16227757e-04 -8.93652980e-01] [-1.36210328e-02 2.32964372e-04 9.99907202e-01 -9.44878479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624391417999995 meters 0.02035797151006035 Centerline is valid? [True, True] Translation: X:54.95, Y:-0.90, Z:-0.95 [[ 9.99717571e-01 1.99837604e-02 1.28618424e-02 5.49467096e+01] [-1.99791477e-02 9.99800278e-01 -4.87034089e-04 -8.96577427e-01] [-1.28690064e-02 2.29927886e-04 9.99917164e-01 -9.46691488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654391417999996 meters 0.018304357379798995 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.90, Z:-0.95 [[ 9.99776382e-01 1.64257733e-02 1.33184143e-02 5.49787061e+01] [-1.64204620e-02 9.99865046e-01 -5.08059181e-04 -8.97703152e-01] [-1.33249621e-02 2.89251055e-04 9.99911177e-01 -9.45556548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684391418 meters 0.0191294891973845 Centerline is valid? [True, True] Translation: X:55.01, Y:-0.90, Z:-0.95 [[ 9.99798194e-01 1.49047897e-02 1.34691433e-02 5.50098503e+01] [-1.48991546e-02 9.99888867e-01 -5.18624641e-04 -9.00797200e-01] [-1.34753765e-02 3.17841131e-04 9.99909152e-01 -9.46316098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714391418 meters 0.020264592077464637 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.90, Z:-0.95 [[ 9.99807414e-01 1.37725955e-02 1.39803769e-02 5.50413496e+01] [-1.37663886e-02 9.99905093e-01 -5.40110868e-04 -9.04474043e-01] [-1.39864888e-02 3.47547548e-04 9.99902124e-01 -9.47192468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters 0.021739410541892084 Centerline is valid? [True, True] Translation: X:55.07, Y:-0.91, Z:-0.95 [[ 9.99809344e-01 1.32360410e-02 1.43555840e-02 5.50729254e+01] [-1.32293809e-02 9.99912332e-01 -5.58801536e-04 -9.07571908e-01] [-1.43617218e-02 3.68779507e-04 9.99896797e-01 -9.48274833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77439141799999 meters 0.021218142652158704 Centerline is valid? [True, True] Translation: X:55.11, Y:-0.91, Z:-0.95 [[ 9.99812821e-01 1.23320367e-02 1.49078285e-02 5.51051617e+01] [-1.23247247e-02 9.99923878e-01 -5.82255212e-04 -9.09392146e-01] [-1.49138741e-02 3.98411343e-04 9.99888703e-01 -9.47833242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804391417999994 meters 0.020542852013692287 Centerline is valid? [True, True] Translation: X:55.14, Y:-0.91, Z:-0.95 [[ 9.99831534e-01 1.20117155e-02 1.38788346e-02 5.51373455e+01] [-1.20053001e-02 9.99927785e-01 -5.45468405e-04 -9.07899686e-01] [-1.38843843e-02 3.78756938e-04 9.99903536e-01 -9.48122688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834391417999996 meters 0.020603260785114107 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.91, Z:-0.95 [[ 9.99828645e-01 1.26396135e-02 1.35248057e-02 5.51682200e+01] [-1.26335216e-02 9.99920050e-01 -5.35770804e-04 -9.08248171e-01] [-1.35304963e-02 3.64813074e-04 9.99908392e-01 -9.49268232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864391418 meters 0.01945260146306942 Centerline is valid? [True, True] Translation: X:55.20, Y:-0.91, Z:-0.95 [[ 9.99824529e-01 1.37479223e-02 1.27242394e-02 5.52000702e+01] [-1.37426053e-02 9.99905438e-01 -5.05207011e-04 -9.06479728e-01] [-1.27299817e-02 3.30254162e-04 9.99918916e-01 -9.50300756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894391418 meters 0.019143891198503668 Centerline is valid? [True, True] Translation: X:55.23, Y:-0.91, Z:-0.95 [[ 9.99804499e-01 1.53400067e-02 1.24759167e-02 5.52319878e+01] [-1.53349757e-02 9.99882288e-01 -4.98822269e-04 -9.05744439e-01] [-1.24821001e-02 3.07406869e-04 9.99922048e-01 -9.51123267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters 0.017759641664260147 Centerline is valid? [True, True] Translation: X:55.26, Y:-0.90, Z:-0.95 [[ 9.99732998e-01 1.94650546e-02 1.24517087e-02 5.52641721e+01] [-1.94603185e-02 9.99810504e-01 -5.01415767e-04 -9.02568073e-01] [-1.24591092e-02 2.58967670e-04 9.99922349e-01 -9.51270138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95439141799999 meters 0.019808758868223073 Centerline is valid? [True, True] Translation: X:55.30, Y:-0.90, Z:-0.95 [[ 9.99683355e-01 2.22391573e-02 1.17732618e-02 5.52954791e+01] [-2.22350631e-02 9.99752656e-01 -4.78549822e-04 -9.03315110e-01] [-1.17809923e-02 2.16619073e-04 9.99930578e-01 -9.53360730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984391417999994 meters 0.01783421604548555 Centerline is valid? [True, True] Translation: X:55.33, Y:-0.90, Z:-0.95 [[ 9.99619995e-01 2.45602369e-02 1.25163922e-02 5.53270170e+01] [-2.45557785e-02 9.99698331e-01 -5.09778771e-04 -9.01662749e-01] [-1.25251366e-02 2.02235298e-04 9.99921537e-01 -9.53236410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014391417999995 meters 0.016776085688757825 Centerline is valid? [True, True] Translation: X:55.36, Y:-0.90, Z:-0.95 [[ 9.99566655e-01 2.67811925e-02 1.22176228e-02 5.53583639e+01] [-2.67771040e-02 9.99641305e-01 -4.98133728e-04 -8.99569778e-01] [-1.22265810e-02 1.70765307e-04 9.99925238e-01 -9.53786995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044391418 meters 0.014710606348465546 Centerline is valid? [True, True] Translation: X:55.39, Y:-0.89, Z:-0.95 [[ 9.99381921e-01 3.26680026e-02 1.29837418e-02 5.53892268e+01] [-3.26638709e-02 9.99466253e-01 -5.30205932e-04 -8.93111332e-01] [-1.29941325e-02 1.05778957e-04 9.99915567e-01 -9.53869342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074391418 meters 0.0165844403701202 Centerline is valid? [True, True] Translation: X:55.42, Y:-0.89, Z:-0.96 [[ 9.99277673e-01 3.57428988e-02 1.29064936e-02 5.54176576e+01] [-3.57390683e-02 9.99361016e-01 -5.27384501e-04 -8.91106822e-01] [-1.29170968e-02 6.57375012e-05 9.99916569e-01 -9.55293447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104391418 meters 0.014167492893612308 Centerline is valid? [True, True] Translation: X:55.45, Y:-0.89, Z:-0.96 [[ 9.99197284e-01 3.77400646e-02 1.34341347e-02 5.54470709e+01] [-3.77361075e-02 9.99287589e-01 -5.48014634e-04 -8.89198179e-01] [-1.34452462e-02 4.06227816e-05 9.99909608e-01 -9.55178959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13439141799999 meters 0.014154177969313553 Centerline is valid? [True, True] Translation: X:55.48, Y:-0.88, Z:-0.96 [[ 9.99030114e-01 4.22512511e-02 1.23961055e-02 5.54758041e+01] [-4.22482378e-02 9.99107017e-01 -5.04965223e-04 -8.84552834e-01] [-1.24063714e-02 -1.92381497e-05 9.99923038e-01 -9.57404481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164391417999994 meters 0.016000256943664717 Centerline is valid? [True, True] Translation: X:55.50, Y:-0.88, Z:-0.96 [[ 9.98952209e-01 4.44040700e-02 1.10798310e-02 5.55036124e+01] [-4.44017985e-02 9.99013652e-01 -4.51043469e-04 -8.83011276e-01] [-1.10889306e-02 -4.13935531e-05 9.99938515e-01 -9.59486455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194391417999995 meters 0.01627767996111697 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.88, Z:-0.96 [[ 9.98891722e-01 4.58006411e-02 1.08456559e-02 5.55326901e+01] [-4.57985604e-02 9.98950598e-01 -4.40268530e-04 -8.81967222e-01] [-1.08544391e-02 -5.69348383e-05 9.99941087e-01 -9.60230142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224391417999996 meters 0.014660504549709576 Centerline is valid? [True, True] Translation: X:55.56, Y:-0.88, Z:-0.96 [[ 9.98862318e-01 4.63682869e-02 1.11378510e-02 5.55613912e+01] [-4.63661383e-02 9.98924410e-01 -4.51192841e-04 -8.82057111e-01] [-1.11467922e-02 -6.57396100e-05 9.99937870e-01 -9.59389143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254391418 meters 0.015017588471229274 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.88, Z:-0.96 [[ 9.98809856e-01 4.74399730e-02 1.13278741e-02 5.55891695e+01] [-4.74378292e-02 9.98874087e-01 -4.58016694e-04 -8.81728041e-01] [-1.13368482e-02 -7.98981681e-05 9.99935733e-01 -9.59392437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284391418 meters 0.01592134717271556 Centerline is valid? [True, True] Translation: X:55.62, Y:-0.88, Z:-0.96 [[ 9.98782717e-01 4.80161966e-02 1.12928532e-02 5.56177977e+01] [-4.80141184e-02 9.98846553e-01 -4.55231705e-04 -8.82829103e-01] [-1.13016860e-02 -8.75388302e-05 9.99936130e-01 -9.60132354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31439141799999 meters 0.015176193744799223 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.88, Z:-0.96 [[ 9.98781293e-01 4.80314155e-02 1.13539333e-02 5.56467644e+01] [-4.80293269e-02 9.98845822e-01 -4.56710066e-04 -8.84436194e-01] [-1.13627652e-02 -8.91683019e-05 9.99935438e-01 -9.60271116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344391417999994 meters 0.015383795841337563 Centerline is valid? [True, True] Translation: X:55.68, Y:-0.89, Z:-0.96 [[ 9.98761848e-01 4.83886829e-02 1.15457958e-02 5.56752474e+01] [-4.83865589e-02 9.98828577e-01 -4.63388996e-04 -8.85479809e-01] [-1.15546936e-02 -9.58460779e-05 9.99933238e-01 -9.61049105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374391417999995 meters 0.015379839651778584 Centerline is valid? [True, True] Translation: X:55.70, Y:-0.89, Z:-0.96 [[ 9.98770539e-01 4.81387485e-02 1.18351890e-02 5.57032956e+01] [-4.81365101e-02 9.98840654e-01 -4.74081795e-04 -8.86561655e-01] [-1.18442897e-02 -9.62057676e-05 9.99929849e-01 -9.61394749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404391417999996 meters 0.01610307550386924 Centerline is valid? [True, True] Translation: X:55.73, Y:-0.89, Z:-0.96 [[ 9.98804864e-01 4.75571541e-02 1.12765251e-02 5.57321194e+01] [-4.75550989e-02 9.98868515e-01 -4.50471792e-04 -8.89136577e-01] [-1.12851890e-02 -8.63228471e-05 9.99936317e-01 -9.61398428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434391418 meters 0.01610307550386924 Centerline is valid? [True, True] Translation: X:55.76, Y:-0.89, Z:-0.96 [[ 9.98809090e-01 4.74683116e-02 1.12765653e-02 5.57604070e+01] [-4.74662622e-02 9.98872741e-01 -4.49461669e-04 -8.90171748e-01] [-1.12851889e-02 -8.63300046e-05 9.99936317e-01 -9.61909172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464391418 meters 0.014778354495618602 Centerline is valid? [True, True] Translation: X:55.79, Y:-0.89, Z:-0.96 [[ 9.98946764e-01 4.41980696e-02 1.23245394e-02 5.57879745e+01] [-4.41953866e-02 9.99022786e-01 -4.90105507e-04 -8.94595540e-01] [-1.23341574e-02 -5.50984717e-05 9.99923930e-01 -9.62636247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49439141799999 meters 0.014252048526477403 Centerline is valid? [True, True] Translation: X:55.82, Y:-0.90, Z:-0.96 [[ 9.99044337e-01 4.19512463e-02 1.22680496e-02 5.58169944e+01] [-4.19484368e-02 9.99119659e-01 -4.86354151e-04 -8.99363102e-01] [-1.22776527e-02 -2.87361428e-05 9.99924626e-01 -9.63618402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52439141799999 meters 0.014173854439287713 Centerline is valid? [True, True] Translation: X:55.85, Y:-0.90, Z:-0.96 [[ 9.99157753e-01 3.92810521e-02 1.18652491e-02 5.58454359e+01] [-3.92782464e-02 9.99228202e-01 -4.69497137e-04 -9.04340522e-01] [-1.18745339e-02 3.05552531e-06 9.99929495e-01 -9.62853135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554391417999994 meters 0.014119827552514673 Centerline is valid? [True, True] Translation: X:55.87, Y:-0.91, Z:-0.96 [[ 9.99260942e-01 3.65350623e-02 1.19481632e-02 5.58744948e+01] [-3.65320343e-02 9.99332371e-01 -4.71658568e-04 -9.08236920e-01] [-1.19574184e-02 3.48192764e-05 9.99928507e-01 -9.63239034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584391417999996 meters 0.015352489438295536 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.92, Z:-0.96 [[ 9.99477957e-01 2.99018107e-02 1.22350038e-02 5.59025682e+01] [-2.98981524e-02 9.99552834e-01 -4.81841225e-04 -9.16192308e-01] [-1.22439406e-02 1.15785675e-04 9.99925033e-01 -9.63849090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614391418 meters 0.015544209917100869 Centerline is valid? [True, True] Translation: X:55.93, Y:-0.92, Z:-0.96 [[ 9.99575711e-01 2.64923789e-02 1.21058270e-02 5.59333023e+01] [-2.64885604e-02 9.99649003e-01 -4.75683674e-04 -9.18890549e-01] [-1.21141799e-02 1.54815918e-04 9.99926609e-01 -9.63343156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644391418 meters 0.01842494678681108 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.92, Z:-0.97 [[ 9.99650236e-01 2.38410011e-02 1.14460489e-02 5.59629048e+01] [-2.38374214e-02 9.99715747e-01 -4.49096487e-04 -9.24527899e-01] [-1.14535022e-02 1.76095119e-04 9.99934391e-01 -9.65130026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67439141799999 meters 0.01706353990899968 Centerline is valid? [True, True] Translation: X:55.99, Y:-0.93, Z:-0.96 [[ 9.99708801e-01 2.05550564e-02 1.26413329e-02 5.59936892e+01] [-2.05504033e-02 9.99788694e-01 -4.97891197e-04 -9.28561155e-01] [-1.26488959e-02 2.37961722e-04 9.99919971e-01 -9.64666045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70439141799999 meters 0.019199229556814024 Centerline is valid? [True, True] Translation: X:56.03, Y:-0.94, Z:-0.97 [[ 9.99795467e-01 1.54152529e-02 1.30917286e-02 5.60255291e+01] [-1.54098221e-02 9.99881129e-01 -5.15610875e-04 -9.37457734e-01] [-1.30981207e-02 3.13764207e-04 9.99914167e-01 -9.65923352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734391417999994 meters 0.01987931579182042 Centerline is valid? [True, True] Translation: X:56.06, Y:-0.94, Z:-0.97 [[ 9.99815178e-01 1.36451486e-02 1.35432908e-02 5.60574409e+01] [-1.36391710e-02 9.99906840e-01 -5.33636535e-04 -9.41603486e-01] [-1.35493107e-02 3.48818647e-04 9.99908143e-01 -9.66468935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764391417999995 meters 0.02065136568671992 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.94, Z:-0.97 [[ 9.99834793e-01 1.22426488e-02 1.34351778e-02 5.60891070e+01] [-1.22365880e-02 9.99924988e-01 -5.33229990e-04 -9.44913002e-01] [-1.34406981e-02 3.68741162e-04 9.99909602e-01 -9.66893003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794391418 meters 0.024036132966562644 Centerline is valid? [True, True] Translation: X:56.12, Y:-0.95, Z:-0.97 [[ 9.99847827e-01 1.12713741e-02 1.33146247e-02 5.61202675e+01] [-1.12652917e-02 9.99936403e-01 -5.31735270e-04 -9.51528107e-01] [-1.33197714e-02 3.81661223e-04 9.99911215e-01 -9.68106495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824391418 meters 0.022406714346694917 Centerline is valid? [True, True] Translation: X:56.15, Y:-0.95, Z:-0.97 [[ 9.99860402e-01 1.02796250e-02 1.31721773e-02 5.61522649e+01] [-1.02735354e-02 9.99947085e-01 -5.29891109e-04 -9.49803339e-01] [-1.31769274e-02 3.94492307e-04 9.99913103e-01 -9.67718155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854391418 meters 0.02396267142490424 Centerline is valid? [True, True] Translation: X:56.19, Y:-0.95, Z:-0.97 [[ 9.99864717e-01 1.05861300e-02 1.25889712e-02 5.61854675e+01] [-1.05805383e-02 9.99943894e-01 -5.10696344e-04 -9.53710252e-01] [-1.25936712e-02 3.77429164e-04 9.99920625e-01 -9.69121206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88439141799999 meters 0.02250664893885692 Centerline is valid? [True, True] Translation: X:56.22, Y:-0.95, Z:-0.97 [[ 9.99862009e-01 1.09551456e-02 1.24879380e-02 5.62174484e+01] [-1.09496608e-02 9.99939922e-01 -5.07500552e-04 -9.53112632e-01] [-1.24927474e-02 3.70691837e-04 9.99921894e-01 -9.69993395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914391417999994 meters 0.02439434423113788 Centerline is valid? [True, True] Translation: X:56.25, Y:-0.96, Z:-0.97 [[ 9.99863612e-01 1.14340936e-02 1.19171475e-02 5.62492280e+01] [-1.14290752e-02 9.99934566e-01 -4.89133740e-04 -9.57622370e-01] [-1.19219605e-02 3.52865053e-04 9.99928869e-01 -9.71397818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944391417999995 meters 0.020539843474482858 Centerline is valid? [True, True] Translation: X:56.28, Y:-0.95, Z:-0.97 [[ 9.99843661e-01 1.32426240e-02 1.17169712e-02 5.62815662e+01] [-1.32378978e-02 9.99912260e-01 -4.80832757e-04 -9.52063874e-01] [-1.17223106e-02 3.25649517e-04 9.99931238e-01 -9.70616890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974391417999996 meters 0.02134085386768314 Centerline is valid? [True, True] Translation: X:56.31, Y:-0.95, Z:-0.97 [[ 9.99828396e-01 1.43920492e-02 1.16639092e-02 5.63123761e+01] [-1.43873920e-02 9.99896379e-01 -4.83092324e-04 -9.53462736e-01] [-1.16696533e-02 3.15196189e-04 9.99931858e-01 -9.71178718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004391418 meters 0.021007148388913887 Centerline is valid? [True, True] Translation: X:56.35, Y:-0.95, Z:-0.97 [[ 9.99816861e-01 1.53149721e-02 1.14758966e-02 5.63450814e+01] [-1.53104991e-02 9.99882673e-01 -4.77535427e-04 -9.53120418e-01] [-1.14818636e-02 3.01746267e-04 9.99934036e-01 -9.71929275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034391418 meters 0.02043022181292747 Centerline is valid? [True, True] Translation: X:56.38, Y:-0.95, Z:-0.97 [[ 9.99787657e-01 1.72962333e-02 1.12018011e-02 5.63760493e+01] [-1.72920955e-02 9.99850372e-01 -4.66135703e-04 -9.52080458e-01] [-1.12081874e-02 2.72334107e-04 9.99937149e-01 -9.72352663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06439141799999 meters 0.01954755216326305 Centerline is valid? [True, True] Translation: X:56.41, Y:-0.95, Z:-0.97 [[ 9.99721238e-01 2.01583950e-02 1.22917000e-02 5.64088255e+01] [-2.01535877e-02 9.99796763e-01 -5.14847841e-04 -9.48953915e-01] [-1.22995803e-02 2.66982468e-04 9.99924322e-01 -9.71857993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094391417999994 meters 0.01755358900712947 Centerline is valid? [True, True] Translation: X:56.44, Y:-0.95, Z:-0.97 [[ 9.99692197e-01 2.15966945e-02 1.22104254e-02 5.64415874e+01] [-2.15920170e-02 9.99766733e-01 -5.14782437e-04 -9.47600637e-01] [-1.22186947e-02 2.50976273e-04 9.99925317e-01 -9.71247217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124391417999995 meters 0.01755358900712947 Centerline is valid? [True, True] Translation: X:56.47, Y:-0.95, Z:-0.97 [[ 9.99691315e-01 2.16375838e-02 1.22102161e-02 5.64724035e+01] [-2.16328494e-02 9.99765847e-01 -5.19695886e-04 -9.48948124e-01] [-1.22186020e-02 2.55393697e-04 9.99925317e-01 -9.71802362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154391417999996 meters 0.01779011661089672 Centerline is valid? [True, True] Translation: X:56.50, Y:-0.95, Z:-0.97 [[ 9.99630425e-01 2.48041517e-02 1.11250677e-02 5.65038777e+01] [-2.48004225e-02 9.99692310e-01 -4.73058327e-04 -9.46789038e-01] [-1.11333784e-02 1.96977118e-04 9.99938003e-01 -9.73555978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184391418 meters 0.017557179837362796 Centerline is valid? [True, True] Translation: X:56.53, Y:-0.95, Z:-0.97 [[ 9.99608467e-01 2.58284730e-02 1.07611702e-02 5.65345089e+01] [-2.58250141e-02 9.99666373e-01 -4.60280895e-04 -9.46618555e-01] [-1.07694683e-02 1.82193309e-04 9.99941991e-01 -9.74332252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214391418 meters 0.016274514200969935 Centerline is valid? [True, True] Translation: X:56.57, Y:-0.94, Z:-0.97 [[ 9.99600321e-01 2.62694809e-02 1.04456782e-02 5.65650451e+01] [-2.62662424e-02 9.99654883e-01 -4.47131264e-04 -9.44950586e-01] [-1.04538191e-02 1.72583841e-04 9.99945342e-01 -9.74508427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24439141799999 meters 0.01653198684939042 Centerline is valid? [True, True] Translation: X:56.59, Y:-0.95, Z:-0.98 [[ 9.99584412e-01 2.70626772e-02 9.93054669e-03 5.65947036e+01] [-2.70597877e-02 9.99633726e-01 -4.25246517e-04 -9.46591348e-01] [-9.93841771e-03 1.56351304e-04 9.99950600e-01 -9.76203529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27439141799999 meters 0.016141276154295538 Centerline is valid? [True, True] Translation: X:56.62, Y:-0.95, Z:-0.98 [[ 9.99575420e-01 2.72390509e-02 1.03447296e-02 5.66247313e+01] [-2.72359256e-02 9.99628935e-01 -4.42907678e-04 -9.46843088e-01] [-1.03529555e-02 1.60971342e-04 9.99946394e-01 -9.76292175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304391417999994 meters 0.01652976532428981 Centerline is valid? [True, True] Translation: X:56.65, Y:-0.95, Z:-0.98 [[ 9.99581570e-01 2.69062291e-02 1.06178653e-02 5.66544594e+01] [-2.69029241e-02 9.99637948e-01 -4.54003401e-04 -9.48171969e-01] [-1.06262365e-02 1.68161810e-04 9.99943526e-01 -9.76334352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334391417999996 meters 0.016651152345573537 Centerline is valid? [True, True] Translation: X:56.68, Y:-0.95, Z:-0.98 [[ 9.99595192e-01 2.62548413e-02 1.09606714e-02 5.66845774e+01] [-2.62512812e-02 9.99655266e-01 -4.68567921e-04 -9.48287481e-01] [-1.09691950e-02 1.80646574e-04 9.99939820e-01 -9.76168091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364391418 meters 0.017145902616423563 Centerline is valid? [True, True] Translation: X:56.72, Y:-0.95, Z:-0.98 [[ 9.99616008e-01 2.55031914e-02 1.08362547e-02 5.67153507e+01] [-2.54996752e-02 9.99674723e-01 -4.62543760e-04 -9.49367790e-01] [-1.08445263e-02 1.86045170e-04 9.99941179e-01 -9.76910803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394391418 meters 0.017592800194042905 Centerline is valid? [True, True] Translation: X:56.75, Y:-0.95, Z:-0.98 [[ 9.99637508e-01 2.46319577e-02 1.08682652e-02 5.67460216e+01] [-2.46283692e-02 9.99696568e-01 -4.63910120e-04 -9.51145952e-01] [-1.08763944e-02 1.96074309e-04 9.99940831e-01 -9.77828238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters 0.01796784808147978 Centerline is valid? [True, True] Translation: X:56.78, Y:-0.95, Z:-0.98 [[ 9.99659214e-01 2.37917873e-02 1.07427416e-02 5.67768074e+01] [-2.37882328e-02 9.99716915e-01 -4.58552167e-04 -9.53159681e-01] [-1.07506103e-02 2.02845061e-04 9.99942190e-01 -9.78974935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45439141799999 meters 0.017951039674107043 Centerline is valid? [True, True] Translation: X:56.81, Y:-0.95, Z:-0.98 [[ 9.99665655e-01 2.35563696e-02 1.06619075e-02 5.68077350e+01] [-2.35528550e-02 9.99722489e-01 -4.55101775e-04 -9.54927488e-01] [-1.06696692e-02 2.03831253e-04 9.99943057e-01 -9.79607797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484391417999994 meters 0.017893536574361137 Centerline is valid? [True, True] Translation: X:56.84, Y:-0.96, Z:-0.98 [[ 9.99632649e-01 2.45898731e-02 1.13975888e-02 5.68382960e+01] [-2.45859316e-02 9.99697602e-01 -4.85824877e-04 -9.56500262e-01] [-1.14060886e-02 2.05426070e-04 9.99934927e-01 -9.80386282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514391417999995 meters 0.01793637692797423 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.96, Z:-0.98 [[ 9.99601658e-01 2.59354334e-02 1.11300539e-02 5.68682810e+01] [-2.59317395e-02 9.99663603e-01 -4.76095893e-04 -9.57135611e-01] [-1.11386576e-02 1.87284584e-04 9.99937946e-01 -9.81140177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544391418 meters 0.017191359352179452 Centerline is valid? [True, True] Translation: X:56.90, Y:-0.96, Z:-0.98 [[ 9.99559843e-01 2.75478551e-02 1.10107344e-02 5.68980746e+01] [-2.75443359e-02 9.99620472e-01 -4.71163312e-04 -9.57171056e-01] [-1.10195351e-02 1.67672559e-04 9.99939269e-01 -9.81479009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574391418 meters 0.015587041392657038 Centerline is valid? [True, True] Translation: X:56.93, Y:-0.95, Z:-0.98 [[ 9.99429226e-01 3.18161838e-02 1.13557251e-02 5.69277788e+01] [-3.18127078e-02 9.99493729e-01 -4.86643648e-04 -9.53157074e-01] [-1.13654591e-02 1.25109521e-04 9.99935403e-01 -9.80652838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters 0.015410490082716697 Centerline is valid? [True, True] Translation: X:56.96, Y:-0.95, Z:-0.98 [[ 9.99349561e-01 3.42112086e-02 1.14038519e-02 5.69578031e+01] [-3.42078657e-02 9.99414620e-01 -4.88124042e-04 -9.53479263e-01] [-1.14138756e-02 9.77051144e-05 9.99934855e-01 -9.81662983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63439141799999 meters 0.01512039152135882 Centerline is valid? [True, True] Translation: X:56.99, Y:-0.95, Z:-0.98 [[ 9.99267010e-01 3.65280563e-02 1.14518312e-02 5.69877674e+01] [-3.65248385e-02 9.99332625e-01 -4.90073167e-04 -9.52645454e-01] [-1.14620899e-02 7.14376641e-05 9.99934306e-01 -9.81870726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664391417999994 meters 0.014563968757256558 Centerline is valid? [True, True] Translation: X:57.02, Y:-0.95, Z:-0.98 [[ 9.99173588e-01 3.88429106e-02 1.19736637e-02 5.70166941e+01] [-3.88395625e-02 9.99245328e-01 -5.12113669e-04 -9.51328769e-01] [-1.19845195e-02 4.66385915e-05 9.99928182e-01 -9.81090454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694391417999995 meters 0.014954739282777905 Centerline is valid? [True, True] Translation: X:57.05, Y:-0.95, Z:-0.98 [[ 9.99018322e-01 4.26687649e-02 1.19066352e-02 5.70452062e+01] [-4.26657394e-02 9.99089274e-01 -5.08116164e-04 -9.49940438e-01] [-1.19174722e-02 -3.88036977e-07 9.99928984e-01 -9.82971065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724391417999996 meters 0.014507076774166698 Centerline is valid? [True, True] Translation: X:57.07, Y:-0.95, Z:-0.98 [[ 9.98989437e-01 4.33986456e-02 1.16902898e-02 5.70738565e+01] [-4.33957858e-02 9.99057835e-01 -4.98303179e-04 -9.50481409e-01] [-1.17009013e-02 -9.50969741e-06 9.99931542e-01 -9.83561900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754391418 meters 0.014614093190728822 Centerline is valid? [True, True] Translation: X:57.10, Y:-0.95, Z:-0.99 [[ 9.98976169e-01 4.37742626e-02 1.14204960e-02 5.71016586e+01] [-4.37715664e-02 9.99041447e-01 -4.86054002e-04 -9.51010342e-01] [-1.14308256e-02 -1.43366359e-05 9.99934666e-01 -9.85009087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784391418 meters 0.014613544381912527 Centerline is valid? [True, True] Translation: X:57.13, Y:-0.95, Z:-0.99 [[ 9.98979276e-01 4.37460556e-02 1.12556364e-02 5.71293683e+01] [-4.37434494e-02 9.99042683e-01 -4.77747139e-04 -9.52262356e-01] [-1.12657608e-02 -1.51008714e-05 9.99936539e-01 -9.86282387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81439141799999 meters 0.014600409716633362 Centerline is valid? [True, True] Translation: X:57.16, Y:-0.96, Z:-0.99 [[ 9.99045089e-01 4.24555161e-02 1.03169181e-02 5.71569100e+01] [-4.24532685e-02 9.99098358e-01 -4.36858143e-04 -9.55983390e-01] [-1.03261630e-02 -1.54591150e-06 9.99946684e-01 -9.88626837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844391417999994 meters 0.016829120687667565 Centerline is valid? [True, True] Translation: X:57.19, Y:-0.96, Z:-0.99 [[ 9.99092248e-01 4.13556298e-02 1.02172686e-02 5.71852240e+01] [-4.13533800e-02 9.99144490e-01 -4.31454021e-04 -9.58993776e-01] [-1.02263706e-02 8.54377738e-06 9.99947709e-01 -9.90364599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874391417999995 meters 0.015951939684568858 Centerline is valid? [True, True] Translation: X:57.21, Y:-0.96, Z:-0.99 [[ 9.99170737e-01 3.93206449e-02 1.05699705e-02 5.72135547e+01] [-3.93181327e-02 9.99226644e-01 -4.45448791e-04 -9.62718316e-01] [-1.05793115e-02 2.94878932e-05 9.99944037e-01 -9.90199079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904391417999996 meters 0.017365653330292944 Centerline is valid? [True, True] Translation: X:57.24, Y:-0.97, Z:-0.99 [[ 9.99236225e-01 3.75975305e-02 1.06486039e-02 5.72418223e+01] [-3.75948951e-02 9.99292962e-01 -4.47621505e-04 -9.66561060e-01] [-1.06579044e-02 4.69464766e-05 9.99943202e-01 -9.91027061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934391418 meters 0.015519243462116243 Centerline is valid? [True, True] Translation: X:57.27, Y:-0.97, Z:-0.99 [[ 9.99429228e-01 3.19696697e-02 1.09159557e-02 5.72709533e+01] [-3.19665696e-02 9.99488834e-01 -4.58401943e-04 -9.71612726e-01] [-1.09250308e-02 1.09194642e-04 9.99940314e-01 -9.88285070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964391418 meters 0.017517294771904172 Centerline is valid? [True, True] Translation: X:57.30, Y:-0.97, Z:-0.99 [[ 9.99495205e-01 2.98375364e-02 1.09113427e-02 5.73007040e+01] [-2.98343169e-02 9.99554753e-01 -4.57746514e-04 -9.74229787e-01] [-1.09201425e-02 1.31982988e-04 9.99940365e-01 -9.89018326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99439141799999 meters 0.016442581631061493 Centerline is valid? [True, True] Translation: X:57.33, Y:-0.98, Z:-0.99 [[ 9.99581469e-01 2.66379711e-02 1.12829577e-02 5.73301350e+01] [-2.66343301e-02 9.99645131e-01 -4.72869192e-04 -9.77063664e-01] [-1.12915500e-02 1.72157263e-04 9.99936234e-01 -9.88334546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02439141799999 meters 0.0174297899126932 Centerline is valid? [True, True] Translation: X:57.36, Y:-0.98, Z:-0.99 [[ 9.99652399e-01 2.36980925e-02 1.15534003e-02 5.73597890e+01] [-2.36940856e-02 9.99719139e-01 -4.83586891e-04 -9.81388339e-01] [-1.15616155e-02 2.09671539e-04 9.99933140e-01 -9.88860170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054391417999994 meters 0.019783396485620344 Centerline is valid? [True, True] Translation: X:57.39, Y:-0.99, Z:-0.99 [[ 9.99747428e-01 1.88476416e-02 1.22412065e-02 5.73905181e+01] [-1.88427861e-02 9.99822328e-01 -5.11876079e-04 -9.87861185e-01] [-1.22486793e-02 2.81088357e-04 9.99924943e-01 -9.90157073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084391417999996 meters 0.02050902253338469 Centerline is valid? [True, True] Translation: X:57.42, Y:-0.99, Z:-0.99 [[ 9.99783043e-01 1.65850701e-02 1.26016807e-02 5.74220916e+01] [-1.65797582e-02 9.99862408e-01 -5.25883064e-04 -9.91160836e-01] [-1.26086686e-02 3.16836151e-04 9.99920457e-01 -9.90643438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114391418 meters 0.020618746291964668 Centerline is valid? [True, True] Translation: X:57.45, Y:-0.99, Z:-0.99 [[ 9.99813764e-01 1.45154152e-02 1.27176957e-02 5.74543560e+01] [-1.45097953e-02 9.99894585e-01 -5.34064377e-04 -9.94200913e-01] [-1.27241073e-02 3.49433753e-04 9.99918984e-01 -9.90352517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144391418 meters 0.02328504203589234 Centerline is valid? [True, True] Translation: X:57.49, Y:-1.00, Z:-0.99 [[ 9.99824818e-01 1.38103152e-02 1.26336186e-02 5.74852835e+01] [-1.38046663e-02 9.99904568e-01 -5.34228956e-04 -9.97448996e-01] [-1.26397908e-02 3.59732480e-04 9.99920050e-01 -9.92102881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17439141799999 meters 0.02263768038974583 Centerline is valid? [True, True] Translation: X:57.52, Y:-1.00, Z:-0.99 [[ 9.99850694e-01 1.13106687e-02 1.30636037e-02 5.75172911e+01] [-1.13043697e-02 9.99935949e-01 -5.55921096e-04 -9.99367390e-01] [-1.30690548e-02 4.08162288e-04 9.99914513e-01 -9.91447573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20439141799999 meters 0.02330440722970222 Centerline is valid? [True, True] Translation: X:57.55, Y:-1.00, Z:-0.99 [[ 9.99860011e-01 1.10177970e-02 1.25923443e-02 5.75487408e+01] [-1.10118700e-02 9.99939222e-01 -5.39924842e-04 -1.00186314e+00] [-1.25975278e-02 4.01183999e-04 9.99920568e-01 -9.92261075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234391417999994 meters 0.022986001137420428 Centerline is valid? [True, True] Translation: X:57.58, Y:-1.00, Z:-0.99 [[ 9.99865397e-01 1.09047230e-02 1.22586709e-02 5.75812132e+01] [-1.08990844e-02 9.99940465e-01 -5.26679507e-04 -1.00245400e+00] [-1.22636844e-02 3.93000325e-04 9.99924721e-01 -9.92714174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264391417999995 meters 0.023784587430356406 Centerline is valid? [True, True] Translation: X:57.61, Y:-1.00, Z:-0.99 [[ 9.99863358e-01 1.14366847e-02 1.19360193e-02 5.76140620e+01] [-1.14313413e-02 9.99934527e-01 -5.15805796e-04 -1.00359403e+00] [-1.19411369e-02 3.79290605e-04 9.99928630e-01 -9.93870075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294391418 meters 0.02368589895512912 Centerline is valid? [True, True] Translation: X:57.65, Y:-1.00, Z:-0.99 [[ 9.99863061e-01 1.14379504e-02 1.19596371e-02 5.76462831e+01] [-1.14325309e-02 9.99934511e-01 -5.21422103e-04 -1.00390168e+00] [-1.19648178e-02 3.84621780e-04 9.99928345e-01 -9.94230298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324391418 meters 0.02306255947816093 Centerline is valid? [True, True] Translation: X:57.68, Y:-1.00, Z:-0.99 [[ 9.99856579e-01 1.19590915e-02 1.19916933e-02 5.76796856e+01] [-1.19536603e-02 9.99928415e-01 -5.24490226e-04 -1.00405639e+00] [-1.19971073e-02 3.81070375e-04 9.99927960e-01 -9.94592983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35439141799999 meters 0.02306255947816093 Centerline is valid? [True, True] Translation: X:57.71, Y:-1.01, Z:-1.00 [[ 9.99852683e-01 1.22806851e-02 1.19915227e-02 5.77122403e+01] [-1.22752307e-02 9.99924517e-01 -5.28354165e-04 -1.00563756e+00] [-1.19971061e-02 3.81077622e-04 9.99927960e-01 -9.95179522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38439141799999 meters 0.022918790603265814 Centerline is valid? [True, True] Translation: X:57.75, Y:-1.01, Z:-1.00 [[ 9.99839120e-01 1.27669840e-02 1.25991250e-02 5.77457958e+01] [-1.27609465e-02 9.99918419e-01 -5.59480156e-04 -1.00645403e+00] [-1.26052400e-02 3.98613388e-04 9.99920471e-01 -9.95343994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414391417999994 meters 0.023000456476827164 Centerline is valid? [True, True] Translation: X:57.78, Y:-1.01, Z:-1.00 [[ 9.99819885e-01 1.39185409e-02 1.29023779e-02 5.77772438e+01] [-1.39122388e-02 9.99903053e-01 -5.78071073e-04 -1.00607381e+00] [-1.29091730e-02 3.98465992e-04 9.99916594e-01 -9.96201483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444391417999995 meters 0.02303177454173221 Centerline is valid? [True, True] Translation: X:57.81, Y:-1.01, Z:-1.00 [[ 9.99807870e-01 1.48734724e-02 1.27672753e-02 5.78085974e+01] [-1.48673601e-02 9.99889310e-01 -5.73532169e-04 -1.00642754e+00] [-1.27743925e-02 3.83606297e-04 9.99918331e-01 -9.96833310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474391417999996 meters 0.023077897469415107 Centerline is valid? [True, True] Translation: X:57.84, Y:-1.01, Z:-1.00 [[ 9.99799258e-01 1.57617001e-02 1.23697842e-02 5.78396553e+01] [-1.57559929e-02 9.99875711e-01 -5.58707813e-04 -1.00663793e+00] [-1.23770530e-02 3.63697425e-04 9.99923335e-01 -9.97442119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504391418 meters 0.023010007311744216 Centerline is valid? [True, True] Translation: X:57.87, Y:-1.01, Z:-1.00 [[ 9.99790077e-01 1.66145520e-02 1.19899755e-02 5.78723832e+01] [-1.66092179e-02 9.99861909e-01 -5.44326800e-04 -1.00605978e+00] [-1.19973635e-02 3.45068418e-04 9.99927970e-01 -9.97899815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534391418 meters 0.021619548643863992 Centerline is valid? [True, True] Translation: X:57.90, Y:-1.00, Z:-1.00 [[ 9.99768689e-01 1.82330552e-02 1.14071893e-02 5.79046857e+01] [-1.82283014e-02 9.99833715e-01 -5.20576281e-04 -1.00028137e+00] [-1.14147841e-02 3.12522182e-04 9.99934800e-01 -9.98315694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56439141799999 meters 0.021059587799590322 Centerline is valid? [True, True] Translation: X:57.94, Y:-1.00, Z:-1.00 [[ 9.99757280e-01 1.85170889e-02 1.19372628e-02 5.79362129e+01] [-1.85118575e-02 9.99828490e-01 -5.48600995e-04 -1.00134303e+00] [-1.19453740e-02 3.27486931e-04 9.99928598e-01 -9.98362005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594391417999994 meters 0.022167842151936148 Centerline is valid? [True, True] Translation: X:57.97, Y:-1.00, Z:-1.00 [[ 9.99764313e-01 1.87806485e-02 1.08906422e-02 5.79687911e+01] [-1.87762842e-02 9.99823584e-01 -5.02858295e-04 -1.00184568e+00] [-1.08981649e-02 2.98253984e-04 9.99940569e-01 -1.00010942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624391417999995 meters 0.021013901373513742 Centerline is valid? [True, True] Translation: X:58.00, Y:-1.00, Z:-1.00 [[ 9.99772569e-01 1.78677200e-02 1.16427629e-02 5.79999849e+01] [-1.78626095e-02 9.99840304e-01 -5.42786850e-04 -1.00035581e+00] [-1.16506020e-02 3.34693276e-04 9.99932073e-01 -9.99142029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654391417999996 meters 0.021452790249955753 Centerline is valid? [True, True] Translation: X:58.03, Y:-1.00, Z:-1.00 [[ 9.99762056e-01 1.85031553e-02 1.15526506e-02 5.80318880e+01] [-1.84981795e-02 9.99828750e-01 -5.37423079e-04 -9.99233013e-01] [-1.15606162e-02 3.23592198e-04 9.99933121e-01 -9.99929793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684391418 meters 0.0211385093526254 Centerline is valid? [True, True] Translation: X:58.06, Y:-1.00, Z:-1.00 [[ 9.99757593e-01 1.79360698e-02 1.27692445e-02 5.80627474e+01] [-1.79298881e-02 9.99839068e-01 -5.98436953e-04 -1.00094954e+00] [-1.27779231e-02 3.69340763e-04 9.99918291e-01 -9.99085976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714391418 meters 0.023359214059082735 Centerline is valid? [True, True] Translation: X:58.09, Y:-1.00, Z:-1.00 [[ 9.99757279e-01 1.83192146e-02 1.22388666e-02 5.80945688e+01] [-1.83135276e-02 9.99832127e-01 -5.76582004e-04 -1.00095591e+00] [-1.22473745e-02 3.52305234e-04 9.99924936e-01 -1.00121198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74439141799999 meters 0.023034753406070262 Centerline is valid? [True, True] Translation: X:58.13, Y:-1.00, Z:-1.00 [[ 9.99757944e-01 1.82868329e-02 1.22329255e-02 5.81271016e+01] [-1.82811061e-02 9.99832719e-01 -5.79808979e-04 -1.00151247e+00] [-1.22414821e-02 3.56037223e-04 9.99925007e-01 -1.00212072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77439141799999 meters 0.022134028417707258 Centerline is valid? [True, True] Translation: X:58.16, Y:-1.00, Z:-1.00 [[ 9.99775673e-01 1.73287617e-02 1.21785435e-02 5.81585939e+01] [-1.73229709e-02 9.99849777e-01 -5.80826963e-04 -1.00269786e+00] [-1.21867790e-02 3.69728113e-04 9.99925670e-01 -1.00226595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804391417999994 meters 0.02270501393887249 Centerline is valid? [True, True] Translation: X:58.19, Y:-1.00, Z:-1.00 [[ 9.99794212e-01 1.70005537e-02 1.10686177e-02 5.81903089e+01] [-1.69957227e-02 9.99855422e-01 -5.30384122e-04 -1.00366344e+00] [-1.10760342e-02 3.42155819e-04 9.99938600e-01 -1.00424135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834391417999996 meters 0.02342674653660899 Centerline is valid? [True, True] Translation: X:58.22, Y:-1.00, Z:-1.01 [[ 9.99838813e-01 1.49737416e-02 9.90628925e-03 5.82214839e+01] [-1.49697340e-02 9.99887833e-01 -4.78588171e-04 -1.00351619e+00] [-9.91234435e-03 3.30216514e-04 9.99950817e-01 -1.00537002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864391418 meters 0.023932478395543303 Centerline is valid? [True, True] Translation: X:58.25, Y:-1.00, Z:-1.01 [[ 9.99851619e-01 1.42434528e-02 9.68837424e-03 5.82531219e+01] [-1.42395817e-02 9.99898502e-01 -4.68436452e-04 -1.00404069e+00] [-9.69406304e-03 3.30408548e-04 9.99952957e-01 -1.00609972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894391418 meters 0.024602962101037407 Centerline is valid? [True, True] Translation: X:58.28, Y:-1.00, Z:-1.01 [[ 9.99864504e-01 1.33483441e-02 9.63308603e-03 5.82840821e+01] [-1.33444718e-02 9.99910850e-01 -4.66146828e-04 -1.00473407e+00] [-9.63844952e-03 3.37535222e-04 9.99953492e-01 -1.00695374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92439141799999 meters 0.02485341263860572 Centerline is valid? [True, True] Translation: X:58.32, Y:-1.00, Z:-1.01 [[ 9.99868609e-01 1.33072949e-02 9.25642070e-03 5.83165306e+01] [-1.33037342e-02 9.99911402e-01 -4.46134119e-04 -1.00449669e+00] [-9.26153744e-03 3.22930540e-04 9.99957059e-01 -1.00762394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95439141799999 meters 0.025134044126580546 Centerline is valid? [True, True] Translation: X:58.35, Y:-1.00, Z:-1.01 [[ 9.99864628e-01 1.29943625e-02 1.00931999e-02 5.83481033e+01] [-1.29900777e-02 9.99915505e-01 -4.89968956e-04 -1.00405408e+00] [-1.00987139e-02 3.58791177e-04 9.99948942e-01 -1.00730981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984391417999994 meters 0.02537940960563143 Centerline is valid? [True, True] Translation: X:58.38, Y:-1.00, Z:-1.01 [[ 9.99851394e-01 1.36048238e-02 1.05876496e-02 5.83797955e+01] [-1.36001035e-02 9.99907380e-01 -5.17700411e-04 -1.00455562e+00] [-1.05937122e-02 3.73630348e-04 9.99943815e-01 -1.00722404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014391417999995 meters 0.024808618396073526 Centerline is valid? [True, True] Translation: X:58.41, Y:-1.00, Z:-1.01 [[ 9.99837806e-01 1.44558000e-02 1.07420760e-02 5.84117470e+01] [-1.44509637e-02 9.99895440e-01 -5.27706463e-04 -1.00316101e+00] [-1.07485812e-02 3.72387521e-04 9.99942163e-01 -1.00729043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044391418 meters 0.026329143588960952 Centerline is valid? [True, True] Translation: X:58.44, Y:-1.00, Z:-1.01 [[ 9.99824535e-01 1.60175234e-02 9.71274719e-03 5.84426694e+01] [-1.60136542e-02 9.99871660e-01 -4.76000521e-04 -1.00304007e+00] [-9.71912500e-03 3.20380425e-04 9.99952717e-01 -1.00911322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074391418 meters 0.024403328363773142 Centerline is valid? [True, True] Translation: X:58.47, Y:-1.00, Z:-1.01 [[ 9.99795666e-01 1.76797817e-02 9.80062876e-03 5.84744736e+01] [-1.76758800e-02 9.99843652e-01 -4.84588534e-04 -9.98295911e-01] [-9.80766387e-03 3.11254777e-04 9.99951855e-01 -1.00798435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters 0.024317981748507154 Centerline is valid? [True, True] Translation: X:58.51, Y:-1.00, Z:-1.01 [[ 9.99781377e-01 1.85413800e-02 9.66511496e-03 5.85050277e+01] [-1.85376206e-02 9.99828049e-01 -4.78409000e-04 -9.97693719e-01] [-9.67232339e-03 2.99136175e-04 9.99953177e-01 -1.00852330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13439141799999 meters 0.02425603203460616 Centerline is valid? [True, True] Translation: X:58.54, Y:-1.00, Z:-1.01 [[ 9.99772554e-01 1.91952647e-02 9.29420662e-03 5.85357235e+01] [-1.91918135e-02 9.99815714e-01 -4.60377821e-04 -9.97131932e-01] [-9.30133090e-03 2.81900430e-04 9.99956702e-01 -1.00942619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164391417999994 meters 0.025198490121750166 Centerline is valid? [True, True] Translation: X:58.57, Y:-1.00, Z:-1.01 [[ 9.99765303e-01 1.98221554e-02 8.74187418e-03 5.85658926e+01] [-1.98191247e-02 9.99803488e-01 -4.33191422e-04 -9.97217549e-01] [-8.74874309e-03 2.59833458e-04 9.99961695e-01 -1.01114010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194391417999995 meters 0.0225271561225557 Centerline is valid? [True, True] Translation: X:58.60, Y:-0.99, Z:-1.01 [[ 9.99792851e-01 1.82090687e-02 9.09310160e-03 5.85957488e+01] [-1.82057228e-02 9.99834161e-01 -4.50601411e-04 -9.93798083e-01] [-9.09979863e-03 2.84961582e-04 9.99958555e-01 -1.01030039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224391417999996 meters 0.024062448135454984 Centerline is valid? [True, True] Translation: X:58.63, Y:-1.00, Z:-1.01 [[ 9.99811514e-01 1.76063352e-02 8.18249945e-03 5.86259466e+01] [-1.76036111e-02 9.99844962e-01 -4.04832425e-04 -9.95020705e-01] [-8.18835847e-03 2.60714582e-04 9.99966441e-01 -1.01223793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254391418 meters 0.023535834223119965 Centerline is valid? [True, True] Translation: X:58.66, Y:-1.00, Z:-1.01 [[ 9.99831375e-01 1.61924000e-02 8.66182095e-03 5.86553972e+01] [-1.61892911e-02 9.99868853e-01 -4.28917807e-04 -9.95356564e-01] [-8.66763018e-03 2.88616740e-04 9.99962394e-01 -1.01153793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284391418 meters 0.02465453014095323 Centerline is valid? [True, True] Translation: X:58.69, Y:-0.99, Z:-1.01 [[ 9.99851467e-01 1.51219935e-02 8.26862188e-03 5.86857604e+01] [-1.51191311e-02 9.99885616e-01 -4.08573726e-04 -9.94664368e-01] [-8.27385453e-03 2.83498661e-04 9.99965731e-01 -1.01234645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31439141799999 meters 0.028898777858526712 Centerline is valid? [True, True] Translation: X:58.72, Y:-1.00, Z:-1.01 [[ 9.99852080e-01 1.48717973e-02 8.63992293e-03 5.87162497e+01] [-1.48686611e-02 9.99889364e-01 -4.27108446e-04 -1.00131360e+00] [-8.64531892e-03 2.98581182e-04 9.99962584e-01 -1.01389419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344391417999994 meters 0.025627373717099965 Centerline is valid? [True, True] Translation: X:58.75, Y:-1.00, Z:-1.01 [[ 9.99839974e-01 1.58531292e-02 8.28880009e-03 5.87471625e+01] [-1.58502736e-02 9.99874292e-01 -4.10087143e-04 -9.95152298e-01] [-8.29425929e-03 2.78641769e-04 9.99965563e-01 -1.01403136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374391417999995 meters 0.02676007562030956 Centerline is valid? [True, True] Translation: X:58.78, Y:-0.99, Z:-1.02 [[ 9.99814491e-01 1.75447133e-02 7.94768960e-03 5.87780382e+01] [-1.75421413e-02 9.99846047e-01 -3.93210752e-04 -9.94717283e-01] [-7.95336480e-03 2.53718314e-04 9.99968339e-01 -1.01566122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404391417999996 meters 0.021018568372828113 Centerline is valid? [True, True] Translation: X:58.81, Y:-0.99, Z:-1.01 [[ 9.99735717e-01 2.09721821e-02 9.41618508e-03 5.88085409e+01] [-2.09687221e-02 9.99780024e-01 -4.66036270e-04 -9.86780190e-01] [-9.42388754e-03 2.68467736e-04 9.99955558e-01 -1.01339739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434391418 meters 0.01955416026187755 Centerline is valid? [True, True] Translation: X:58.84, Y:-0.98, Z:-1.01 [[ 9.99685720e-01 2.34021960e-02 8.98879275e-03 5.88382993e+01] [-2.33991409e-02 9.99726104e-01 -4.44907569e-04 -9.82820932e-01] [-8.99674257e-03 2.34437716e-04 9.99959501e-01 -1.01336836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464391418 meters 0.01753881786041804 Centerline is valid? [True, True] Translation: X:58.87, Y:-0.98, Z:-1.01 [[ 9.99544489e-01 2.86908428e-02 9.36216285e-03 5.88683020e+01] [-2.86877643e-02 9.99588314e-01 -4.62973000e-04 -9.76091443e-01] [-9.37159166e-03 1.94182589e-04 9.99956067e-01 -1.01301874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49439141799999 meters 0.016662936714434994 Centerline is valid? [True, True] Translation: X:58.90, Y:-0.97, Z:-1.01 [[ 9.99465425e-01 3.13099565e-02 9.41017724e-03 5.88975364e+01] [-3.13069628e-02 9.99509709e-01 -4.65307954e-04 -9.73748160e-01] [-9.42013228e-03 1.70455143e-04 9.99955615e-01 -1.01383951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52439141799999 meters 0.01640400224055892 Centerline is valid? [True, True] Translation: X:58.93, Y:-0.97, Z:-1.01 [[ 9.99388663e-01 3.34943873e-02 1.00212983e-02 5.89258766e+01] [-3.34911110e-02 9.99438893e-01 -4.94613391e-04 -9.72011195e-01] [-1.00322420e-02 1.58686601e-04 9.99949663e-01 -1.01435511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554391417999994 meters 0.015563053783659282 Centerline is valid? [True, True] Translation: X:58.95, Y:-0.97, Z:-1.01 [[ 9.99311163e-01 3.57390036e-02 9.99610927e-03 5.89549406e+01] [-3.57358641e-02 9.99361149e-01 -4.92569457e-04 -9.69837217e-01] [-1.00073272e-02 1.35010555e-04 9.99949916e-01 -1.01465958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584391417999996 meters 0.014772650570320395 Centerline is valid? [True, True] Translation: X:58.98, Y:-0.97, Z:-1.01 [[ 9.99161694e-01 3.95028251e-02 1.07441308e-02 5.89836826e+01] [-3.94994261e-02 9.99219453e-01 -5.28459400e-04 -9.65004616e-01] [-1.07566201e-02 1.03629390e-04 9.99942141e-01 -1.01458401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614391418 meters 0.016667388958324342 Centerline is valid? [True, True] Translation: X:59.01, Y:-0.96, Z:-1.02 [[ 9.99079439e-01 4.17143905e-02 1.00092248e-02 5.90115409e+01] [-4.17115570e-02 9.99129573e-01 -4.91769254e-04 -9.63488149e-01] [-1.00210264e-02 7.38161981e-05 9.99949786e-01 -1.01625072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644391418 meters 0.01400084720104832 Centerline is valid? [True, True] Translation: X:59.04, Y:-0.96, Z:-1.02 [[ 9.98987890e-01 4.37111235e-02 1.06081753e-02 5.90396978e+01] [-4.37080645e-02 9.99044211e-01 -5.20141978e-04 -9.59993556e-01] [-1.06207722e-02 5.59527250e-05 9.99943596e-01 -1.01512820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67439141799999 meters 0.01369835574607831 Centerline is valid? [True, True] Translation: X:59.07, Y:-0.96, Z:-1.02 [[ 9.98939078e-01 4.47839751e-02 1.07291636e-02 5.90675707e+01] [-4.47809220e-02 9.98996694e-01 -5.24754659e-04 -9.59363086e-01] [-1.07418996e-02 4.37360967e-05 9.99942303e-01 -1.01552214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70439141799999 meters 0.013600078013884161 Centerline is valid? [True, True] Translation: X:59.10, Y:-0.96, Z:-1.02 [[ 9.98924556e-01 4.50802494e-02 1.08398939e-02 5.90955001e+01] [-4.50771598e-02 9.98983368e-01 -5.29301696e-04 -9.58645725e-01] [-1.08527348e-02 4.01008326e-05 9.99941107e-01 -1.01524402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734391417999994 meters 0.013747634561354808 Centerline is valid? [True, True] Translation: X:59.12, Y:-0.96, Z:-1.02 [[ 9.98917068e-01 4.52205698e-02 1.09448957e-02 5.91238379e+01] [-4.52174432e-02 9.98977026e-01 -5.33082407e-04 -9.58779376e-01] [-1.09578057e-02 3.76049152e-05 9.99939961e-01 -1.01626650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764391417999995 meters 0.01366905549788396 Centerline is valid? [True, True] Translation: X:59.15, Y:-0.96, Z:-1.02 [[ 9.98944065e-01 4.46893593e-02 1.06590885e-02 5.91525306e+01] [-4.46863799e-02 9.99000931e-01 -5.17637974e-04 -9.59575072e-01] [-1.06715722e-02 4.07753044e-05 9.99943056e-01 -1.01691101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794391418 meters 0.014083139348163635 Centerline is valid? [True, True] Translation: X:59.18, Y:-0.96, Z:-1.02 [[ 9.99031296e-01 4.26809053e-02 1.07149067e-02 5.91804985e+01] [-4.26777868e-02 9.99088753e-01 -5.19629032e-04 -9.61332027e-01] [-1.07273210e-02 6.18371630e-05 9.99942459e-01 -1.01824326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824391418 meters 0.014281456543098365 Centerline is valid? [True, True] Translation: X:59.21, Y:-0.96, Z:-1.02 [[ 9.99110375e-01 4.08232540e-02 1.05792914e-02 5.92092312e+01] [-4.08201222e-02 9.99166380e-01 -5.11886329e-04 -9.63307548e-01] [-1.05913692e-02 7.95829744e-05 9.99943907e-01 -1.01929017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85439141799999 meters 0.01447938198576501 Centerline is valid? [True, True] Translation: X:59.24, Y:-0.97, Z:-1.02 [[ 9.99191651e-01 3.88556794e-02 1.03092101e-02 5.92368583e+01] [-3.88526072e-02 9.99244828e-01 -4.98187358e-04 -9.65477626e-01] [-1.03207823e-02 9.72449594e-05 9.99946735e-01 -1.02003485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88439141799999 meters 0.014975418579174551 Centerline is valid? [True, True] Translation: X:59.27, Y:-0.97, Z:-1.02 [[ 9.99275524e-01 3.66895121e-02 1.01147224e-02 5.92660474e+01] [-3.66864550e-02 9.99326706e-01 -4.87686984e-04 -9.67259560e-01] [-1.01258052e-02 1.16260359e-04 9.99948726e-01 -1.02111016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914391417999994 meters 0.01661902673030252 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.97, Z:-1.02 [[ 9.99427432e-01 3.23896315e-02 9.78361687e-03 5.92936713e+01] [-3.23865708e-02 9.99475306e-01 -4.71149915e-04 -9.71068890e-01] [-9.79374385e-03 1.54022348e-04 9.99952028e-01 -1.02313287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944391417999995 meters 0.017146634736399984 Centerline is valid? [True, True] Translation: X:59.32, Y:-0.97, Z:-1.02 [[ 9.99487389e-01 3.03819033e-02 1.00945013e-02 5.93219513e+01] [-3.03785533e-02 9.99538348e-01 -4.85065356e-04 -9.72990718e-01] [-1.01045784e-02 1.78160359e-04 9.99948932e-01 -1.02319362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974391417999996 meters 0.018860227259175636 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.97, Z:-1.02 [[ 9.99515140e-01 2.90874617e-02 1.11087828e-02 5.93502142e+01] [-2.90833400e-02 9.99576848e-01 -5.32429463e-04 -9.74985706e-01] [-1.11195691e-02 2.09090804e-04 9.99938154e-01 -1.02411693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004391418 meters 0.018821697672438416 Centerline is valid? [True, True] Translation: X:59.38, Y:-0.98, Z:-1.02 [[ 9.99575631e-01 2.61147257e-02 1.29065194e-02 5.93790449e+01] [-2.61089297e-02 9.99658913e-01 -6.17393799e-04 -9.75102633e-01] [-1.29182402e-02 2.80156388e-04 9.99916517e-01 -1.02222538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034391418 meters 0.019394641665791336 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.98, Z:-1.02 [[ 9.99595756e-01 2.49739910e-02 1.35876242e-02 5.94076834e+01] [-2.49674789e-02 9.99688053e-01 -6.48714519e-04 -9.77877297e-01] [-1.35995866e-02 3.09203559e-04 9.99907474e-01 -1.02129402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06439141799999 meters 0.019321918698445795 Centerline is valid? [True, True] Translation: X:59.44, Y:-0.98, Z:-1.02 [[ 9.99605756e-01 2.40621559e-02 1.44687671e-02 5.94370893e+01] [-2.40546908e-02 9.99710406e-01 -6.89774311e-04 -9.78090137e-01] [-1.44811744e-02 3.41460653e-04 9.99895084e-01 -1.02097023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094391417999994 meters 0.021335742702689803 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.98, Z:-1.02 [[ 9.99598802e-01 2.40785425e-02 1.49150320e-02 5.94662412e+01] [-2.40706217e-02 9.99710008e-01 -7.10380687e-04 -9.79869766e-01] [-1.49278117e-02 3.51081593e-04 9.99888512e-01 -1.02261096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124391417999995 meters 0.020573355782492274 Centerline is valid? [True, True] Translation: X:59.50, Y:-0.98, Z:-1.02 [[ 9.99630418e-01 2.29112518e-02 1.46322396e-02 5.94964104e+01] [-2.29035086e-02 9.99737438e-01 -6.96567664e-04 -9.80769317e-01] [-1.46443570e-02 3.61180599e-04 9.99892700e-01 -1.02322941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154391417999996 meters 0.0198462946594574 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.98, Z:-1.02 [[ 9.99631336e-01 2.28223028e-02 1.47083215e-02 5.95274248e+01] [-2.28144692e-02 9.99739471e-01 -7.00189541e-04 -9.81016531e-01] [-1.47204695e-02 3.64368858e-04 9.99891582e-01 -1.02368962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184391418 meters 0.018943583594611797 Centerline is valid? [True, True] Translation: X:59.56, Y:-0.98, Z:-1.02 [[ 9.99615193e-01 2.36911955e-02 1.44289127e-02 5.95576746e+01] [-2.36837471e-02 9.99719265e-01 -6.86888286e-04 -9.79708036e-01] [-1.44411352e-02 3.44893247e-04 9.99895662e-01 -1.02444645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214391418 meters 0.02032116031726863 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.98, Z:-1.03 [[ 9.99572413e-01 2.55542463e-02 1.42116986e-02 5.95870678e+01] [-2.55472076e-02 9.99673388e-01 -6.76624766e-04 -9.79990199e-01] [-1.42243475e-02 3.13266236e-04 9.99898780e-01 -1.02647605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24439141799999 meters 0.02032116031726863 Centerline is valid? [True, True] Translation: X:59.62, Y:-0.98, Z:-1.03 [[ 9.99573429e-01 2.55144613e-02 1.42117087e-02 5.96161915e+01] [-2.55074217e-02 9.99674404e-01 -6.76411543e-04 -9.81337529e-01] [-1.42243397e-02 3.13618957e-04 9.99898780e-01 -1.02700184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27439141799999 meters 0.016603990826697966 Centerline is valid? [True, True] Translation: X:59.65, Y:-0.98, Z:-1.03 [[ 9.99472107e-01 2.95460032e-02 1.35107917e-02 5.96464497e+01] [-2.95400158e-02 9.99563392e-01 -6.42551179e-04 -9.76376958e-01] [-1.35238776e-02 2.43102980e-04 9.99908519e-01 -1.02614733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304391417999994 meters 0.01598862500424723 Centerline is valid? [True, True] Translation: X:59.67, Y:-0.97, Z:-1.03 [[ 9.99381661e-01 3.24715569e-02 1.34868301e-02 5.96748920e+01] [-3.24658619e-02 9.99472639e-01 -6.41044390e-04 -9.74554827e-01] [-1.35005334e-02 2.02786442e-04 9.99908843e-01 -1.02710790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334391417999996 meters 0.014955689109558436 Centerline is valid? [True, True] Translation: X:59.70, Y:-0.97, Z:-1.03 [[ 9.99272588e-01 3.57905178e-02 1.31656347e-02 5.97034612e+01] [-3.57853923e-02 9.99359302e-01 -6.24752650e-04 -9.72247658e-01] [-1.31795597e-02 1.53160796e-04 9.99913134e-01 -1.02753804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364391418 meters 0.014595295643187725 Centerline is valid? [True, True] Translation: X:59.73, Y:-0.97, Z:-1.03 [[ 9.98989193e-01 4.30070565e-02 1.30761450e-02 5.97327544e+01] [-4.30026322e-02 9.99074767e-01 -6.19455874e-04 -9.66692126e-01] [-1.30906875e-02 5.65210692e-05 9.99914312e-01 -1.02913939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394391418 meters 0.015771488309809106 Centerline is valid? [True, True] Translation: X:59.76, Y:-0.96, Z:-1.03 [[ 9.98822358e-01 4.67911112e-02 1.28253159e-02 5.97613683e+01] [-4.67871799e-02 9.98904696e-01 -6.06563966e-04 -9.64588779e-01] [-1.28396501e-02 5.78928668e-06 9.99917568e-01 -1.03038820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42439141799999 meters 0.014533244057928935 Centerline is valid? [True, True] Translation: X:59.79, Y:-0.96, Z:-1.03 [[ 9.98708652e-01 4.90006511e-02 1.34150796e-02 5.97882460e+01] [-4.89965579e-02 9.98798746e-01 -6.33807913e-04 -9.62641899e-01] [-1.34300217e-02 -2.43032754e-05 9.99909813e-01 -1.03005951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45439141799999 meters 0.01430393965479937 Centerline is valid? [True, True] Translation: X:59.82, Y:-0.96, Z:-1.03 [[ 9.98530678e-01 5.27209010e-02 1.25296008e-02 5.98165243e+01] [-5.27176558e-02 9.98609284e-01 -5.89365098e-04 -9.58985771e-01] [-1.25432475e-02 -7.20320508e-05 9.99921328e-01 -1.03083470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484391417999994 meters 0.01436187097602114 Centerline is valid? [True, True] Translation: X:59.85, Y:-0.96, Z:-1.03 [[ 9.98462957e-01 5.40771681e-02 1.21401718e-02 5.98451344e+01] [-5.40742367e-02 9.98536756e-01 -5.69818773e-04 -9.59085601e-01] [-1.21532220e-02 -8.75275874e-05 9.99926143e-01 -1.03130047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514391417999995 meters 0.015063167957015473 Centerline is valid? [True, True] Translation: X:59.87, Y:-0.96, Z:-1.03 [[ 9.98435250e-01 5.46967802e-02 1.16324762e-02 5.98726238e+01] [-5.46941363e-02 9.98503006e-01 -5.45535985e-04 -9.59046197e-01] [-1.16449015e-02 -9.15458798e-05 9.99932192e-01 -1.03272917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544391418 meters 0.014528602220914007 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.96, Z:-1.03 [[ 9.98446094e-01 5.44998665e-02 1.16259557e-02 5.99007215e+01] [-5.44972338e-02 9.98513774e-01 -5.43367866e-04 -9.59636796e-01] [-1.16382903e-02 -9.10589000e-05 9.99932269e-01 -1.03288896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574391418 meters 0.014220637631955833 Centerline is valid? [True, True] Translation: X:59.93, Y:-0.96, Z:-1.03 [[ 9.98548220e-01 5.25843892e-02 1.16762535e-02 5.99288300e+01] [-5.25816205e-02 9.98616481e-01 -5.44195105e-04 -9.61857259e-01] [-1.16887154e-02 -7.05512803e-05 9.99931682e-01 -1.03326215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60439141799999 meters 0.01399448709756239 Centerline is valid? [True, True] Translation: X:59.96, Y:-0.96, Z:-1.03 [[ 9.98648257e-01 5.06600040e-02 1.16285267e-02 5.99572064e+01] [-5.06571422e-02 9.98715956e-01 -5.40706788e-04 -9.64497431e-01] [-1.16409874e-02 -4.90920409e-05 9.99932240e-01 -1.03380220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63439141799999 meters 0.013798173817366505 Centerline is valid? [True, True] Translation: X:59.99, Y:-0.97, Z:-1.03 [[ 9.98762110e-01 4.82667717e-02 1.20235691e-02 5.99860478e+01] [-4.82635504e-02 9.98834480e-01 -5.58096405e-04 -9.67652158e-01] [-1.20364929e-02 -2.28945893e-05 9.99927559e-01 -1.03443670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664391417999994 meters 0.013799346602442364 Centerline is valid? [True, True] Translation: X:60.01, Y:-0.97, Z:-1.03 [[ 9.99030662e-01 4.21563705e-02 1.26718792e-02 6.00125204e+01] [-4.21523103e-02 9.99111024e-01 -5.87444233e-04 -9.74762016e-01] [-1.26853787e-02 5.27258176e-05 9.99919536e-01 -1.03430799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694391417999995 meters 0.014422315885487116 Centerline is valid? [True, True] Translation: X:60.04, Y:-0.98, Z:-1.03 [[ 9.99167400e-01 3.85778325e-02 1.32762362e-02 6.00413468e+01] [-3.85730885e-02 9.99255593e-01 -6.13306444e-04 -9.79662728e-01] [-1.32900133e-02 1.00690371e-04 9.99911679e-01 -1.03448515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724391417999996 meters 0.017004349056142662 Centerline is valid? [True, True] Translation: X:60.07, Y:-0.98, Z:-1.04 [[ 9.99280692e-01 3.53321708e-02 1.37744552e-02 6.00701290e+01] [-3.53267708e-02 9.99375613e-01 -6.35220952e-04 -9.84966409e-01] [-1.37882983e-02 1.48157011e-04 9.99904926e-01 -1.03614194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754391418 meters 0.015626416978313008 Centerline is valid? [True, True] Translation: X:60.10, Y:-0.99, Z:-1.03 [[ 9.99431219e-01 3.06546385e-02 1.40546035e-02 6.00984503e+01] [-3.06485692e-02 9.99530013e-01 -6.47072795e-04 -9.88387425e-01] [-1.40678338e-02 2.15951265e-04 9.99901020e-01 -1.03433277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784391418 meters 0.019390220664031524 Centerline is valid? [True, True] Translation: X:60.13, Y:-1.00, Z:-1.04 [[ 9.99613876e-01 2.36776796e-02 1.45419051e-02 6.01261607e+01] [-2.36704643e-02 9.99719592e-01 -6.68112913e-04 -9.99389923e-01] [-1.45536468e-02 3.23641292e-04 9.99894038e-01 -1.03513613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81439141799999 meters 0.01950896160254258 Centerline is valid? [True, True] Translation: X:60.16, Y:-1.00, Z:-1.04 [[ 9.99672181e-01 2.11104140e-02 1.44872416e-02 6.01560885e+01] [-2.11029918e-02 9.99777086e-01 -6.65022235e-04 -1.00106872e+00] [-1.44980511e-02 3.59080088e-04 9.99894833e-01 -1.03606962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844391417999994 meters 0.02037274320307394 Centerline is valid? [True, True] Translation: X:60.19, Y:-1.01, Z:-1.04 [[ 9.99721287e-01 1.84128645e-02 1.47754464e-02 6.01857051e+01] [-1.84048655e-02 9.99830387e-01 -6.77179005e-04 -1.00548648e+00] [-1.47854091e-02 4.05050163e-04 9.99890608e-01 -1.03608908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874391417999995 meters 0.02175014903456816 Centerline is valid? [True, True] Translation: X:60.22, Y:-1.01, Z:-1.04 [[ 9.99747584e-01 1.67607897e-02 1.49614095e-02 6.02169467e+01] [-1.67523776e-02 9.99859433e-01 -6.87415247e-04 -1.00897808e+00] [-1.49708281e-02 4.36602551e-04 9.99887836e-01 -1.03740517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904391417999996 meters 0.022312649152649657 Centerline is valid? [True, True] Translation: X:60.25, Y:-1.01, Z:-1.04 [[ 9.99791391e-01 1.43672654e-02 1.45174766e-02 6.02489047e+01] [-1.43590970e-02 9.99896681e-01 -6.66741611e-04 -1.01304193e+00] [-1.45255559e-02 4.58144668e-04 9.99894394e-01 -1.03719678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934391418 meters 0.02376976792182899 Centerline is valid? [True, True] Translation: X:60.28, Y:-1.02, Z:-1.04 [[ 9.99797857e-01 1.43761141e-02 1.40560336e-02 6.02806520e+01] [-1.43684041e-02 9.99896558e-01 -6.49353513e-04 -1.01588037e+00] [-1.40639148e-02 4.47259479e-04 9.99900998e-01 -1.03928444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964391418 meters 0.02345828492967139 Centerline is valid? [True, True] Translation: X:60.31, Y:-1.02, Z:-1.04 [[ 9.99813050e-01 1.34099497e-02 1.39297754e-02 6.03124290e+01] [-1.34022304e-02 9.99909977e-01 -6.47370194e-04 -1.01837344e+00] [-1.39372025e-02 4.60559110e-04 9.99902766e-01 -1.03915068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99439141799999 meters 0.023459743453458658 Centerline is valid? [True, True] Translation: X:60.34, Y:-1.02, Z:-1.04 [[ 9.99829436e-01 1.32677454e-02 1.28477582e-02 6.03441193e+01] [-1.32611249e-02 9.99911887e-01 -6.00362860e-04 -1.02015524e+00] [-1.28545917e-02 4.29884734e-04 9.99917284e-01 -1.04049554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02439141799999 meters 0.02420815184510545 Centerline is valid? [True, True] Translation: X:60.38, Y:-1.02, Z:-1.04 [[ 9.99817158e-01 1.41558268e-02 1.28555007e-02 6.03767342e+01] [-1.41492180e-02 9.99899712e-01 -6.04897968e-04 -1.02123982e+00] [-1.28627742e-02 4.22892086e-04 9.99917182e-01 -1.04251232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054391417999994 meters 0.022909843654001196 Centerline is valid? [True, True] Translation: X:60.41, Y:-1.02, Z:-1.04 [[ 9.99812090e-01 1.41942425e-02 1.32025642e-02 6.04092663e+01] [-1.41872685e-02 9.99899162e-01 -6.21744012e-04 -1.02252683e+00] [-1.32100581e-02 4.34318858e-04 9.99912649e-01 -1.04124873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084391417999996 meters 0.023795765826699924 Centerline is valid? [True, True] Translation: X:60.44, Y:-1.02, Z:-1.04 [[ 9.99786068e-01 1.56980655e-02 1.34680524e-02 6.04410739e+01] [-1.56908782e-02 9.99876686e-01 -6.39165357e-04 -1.02375672e+00] [-1.34764252e-02 4.27703050e-04 9.99909097e-01 -1.04329962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114391418 meters 0.02213894466650974 Centerline is valid? [True, True] Translation: X:60.47, Y:-1.02, Z:-1.04 [[ 9.99738633e-01 1.85173368e-02 1.34079773e-02 6.04730885e+01] [-1.85104560e-02 9.99828464e-01 -6.37114007e-04 -1.02311236e+00] [-1.34174750e-02 3.88759713e-04 9.99909906e-01 -1.04331723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144391418 meters 0.021285653283634024 Centerline is valid? [True, True] Translation: X:60.50, Y:-1.02, Z:-1.04 [[ 9.99720314e-01 1.98849510e-02 1.28016455e-02 6.05032589e+01] [-1.98787786e-02 9.99802212e-01 -6.09237461e-04 -1.02366365e+00] [-1.28112282e-02 3.54585989e-04 9.99917870e-01 -1.04306082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17439141799999 meters 0.019973198839050646 Centerline is valid? [True, True] Translation: X:60.53, Y:-1.02, Z:-1.04 [[ 9.99684557e-01 2.20011250e-02 1.21134741e-02 6.05339013e+01] [-2.19957495e-02 9.99757898e-01 -5.76825618e-04 -1.02227548e+00] [-1.21232322e-02 3.10198720e-04 9.99926463e-01 -1.04423544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20439141799999 meters 0.019234798859900887 Centerline is valid? [True, True] Translation: X:60.56, Y:-1.02, Z:-1.05 [[ 9.99568904e-01 2.73914422e-02 1.05695378e-02 6.05625786e+01] [-2.73876493e-02 9.99624761e-01 -5.03453250e-04 -1.02042840e+00] [-1.05793620e-02 2.13761419e-04 9.99944014e-01 -1.04704557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234391417999994 meters 0.01745233205415968 Centerline is valid? [True, True] Translation: X:60.59, Y:-1.02, Z:-1.05 [[ 9.99497675e-01 2.99186430e-02 1.04533336e-02 6.05911215e+01] [-2.99150688e-02 9.99552320e-01 -4.98154358e-04 -1.01919247e+00] [-1.04635580e-02 1.85191928e-04 9.99945238e-01 -1.04704377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264391417999995 meters 0.016093014996174593 Centerline is valid? [True, True] Translation: X:60.62, Y:-1.02, Z:-1.05 [[ 9.99400556e-01 3.30961461e-02 1.01574238e-02 6.06205552e+01] [-3.30929444e-02 9.99452162e-01 -4.83159294e-04 -1.01699319e+00] [-1.01678499e-02 1.46730607e-04 9.99948295e-01 -1.04695939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294391418 meters 0.015225909718157894 Centerline is valid? [True, True] Translation: X:60.65, Y:-1.02, Z:-1.05 [[ 9.99288364e-01 3.63246373e-02 1.01629877e-02 6.06491329e+01] [-3.63216037e-02 9.99340036e-01 -4.82970136e-04 -1.01548960e+00] [-1.01738242e-02 1.13490426e-04 9.99948239e-01 -1.04682794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324391418 meters 0.01464623324723273 Centerline is valid? [True, True] Translation: X:60.68, Y:-1.01, Z:-1.05 [[ 9.99149441e-01 3.98561621e-02 1.05773990e-02 6.06785909e+01] [-3.98530851e-02 9.99205424e-01 -5.01608529e-04 -1.01381155e+00] [-1.05889867e-02 7.96398981e-05 9.99943932e-01 -1.04649007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35439141799999 meters 0.016078307352317557 Centerline is valid? [True, True] Translation: X:60.71, Y:-1.01, Z:-1.05 [[ 9.98895813e-01 4.57101706e-02 1.08506160e-02 6.07070540e+01] [-4.57072838e-02 9.98954744e-01 -5.14017361e-04 -1.01108609e+00] [-1.08627702e-02 1.74976039e-05 9.99940998e-01 -1.04752065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38439141799999 meters 0.014735234413354496 Centerline is valid? [True, True] Translation: X:60.74, Y:-1.01, Z:-1.05 [[ 9.98807514e-01 4.74945797e-02 1.13055669e-02 6.07358362e+01] [-4.74915708e-02 9.98871496e-01 -5.34611009e-04 -1.01073879e+00] [-1.13181996e-02 -2.94563585e-06 9.99935947e-01 -1.04665806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414391417999994 meters 0.015700800330354304 Centerline is valid? [True, True] Translation: X:60.76, Y:-1.01, Z:-1.05 [[ 9.98688486e-01 4.98692365e-02 1.15916855e-02 6.07641317e+01] [-4.98662415e-02 9.98755755e-01 -5.47434755e-04 -1.01105550e+00] [-1.16045627e-02 -3.13170017e-05 9.99932664e-01 -1.04769077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444391417999995 meters 0.014217726842818341 Centerline is valid? [True, True] Translation: X:60.79, Y:-1.01, Z:-1.05 [[ 9.98608073e-01 5.12105977e-02 1.26250164e-02 6.07908682e+01] [-5.12071729e-02 9.98687875e-01 -5.94593383e-04 -1.01107041e+00] [-1.26389003e-02 -5.27256458e-05 9.99920125e-01 -1.04714993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474391417999996 meters 0.015226643549839538 Centerline is valid? [True, True] Translation: X:60.82, Y:-1.01, Z:-1.05 [[ 9.98398656e-01 5.50861957e-02 1.28698960e-02 6.08193492e+01] [-5.50829869e-02 9.98481597e-01 -6.03938148e-04 -1.01141842e+00] [-1.28836230e-02 -1.05941279e-04 9.99916997e-01 -1.04788354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504391418 meters 0.01487960058397504 Centerline is valid? [True, True] Translation: X:60.85, Y:-1.01, Z:-1.05 [[ 9.98333389e-01 5.61491836e-02 1.33308929e-02 6.08478515e+01] [-5.61458505e-02 9.98422382e-01 -6.24442970e-04 -1.01184588e+00] [-1.33449238e-02 -1.25072055e-04 9.99910945e-01 -1.04817891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534391418 meters 0.01612359696411742 Centerline is valid? [True, True] Translation: X:60.88, Y:-1.01, Z:-1.05 [[ 9.98258763e-01 5.75604515e-02 1.28933074e-02 6.08762430e+01] [-5.75574640e-02 9.98342013e-01 -6.02965458e-04 -1.01266564e+00] [-1.29066374e-02 -1.40190524e-04 9.99916696e-01 -1.04977713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56439141799999 meters 0.015058936856998696 Centerline is valid? [True, True] Translation: X:60.90, Y:-1.01, Z:-1.05 [[ 9.98254433e-01 5.77521133e-02 1.23604473e-02 6.09045276e+01] [-5.77493937e-02 9.98330944e-01 -5.77131949e-04 -1.01489323e+00] [-1.23731476e-02 -1.37683808e-04 9.99923440e-01 -1.04940491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594391417999994 meters 0.01760680676378329 Centerline is valid? [True, True] Translation: X:60.93, Y:-1.02, Z:-1.05 [[ 9.98272474e-01 5.76774932e-02 1.11971002e-02 6.09325127e+01] [-5.76752603e-02 9.98335260e-01 -5.22493000e-04 -1.01710064e+00] [-1.12085961e-02 -1.24205291e-04 9.99937174e-01 -1.05234973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624391417999995 meters 0.014801326025164147 Centerline is valid? [True, True] Translation: X:60.96, Y:-1.02, Z:-1.05 [[ 9.98361420e-01 5.59670817e-02 1.19231242e-02 6.09612694e+01] [-5.59644558e-02 9.98432608e-01 -5.54031357e-04 -1.02155440e+00] [-1.19354435e-02 -1.14147625e-04 9.99928764e-01 -1.05138267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654391417999996 meters 0.01424743152451134 Centerline is valid? [True, True] Translation: X:60.99, Y:-1.03, Z:-1.05 [[ 9.98572141e-01 5.21003616e-02 1.17996478e-02 6.09900556e+01] [-5.20975309e-02 9.98641852e-01 -5.47359976e-04 -1.02988215e+00] [-1.18121398e-02 -6.81540918e-05 9.99930232e-01 -1.05270610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684391418 meters 0.014008186069668114 Centerline is valid? [True, True] Translation: X:61.02, Y:-1.03, Z:-1.05 [[ 9.98694279e-01 4.97557652e-02 1.15802247e-02 6.10175532e+01] [-4.97528902e-02 9.98761414e-01 -5.36403712e-04 -1.03449497e+00] [-1.15925708e-02 -4.04463290e-05 9.99932803e-01 -1.05350894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714391418 meters 0.01582090670022211 Centerline is valid? [True, True] Translation: X:61.05, Y:-1.04, Z:-1.06 [[ 9.98794567e-01 4.78106170e-02 1.11156515e-02 6.10453478e+01] [-4.78078577e-02 9.98856418e-01 -5.13975473e-04 -1.03877222e+00] [-1.11275133e-02 -1.80595758e-05 9.99938087e-01 -1.05516818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74439141799999 meters 0.013896251543451123 Centerline is valid? [True, True] Translation: X:61.07, Y:-1.04, Z:-1.05 [[ 9.98901596e-01 4.52086822e-02 1.23197872e-02 6.10744872e+01] [-4.52051181e-02 9.98977565e-01 -5.67754307e-04 -1.04282062e+00] [-1.23328584e-02 1.02132471e-05 9.99923947e-01 -1.05401972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77439141799999 meters 0.01573095668663901 Centerline is valid? [True, True] Translation: X:61.10, Y:-1.05, Z:-1.06 [[ 9.99031495e-01 4.21028812e-02 1.27835528e-02 6.11024102e+01] [-4.20988016e-02 9.99113279e-01 -5.88174760e-04 -1.04998866e+00] [-1.27969812e-02 4.94328577e-05 9.99918114e-01 -1.05524796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804391417999994 meters 0.015422040144699674 Centerline is valid? [True, True] Translation: X:61.13, Y:-1.05, Z:-1.06 [[ 9.99087865e-01 4.07100745e-02 1.28890539e-02 6.11305494e+01] [-4.07058290e-02 9.99170999e-01 -5.91668795e-04 -1.05445802e+00] [-1.29024558e-02 6.64694876e-05 9.99916758e-01 -1.05584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834391417999996 meters 0.013980743391564564 Centerline is valid? [True, True] Translation: X:61.16, Y:-1.06, Z:-1.06 [[ 9.99147603e-01 3.92010707e-02 1.29361117e-02 6.11594670e+01] [-3.91966805e-02 9.99231339e-01 -5.92831728e-04 -1.05910267e+00] [-1.29494079e-02 8.52737614e-05 9.99916149e-01 -1.05582242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864391418 meters 0.015773241779064414 Centerline is valid? [True, True] Translation: X:61.19, Y:-1.07, Z:-1.06 [[ 9.99263303e-01 3.65724916e-02 1.16320208e-02 6.11879497e+01] [-3.65687723e-02 9.99330997e-01 -5.32353371e-04 -1.06624237e+00] [-1.16437084e-02 1.06592469e-04 9.99932204e-01 -1.05836234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894391418 meters 0.014551954932648221 Centerline is valid? [True, True] Translation: X:61.22, Y:-1.07, Z:-1.06 [[ 9.99317920e-01 3.48344724e-02 1.22578618e-02 6.12164990e+01] [-3.48302244e-02 9.99393087e-01 -5.59930620e-04 -1.07042988e+00] [-1.22699272e-02 1.32604626e-04 9.99924713e-01 -1.05764164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92439141799999 meters 0.01725891814392246 Centerline is valid? [True, True] Translation: X:61.24, Y:-1.08, Z:-1.06 [[ 9.99371141e-01 3.34107378e-02 1.18762015e-02 6.12444414e+01] [-3.34066590e-02 9.99441695e-01 -5.41708729e-04 -1.07528631e+00] [-1.18876699e-02 1.44623856e-04 9.99929329e-01 -1.05978548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95439141799999 meters 0.016369107119620318 Centerline is valid? [True, True] Translation: X:61.27, Y:-1.08, Z:-1.06 [[ 9.99435983e-01 3.11394313e-02 1.25718770e-02 6.12734111e+01] [-3.11346996e-02 9.99515034e-01 -5.71964100e-04 -1.07979813e+00] [-1.25835907e-02 1.80219889e-04 9.99920807e-01 -1.05906430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984391417999994 meters 0.017201724539321225 Centerline is valid? [True, True] Translation: X:61.30, Y:-1.09, Z:-1.06 [[ 9.99538818e-01 2.76239636e-02 1.26122353e-02 6.13025718e+01] [-2.76189363e-02 9.99618360e-01 -5.72640933e-04 -1.08784890e+00] [-1.26232406e-02 2.24040318e-04 9.99920299e-01 -1.05949644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014391417999995 meters 0.016779748328410636 Centerline is valid? [True, True] Translation: X:61.33, Y:-1.09, Z:-1.06 [[ 9.99574707e-01 2.63901068e-02 1.24083949e-02 6.13325711e+01] [-2.63851512e-02 9.99651693e-01 -5.62940131e-04 -1.09039653e+00] [-1.24189290e-02 2.35303342e-04 9.99922854e-01 -1.06018850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044391418 meters 0.017924243935431117 Centerline is valid? [True, True] Translation: X:61.36, Y:-1.10, Z:-1.06 [[ 9.99592474e-01 2.58632704e-02 1.20821360e-02 6.13605850e+01] [-2.58585378e-02 9.99665462e-01 -5.47786785e-04 -1.09544813e+00] [-1.20922616e-02 2.35137178e-04 9.99926858e-01 -1.06185979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074391418 meters 0.016673074470829222 Centerline is valid? [True, True] Translation: X:61.39, Y:-1.10, Z:-1.06 [[ 9.99552532e-01 2.77277167e-02 1.12209434e-02 6.13899707e+01] [-2.77237603e-02 9.99615494e-01 -5.08007970e-04 -1.09691319e+00] [-1.12307148e-02 1.96693906e-04 9.99936914e-01 -1.06307132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10439141799999 meters 0.015682052514834396 Centerline is valid? [True, True] Translation: X:61.42, Y:-1.10, Z:-1.06 [[ 9.99499571e-01 2.96976773e-02 1.08929326e-02 6.14185909e+01] [-2.96940671e-02 9.99558912e-01 -4.93043823e-04 -1.09675863e+00] [-1.09027701e-02 1.69341617e-04 9.99940549e-01 -1.06353643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13439141799999 meters 0.01744480362654447 Centerline is valid? [True, True] Translation: X:61.45, Y:-1.10, Z:-1.07 [[ 9.99405201e-01 3.30755432e-02 9.75972392e-03 6.14469731e+01] [-3.30728124e-02 9.99452848e-01 -4.41113122e-04 -1.09659157e+00] [-9.76897392e-03 1.18069230e-04 9.99952275e-01 -1.06589375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164391417999994 meters 0.01744480362654447 Centerline is valid? [True, True] Translation: X:61.48, Y:-1.10, Z:-1.07 [[ 9.99407855e-01 3.29952418e-02 9.75975944e-03 6.14752535e+01] [-3.29925148e-02 9.99455502e-01 -4.40325206e-04 -1.09779013e+00] [-9.76897391e-03 1.18065462e-04 9.99952275e-01 -1.06640452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194391417999995 meters 0.016168529443733908 Centerline is valid? [True, True] Translation: X:61.50, Y:-1.10, Z:-1.07 [[ 9.99154785e-01 3.95859819e-02 1.10754240e-02 6.15039864e+01] [-3.95828868e-02 9.99216166e-01 -4.98600209e-04 -1.09524892e+00] [-1.10864802e-02 5.97815310e-05 9.99938541e-01 -1.06572480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224391417999996 meters 0.01358157528073998 Centerline is valid? [True, True] Translation: X:61.53, Y:-1.10, Z:-1.06 [[ 9.99030666e-01 4.22734806e-02 1.22752400e-02 6.15329609e+01] [-4.22698957e-02 9.99106076e-01 -5.51457747e-04 -1.09520311e+00] [-1.22875789e-02 3.20500867e-05 9.99924504e-01 -1.06460478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254391418 meters 0.013607302812604617 Centerline is valid? [True, True] Translation: X:61.56, Y:-1.10, Z:-1.07 [[ 9.98890387e-01 4.53292761e-02 1.27769968e-02 6.15619531e+01] [-4.53256561e-02 9.98972100e-01 -5.72907861e-04 -1.09574619e+00] [-1.27898328e-02 -6.85360680e-06 9.99918207e-01 -1.06510378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284391418 meters 0.013706142698819866 Centerline is valid? [True, True] Translation: X:61.59, Y:-1.10, Z:-1.07 [[ 9.98785981e-01 4.74246043e-02 1.33218101e-02 6.15897657e+01] [-4.74208678e-02 9.98874820e-01 -5.96393159e-04 -1.09623548e+00] [-1.33351044e-02 -3.60626688e-05 9.99911083e-01 -1.06508411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31439141799999 meters 0.013982199750032558 Centerline is valid? [True, True] Translation: X:61.62, Y:-1.10, Z:-1.06 [[ 9.98647329e-01 5.00076051e-02 1.42391159e-02 6.16178294e+01] [-5.00036264e-02 9.98748834e-01 -6.35524182e-04 -1.09707059e+00] [-1.42530815e-02 -7.73429073e-05 9.99898417e-01 -1.06484886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344391417999994 meters 0.01576665482654937 Centerline is valid? [True, True] Translation: X:61.65, Y:-1.10, Z:-1.07 [[ 9.98630982e-01 5.05172168e-02 1.35709893e-02 6.16462326e+01] [-5.05136682e-02 9.98723187e-01 -6.04354315e-04 -1.09904592e+00] [-1.35841920e-02 -8.19935085e-05 9.99907727e-01 -1.06665683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374391417999995 meters 0.014107522701652301 Centerline is valid? [True, True] Translation: X:61.67, Y:-1.10, Z:-1.07 [[ 9.98678666e-01 4.95389300e-02 1.36680872e-02 6.16739635e+01] [-4.95352524e-02 9.98772191e-01 -6.07678361e-04 -1.10149735e+00] [-1.36814091e-02 -7.01767336e-05 9.99906403e-01 -1.06671213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404391417999996 meters 0.013731427244381993 Centerline is valid? [True, True] Translation: X:61.70, Y:-1.11, Z:-1.07 [[ 9.98846890e-01 4.63148548e-02 1.26421403e-02 6.17029801e+01] [-4.63114621e-02 9.98926891e-01 -5.61141692e-04 -1.10785784e+00] [-1.26545631e-02 -2.49813667e-05 9.99919927e-01 -1.06838640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434391418 meters 0.01455809690681651 Centerline is valid? [True, True] Translation: X:61.73, Y:-1.11, Z:-1.07 [[ 9.98952141e-01 4.40845404e-02 1.22952703e-02 6.17317277e+01] [-4.40811847e-02 9.99027804e-01 -5.43926844e-04 -1.11263776e+00] [-1.23072957e-02 1.36680188e-06 9.99924262e-01 -1.07001735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464391418 meters 0.013808044534895113 Centerline is valid? [True, True] Translation: X:61.76, Y:-1.12, Z:-1.07 [[ 9.99075948e-01 4.11964306e-02 1.22517022e-02 6.17607145e+01] [-4.11928932e-02 9.99151066e-01 -5.41039597e-04 -1.11792381e+00] [-1.22635902e-02 3.58565880e-05 9.99924799e-01 -1.07052634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49439141799999 meters 0.013922770793246508 Centerline is valid? [True, True] Translation: X:61.79, Y:-1.12, Z:-1.07 [[ 9.99189092e-01 3.81830331e-02 1.27755566e-02 6.17893929e+01] [-3.81789538e-02 9.99270759e-01 -5.63128191e-04 -1.12303787e+00] [-1.27877421e-02 7.49141596e-05 9.99918231e-01 -1.07068685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52439141799999 meters 0.01517451263100336 Centerline is valid? [True, True] Translation: X:61.82, Y:-1.13, Z:-1.07 [[ 9.99425847e-01 3.15170516e-02 1.24358949e-02 6.18174399e+01] [-3.15126809e-02 9.99503202e-01 -5.47295129e-04 -1.13083692e+00] [-1.24469659e-02 1.55092510e-04 9.99922521e-01 -1.07109022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554391417999994 meters 0.01590832528410356 Centerline is valid? [True, True] Translation: X:61.85, Y:-1.14, Z:-1.07 [[ 9.99513688e-01 2.87940844e-02 1.19702870e-02 6.18457450e+01] [-2.87898564e-02 9.99585348e-01 -5.25414311e-04 -1.13531648e+00] [-1.19804523e-02 1.80535953e-04 9.99928216e-01 -1.07153110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584391417999996 meters 0.01661778902146117 Centerline is valid? [True, True] Translation: X:61.88, Y:-1.14, Z:-1.07 [[ 9.99586190e-01 2.59716442e-02 1.23662176e-02 6.18756137e+01] [-2.59669269e-02 9.99662656e-01 -5.41900127e-04 -1.13873333e+00] [-1.23761199e-02 2.20563215e-04 9.99923389e-01 -1.07136528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614391418 meters 0.020661083857547027 Centerline is valid? [True, True] Translation: X:61.91, Y:-1.14, Z:-1.07 [[ 9.99633014e-01 2.43726252e-02 1.18242080e-02 6.19053917e+01] [-2.43682073e-02 9.99702917e-01 -5.17578537e-04 -1.14303162e+00] [-1.18333100e-02 2.29253842e-04 9.99929958e-01 -1.07379165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644391418 meters 0.020491739784702437 Centerline is valid? [True, True] Translation: X:61.94, Y:-1.15, Z:-1.07 [[ 9.99679078e-01 2.11436691e-02 1.39530067e-02 6.19359053e+01] [-2.11372087e-02 9.99776398e-01 -6.10334924e-04 -1.14961614e+00] [-1.39627915e-02 3.15211439e-04 9.99902466e-01 -1.07270045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67439141799999 meters 0.019577810538074454 Centerline is valid? [True, True] Translation: X:61.97, Y:-1.15, Z:-1.07 [[ 9.99694046e-01 1.96981525e-02 1.49598676e-02 6.19668052e+01] [-1.96905761e-02 9.99805908e-01 -6.53586384e-04 -1.15367929e+00] [-1.49698385e-02 3.58818006e-04 9.99887881e-01 -1.07137762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70439141799999 meters 0.020477104184102524 Centerline is valid? [True, True] Translation: X:62.00, Y:-1.16, Z:-1.07 [[ 9.99697859e-01 1.92485517e-02 1.52867333e-02 6.19980012e+01] [-1.92405257e-02 9.99814658e-01 -6.71945655e-04 -1.15779050e+00] [-1.52968340e-02 3.77617848e-04 9.99882925e-01 -1.07215689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734391417999994 meters 0.021464597675284386 Centerline is valid? [True, True] Translation: X:62.03, Y:-1.16, Z:-1.07 [[ 9.99694441e-01 1.95957382e-02 1.50675509e-02 6.20313851e+01] [-1.95879260e-02 9.99807916e-01 -6.65894042e-04 -1.15937948e+00] [-1.50777054e-02 3.70548500e-04 9.99886256e-01 -1.07449048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764391417999995 meters 0.020478797113626768 Centerline is valid? [True, True] Translation: X:62.06, Y:-1.16, Z:-1.07 [[ 9.99710050e-01 1.86213528e-02 1.52663093e-02 6.20634872e+01] [-1.86131430e-02 9.99826529e-01 -6.79697654e-04 -1.16189380e+00] [-1.52763180e-02 3.95346577e-04 9.99883232e-01 -1.07428227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794391418 meters 0.020957639021070076 Centerline is valid? [True, True] Translation: X:62.10, Y:-1.16, Z:-1.08 [[ 9.99715227e-01 1.84872538e-02 1.50892997e-02 6.20963127e+01] [-1.84791576e-02 9.99829017e-01 -6.75810796e-04 -1.16438233e+00] [-1.50992136e-02 3.96780796e-04 9.99885922e-01 -1.07532437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824391418 meters 0.021028069933944887 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.17, Z:-1.08 [[ 9.99717462e-01 1.85190501e-02 1.49010706e-02 6.21297778e+01] [-1.85110897e-02 9.99828429e-01 -6.71974884e-04 -1.16686113e+00] [-1.49109583e-02 3.95949971e-04 9.99888747e-01 -1.07656058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85439141799999 meters 0.022078751364607924 Centerline is valid? [True, True] Translation: X:62.16, Y:-1.17, Z:-1.08 [[ 9.99726991e-01 1.82536462e-02 1.45858714e-02 6.21603609e+01] [-1.82459174e-02 9.99833310e-01 -6.62785415e-04 -1.17091742e+00] [-1.45955383e-02 3.96471863e-04 9.99893401e-01 -1.07796840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88439141799999 meters 0.022411489010238445 Centerline is valid? [True, True] Translation: X:62.19, Y:-1.17, Z:-1.08 [[ 9.99747209e-01 1.80860112e-02 1.33571795e-02 6.21926097e+01] [-1.80794988e-02 9.99836368e-01 -6.08161919e-04 -1.17300628e+00] [-1.33659930e-02 3.66517071e-04 9.99910604e-01 -1.08042608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914391417999994 meters 0.022362339533706557 Centerline is valid? [True, True] Translation: X:62.22, Y:-1.18, Z:-1.08 [[ 9.99760200e-01 1.77387582e-02 1.28405301e-02 6.22232117e+01] [-1.77326528e-02 9.99842591e-01 -5.89186274e-04 -1.17528757e+00] [-1.28489604e-02 3.61348325e-04 9.99917383e-01 -1.08044942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944391417999995 meters 0.022365486477474807 Centerline is valid? [True, True] Translation: X:62.26, Y:-1.18, Z:-1.08 [[ 9.99742069e-01 1.87882319e-02 1.27592525e-02 6.22554985e+01] [-1.87822982e-02 9.99823426e-01 -5.84728183e-04 -1.17542303e+00] [-1.27679855e-02 3.44929278e-04 9.99918426e-01 -1.08171778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974391417999996 meters 0.02047932515829317 Centerline is valid? [True, True] Translation: X:62.29, Y:-1.17, Z:-1.08 [[ 9.99682540e-01 2.11352458e-02 1.37156829e-02 6.22873669e+01] [-2.11285400e-02 9.99776567e-01 -6.33649518e-04 -1.17318916e+00] [-1.37260107e-02 3.43656004e-04 9.99905735e-01 -1.08124390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004391418 meters 0.01891913471008572 Centerline is valid? [True, True] Translation: X:62.32, Y:-1.17, Z:-1.08 [[ 9.99637514e-01 2.28635347e-02 1.42161520e-02 6.23192434e+01] [-2.28564978e-02 9.99738540e-01 -6.57296043e-04 -1.17336492e+00] [-1.42274631e-02 3.32126337e-04 9.99898729e-01 -1.08051434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034391418 meters 0.01955598458512128 Centerline is valid? [True, True] Translation: X:62.35, Y:-1.18, Z:-1.08 [[ 9.99567723e-01 2.54760119e-02 1.46744391e-02 6.23502152e+01] [-2.54687866e-02 9.99675387e-01 -6.79074527e-04 -1.17606299e+00] [-1.46869757e-02 3.05040821e-04 9.99892094e-01 -1.08162207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06439141799999 meters 0.018404798087892766 Centerline is valid? [True, True] Translation: X:62.38, Y:-1.17, Z:-1.08 [[ 9.99469027e-01 2.90257957e-02 1.48042924e-02 6.23815775e+01] [-2.90187898e-02 9.99578630e-01 -6.87873412e-04 -1.17218323e+00] [-1.48180204e-02 2.57905521e-04 9.99890174e-01 -1.08361908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094391417999994 meters 0.015407787772866966 Centerline is valid? [True, True] Translation: X:62.41, Y:-1.17, Z:-1.08 [[ 9.99284125e-01 3.51620650e-02 1.39594888e-02 6.24111635e+01] [-3.51564235e-02 9.99381611e-01 -6.49396365e-04 -1.16818383e+00] [-1.39736905e-02 1.58165777e-04 9.99902351e-01 -1.08346126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124391417999995 meters 0.014662790917398074 Centerline is valid? [True, True] Translation: X:62.44, Y:-1.17, Z:-1.08 [[ 9.99160270e-01 3.85581986e-02 1.38571614e-02 6.24402658e+01] [-3.85529665e-02 9.99256350e-01 -6.44609056e-04 -1.16540837e+00] [-1.38717115e-02 1.09833079e-04 9.99903777e-01 -1.08373928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154391417999996 meters 0.01440108257540591 Centerline is valid? [True, True] Translation: X:62.47, Y:-1.16, Z:-1.08 [[ 9.99022664e-01 4.20199490e-02 1.37128194e-02 6.24680940e+01] [-4.20151652e-02 9.99116770e-01 -6.36884691e-04 -1.16346633e+00] [-1.37274697e-02 6.01158676e-05 9.99905772e-01 -1.08415420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184391418 meters 0.014911549186348688 Centerline is valid? [True, True] Translation: X:62.50, Y:-1.16, Z:-1.08 [[ 9.98885457e-01 4.51291566e-02 1.38276411e-02 6.24966092e+01] [-4.51246106e-02 9.98981160e-01 -6.40742509e-04 -1.16202781e+00] [-1.38424691e-02 1.60614556e-05 9.99904188e-01 -1.08477738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214391418 meters 0.016655806677027672 Centerline is valid? [True, True] Translation: X:62.52, Y:-1.16, Z:-1.09 [[ 9.98634694e-01 5.02086661e-02 1.44165926e-02 6.25244732e+01] [-5.02042699e-02 9.98738748e-01 -6.66908922e-04 -1.15992092e+00] [-1.44318942e-02 -5.77761176e-05 9.99895853e-01 -1.08547832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24439141799999 meters 0.0143804416049991 Centerline is valid? [True, True] Translation: X:62.55, Y:-1.16, Z:-1.08 [[ 9.98586968e-01 5.07405078e-02 1.57945487e-02 6.25531761e+01] [-5.07353286e-02 9.98711868e-01 -7.28694295e-04 -1.16050931e+00] [-1.58111776e-02 -7.36769920e-05 9.99874993e-01 -1.08363963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27439141799999 meters 0.015127299291441628 Centerline is valid? [True, True] Translation: X:62.58, Y:-1.16, Z:-1.08 [[ 9.98528149e-01 5.16274031e-02 1.66176464e-02 6.25820758e+01] [-5.16218163e-02 9.98666412e-01 -7.65253734e-04 -1.16152299e+00] [-1.66349934e-02 -9.37056953e-05 9.99861625e-01 -1.08389129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304391417999994 meters 0.014422146346767115 Centerline is valid? [True, True] Translation: X:62.61, Y:-1.16, Z:-1.08 [[ 9.98567206e-01 5.07605263e-02 1.69382628e-02 6.26112859e+01] [-5.07546207e-02 9.98710850e-01 -7.78632827e-04 -1.16412033e+00] [-1.69559507e-02 -8.21778993e-05 9.99856234e-01 -1.08364827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334391417999996 meters 0.015284226722043458 Centerline is valid? [True, True] Translation: X:62.64, Y:-1.17, Z:-1.09 [[ 9.98604018e-01 5.00151878e-02 1.69851802e-02 6.26395479e+01] [-5.00091645e-02 9.98748455e-01 -7.79439618e-04 -1.16705342e+00] [-1.70029063e-02 -7.10631373e-05 9.99855438e-01 -1.08559513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364391418 meters 0.016274637452965483 Centerline is valid? [True, True] Translation: X:62.67, Y:-1.17, Z:-1.09 [[ 9.98693445e-01 4.83972340e-02 1.64046064e-02 6.26670897e+01] [-4.83914171e-02 9.98828166e-01 -7.51583220e-04 -1.17075751e+00] [-1.64217575e-02 -4.32409161e-05 9.99865153e-01 -1.08778590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394391418 meters 0.014231387393262641 Centerline is valid? [True, True] Translation: X:62.70, Y:-1.18, Z:-1.09 [[ 9.98977043e-01 4.24192581e-02 1.56676314e-02 6.26954596e+01] [-4.24132403e-02 9.99099897e-01 -7.16318144e-04 -1.17893701e+00] [-1.56839146e-02 5.10703660e-05 9.99876999e-01 -1.08784255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42439141799999 meters 0.017259831475978878 Centerline is valid? [True, True] Translation: X:62.72, Y:-1.18, Z:-1.09 [[ 9.99101891e-01 3.95725307e-02 1.51468345e-02 6.27243492e+01] [-3.95665970e-02 9.99216696e-01 -6.91335830e-04 -1.18393518e+00] [-1.51623278e-02 9.14062414e-05 9.99885041e-01 -1.09082774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45439141799999 meters 0.015178195762982318 Centerline is valid? [True, True] Translation: X:62.75, Y:-1.19, Z:-1.09 [[ 9.99256946e-01 3.54314971e-02 1.51711922e-02 6.27542132e+01] [-3.54250874e-02 9.99372096e-01 -6.91106045e-04 -1.18867890e+00] [-1.51861531e-02 1.53151706e-04 9.99884672e-01 -1.08958755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484391417999994 meters 0.01694636774526152 Centerline is valid? [True, True] Translation: X:62.78, Y:-1.20, Z:-1.09 [[ 9.99505289e-01 2.80632117e-02 1.41997474e-02 6.27839484e+01] [-2.80568615e-02 9.99606120e-01 -6.46254904e-04 -1.19715123e+00] [-1.42122904e-02 2.47534849e-04 9.99898970e-01 -1.09045542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514391417999995 meters 0.018248078228147304 Centerline is valid? [True, True] Translation: X:62.81, Y:-1.20, Z:-1.09 [[ 9.99600588e-01 2.43389890e-02 1.43624136e-02 6.28146021e+01] [-2.43321135e-02 9.99703717e-01 -6.53289995e-04 -1.20228447e+00] [-1.43740587e-02 3.03561185e-04 9.99896642e-01 -1.09114742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544391418 meters 0.019400859199549265 Centerline is valid? [True, True] Translation: X:62.85, Y:-1.21, Z:-1.09 [[ 9.99681348e-01 2.08469942e-02 1.42339574e-02 6.28456326e+01] [-2.08398896e-02 9.99782616e-01 -6.47293173e-04 -1.20688778e+00] [-1.42443573e-02 3.50452811e-04 9.99898483e-01 -1.09160199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574391418 meters 0.021538183298077454 Centerline is valid? [True, True] Translation: X:62.88, Y:-1.21, Z:-1.09 [[ 9.99737069e-01 1.77464866e-02 1.45208705e-02 6.28759930e+01] [-1.77387569e-02 9.99842437e-01 -6.60947229e-04 -1.21263208e+00] [-1.45303121e-02 4.03191252e-04 9.99894348e-01 -1.09214760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60439141799999 meters 0.02269566187540699 Centerline is valid? [True, True] Translation: X:62.91, Y:-1.22, Z:-1.09 [[ 9.99805844e-01 1.28992074e-02 1.48957844e-02 6.29071815e+01] [-1.28905266e-02 9.99916683e-01 -6.78638122e-04 -1.21703241e+00] [-1.49032973e-02 4.86491855e-04 9.99888821e-01 -1.09232564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63439141799999 meters 0.0252100215457193 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.22, Z:-1.09 [[ 9.99822162e-01 1.14549220e-02 1.49809565e-02 6.29383824e+01] [-1.14459805e-02 9.99934260e-01 -6.82460378e-04 -1.22303624e+00] [-1.49877892e-02 5.10867274e-04 9.99887546e-01 -1.09295587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664391417999994 meters 0.023808364416472622 Centerline is valid? [True, True] Translation: X:62.97, Y:-1.22, Z:-1.09 [[ 9.99831781e-01 1.03591362e-02 1.51359713e-02 6.29709723e+01] [-1.03498233e-02 9.99946199e-01 -6.93488229e-04 -1.22258223e+00] [-1.51423409e-02 5.36716942e-04 9.99885204e-01 -1.09312236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694391417999995 meters 0.027314135702038275 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.23, Z:-1.10 [[ 9.99839417e-01 9.76992489e-03 1.50229317e-02 6.30015157e+01] [-9.76061683e-03 9.99952124e-01 -6.92787843e-04 -1.22622330e+00] [-1.50289809e-02 5.46043514e-04 9.99886909e-01 -1.09531909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724391417999996 meters 0.02466169961320458 Centerline is valid? [True, True] Translation: X:63.03, Y:-1.22, Z:-1.09 [[ 9.99832412e-01 8.92021002e-03 1.59868175e-02 6.30342935e+01] [-8.90950072e-03 9.99960035e-01 -7.40981269e-04 -1.22476304e+00] [-1.59927883e-02 5.98422527e-04 9.99871928e-01 -1.09362835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754391418 meters 0.026743479193883424 Centerline is valid? [True, True] Translation: X:63.07, Y:-1.23, Z:-1.09 [[ 9.99838098e-01 9.03421926e-03 1.55614935e-02 6.30666733e+01] [-9.02401907e-03 9.99959019e-01 -7.25570514e-04 -1.22865124e+00] [-1.55674107e-02 5.85025829e-04 9.99878649e-01 -1.09405296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391418 meters 0.027243814916262352 Centerline is valid? [True, True] Translation: X:63.10, Y:-1.23, Z:-1.10 [[ 9.99852883e-01 8.69392094e-03 1.47860489e-02 6.30994401e+01] [-8.68461091e-03 9.99962047e-01 -6.93742864e-04 -1.22679963e+00] [-1.47915190e-02 5.65229722e-04 9.99890440e-01 -1.09668277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81439141799999 meters 0.027320949154869417 Centerline is valid? [True, True] Translation: X:63.13, Y:-1.23, Z:-1.10 [[ 9.99854215e-01 7.91282514e-03 1.51306376e-02 6.31302714e+01] [-7.90291839e-03 9.99968516e-01 -7.14428076e-04 -1.22955865e+00] [-1.51358143e-02 5.94747729e-04 9.99885270e-01 -1.09666482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844391417999994 meters 0.027105849806747656 Centerline is valid? [True, True] Translation: X:63.16, Y:-1.23, Z:-1.10 [[ 9.99870630e-01 7.13332341e-03 1.44166160e-02 6.31621879e+01] [-7.12419837e-03 9.99974389e-01 -6.84210388e-04 -1.23035025e+00] [-1.44211274e-02 5.81415040e-04 9.99895841e-01 -1.09761236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874391417999995 meters 0.027017029859360702 Centerline is valid? [True, True] Translation: X:63.19, Y:-1.23, Z:-1.10 [[ 9.99886115e-01 6.35239872e-03 1.36895744e-02 6.31943784e+01] [-6.34404794e-03 9.99979663e-01 -6.53349996e-04 -1.23132951e+00] [-1.36934463e-02 5.66428273e-04 9.99906080e-01 -1.09861777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904391417999996 meters 0.02743061898432028 Centerline is valid? [True, True] Translation: X:63.23, Y:-1.23, Z:-1.10 [[ 9.99908331e-01 4.84534854e-03 1.26432765e-02 6.32267601e+01] [-4.83806482e-03 9.99988113e-01 -6.06616523e-04 -1.23092559e+00] [-1.26460655e-02 5.45391924e-04 9.99919887e-01 -1.09994790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934391418 meters 0.027504593590485977 Centerline is valid? [True, True] Translation: X:63.26, Y:-1.23, Z:-1.10 [[ 9.99911208e-01 4.50250363e-03 1.25420813e-02 6.32585669e+01] [-4.49526320e-03 9.99989713e-01 -6.05422962e-04 -1.23060119e+00] [-1.25446782e-02 5.48989249e-04 9.99921162e-01 -1.10108475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964391418 meters 0.029077698857245045 Centerline is valid? [True, True] Translation: X:63.29, Y:-1.23, Z:-1.10 [[ 9.99918682e-01 4.28305875e-03 1.20118594e-02 6.32894778e+01] [-4.27636515e-03 9.99990686e-01 -5.82878103e-04 -1.23262091e+00] [-1.20142441e-02 5.31463607e-04 9.99927685e-01 -1.10217957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99439141799999 meters 0.031361959074093206 Centerline is valid? [True, True] Translation: X:63.32, Y:-1.24, Z:-1.10 [[ 9.99920932e-01 4.27144336e-03 1.18272752e-02 6.33216159e+01] [-4.26491181e-03 9.99990739e-01 -5.77412067e-04 -1.23572848e+00] [-1.18296320e-02 5.26924127e-04 9.99929889e-01 -1.10363897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters 0.029304260229941495 Centerline is valid? [True, True] Translation: X:63.35, Y:-1.23, Z:-1.10 [[ 9.99923291e-01 4.63894388e-03 1.14844421e-02 6.33548845e+01] [-4.63279324e-03 9.99989111e-01 -5.62108376e-04 -1.23141195e+00] [-1.14869246e-02 5.08860211e-04 9.99933894e-01 -1.10318547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054391418 meters 0.029304260229941495 Centerline is valid? [True, True] Translation: X:63.39, Y:-1.23, Z:-1.10 [[ 9.99921753e-01 4.95970403e-03 1.14842602e-02 6.33874582e+01] [-4.95353226e-03 9.99987571e-01 -5.65793715e-04 -1.23316711e+00] [-1.14869236e-02 5.08861790e-04 9.99933894e-01 -1.10377230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084391418 meters 0.030115216993656452 Centerline is valid? [True, True] Translation: X:63.42, Y:-1.23, Z:-1.11 [[ 9.99926525e-01 6.15563363e-03 1.04428234e-02 6.34201332e+01] [-6.15056279e-03 9.99980951e-01 -5.17627514e-04 -1.23232755e+00] [-1.04458108e-02 4.53360240e-04 9.99945338e-01 -1.10622965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114391418 meters 0.029049814710176702 Centerline is valid? [True, True] Translation: X:63.45, Y:-1.23, Z:-1.10 [[ 9.99913470e-01 6.66679490e-03 1.13404339e-02 6.34528835e+01] [-6.66080640e-03 9.99977657e-01 -5.65754407e-04 -1.23183816e+00] [-1.13439523e-02 4.90169018e-04 9.99935535e-01 -1.10464759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144391418 meters 0.02906888962164809 Centerline is valid? [True, True] Translation: X:63.48, Y:-1.23, Z:-1.11 [[ 9.99891561e-01 9.36195503e-03 1.13674818e-02 6.34838159e+01] [-9.35605768e-03 9.99956068e-01 -5.71860108e-04 -1.22764385e+00] [-1.13723361e-02 4.65443281e-04 9.99935225e-01 -1.10521572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174391418 meters 0.0261781059387565 Centerline is valid? [True, True] Translation: X:63.52, Y:-1.22, Z:-1.10 [[ 9.99860919e-01 1.18644086e-02 1.17208749e-02 6.35161955e+01] [-1.18583226e-02 9.99929514e-01 -5.88613640e-04 -1.22274245e+00] [-1.17270323e-02 4.49541859e-04 9.99931135e-01 -1.10434281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204391418 meters 0.026213725830464996 Centerline is valid? [True, True] Translation: X:63.55, Y:-1.22, Z:-1.11 [[ 9.99831851e-01 1.44840028e-02 1.12464958e-02 6.35480425e+01] [-1.44785316e-02 9.99895019e-01 -5.67755653e-04 -1.22096555e+00] [-1.12535385e-02 4.04827441e-04 9.99936595e-01 -1.10534159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234391418 meters 0.02554240533954817 Centerline is valid? [True, True] Translation: X:63.58, Y:-1.22, Z:-1.11 [[ 9.99737947e-01 1.96863108e-02 1.16827607e-02 6.35785030e+01] [-1.96807009e-02 9.99806139e-01 -5.94973826e-04 -1.21500966e+00] [-1.16922087e-02 3.64892992e-04 9.99931577e-01 -1.10571905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters 0.02086409669975526 Centerline is valid? [True, True] Translation: X:63.61, Y:-1.21, Z:-1.10 [[ 9.99670429e-01 2.21926897e-02 1.29041718e-02 6.36099954e+01] [-2.21860553e-02 9.99753643e-01 -6.57072669e-04 -1.20799301e+00] [-1.29155749e-02 3.70563449e-04 9.99916522e-01 -1.10355127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29439141799999 meters 0.021284565700086182 Centerline is valid? [True, True] Translation: X:63.64, Y:-1.21, Z:-1.10 [[ 9.99601670e-01 2.49247836e-02 1.32384652e-02 6.36399889e+01] [-2.49180366e-02 9.99689270e-01 -6.74376781e-04 -1.20823289e+00] [-1.32511604e-02 3.44231594e-04 9.99912140e-01 -1.10412694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters 0.019730098931941158 Centerline is valid? [True, True] Translation: X:63.67, Y:-1.20, Z:-1.10 [[ 9.99532535e-01 2.71889238e-02 1.39811939e-02 6.36701864e+01] [-2.71816122e-02 9.99630258e-01 -7.12756346e-04 -1.20467250e+00] [-1.39954036e-02 3.32391766e-04 9.99902004e-01 -1.10415245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35439141799999 meters 0.020023620527043044 Centerline is valid? [True, True] Translation: X:63.70, Y:-1.20, Z:-1.11 [[ 9.99470497e-01 2.94183774e-02 1.39026871e-02 6.37001983e+01] [-2.94113707e-02 9.99567141e-01 -7.08210507e-04 -1.20190494e+00] [-1.39175036e-02 2.98938422e-04 9.99903102e-01 -1.10570718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters 0.01910564198742327 Centerline is valid? [True, True] Translation: X:63.73, Y:-1.20, Z:-1.10 [[ 9.99379317e-01 3.19903759e-02 1.47511435e-02 6.37286529e+01] [-3.19827763e-02 9.99488138e-01 -7.50863385e-04 -1.19881621e+00] [-1.47676134e-02 2.78614815e-04 9.99890914e-01 -1.10454949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414391418 meters 0.016965683312612903 Centerline is valid? [True, True] Translation: X:63.76, Y:-1.19, Z:-1.10 [[ 9.99358513e-01 3.28667016e-02 1.42246891e-02 6.37581955e+01] [-3.28597310e-02 9.99459711e-01 -7.23539582e-04 -1.19410694e+00] [-1.42407840e-02 2.55655983e-04 9.99898562e-01 -1.10487635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444391418 meters 0.01641028698158242 Centerline is valid? [True, True] Translation: X:63.79, Y:-1.19, Z:-1.11 [[ 9.99324010e-01 3.42910499e-02 1.32531819e-02 6.37855996e+01] [-3.42851475e-02 9.99411865e-01 -6.72372321e-04 -1.19288545e+00] [-1.32684436e-02 2.17530508e-04 9.99911947e-01 -1.10663134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474391418 meters 0.016286249369624615 Centerline is valid? [True, True] Translation: X:63.81, Y:-1.19, Z:-1.11 [[ 9.99314384e-01 3.47441596e-02 1.27908498e-02 6.38143488e+01] [-3.47387161e-02 9.99396219e-01 -6.47574592e-04 -1.19342923e+00] [-1.28056264e-02 2.02792904e-04 9.99917984e-01 -1.10774732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504391418 meters 0.016247531881912858 Centerline is valid? [True, True] Translation: X:63.84, Y:-1.19, Z:-1.11 [[ 9.99306665e-01 3.49951281e-02 1.27094783e-02 6.38423925e+01] [-3.49897855e-02 9.99387463e-01 -6.42542754e-04 -1.19373763e+00] [-1.27241791e-02 1.97395336e-04 9.99919025e-01 -1.10812835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534391418 meters 0.017546297937124904 Centerline is valid? [True, True] Translation: X:63.87, Y:-1.19, Z:-1.11 [[ 9.99300191e-01 3.56022943e-02 1.14718961e-02 6.38697939e+01] [-3.55979927e-02 9.99366023e-01 -5.79008035e-04 -1.19323135e+00] [-1.14852372e-02 1.70226368e-04 9.99934028e-01 -1.10983493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564391418 meters 0.016066924647270716 Centerline is valid? [True, True] Translation: X:63.90, Y:-1.19, Z:-1.11 [[ 9.99269930e-01 3.61058985e-02 1.24888600e-02 6.38982121e+01] [-3.61008576e-02 9.99347954e-01 -6.28906624e-04 -1.19129405e+00] [-1.25034239e-02 1.77588922e-04 9.99921813e-01 -1.10735113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594391418 meters 0.01604764158720824 Centerline is valid? [True, True] Translation: X:63.93, Y:-1.19, Z:-1.11 [[ 9.99249650e-01 3.61922182e-02 1.37934796e-02 6.39268671e+01] [-3.61860996e-02 9.99344828e-01 -6.92991514e-04 -1.19075596e+00] [-1.38095234e-02 1.93339302e-04 9.99904625e-01 -1.10626663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624391418 meters 0.015941366793403734 Centerline is valid? [True, True] Translation: X:63.96, Y:-1.19, Z:-1.11 [[ 9.99211618e-01 3.66918502e-02 1.51608119e-02 6.39560701e+01] [-3.66845359e-02 9.99326607e-01 -7.60359579e-04 -1.19105242e+00] [-1.51785017e-02 2.03592778e-04 9.99884779e-01 -1.10503972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65439141799999 meters 0.015828213697699975 Centerline is valid? [True, True] Translation: X:63.99, Y:-1.19, Z:-1.10 [[ 9.99189166e-01 3.69999129e-02 1.58750390e-02 6.39850834e+01] [-3.69919527e-02 9.99315247e-01 -7.94881217e-04 -1.19149174e+00] [-1.58935791e-02 2.06988007e-04 9.99873668e-01 -1.10401375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters 0.015336560821724498 Centerline is valid? [True, True] Translation: X:64.01, Y:-1.19, Z:-1.10 [[ 9.99133497e-01 3.78893834e-02 1.72235521e-02 6.40146000e+01] [-3.78801704e-02 9.99281918e-01 -8.60944792e-04 -1.18943233e+00] [-1.72438048e-02 2.07767692e-04 9.99851293e-01 -1.10115757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71439141799999 meters 0.016102438438919446 Centerline is valid? [True, True] Translation: X:64.04, Y:-1.19, Z:-1.10 [[ 9.99113437e-01 3.84769436e-02 1.70840304e-02 6.40435697e+01] [-3.84679826e-02 9.99259469e-01 -8.52958672e-04 -1.18904914e+00] [-1.71041983e-02 1.95014289e-04 9.99853693e-01 -1.10065393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters 0.01688172294240051 Centerline is valid? [True, True] Translation: X:64.07, Y:-1.19, Z:-1.10 [[ 9.99121456e-01 3.85684582e-02 1.63948212e-02 6.40714787e+01] [-3.85602383e-02 9.99255943e-01 -8.17310100e-04 -1.18880404e+00] [-1.64141449e-02 1.84403844e-04 9.99865262e-01 -1.09972878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774391418 meters 0.01640918077974085 Centerline is valid? [True, True] Translation: X:64.10, Y:-1.19, Z:-1.10 [[ 9.99162557e-01 3.70610708e-02 1.73396191e-02 6.40998798e+01] [-3.70516811e-02 9.99312978e-01 -8.62569977e-04 -1.18895048e+00] [-1.73596741e-02 2.19385588e-04 9.99849285e-01 -1.09540632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters 0.015843636021750433 Centerline is valid? [True, True] Translation: X:64.13, Y:-1.19, Z:-1.09 [[ 9.99228073e-01 3.50401775e-02 1.77607464e-02 6.41283101e+01] [-3.50300394e-02 9.99385871e-01 -8.81691557e-04 -1.19105074e+00] [-1.77807336e-02 2.58851309e-04 9.99841877e-01 -1.09334666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834391418 meters 0.01638754392562651 Centerline is valid? [True, True] Translation: X:64.16, Y:-1.19, Z:-1.09 [[ 9.99300568e-01 3.32067946e-02 1.71954359e-02 6.41572758e+01] [-3.31970434e-02 9.99448463e-01 -8.52289569e-04 -1.19351845e+00] [-1.72142538e-02 2.80855820e-04 9.99851784e-01 -1.09332167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864391418 meters 0.016999456291647376 Centerline is valid? [True, True] Translation: X:64.19, Y:-1.20, Z:-1.09 [[ 9.99385458e-01 3.14146884e-02 1.55507088e-02 6.41861900e+01] [-3.14065140e-02 9.99506397e-01 -7.69653276e-04 -1.19599513e+00] [-1.55672113e-02 2.80786739e-04 9.99878784e-01 -1.09424701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894391418 meters 0.020164492148344502 Centerline is valid? [True, True] Translation: X:64.21, Y:-1.20, Z:-1.10 [[ 9.99535738e-01 2.87626550e-02 1.00507297e-02 6.42144664e+01] [-2.87591115e-02 9.99586248e-01 -4.96946196e-04 -1.20118184e+00] [-1.00608647e-02 2.07665427e-04 9.99949367e-01 -1.09931550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924391418 meters 0.019235625896470404 Centerline is valid? [True, True] Translation: X:64.24, Y:-1.20, Z:-1.10 [[ 9.99579532e-01 2.77340238e-02 8.46064377e-03 6.42435864e+01] [-2.77314771e-02 9.99615321e-01 -4.18197683e-04 -1.20274681e+00] [-8.46898744e-03 1.83395696e-04 9.99964121e-01 -1.10071276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954391418 meters 0.0195023197805313 Centerline is valid? [True, True] Translation: X:64.27, Y:-1.20, Z:-1.10 [[ 9.99585708e-01 2.82120838e-02 5.70005665e-03 6.42719268e+01] [-2.82109340e-02 9.99601953e-01 -2.82025666e-04 -1.20210097e+00] [-5.70574429e-03 1.21104903e-04 9.99983715e-01 -1.10330573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984391418 meters 0.01729749676049858 Centerline is valid? [True, True] Translation: X:64.30, Y:-1.20, Z:-1.11 [[ 9.99494850e-01 3.15251193e-02 4.02648899e-03 6.42993982e+01] [-3.15245720e-02 9.99502957e-01 -1.99337454e-04 -1.19982170e+00] [-4.03077179e-03 7.23034161e-05 9.99991874e-01 -1.10625756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01439141799999 meters 0.01661089810944033 Centerline is valid? [True, True] Translation: X:64.33, Y:-1.20, Z:-1.11 [[ 9.99383620e-01 3.49321846e-02 3.48165016e-03 6.43286820e+01] [-3.49317944e-02 9.99389684e-01 -1.72857971e-04 -1.19871336e+00] [-3.48556356e-03 5.11311370e-05 9.99993924e-01 -1.10847514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters 0.015956553887667365 Centerline is valid? [True, True] Translation: X:64.36, Y:-1.20, Z:-1.11 [[ 9.99246805e-01 3.86697852e-02 3.23588236e-03 6.43578546e+01] [-3.86694715e-02 9.99252044e-01 -1.59480204e-04 -1.19685611e+00] [-3.23962912e-03 3.42302233e-05 9.99994752e-01 -1.10937315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07439141799999 meters 0.014471652431836351 Centerline is valid? [True, True] Translation: X:64.39, Y:-1.19, Z:-1.11 [[ 9.98941445e-01 4.57301255e-02 4.97449658e-03 6.43873189e+01] [-4.57294788e-02 9.98953830e-01 -2.43709255e-04 -1.19301971e+00] [-4.98043726e-03 1.59701398e-05 9.99987597e-01 -1.10989906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters 0.014272413465651793 Centerline is valid? [True, True] Translation: X:64.42, Y:-1.19, Z:-1.11 [[ 9.98803562e-01 4.85248223e-02 6.06517832e-03 6.44158261e+01] [-4.85239149e-02 9.98821977e-01 -2.96773774e-04 -1.19208443e+00] [-6.07243429e-03 2.11250651e-06 9.99981563e-01 -1.10981296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13439141799999 meters 0.014416135239049084 Centerline is valid? [True, True] Translation: X:64.44, Y:-1.19, Z:-1.11 [[ 9.98698721e-01 5.05085171e-02 7.05364749e-03 6.44439902e+01] [-5.05073397e-02 9.98723630e-01 -3.45068665e-04 -1.19174502e+00] [-7.06207334e-03 -1.16413356e-05 9.99975063e-01 -1.10941254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters 0.015674696378954203 Centerline is valid? [True, True] Translation: X:64.47, Y:-1.19, Z:-1.11 [[ 9.98603330e-01 5.22133329e-02 8.07204176e-03 6.44719451e+01] [-5.22118631e-02 9.98635953e-01 -3.92844599e-04 -1.19262395e+00] [-8.08154285e-03 -2.91604153e-05 9.99967343e-01 -1.10945825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194391418 meters 0.014174796964936513 Centerline is valid? [True, True] Translation: X:64.50, Y:-1.20, Z:-1.11 [[ 9.98686053e-01 5.05831214e-02 8.21671886e-03 6.45006217e+01] [-5.05815515e-02 9.98719854e-01 -3.98892437e-04 -1.19562315e+00] [-8.22637749e-03 -1.72460746e-05 9.99966163e-01 -1.10821711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224391418 meters 0.015179701272844199 Centerline is valid? [True, True] Translation: X:64.53, Y:-1.20, Z:-1.11 [[ 9.98800963e-01 4.84329889e-02 7.13314107e-03 6.45286498e+01] [-4.84317485e-02 9.98826434e-01 -3.46627884e-04 -1.19937013e+00] [-7.14155809e-03 7.41769637e-07 9.99974499e-01 -1.11023652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254391418 meters 0.01464526829263673 Centerline is valid? [True, True] Translation: X:64.56, Y:-1.21, Z:-1.11 [[ 9.99147078e-01 4.09225789e-02 5.51893044e-03 6.45573749e+01] [-4.09217278e-02 9.99162320e-01 -2.67107380e-04 -1.20846264e+00] [-5.52523806e-03 4.10353894e-05 9.99984735e-01 -1.11121092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284391418 meters 0.015408973507227901 Centerline is valid? [True, True] Translation: X:64.59, Y:-1.21, Z:-1.11 [[ 9.99323674e-01 3.64267987e-02 5.02812585e-03 6.45861936e+01] [-3.64260366e-02 9.99336322e-01 -2.43091772e-04 -1.21433194e+00] [-5.03364385e-03 5.97726668e-05 9.99987329e-01 -1.11209443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314391418 meters 0.01720375352478205 Centerline is valid? [True, True] Translation: X:64.61, Y:-1.22, Z:-1.11 [[ 9.99471829e-01 3.22871659e-02 3.68804817e-03 6.46144922e+01] [-3.22867274e-02 9.99478632e-01 -1.78388138e-04 -1.22013558e+00] [-3.69188498e-03 5.92189130e-05 9.99993183e-01 -1.11367914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344391418 meters 0.017863671223396348 Centerline is valid? [True, True] Translation: X:64.64, Y:-1.23, Z:-1.11 [[ 9.99605257e-01 2.79274011e-02 3.06432888e-03 6.46431632e+01] [-2.79270779e-02 9.99609952e-01 -1.48218298e-04 -1.22521354e+00] [-3.06727300e-03 6.25820387e-05 9.99995294e-01 -1.11411693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374391418 meters 0.02105866323260577 Centerline is valid? [True, True] Translation: X:64.67, Y:-1.23, Z:-1.12 [[ 9.99781291e-01 2.08203170e-02 1.97068985e-03 6.46713806e+01] [-2.08201695e-02 9.99783232e-01 -9.53320093e-05 -1.23316249e+00] [-1.97224751e-03 5.42810625e-05 9.99998054e-01 -1.11544958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters 0.022264877395415668 Centerline is valid? [True, True] Translation: X:64.70, Y:-1.24, Z:-1.12 [[ 9.99845628e-01 1.75006242e-02 1.56458907e-03 6.47006997e+01] [-1.75005274e-02 9.99846851e-01 -7.55001920e-05 -1.23710438e+00] [-1.56567076e-03 4.81074030e-05 9.99998773e-01 -1.11618265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43439141799999 meters 0.024158588753822433 Centerline is valid? [True, True] Translation: X:64.73, Y:-1.24, Z:-1.12 [[ 9.99895411e-01 1.43780928e-02 1.56156091e-03 6.47291894e+01] [-1.43779922e-02 9.99896628e-01 -7.56134222e-05 -1.24206890e+00] [-1.56248667e-03 5.31534032e-05 9.99998778e-01 -1.11752913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters 0.027517120646074304 Centerline is valid? [True, True] Translation: X:64.76, Y:-1.25, Z:-1.12 [[ 9.99956148e-01 8.84981011e-03 3.06324407e-03 6.47574831e+01] [-8.84940101e-03 9.99960832e-01 -1.47079110e-04 -1.24945813e+00] [-3.06442572e-03 1.19964785e-04 9.99995297e-01 -1.11841056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49439141799999 meters 0.02983568762824711 Centerline is valid? [True, True] Translation: X:64.79, Y:-1.25, Z:-1.12 [[ 9.99973788e-01 6.67987919e-03 2.79330291e-03 6.47868110e+01] [-6.67953150e-03 9.99977683e-01 -1.33782907e-04 -1.25283192e+00] [-2.79413422e-03 1.15121445e-04 9.99996090e-01 -1.11965062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters 0.03091430839442046 Centerline is valid? [True, True] Translation: X:64.82, Y:-1.26, Z:-1.12 [[ 9.99979951e-01 4.24787329e-03 4.69611507e-03 6.48158107e+01] [-4.24686688e-03 9.99990957e-01 -2.24257094e-04 -1.25653940e+00] [-4.69702521e-03 2.04308822e-04 9.99988948e-01 -1.11849256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554391418 meters 0.028400938929380823 Centerline is valid? [True, True] Translation: X:64.85, Y:-1.25, Z:-1.12 [[ 9.99979147e-01 2.41137412e-03 5.99083664e-03 6.48472206e+01] [-2.40971158e-03 9.99997056e-01 -2.84716383e-04 -1.25451088e+00] [-5.99150556e-03 2.70274257e-04 9.99982014e-01 -1.11605689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584391418 meters 0.03416861520730784 Centerline is valid? [True, True] Translation: X:64.88, Y:-1.26, Z:-1.12 [[ 9.99967446e-01 7.04086770e-04 8.03811914e-03 6.48786015e+01] [-7.01051796e-04 9.99999682e-01 -3.80384124e-04 -1.26137064e+00] [-8.03838441e-03 3.74736603e-04 9.99967621e-01 -1.11559127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614391418 meters 0.034845372606025785 Centerline is valid? [True, True] Translation: X:64.91, Y:-1.26, Z:-1.12 [[ 9.99969429e-01 9.95620981e-04 7.75559320e-03 6.49110812e+01] [-9.92775009e-04 9.99999438e-01 -3.70798576e-04 -1.26146450e+00] [-7.75595802e-03 3.63087682e-04 9.99969856e-01 -1.11606993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644391418 meters 0.03508318809102257 Centerline is valid? [True, True] Translation: X:64.94, Y:-1.26, Z:-1.11 [[ 9.99958776e-01 1.03026474e-03 9.02139465e-03 6.49432279e+01] [-1.02641624e-03 9.99999380e-01 -4.31216791e-04 -1.26190765e+00] [-9.02183333e-03 4.21939309e-04 9.99959213e-01 -1.11470052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674391418 meters 0.03186682509481464 Centerline is valid? [True, True] Translation: X:64.98, Y:-1.25, Z:-1.12 [[ 9.99965926e-01 2.49566769e-03 7.86876747e-03 6.49756405e+01] [-2.49276846e-03 9.99996822e-01 -3.78234161e-04 -1.25379629e+00] [-7.86968641e-03 3.58606258e-04 9.99968969e-01 -1.11566860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704391418 meters 0.035218107857825774 Centerline is valid? [True, True] Translation: X:65.01, Y:-1.26, Z:-1.12 [[ 9.99959151e-01 1.81471546e-03 8.85452704e-03 6.50062267e+01] [-1.81101582e-03 9.99998269e-01 -4.25824274e-04 -1.25972408e+00] [-8.85528447e-03 4.09771191e-04 9.99960707e-01 -1.11548258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734391418 meters 0.03126027667147927 Centerline is valid? [True, True] Translation: X:65.04, Y:-1.25, Z:-1.12 [[ 9.99964763e-01 2.18073209e-03 8.10666795e-03 6.50400239e+01] [-2.17764780e-03 9.99997553e-01 -3.89271401e-04 -1.25450766e+00] [-8.10749701e-03 3.71604217e-04 9.99967065e-01 -1.11577301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters 0.03632573489358964 Centerline is valid? [True, True] Translation: X:65.07, Y:-1.26, Z:-1.12 [[ 9.99983225e-01 2.81574179e-03 5.06169537e-03 6.50706061e+01] [-2.81454618e-03 9.99996010e-01 -2.43316323e-04 -1.25855139e+00] [-5.06236029e-03 2.29065866e-04 9.99987160e-01 -1.12016534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79439141799999 meters 0.029511085700178654 Centerline is valid? [True, True] Translation: X:65.10, Y:-1.25, Z:-1.12 [[ 9.99984484e-01 4.40116660e-03 3.41488340e-03 6.51035898e+01] [-4.40062525e-03 9.99990303e-01 -1.66025834e-04 -1.24743783e+00] [-3.41558100e-03 1.50995635e-04 9.99994155e-01 -1.12075617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters 0.02818503310339668 Centerline is valid? [True, True] Translation: X:65.13, Y:-1.25, Z:-1.12 [[ 9.99981633e-01 5.09959072e-03 3.27543864e-03 6.51343280e+01] [-5.09909183e-03 9.99986987e-01 -1.60645172e-04 -1.24602802e+00] [-3.27621524e-03 1.43940459e-04 9.99994623e-01 -1.12069601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85439141799999 meters 0.029315432836738372 Centerline is valid? [True, True] Translation: X:65.16, Y:-1.25, Z:-1.12 [[ 9.99970355e-01 7.24415349e-03 2.60989297e-03 6.51643273e+01] [-7.24384403e-03 9.99973755e-01 -1.28003224e-04 -1.24649573e+00] [-2.61075175e-03 1.09093772e-04 9.99996586e-01 -1.12296603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters 0.02593164713835197 Centerline is valid? [True, True] Translation: X:65.19, Y:-1.24, Z:-1.12 [[ 9.99944660e-01 1.01222311e-02 2.86668616e-03 6.51941009e+01] [-1.01218678e-02 9.99948763e-01 -1.41202285e-04 -1.24076040e+00] [-2.86796856e-03 1.12178252e-04 9.99995881e-01 -1.12268646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914391418 meters 0.02408799525741741 Centerline is valid? [True, True] Translation: X:65.22, Y:-1.23, Z:-1.12 [[ 9.99838720e-01 1.76554466e-02 3.28926030e-03 6.52238652e+01] [-1.76550105e-02 9.99844125e-01 -1.61562848e-04 -1.23436474e+00] [-3.29160005e-03 1.03464866e-04 9.99994577e-01 -1.12455503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944391418 meters 0.021779530470974705 Centerline is valid? [True, True] Translation: X:65.25, Y:-1.23, Z:-1.12 [[ 9.99739878e-01 2.25145980e-02 3.64262826e-03 6.52542519e+01] [-2.25140963e-02 9.99746510e-01 -1.78694907e-04 -1.22854855e+00] [-3.64572814e-03 9.66379408e-05 9.99993350e-01 -1.12497040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974391418 meters 0.021779530470974705 Centerline is valid? [True, True] Translation: X:65.28, Y:-1.23, Z:-1.13 [[ 9.99741615e-01 2.24373382e-02 3.64259099e-03 6.52825346e+01] [-2.24368332e-02 9.99748246e-01 -1.79457182e-04 -1.22985350e+00] [-3.64570049e-03 9.76826065e-05 9.99993350e-01 -1.12548100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004391418 meters 0.01741918016386275 Centerline is valid? [True, True] Translation: X:65.31, Y:-1.22, Z:-1.12 [[ 9.99510577e-01 3.08744099e-02 5.03768037e-03 6.53118951e+01] [-3.08735582e-02 9.99523268e-01 -2.46756773e-04 -1.21938857e+00] [-5.04289722e-03 9.11048863e-05 9.99987280e-01 -1.12336182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034391418 meters 0.01633277417804344 Centerline is valid? [True, True] Translation: X:65.34, Y:-1.22, Z:-1.12 [[ 9.99384335e-01 3.45457117e-02 6.12744736e-03 6.53408857e+01] [-3.45445203e-02 9.99403115e-01 -3.00198111e-04 -1.21507804e+00] [-6.13416053e-03 8.83435602e-05 9.99981182e-01 -1.12299771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064391418 meters 0.015258102761163878 Centerline is valid? [True, True] Translation: X:65.37, Y:-1.21, Z:-1.12 [[ 9.99244654e-01 3.82083204e-02 7.08847631e-03 6.53704134e+01] [-3.82068250e-02 9.99269793e-01 -3.46318999e-04 -1.21090876e+00] [-7.09653252e-03 7.52292340e-05 9.99974816e-01 -1.12223611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094391418 meters 0.014549202468616986 Centerline is valid? [True, True] Translation: X:65.40, Y:-1.21, Z:-1.12 [[ 9.99128492e-01 4.10906989e-02 7.33555887e-03 6.53984080e+01] [-4.10891754e-02 9.99155419e-01 -3.58332847e-04 -1.20770118e+00] [-7.34408754e-03 5.66084915e-05 9.99973030e-01 -1.12217547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124391418 meters 0.013951913176512747 Centerline is valid? [True, True] Translation: X:65.43, Y:-1.20, Z:-1.12 [[ 9.98996915e-01 4.39124315e-02 8.76706705e-03 6.54270416e+01] [-4.39103758e-02 9.99035383e-01 -4.26928188e-04 -1.20338762e+00] [-8.77735764e-03 4.15347345e-05 9.99961477e-01 -1.12165396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15439141799999 meters 0.014326633578197323 Centerline is valid? [True, True] Translation: X:65.45, Y:-1.20, Z:-1.12 [[ 9.99001868e-01 4.38268286e-02 8.62997732e-03 6.54542330e+01] [-4.38248344e-02 9.99039142e-01 -4.20142996e-04 -1.20360845e+00] [-8.64009868e-03 4.15163110e-05 9.99962673e-01 -1.12270873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters 0.014130344117639419 Centerline is valid? [True, True] Translation: X:65.48, Y:-1.20, Z:-1.12 [[ 9.99045878e-01 4.28364722e-02 8.50710909e-03 6.54826386e+01] [-4.28345121e-02 9.99082096e-01 -4.12557583e-04 -1.20460987e+00] [-8.51697289e-03 4.77660852e-05 9.99963729e-01 -1.12336988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21439141799999 meters 0.016592343313083194 Centerline is valid? [True, True] Translation: X:65.51, Y:-1.21, Z:-1.13 [[ 9.99203995e-01 3.93376853e-02 6.62740694e-03 6.55098409e+01] [-3.93364174e-02 9.99225972e-01 -3.21614898e-04 -1.20736034e+00] [-6.63492872e-03 6.06604453e-05 9.99977987e-01 -1.12755767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters 0.015862269976381953 Centerline is valid? [True, True] Translation: X:65.54, Y:-1.21, Z:-1.13 [[ 9.99316531e-01 3.64488281e-02 6.16060906e-03 6.55388287e+01] [-3.64476836e-02 9.99335518e-01 -2.97986094e-04 -1.21018784e+00] [-6.16737669e-03 7.32425002e-05 9.99980979e-01 -1.12815724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274391418 meters 0.015541463925348643 Centerline is valid? [True, True] Translation: X:65.57, Y:-1.21, Z:-1.13 [[ 9.99402998e-01 3.40927934e-02 5.59715118e-03 6.55681122e+01] [-3.40918128e-02 9.99418669e-01 -2.70545185e-04 -1.21005411e+00] [-5.60312102e-03 7.95666384e-05 9.99984299e-01 -1.12746551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304391418 meters 0.01857858300455477 Centerline is valid? [True, True] Translation: X:65.60, Y:-1.22, Z:-1.13 [[ 9.99543775e-01 2.96600588e-02 5.70289924e-03 6.55954290e+01] [-2.96589677e-02 9.99560038e-01 -2.75831009e-04 -1.21667344e+00] [-5.70857135e-03 1.06563063e-04 9.99983700e-01 -1.13097923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334391418 meters 0.017606824159500357 Centerline is valid? [True, True] Translation: X:65.62, Y:-1.22, Z:-1.13 [[ 9.99588320e-01 2.78137472e-02 7.04178499e-03 6.56242789e+01] [-2.78120527e-02 9.99613113e-01 -3.38474033e-04 -1.21654708e+00] [-7.04847484e-03 1.42488195e-04 9.99975149e-01 -1.12941622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364391418 meters 0.01836091976869118 Centerline is valid? [True, True] Translation: X:65.65, Y:-1.22, Z:-1.13 [[ 9.99618844e-01 2.60956259e-02 9.01022952e-03 6.56529926e+01] [-2.60927917e-02 9.99659432e-01 -4.31988114e-04 -1.21871677e+00] [-9.01843393e-03 1.96721418e-04 9.99959314e-01 -1.12843731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394391418 meters 0.019398419359833892 Centerline is valid? [True, True] Translation: X:65.68, Y:-1.22, Z:-1.12 [[ 9.99630471e-01 2.35535107e-02 1.35703433e-02 6.56820003e+01] [-2.35468714e-02 9.99722523e-01 -6.48842965e-04 -1.22023535e+00] [-1.35818604e-02 3.29064070e-04 9.99907708e-01 -1.12444604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424391418 meters 0.020075252747430477 Centerline is valid? [True, True] Translation: X:65.71, Y:-1.22, Z:-1.12 [[ 9.99634097e-01 2.26778810e-02 1.47440121e-02 6.57111662e+01] [-2.26699690e-02 9.99742756e-01 -7.03557332e-04 -1.22165001e+00] [-1.47561745e-02 3.69053600e-04 9.99891054e-01 -1.12407160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454391418 meters 0.01996545023514663 Centerline is valid? [True, True] Translation: X:65.74, Y:-1.22, Z:-1.12 [[ 9.99658675e-01 2.08441508e-02 1.57497599e-02 6.57404917e+01] [-2.08349055e-02 9.99782648e-01 -7.50884392e-04 -1.22312420e+00] [-1.57619882e-02 4.22483337e-04 9.99875683e-01 -1.12326121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484391418 meters 0.02170074173157969 Centerline is valid? [True, True] Translation: X:65.77, Y:-1.23, Z:-1.12 [[ 9.99729375e-01 1.73490910e-02 1.54979062e-02 6.57701310e+01] [-1.73397297e-02 9.99849383e-01 -7.38216517e-04 -1.22793976e+00] [-1.55083793e-02 4.69287233e-04 9.99879628e-01 -1.12489035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51439141799999 meters 0.024219000324910957 Centerline is valid? [True, True] Translation: X:65.80, Y:-1.23, Z:-1.13 [[ 9.99771577e-01 1.56416472e-02 1.45647598e-02 6.58009390e+01] [-1.56332162e-02 9.99877554e-01 -6.92547196e-04 -1.23388899e+00] [-1.45738090e-02 4.64694964e-04 9.99893688e-01 -1.12673229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters 0.024027709081343614 Centerline is valid? [True, True] Translation: X:65.83, Y:-1.23, Z:-1.13 [[ 9.99808268e-01 1.45581288e-02 1.30953198e-02 6.58318837e+01] [-1.45511686e-02 9.99893930e-01 -6.26634924e-04 -1.23420224e+00] [-1.31030534e-02 4.35962571e-04 9.99914056e-01 -1.12994603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57439141799999 meters 0.02671523388516298 Centerline is valid? [True, True] Translation: X:65.86, Y:-1.24, Z:-1.13 [[ 9.99840907e-01 1.25701202e-02 1.26551624e-02 6.58622699e+01] [-1.25634616e-02 9.99920893e-01 -6.05523908e-04 -1.24083494e+00] [-1.26617728e-02 4.46434926e-04 9.99919737e-01 -1.13113453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters 0.028051642328640835 Centerline is valid? [True, True] Translation: X:65.89, Y:-1.24, Z:-1.13 [[ 9.99883057e-01 1.09162291e-02 1.07102024e-02 6.58935593e+01] [-1.09113615e-02 9.99940338e-01 -5.12815610e-04 -1.24373387e+00] [-1.07151615e-02 3.95892749e-04 9.99942513e-01 -1.13365983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63439141799999 meters 0.02794476744800399 Centerline is valid? [True, True] Translation: X:65.93, Y:-1.24, Z:-1.14 [[ 9.99887487e-01 1.14645901e-02 9.67349631e-03 6.59252367e+01] [-1.14606096e-02 9.99934216e-01 -4.66813795e-04 -1.24479420e+00] [-9.67821178e-03 3.55897107e-04 9.99953102e-01 -1.13565870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters 0.025143465111727208 Centerline is valid? [True, True] Translation: X:65.96, Y:-1.24, Z:-1.14 [[ 9.99880901e-01 1.23421196e-02 9.26588169e-03 6.59569570e+01] [-1.23385024e-02 9.99923778e-01 -4.47440051e-04 -1.24144814e+00] [-9.27069778e-03 3.33059657e-04 9.99956971e-01 -1.13623200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694391418 meters 0.024170710512268063 Centerline is valid? [True, True] Translation: X:65.99, Y:-1.24, Z:-1.14 [[ 9.99806935e-01 1.74199228e-02 9.09057530e-03 6.59871350e+01] [-1.74166446e-02 9.99848222e-01 -4.39664519e-04 -1.23782631e+00] [-9.09685448e-03 2.81252316e-04 9.99958583e-01 -1.13812206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724391418 meters 0.021218455501834096 Centerline is valid? [True, True] Translation: X:66.02, Y:-1.23, Z:-1.14 [[ 9.99742409e-01 2.03367018e-02 1.00764155e-02 6.60169342e+01] [-2.03328188e-02 9.99793148e-01 -4.87652178e-04 -1.23483365e+00] [-1.00842484e-02 2.82644633e-04 9.99949113e-01 -1.13627803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754391418 meters 0.018578346415729547 Centerline is valid? [True, True] Translation: X:66.05, Y:-1.23, Z:-1.13 [[ 9.99654692e-01 2.38098845e-02 1.11169537e-02 6.60466127e+01] [-2.38053733e-02 9.99716467e-01 -5.37960603e-04 -1.23003290e+00] [-1.11266104e-02 2.73131608e-04 9.99938060e-01 -1.13498257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784391418 meters 0.017920115231434487 Centerline is valid? [True, True] Translation: X:66.08, Y:-1.23, Z:-1.13 [[ 9.99541740e-01 2.79637395e-02 1.15904443e-02 6.60757961e+01] [-2.79591317e-02 9.99608911e-01 -5.59425845e-04 -1.22709350e+00] [-1.16015550e-02 2.35110725e-04 9.99932672e-01 -1.13472598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814391418 meters 0.0162080790405345 Centerline is valid? [True, True] Translation: X:66.10, Y:-1.22, Z:-1.13 [[ 9.99305707e-01 3.47086015e-02 1.35431493e-02 6.61038364e+01] [-3.47029463e-02 9.99397458e-01 -6.52417909e-04 -1.22141434e+00] [-1.35576335e-02 1.81977755e-04 9.99908075e-01 -1.13260607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844391418 meters 0.014687283617425866 Centerline is valid? [True, True] Translation: X:66.13, Y:-1.22, Z:-1.13 [[ 9.99215520e-01 3.69141825e-02 1.43418417e-02 6.61320405e+01] [-3.69080893e-02 9.99318427e-01 -6.89389278e-04 -1.21999883e+00] [-1.43575149e-02 1.59518491e-04 9.99896913e-01 -1.13144257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874391418 meters 0.013832917571670272 Centerline is valid? [True, True] Translation: X:66.16, Y:-1.22, Z:-1.13 [[ 9.99132760e-01 3.92612113e-02 1.38666772e-02 6.61606216e+01] [-3.92557633e-02 9.99228974e-01 -6.64958680e-04 -1.21802588e+00] [-1.38820928e-02 1.20035002e-04 9.99903632e-01 -1.13237371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters 0.014157926853285714 Centerline is valid? [True, True] Translation: X:66.19, Y:-1.22, Z:-1.14 [[ 9.99055276e-01 4.19088405e-02 1.14980535e-02 6.61880954e+01] [-4.19052762e-02 9.99121436e-01 -5.50838688e-04 -1.21616967e+00] [-1.15110367e-02 6.84891886e-05 9.99933743e-01 -1.13694807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93439141799999 meters 0.013504520049559657 Centerline is valid? [True, True] Translation: X:66.22, Y:-1.22, Z:-1.14 [[ 9.99084633e-01 4.15830748e-02 1.00370912e-02 6.62169968e+01] [-4.15803512e-02 9.99135048e-01 -4.79972530e-04 -1.21648956e+00] [-1.00483683e-02 6.21874029e-05 9.99949512e-01 -1.13865728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters 0.013892294366459668 Centerline is valid? [True, True] Translation: X:66.24, Y:-1.22, Z:-1.14 [[ 9.99122095e-01 4.10158924e-02 8.52856022e-03 6.62444455e+01] [-4.10139077e-02 9.99158493e-01 -4.07545327e-04 -1.21831390e+00] [-8.53809921e-03 5.73979592e-05 9.99963548e-01 -1.14224154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99439141799999 meters 0.0163093928712894 Centerline is valid? [True, True] Translation: X:66.27, Y:-1.22, Z:-1.15 [[ 9.99192867e-01 3.96354352e-02 6.53044282e-03 6.62728918e+01] [-3.96342453e-02 9.99214206e-01 -3.11580563e-04 -1.22013309e+00] [-6.53766087e-03 5.24999031e-05 9.99978628e-01 -1.14785425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters 0.014463524473680921 Centerline is valid? [True, True] Translation: X:66.30, Y:-1.22, Z:-1.15 [[ 9.99275108e-01 3.73641640e-02 7.29226946e-03 6.63015299e+01] [-3.73626251e-02 9.99301713e-01 -3.47197019e-04 -1.22245382e+00] [-7.30015009e-03 7.44870092e-05 9.99973351e-01 -1.14666984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054391418 meters 0.01474335305477 Centerline is valid? [True, True] Translation: X:66.33, Y:-1.22, Z:-1.15 [[ 9.99327770e-01 3.56795775e-02 8.42477454e-03 6.63287527e+01] [-3.56774680e-02 9.99363276e-01 -4.00600051e-04 -1.22463955e+00] [-8.43370353e-03 9.97561306e-05 9.99964431e-01 -1.14653564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084391418 meters 0.015214919582308292 Centerline is valid? [True, True] Translation: X:66.36, Y:-1.23, Z:-1.15 [[ 9.99394541e-01 3.35563631e-02 9.19355653e-03 6.63576519e+01] [-3.35537761e-02 9.99436819e-01 -4.35538325e-04 -1.22612491e+00] [-9.20299398e-03 1.26796087e-04 9.99957644e-01 -1.14564126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114391418 meters 0.015550951344018108 Centerline is valid? [True, True] Translation: X:66.39, Y:-1.23, Z:-1.14 [[ 9.99445706e-01 3.15131330e-02 1.07332971e-02 6.63865234e+01] [-3.15095007e-02 9.99503324e-01 -5.07394557e-04 -1.22810905e+00] [-1.07439557e-02 1.68912479e-04 9.99942268e-01 -1.14433959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144391418 meters 0.017142258614269427 Centerline is valid? [True, True] Translation: X:66.41, Y:-1.23, Z:-1.14 [[ 9.99549204e-01 2.71004504e-02 1.29210923e-02 6.64140951e+01] [-2.70948338e-02 9.99632682e-01 -6.09573505e-04 -1.23222940e+00] [-1.29328659e-02 2.59203864e-04 9.99916333e-01 -1.14275060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174391418 meters 0.018104766691530823 Centerline is valid? [True, True] Translation: X:66.44, Y:-1.23, Z:-1.14 [[ 9.99607039e-01 2.47597201e-02 1.31424619e-02 6.64429968e+01] [-2.47537262e-02 9.99693388e-01 -6.18567060e-04 -1.23494430e+00] [-1.31537479e-02 2.92999083e-04 9.99913443e-01 -1.14240866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204391418 meters 0.018987181653601973 Centerline is valid? [True, True] Translation: X:66.47, Y:-1.24, Z:-1.14 [[ 9.99660503e-01 2.25584035e-02 1.30382734e-02 6.64726748e+01] [-2.25523331e-02 9.99745476e-01 -6.12442275e-04 -1.23745312e+00] [-1.30487706e-02 3.18190869e-04 9.99914811e-01 -1.14273989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234391418 meters 0.020705239533706662 Centerline is valid? [True, True] Translation: X:66.50, Y:-1.24, Z:-1.14 [[ 9.99736927e-01 1.97035998e-02 1.17407376e-02 6.65012796e+01] [-1.96984841e-02 9.99805814e-01 -5.51220078e-04 -1.24064206e+00] [-1.17493188e-02 3.19800334e-04 9.99930923e-01 -1.14476958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters 0.0206630906186902 Centerline is valid? [True, True] Translation: X:66.53, Y:-1.24, Z:-1.15 [[ 9.99739095e-01 2.01266019e-02 1.08010360e-02 6.65300834e+01] [-2.01223016e-02 9.99797398e-01 -5.06682074e-04 -1.24145222e+00] [-1.08090455e-02 2.89208174e-04 9.99941539e-01 -1.14660077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29439141799999 meters 0.02024518671899587 Centerline is valid? [True, True] Translation: X:66.56, Y:-1.24, Z:-1.15 [[ 9.99714366e-01 2.14259017e-02 1.05885655e-02 6.65585393e+01] [-2.14218501e-02 9.99770403e-01 -4.95919054e-04 -1.24099698e+00] [-1.05967599e-02 2.68950740e-04 9.99943817e-01 -1.14820536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters 0.017477891834768094 Centerline is valid? [True, True] Translation: X:66.59, Y:-1.24, Z:-1.15 [[ 9.99547040e-01 2.77252018e-02 1.17059196e-02 6.65885983e+01] [-2.77206968e-02 9.99615558e-01 -5.46957392e-04 -1.23627792e+00] [-1.17165839e-02 2.22213394e-04 9.99931334e-01 -1.14933996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35439141799999 meters 0.016147154863131532 Centerline is valid? [True, True] Translation: X:66.62, Y:-1.23, Z:-1.15 [[ 9.99417619e-01 3.14143786e-02 1.33251317e-02 6.66165228e+01] [-3.14088734e-02 9.99506426e-01 -6.22269126e-04 -1.23427455e+00] [-1.33381029e-02 2.03379355e-04 9.99911023e-01 -1.14902617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters 0.014848956431708775 Centerline is valid? [True, True] Translation: X:66.65, Y:-1.23, Z:-1.15 [[ 9.99271012e-01 3.51152065e-02 1.49788963e-02 6.66459024e+01] [-3.51086889e-02 9.99383256e-01 -6.97936411e-04 -1.23115916e+00] [-1.49941664e-02 1.71538212e-04 9.99887566e-01 -1.14787212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414391418 meters 0.0146836923986686 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.22, Z:-1.14 [[ 9.98938049e-01 4.20082978e-02 1.89229492e-02 6.66752309e+01] [-4.19991872e-02 9.99117258e-01 -8.78784106e-04 -1.22440456e+00] [-1.89431614e-02 8.31023917e-05 9.99820559e-01 -1.14482368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444391418 meters 0.013518717383287282 Centerline is valid? [True, True] Translation: X:66.70, Y:-1.22, Z:-1.14 [[ 9.98850058e-01 4.34072752e-02 2.03560985e-02 6.67029388e+01] [-4.33970596e-02 9.99057458e-01 -9.43526556e-04 -1.22365854e+00] [-2.03778679e-02 5.90467350e-05 9.99792348e-01 -1.14284628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474391418 meters 0.013340327640918751 Centerline is valid? [True, True] Translation: X:66.73, Y:-1.22, Z:-1.14 [[ 9.98810609e-01 4.43255949e-02 2.03127812e-02 6.67309993e+01] [-4.43156550e-02 9.99017137e-01 -9.39437455e-04 -1.22392877e+00] [-2.03344576e-02 3.81458944e-05 9.99793233e-01 -1.14331756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504391418 meters 0.013447900935732877 Centerline is valid? [True, True] Translation: X:66.76, Y:-1.23, Z:-1.15 [[ 9.98894571e-01 4.37316136e-02 1.72389497e-02 6.67589487e+01] [-4.37243957e-02 9.99043315e-01 -7.95565265e-04 -1.22627508e+00] [-1.72572488e-02 4.09231656e-05 9.99851082e-01 -1.14699113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534391418 meters 0.013375117743227334 Centerline is valid? [True, True] Translation: X:66.79, Y:-1.23, Z:-1.15 [[ 9.98946897e-01 4.32125965e-02 1.54197173e-02 6.67879642e+01] [-4.32067858e-02 9.99065899e-01 -7.09932028e-04 -1.22835559e+00] [-1.54359917e-02 4.29479741e-05 9.99880857e-01 -1.14966826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564391418 meters 0.013428245508720477 Centerline is valid? [True, True] Translation: X:66.82, Y:-1.23, Z:-1.15 [[ 9.99000980e-01 4.27641260e-02 1.29719582e-02 6.68168936e+01] [-4.27599863e-02 9.99085195e-01 -5.96436265e-04 -1.22988853e+00] [-1.29855975e-02 4.11596578e-05 9.99915683e-01 -1.15252559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594391418 meters 0.01342526805321815 Centerline is valid? [True, True] Translation: X:66.85, Y:-1.23, Z:-1.16 [[ 9.99019110e-01 4.29820979e-02 1.06469626e-02 6.68452571e+01] [-4.29793279e-02 9.99075842e-01 -4.88951627e-04 -1.23088178e+00] [-1.06581393e-02 3.08727218e-05 9.99943200e-01 -1.15534666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624391418 meters 0.013712418534156914 Centerline is valid? [True, True] Translation: X:66.87, Y:-1.23, Z:-1.16 [[ 9.98960471e-01 4.49751767e-02 7.43040851e-03 6.68729485e+01] [-4.49738824e-02 9.98988105e-01 -3.41277438e-04 -1.22942717e+00] [-7.43823873e-03 6.74835170e-06 9.99972336e-01 -1.15926358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65439141799999 meters 0.013685400248066687 Centerline is valid? [True, True] Translation: X:66.90, Y:-1.23, Z:-1.16 [[ 9.98911166e-01 4.61232282e-02 7.00925915e-03 6.69017856e+01] [-4.61221101e-02 9.98935758e-01 -3.21169768e-04 -1.22917663e+00] [-7.01661298e-03 -2.46175438e-06 9.99975383e-01 -1.15965148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters 0.0137339856106501 Centerline is valid? [True, True] Translation: X:66.93, Y:-1.23, Z:-1.16 [[ 9.98865159e-01 4.70170432e-02 7.60206954e-03 6.69285081e+01] [-4.70157484e-02 9.98894087e-01 -3.49038091e-04 -1.22995194e+00] [-7.61007306e-03 -8.77500083e-06 9.99971043e-01 -1.16088675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71439141799999 meters 0.013589002310614317 Centerline is valid? [True, True] Translation: X:66.96, Y:-1.23, Z:-1.16 [[ 9.98797528e-01 4.81010011e-02 9.47585418e-03 6.69574469e+01] [-4.80990784e-02 9.98842477e-01 -4.30829834e-04 -1.23255601e+00] [-9.48560900e-03 -2.54680796e-05 9.99955010e-01 -1.16033929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters 0.01443469303895293 Centerline is valid? [True, True] Translation: X:66.99, Y:-1.24, Z:-1.16 [[ 9.98779766e-01 4.81930042e-02 1.07895438e-02 6.69859920e+01] [-4.81905277e-02 9.98838042e-01 -4.89541611e-04 -1.23531519e+00] [-1.08005993e-02 -3.10095560e-05 9.99941671e-01 -1.16100474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774391418 meters 0.013559478080796529 Centerline is valid? [True, True] Translation: X:67.01, Y:-1.24, Z:-1.16 [[ 9.98808555e-01 4.74238537e-02 1.15086682e-02 6.70136106e+01] [-4.74209954e-02 9.98874856e-01 -5.21266299e-04 -1.23795697e+00] [-1.15204397e-02 -2.51072625e-05 9.99933637e-01 -1.16033879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804391418 meters 0.013504418901251702 Centerline is valid? [True, True] Translation: X:67.04, Y:-1.24, Z:-1.16 [[ 9.98850133e-01 4.64270096e-02 1.19559066e-02 6.70405223e+01] [-4.64238659e-02 9.98921685e-01 -5.40486306e-04 -1.24175534e+00] [-1.19681075e-02 -1.51745869e-05 9.99928380e-01 -1.16129112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834391418 meters 0.015080744372245403 Centerline is valid? [True, True] Translation: X:67.07, Y:-1.24, Z:-1.16 [[ 9.98841661e-01 4.65716389e-02 1.21003746e-02 6.70687962e+01] [-4.65684515e-02 9.98914952e-01 -5.45188976e-04 -1.24418704e+00] [-1.21126355e-02 -1.89382459e-05 9.99926639e-01 -1.16341898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864391418 meters 0.015080744372245403 Centerline is valid? [True, True] Translation: X:67.10, Y:-1.25, Z:-1.16 [[ 9.98847143e-01 4.64538868e-02 1.21004387e-02 6.70962181e+01] [-4.64507081e-02 9.98920435e-01 -5.43760609e-04 -1.24530334e+00] [-1.21126353e-02 -1.89402165e-05 9.99926639e-01 -1.16391465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894391418 meters 0.013504618083837308 Centerline is valid? [True, True] Translation: X:67.12, Y:-1.25, Z:-1.16 [[ 9.98884021e-01 4.54744473e-02 1.27587786e-02 6.71245306e+01] [-4.54708568e-02 9.98965502e-01 -5.71515740e-04 -1.24798907e+00] [-1.27715690e-02 -9.27465173e-06 9.99918440e-01 -1.16245490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924391418 meters 0.013510228432951592 Centerline is valid? [True, True] Translation: X:67.15, Y:-1.25, Z:-1.16 [[ 9.98924904e-01 4.40334891e-02 1.44944274e-02 6.71527479e+01] [-4.40287229e-02 9.99030055e-01 -6.47924546e-04 -1.25263192e+00] [-1.45088990e-02 9.05683532e-06 9.99894740e-01 -1.16076838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954391418 meters 0.014561033262631678 Centerline is valid? [True, True] Translation: X:67.18, Y:-1.26, Z:-1.16 [[ 9.98956466e-01 4.30564183e-02 1.52355975e-02 6.71799616e+01] [-4.30510554e-02 9.99072642e-01 -6.79948631e-04 -1.25603029e+00] [-1.52507448e-02 2.33305292e-05 9.99883700e-01 -1.16132814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984391418 meters 0.013502242765313525 Centerline is valid? [True, True] Translation: X:67.21, Y:-1.26, Z:-1.16 [[ 9.99037818e-01 4.06048083e-02 1.65737109e-02 6.72084337e+01] [-4.05981668e-02 9.99175283e-01 -7.37119576e-04 -1.26031037e+00] [-1.65899729e-02 6.35480511e-05 9.99862375e-01 -1.15924153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01439141799999 meters 0.01389297024525496 Centerline is valid? [True, True] Translation: X:67.24, Y:-1.27, Z:-1.16 [[ 9.99115355e-01 3.82480680e-02 1.74812124e-02 6.72370193e+01] [-3.82403446e-02 9.99268269e-01 -7.75989781e-04 -1.26529787e+00] [-1.74981010e-02 1.06815719e-04 9.99846891e-01 -1.15851549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters 0.014836281596979852 Centerline is valid? [True, True] Translation: X:67.27, Y:-1.27, Z:-1.16 [[ 9.99316843e-01 3.24798407e-02 1.76325780e-02 6.72651572e+01] [-3.24711105e-02 9.99472369e-01 -7.81268239e-04 -1.27418240e+00] [-1.76486499e-02 2.08185123e-04 9.99844229e-01 -1.15793633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07439141799999 meters 0.015729387570638534 Centerline is valid? [True, True] Translation: X:67.29, Y:-1.28, Z:-1.16 [[ 9.99414413e-01 2.96106238e-02 1.71476326e-02 6.72937461e+01] [-2.96019686e-02 9.99561478e-01 -7.58404476e-04 -1.27981693e+00] [-1.71625698e-02 2.50356684e-04 9.99852681e-01 -1.15849453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters 0.01831167649925851 Centerline is valid? [True, True] Translation: X:67.32, Y:-1.28, Z:-1.16 [[ 9.99494313e-01 2.75367998e-02 1.59010317e-02 6.73222328e+01] [-2.75291084e-02 9.99620755e-01 -7.02426295e-04 -1.28403893e+00] [-1.59143439e-02 2.64329862e-04 9.99873324e-01 -1.16212417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13439141799999 meters 0.016967725916491837 Centerline is valid? [True, True] Translation: X:67.35, Y:-1.29, Z:-1.16 [[ 9.99595578e-01 2.42114501e-02 1.49159845e-02 6.73513694e+01] [-2.42043305e-02 9.99706816e-01 -6.57676974e-04 -1.28879694e+00] [-1.49275347e-02 2.96379576e-04 9.99888534e-01 -1.16219780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters 0.018143850141427557 Centerline is valid? [True, True] Translation: X:67.38, Y:-1.30, Z:-1.17 [[ 9.99710794e-01 2.04345769e-02 1.26789890e-02 6.73807956e+01] [-2.04291344e-02 9.99791147e-01 -5.58636994e-04 -1.29720168e+00] [-1.26877565e-02 2.99454662e-04 9.99919462e-01 -1.16714249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194391418 meters 0.018870199169310802 Centerline is valid? [True, True] Translation: X:67.41, Y:-1.30, Z:-1.17 [[ 9.99742471e-01 1.92683707e-02 1.19883870e-02 6.74096863e+01] [-1.92634260e-02 9.99814304e-01 -5.27802363e-04 -1.30180671e+00] [-1.19963307e-02 2.96729032e-04 9.99927997e-01 -1.16946736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224391418 meters 0.018814764038597147 Centerline is valid? [True, True] Translation: X:67.44, Y:-1.31, Z:-1.17 [[ 9.99739746e-01 1.91727869e-02 1.23629917e-02 6.74393306e+01] [-1.91675294e-02 9.99816138e-01 -5.43622392e-04 -1.30651912e+00] [-1.23711414e-02 3.06512906e-04 9.99923428e-01 -1.17047399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254391418 meters 0.018534363735837958 Centerline is valid? [True, True] Translation: X:67.47, Y:-1.31, Z:-1.17 [[ 9.99719117e-01 1.96532846e-02 1.32452155e-02 6.74688609e+01] [-1.96472999e-02 9.99806804e-01 -5.81823715e-04 -1.30816454e+00] [-1.32540913e-02 3.21427569e-04 9.99912109e-01 -1.17053947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284391418 meters 0.01841490226767077 Centerline is valid? [True, True] Translation: X:67.50, Y:-1.31, Z:-1.17 [[ 9.99681404e-01 2.09736973e-02 1.40425718e-02 6.74985711e+01] [-2.09671131e-02 9.99779976e-01 -6.15946841e-04 -1.31019563e+00] [-1.40524008e-02 3.21318412e-04 9.99901209e-01 -1.16992736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314391418 meters 0.018088043099997033 Centerline is valid? [True, True] Translation: X:67.53, Y:-1.31, Z:-1.17 [[ 9.99639073e-01 2.26847716e-02 1.43918342e-02 6.75278128e+01] [-2.26780240e-02 9.99742621e-01 -6.31892523e-04 -1.31108356e+00] [-1.44024643e-02 3.05286095e-04 9.99896233e-01 -1.16935988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344391418 meters 0.016559319034181303 Centerline is valid? [True, True] Translation: X:67.56, Y:-1.31, Z:-1.17 [[ 9.99512777e-01 2.72263452e-02 1.52621837e-02 6.75580963e+01] [-2.72192910e-02 9.99629262e-01 -6.69779365e-04 -1.30999674e+00] [-1.52747611e-02 2.54027214e-04 9.99883302e-01 -1.16802264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374391418 meters 0.015848988772604006 Centerline is valid? [True, True] Translation: X:67.59, Y:-1.31, Z:-1.17 [[ 9.99443904e-01 2.98623539e-02 1.48365618e-02 6.75869898e+01] [-2.98559803e-02 9.99553999e-01 -6.50940369e-04 -1.31010227e+00] [-1.48493832e-02 2.07618288e-04 9.99889720e-01 -1.16853799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters 0.015051294228714946 Centerline is valid? [True, True] Translation: X:67.62, Y:-1.31, Z:-1.17 [[ 9.99360348e-01 3.27349237e-02 1.43985854e-02 6.76154906e+01] [-3.27292298e-02 9.99464056e-01 -6.30974421e-04 -1.31004622e+00] [-1.44115235e-02 1.59316206e-04 9.99896136e-01 -1.16947531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43439141799999 meters 0.014434230340474733 Centerline is valid? [True, True] Translation: X:67.64, Y:-1.31, Z:-1.17 [[ 9.99273818e-01 3.56210992e-02 1.35267548e-02 6.76445686e+01] [-3.56163514e-02 9.99365361e-01 -5.91807109e-04 -1.30971635e+00] [-1.35392510e-02 1.09603698e-04 9.99908334e-01 -1.17112328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters 0.014761651343671522 Centerline is valid? [True, True] Translation: X:67.67, Y:-1.31, Z:-1.18 [[ 9.99063915e-01 4.18519340e-02 1.09411731e-02 6.76737860e+01] [-4.18492095e-02 9.99123824e-01 -4.77940151e-04 -1.30994665e+00] [-1.09515894e-02 1.96133152e-05 9.99940029e-01 -1.17627339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49439141799999 meters 0.013832316118736847 Centerline is valid? [True, True] Translation: X:67.70, Y:-1.31, Z:-1.18 [[ 9.98980584e-01 4.39869161e-02 1.01461336e-02 6.77030133e+01] [-4.39846872e-02 9.99032107e-01 -4.42829886e-04 -1.31081211e+00] [-1.01557919e-02 -3.89605402e-06 9.99948429e-01 -1.17787815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters 0.014131991474113058 Centerline is valid? [True, True] Translation: X:67.73, Y:-1.31, Z:-1.18 [[ 9.98892241e-01 4.61017888e-02 9.42947656e-03 6.77310093e+01] [-4.60999592e-02 9.98936747e-01 -4.11408833e-04 -1.31130593e+00] [-9.43841733e-03 -2.37453940e-05 9.99955457e-01 -1.18023053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554391418 meters 0.014527671750488169 Centerline is valid? [True, True] Translation: X:67.76, Y:-1.31, Z:-1.18 [[ 9.98737497e-01 4.92864124e-02 9.70882636e-03 6.77599080e+01] [-4.92846421e-02 9.98784685e-01 -4.21655305e-04 -1.31161729e+00] [-9.71780895e-03 -5.73730681e-05 9.99952779e-01 -1.18083014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584391418 meters 0.014567981964662356 Centerline is valid? [True, True] Translation: X:67.79, Y:-1.31, Z:-1.18 [[ 9.98701473e-01 4.97926427e-02 1.07731718e-02 6.77891546e+01] [-4.97905034e-02 9.98759575e-01 -4.66862503e-04 -1.31310764e+00] [-1.07830548e-02 -7.01453796e-05 9.99941859e-01 -1.18025032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614391418 meters 0.016575057693520554 Centerline is valid? [True, True] Translation: X:67.82, Y:-1.32, Z:-1.18 [[ 9.98679326e-01 5.01395580e-02 1.12084502e-02 6.78174870e+01] [-5.01372718e-02 9.98742218e-01 -4.85046691e-04 -1.31509509e+00] [-1.12186724e-02 -7.75550122e-05 9.99937066e-01 -1.18072448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644391418 meters 0.014052609909386638 Centerline is valid? [True, True] Translation: X:67.85, Y:-1.32, Z:-1.18 [[ 9.98761096e-01 4.80339372e-02 1.30005152e-02 6.78453015e+01] [-4.80307088e-02 9.98845702e-01 -5.60615472e-04 -1.31856688e+00] [-1.30124373e-02 -6.45030368e-05 9.99915333e-01 -1.17759254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674391418 meters 0.013610668633515493 Centerline is valid? [True, True] Translation: X:67.87, Y:-1.33, Z:-1.18 [[ 9.99033003e-01 4.15725457e-02 1.43102068e-02 6.78727177e+01] [-4.15679937e-02 9.99135488e-01 -6.15511881e-04 -1.32862861e+00] [-1.43234239e-02 2.00700954e-05 9.99897414e-01 -1.17566028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704391418 meters 0.014218064249922996 Centerline is valid? [True, True] Translation: X:67.90, Y:-1.34, Z:-1.18 [[ 9.99239881e-01 3.64608260e-02 1.37937618e-02 6.79014194e+01] [-3.64561283e-02 9.99335079e-01 -5.91942040e-04 -1.33547926e+00] [-1.38061728e-02 8.86249418e-05 9.99904686e-01 -1.17615377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734391418 meters 0.01578559659760989 Centerline is valid? [True, True] Translation: X:67.93, Y:-1.34, Z:-1.18 [[ 9.99435325e-01 3.11597320e-02 1.25739067e-02 6.79285998e+01] [-3.11554183e-02 9.99514407e-01 -5.38847489e-04 -1.34256469e+00] [-1.25845913e-02 1.46797891e-04 9.99920800e-01 -1.17723354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters 0.018959362829553846 Centerline is valid? [True, True] Translation: X:67.96, Y:-1.35, Z:-1.18 [[ 9.99745792e-01 2.01033748e-02 1.02081439e-02 6.79580361e+01] [-2.00999681e-02 9.99797880e-01 -4.36217992e-04 -1.35470413e+00] [-1.02148501e-02 2.30923735e-04 9.99947800e-01 -1.17954661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79439141799999 meters 0.02072209275306539 Centerline is valid? [True, True] Translation: X:67.99, Y:-1.36, Z:-1.18 [[ 9.99842544e-01 1.51598560e-02 9.22314174e-03 6.79873810e+01] [-1.51568646e-02 9.99885050e-01 -3.94157977e-04 -1.36059215e+00] [-9.22805692e-03 2.54302004e-04 9.99957388e-01 -1.18135236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters 0.02291708965076264 Centerline is valid? [True, True] Translation: X:68.02, Y:-1.37, Z:-1.18 [[ 9.99899259e-01 1.14153054e-02 8.43579830e-03 6.80165462e+01] [-1.14126736e-02 9.99934809e-01 -3.60044509e-04 -1.36699751e+00] [-8.43935838e-03 2.63733225e-04 9.99964353e-01 -1.18290778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85439141799999 meters 0.02367691689916384 Centerline is valid? [True, True] Translation: X:68.05, Y:-1.37, Z:-1.18 [[ 9.99934530e-01 6.58311523e-03 9.35938319e-03 6.80477686e+01] [-6.57967122e-03 9.99978274e-01 -3.98717972e-04 -1.37128895e+00] [-9.36180466e-03 3.37110204e-04 9.99956121e-01 -1.18294612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters 0.024707912781161877 Centerline is valid? [True, True] Translation: X:68.08, Y:-1.37, Z:-1.18 [[ 9.99931845e-01 5.51011311e-03 1.02929023e-02 6.80784663e+01] [-5.50589488e-03 9.99984746e-01 -4.38111275e-04 -1.37454333e+00] [-1.02951593e-02 3.81409777e-04 9.99946931e-01 -1.18282057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914391418 meters 0.025692045121024815 Centerline is valid? [True, True] Translation: X:68.11, Y:-1.38, Z:-1.18 [[ 9.99915593e-01 4.66317878e-03 1.21268891e-02 6.81099466e+01] [-4.65724026e-03 9.99989021e-01 -5.17892323e-04 -1.37776475e+00] [-1.21291710e-02 4.61370773e-04 9.99926332e-01 -1.18108477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944391418 meters 0.025987912808145195 Centerline is valid? [True, True] Translation: X:68.14, Y:-1.38, Z:-1.18 [[ 9.99904943e-01 5.01397716e-03 1.28438326e-02 6.81427864e+01] [-5.00730192e-03 9.99987311e-01 -5.51828473e-04 -1.37938746e+00] [-1.28464365e-02 4.87463070e-04 9.99917362e-01 -1.18035314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974391418 meters 0.02618226599876355 Centerline is valid? [True, True] Translation: X:68.17, Y:-1.38, Z:-1.18 [[ 9.99894245e-01 5.78248274e-03 1.33439551e-02 6.81741549e+01] [-5.77528228e-03 9.99983156e-01 -5.78076219e-04 -1.38112679e+00] [-1.33470730e-02 5.00949978e-04 9.99910798e-01 -1.18026538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004391418 meters 0.024519803220017358 Centerline is valid? [True, True] Translation: X:68.21, Y:-1.38, Z:-1.18 [[ 9.99888375e-01 6.50801845e-03 1.34493191e-02 6.82069303e+01] [-6.50071308e-03 9.99978698e-01 -5.86823126e-04 -1.38026902e+00] [-1.34528516e-02 4.99327458e-04 9.99909382e-01 -1.18038943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034391418 meters 0.023431673552902935 Centerline is valid? [True, True] Translation: X:68.24, Y:-1.38, Z:-1.18 [[ 9.99865811e-01 8.87904650e-03 1.37666933e-02 6.82388329e+01] [-8.87160753e-03 9.99960466e-01 -6.01336568e-04 -1.38065499e+00] [-1.37714884e-02 4.79123176e-04 9.99905054e-01 -1.18154052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064391418 meters 0.024079741417128847 Centerline is valid? [True, True] Translation: X:68.27, Y:-1.38, Z:-1.18 [[ 9.99846602e-01 1.06120586e-02 1.39340372e-02 6.82699170e+01] [-1.06045484e-02 9.99943582e-01 -6.12764160e-04 -1.38301653e+00] [-1.39397538e-02 4.64905992e-04 9.99902729e-01 -1.18232246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094391418 meters 0.021734714252879768 Centerline is valid? [True, True] Translation: X:68.30, Y:-1.38, Z:-1.18 [[ 9.99826457e-01 1.25209575e-02 1.37942491e-02 6.83027194e+01] [-1.25137202e-02 9.99921514e-01 -6.10853393e-04 -1.38074856e+00] [-1.38008149e-02 4.38130009e-04 9.99904668e-01 -1.18246834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124391418 meters 0.021190051112894192 Centerline is valid? [True, True] Translation: X:68.34, Y:-1.38, Z:-1.18 [[ 9.99799688e-01 1.44765458e-02 1.38207735e-02 6.83354345e+01] [-1.44694477e-02 9.99895124e-01 -6.13445425e-04 -1.38083414e+00] [-1.38282046e-02 4.13343585e-04 9.99904300e-01 -1.18327301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15439141799999 meters 0.019070719026385154 Centerline is valid? [True, True] Translation: X:68.37, Y:-1.38, Z:-1.18 [[ 9.99722577e-01 1.91709882e-02 1.36836203e-02 6.83673287e+01] [-1.91644484e-02 9.99816160e-01 -6.08905787e-04 -1.37926057e+00] [-1.36927780e-02 3.46497827e-04 9.99906189e-01 -1.18482078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters 0.018219056834001858 Centerline is valid? [True, True] Translation: X:68.40, Y:-1.38, Z:-1.19 [[ 9.99677993e-01 2.19730082e-02 1.26924041e-02 6.83975999e+01] [-2.19675957e-02 9.99758523e-01 -5.65714459e-04 -1.37862008e+00] [-1.27017696e-02 2.86710693e-04 9.99919288e-01 -1.18612218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21439141799999 meters 0.017165527432535816 Centerline is valid? [True, True] Translation: X:68.43, Y:-1.38, Z:-1.19 [[ 9.99609763e-01 2.55202243e-02 1.13595308e-02 6.84268640e+01] [-2.55161111e-02 9.99674283e-01 -5.06897347e-04 -1.37712899e+00] [-1.13687669e-02 2.16848488e-04 9.99935350e-01 -1.18831102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters 0.01558133110638749 Centerline is valid? [True, True] Translation: X:68.46, Y:-1.37, Z:-1.19 [[ 9.99387894e-01 3.37363488e-02 9.25719388e-03 6.84560497e+01] [-3.37339686e-02 9.99430762e-01 -4.13189299e-04 -1.37018652e+00] [-9.26586383e-03 1.00654496e-04 9.99957066e-01 -1.19195340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274391418 meters 0.014153863129695321 Centerline is valid? [True, True] Translation: X:68.49, Y:-1.37, Z:-1.19 [[ 9.99232290e-01 3.81319328e-02 8.98815283e-03 6.84850258e+01] [-3.81298728e-02 9.99272712e-01 -4.00505608e-04 -1.36646132e+00] [-8.99688791e-03 5.74810112e-05 9.99959526e-01 -1.19219524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304391418 meters 0.013801284932291576 Centerline is valid? [True, True] Translation: X:68.51, Y:-1.36, Z:-1.19 [[ 9.99035755e-01 4.29641926e-02 9.03535862e-03 6.85137543e+01] [-4.29623150e-02 9.99076613e-01 -4.01891739e-04 -1.36241166e+00] [-9.04428244e-03 1.33242938e-05 9.99959100e-01 -1.19191527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334391418 meters 0.013874761179921353 Centerline is valid? [True, True] Translation: X:68.54, Y:-1.36, Z:-1.19 [[ 9.98825593e-01 4.73846490e-02 1.01059410e-02 6.85426655e+01] [-4.73825359e-02 9.98876716e-01 -4.48551455e-04 -1.35907921e+00] [-1.01158437e-02 -3.08204413e-05 9.99948833e-01 -1.19161536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364391418 meters 0.016071574290232395 Centerline is valid? [True, True] Translation: X:68.57, Y:-1.35, Z:-1.19 [[ 9.98487351e-01 5.38803808e-02 1.09505452e-02 6.85704963e+01] [-5.38782959e-02 9.98547392e-01 -4.85527083e-04 -1.35405139e+00] [-1.09607988e-02 -1.05204065e-04 9.99939923e-01 -1.19083634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394391418 meters 0.015426380701469046 Centerline is valid? [True, True] Translation: X:68.60, Y:-1.35, Z:-1.19 [[ 9.98410041e-01 5.51467720e-02 1.16714479e-02 6.85981655e+01] [-5.51445148e-02 9.98478251e-01 -5.15371086e-04 -1.35395981e+00] [-1.16821079e-02 -1.29064663e-04 9.99931754e-01 -1.18950749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424391418 meters 0.015649517294187364 Centerline is valid? [True, True] Translation: X:68.63, Y:-1.36, Z:-1.19 [[ 9.98416519e-01 5.51946763e-02 1.08629318e-02 6.86270583e+01] [-5.51927351e-02 9.98475605e-01 -4.78628372e-04 -1.35535691e+00] [-1.08727901e-02 -1.21684444e-04 9.99940882e-01 -1.19036740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454391418 meters 0.015823901414654017 Centerline is valid? [True, True] Translation: X:68.65, Y:-1.36, Z:-1.19 [[ 9.98474571e-01 5.46613007e-02 7.78925053e-03 6.86545214e+01] [-5.46602866e-02 9.98504950e-01 -3.43182358e-04 -1.35817710e+00] [-7.79636401e-03 -8.31038083e-05 9.99969604e-01 -1.19482774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484391418 meters 0.015463092804128479 Centerline is valid? [True, True] Translation: X:68.68, Y:-1.36, Z:-1.20 [[ 9.98510062e-01 5.41776819e-02 6.51415851e-03 6.86827901e+01] [-5.41769656e-02 9.98531309e-01 -2.86501122e-04 -1.36152513e+00] [-6.52011319e-03 -6.68430883e-05 9.99978742e-01 -1.19678170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51439141799999 meters 0.015337072851415865 Centerline is valid? [True, True] Translation: X:68.71, Y:-1.36, Z:-1.20 [[ 9.98545468e-01 5.36623361e-02 5.22512425e-03 6.87118905e+01] [-5.36618687e-02 9.98559138e-01 -2.29695581e-04 -1.36312510e+00] [-5.22992156e-03 -5.10284501e-05 9.99986323e-01 -1.19874240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters 0.015295711883491181 Centerline is valid? [True, True] Translation: X:68.74, Y:-1.36, Z:-1.20 [[ 9.98552988e-01 5.34502889e-02 5.91588002e-03 6.87393614e+01] [-5.34496887e-02 9.98570510e-01 -2.59623896e-04 -1.36353834e+00] [-5.92130030e-03 -5.69537288e-05 9.99982467e-01 -1.19998823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57439141799999 meters 0.01537641278724445 Centerline is valid? [True, True] Translation: X:68.77, Y:-1.36, Z:-1.20 [[ 9.98534047e-01 5.34563694e-02 8.49545785e-03 6.87671808e+01] [-5.34551459e-02 9.98570183e-01 -3.71179567e-04 -1.36434537e+00] [-8.50315281e-03 -8.34905036e-05 9.99963844e-01 -1.19931785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters 0.01509784441767017 Centerline is valid? [True, True] Translation: X:68.80, Y:-1.37, Z:-1.20 [[ 9.98530503e-01 5.29790625e-02 1.14041045e-02 6.87957216e+01] [-5.29768480e-02 9.98595617e-01 -4.96389864e-04 -1.36688903e+00] [-1.14143870e-02 -1.08493088e-04 9.99934848e-01 -1.19665378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63439141799999 meters 0.014455702428987614 Centerline is valid? [True, True] Translation: X:68.82, Y:-1.37, Z:-1.19 [[ 9.98590814e-01 5.04418003e-02 1.64927479e-02 6.88246959e+01] [-5.04368545e-02 9.98726995e-01 -7.15959317e-04 -1.37385105e+00] [-1.65078668e-02 -1.16891929e-04 9.99863729e-01 -1.19174759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664391418 meters 0.015276359300829311 Centerline is valid? [True, True] Translation: X:68.85, Y:-1.38, Z:-1.19 [[ 9.98654914e-01 4.88576608e-02 1.73577512e-02 6.88526151e+01] [-4.88519687e-02 9.98805747e-01 -7.52040749e-04 -1.37851587e+00] [-1.73737646e-02 -9.69311278e-05 9.99849060e-01 -1.19186396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694391418 meters 0.014050662175429975 Centerline is valid? [True, True] Translation: X:68.88, Y:-1.39, Z:-1.19 [[ 9.98875370e-01 4.42314909e-02 1.70754047e-02 6.88810634e+01] [-4.42253356e-02 9.99021309e-01 -7.38105282e-04 -1.38660072e+00] [-1.70913407e-02 -1.78903186e-05 9.99853932e-01 -1.19138533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724391418 meters 0.013984286385437047 Centerline is valid? [True, True] Translation: X:68.91, Y:-1.39, Z:-1.19 [[ 9.98972763e-01 4.22343460e-02 1.64218902e-02 6.89090149e+01] [-4.22284029e-02 9.99107732e-01 -7.08641067e-04 -1.39017033e+00] [-1.64371665e-02 1.44429266e-05 9.99864901e-01 -1.19255827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754391418 meters 0.01403166963463189 Centerline is valid? [True, True] Translation: X:68.94, Y:-1.39, Z:-1.19 [[ 9.99049833e-01 4.07741793e-02 1.53914808e-02 6.89380938e+01] [-4.07688104e-02 9.99168387e-01 -6.62556955e-04 -1.39345073e+00] [-1.54056963e-02 3.44350518e-05 9.99881325e-01 -1.19395751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784391418 meters 0.01403166963463189 Centerline is valid? [True, True] Translation: X:68.97, Y:-1.39, Z:-1.19 [[ 9.99053033e-01 4.06956705e-02 1.53915327e-02 6.89663709e+01] [-4.06903109e-02 9.99171587e-01 -6.61348889e-04 -1.39458868e+00] [-1.54056962e-02 3.44363624e-05 9.99881325e-01 -1.19446822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814391418 meters 0.014082521664562602 Centerline is valid? [True, True] Translation: X:68.99, Y:-1.40, Z:-1.20 [[ 9.99107069e-01 3.98675933e-02 1.39871439e-02 6.89935610e+01] [-3.98630986e-02 9.99204971e-01 -6.00108782e-04 -1.39727272e+00] [-1.39999486e-02 4.20020301e-05 9.99901995e-01 -1.19655709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844391418 meters 0.014149694528709051 Centerline is valid? [True, True] Translation: X:69.02, Y:-1.40, Z:-1.20 [[ 9.99139612e-01 3.96452345e-02 1.21774886e-02 6.90225001e+01] [-3.96418243e-02 9.99213818e-01 -5.21388288e-04 -1.39934774e+00] [-1.21885854e-02 3.82018285e-05 9.99925716e-01 -1.19893831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87439141799999 meters 0.01435610832658249 Centerline is valid? [True, True] Translation: X:69.05, Y:-1.40, Z:-1.20 [[ 9.99192854e-01 3.91428204e-02 9.02665445e-03 6.90511648e+01] [-3.91409289e-02 9.99233626e-01 -3.86183250e-04 -1.40223001e+00] [-9.03485295e-03 3.25599040e-05 9.99959184e-01 -1.20260040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters 0.014581793795943319 Centerline is valid? [True, True] Translation: X:69.08, Y:-1.40, Z:-1.20 [[ 9.99225833e-01 3.84839165e-02 8.16836774e-03 6.90792117e+01] [-3.84823469e-02 9.99259219e-01 -3.49295752e-04 -1.40486834e+00] [-8.17575904e-03 3.46873780e-05 9.99966577e-01 -1.20407707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93439141799999 meters 0.015025967427906893 Centerline is valid? [True, True] Translation: X:69.11, Y:-1.41, Z:-1.20 [[ 9.99326204e-01 3.57744031e-02 8.20549607e-03 6.91076248e+01] [-3.57727390e-02 9.99359890e-01 -3.49533900e-04 -1.40901964e+00] [-8.21274801e-03 5.57653159e-05 9.99966273e-01 -1.20432840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters 0.015188386990541624 Centerline is valid? [True, True] Translation: X:69.14, Y:-1.41, Z:-1.20 [[ 9.99380398e-01 3.42953609e-02 7.91501805e-03 6.91358601e+01] [-3.42937691e-02 9.99411739e-01 -3.36779616e-04 -1.41157904e+00] [-7.92191193e-03 6.51351447e-05 9.99968619e-01 -1.20410636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99439141799999 meters 0.015611152979536008 Centerline is valid? [True, True] Translation: X:69.16, Y:-1.41, Z:-1.20 [[ 9.99446155e-01 3.23495411e-02 7.80324549e-03 6.91632222e+01] [-3.23479407e-02 9.99476614e-01 -3.31252432e-04 -1.41463836e+00] [-7.80987724e-03 7.86500476e-05 9.99969499e-01 -1.20415519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters 0.015884854772159562 Centerline is valid? [True, True] Translation: X:69.19, Y:-1.42, Z:-1.20 [[ 9.99509928e-01 3.04049440e-02 7.44607823e-03 6.91919284e+01] [-3.04034392e-02 9.99537659e-01 -3.15229809e-04 -1.41758345e+00] [-7.45222015e-03 8.86889364e-05 9.99972228e-01 -1.20398837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054391418 meters 0.01724371844068352 Centerline is valid? [True, True] Translation: X:69.22, Y:-1.42, Z:-1.20 [[ 9.99640599e-01 2.59406876e-02 6.76414432e-03 6.92189606e+01] [-2.59393450e-02 9.99663478e-01 -2.86151219e-04 -1.42372239e+00] [-6.76929099e-03 1.10590903e-04 9.99977082e-01 -1.20469229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084391418 meters 0.0180077882063642 Centerline is valid? [True, True] Translation: X:69.25, Y:-1.43, Z:-1.21 [[ 9.99710838e-01 2.31833087e-02 6.38546261e-03 6.92475435e+01] [-2.31820609e-02 9.99731224e-01 -2.69367955e-04 -1.42659326e+00] [-6.38999119e-03 1.21261881e-04 9.99979576e-01 -1.20522893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114391418 meters 0.018912749216215708 Centerline is valid? [True, True] Translation: X:69.28, Y:-1.43, Z:-1.21 [[ 9.99783292e-01 2.00167485e-02 5.71824455e-03 6.92765340e+01] [-2.00156978e-02 9.99799637e-01 -2.40922865e-04 -1.43014454e+00] [-5.72192132e-03 1.26416001e-04 9.99983622e-01 -1.20566241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144391418 meters 0.022180160941069504 Centerline is valid? [True, True] Translation: X:69.31, Y:-1.44, Z:-1.21 [[ 9.99896486e-01 1.30546973e-02 6.04907908e-03 6.93053816e+01] [-1.30534004e-02 9.99914769e-01 -2.53824837e-04 -1.43784132e+00] [-6.05187712e-03 1.74837511e-04 9.99981672e-01 -1.20615121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174391418 meters 0.02284262410876392 Centerline is valid? [True, True] Translation: X:69.33, Y:-1.44, Z:-1.21 [[ 9.99931510e-01 9.53771890e-03 6.78288649e-03 6.93349263e+01] [-9.53600975e-03 9.99954491e-01 -2.84277195e-04 -1.44066773e+00] [-6.78528917e-03 2.19576053e-04 9.99976956e-01 -1.20599022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204391418 meters 0.02570261273312033 Centerline is valid? [True, True] Translation: X:69.36, Y:-1.45, Z:-1.21 [[ 9.99952834e-01 6.21978004e-03 7.45949413e-03 6.93648982e+01] [-6.21762821e-03 9.99980622e-01 -3.11624624e-04 -1.44742358e+00] [-7.46128781e-03 2.65229565e-04 9.99972129e-01 -1.20646224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234391418 meters 0.02896471530766843 Centerline is valid? [True, True] Translation: X:69.39, Y:-1.46, Z:-1.21 [[ 9.99952542e-01 -1.16435699e-03 9.67249266e-03 6.93949196e+01] [ 1.16832404e-03 9.99999236e-01 -4.04497161e-04 -1.45592240e+00] [-9.67201429e-03 4.15778570e-04 9.99953139e-01 -1.20575151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters 0.031133420860725455 Centerline is valid? [True, True] Translation: X:69.43, Y:-1.46, Z:-1.21 [[ 9.99932248e-01 -4.95233236e-03 1.05344529e-02 6.94257081e+01] [ 4.95724732e-03 9.99987616e-01 -4.40499357e-04 -1.46163939e+00] [-1.05321409e-02 4.92691400e-04 9.99944414e-01 -1.20540917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29439141799999 meters 0.03133732250600375 Centerline is valid? [True, True] Translation: X:69.46, Y:-1.46, Z:-1.20 [[ 9.99896259e-01 -8.26425613e-03 1.17971433e-02 6.94570010e+01] [ 8.27065171e-03 9.99965676e-01 -4.93444984e-04 -1.46434503e+00] [-1.17926604e-02 5.90963857e-04 9.99930290e-01 -1.20403098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters 0.03860825453021059 Centerline is valid? [True, True] Translation: X:69.49, Y:-1.47, Z:-1.21 [[ 9.99863908e-01 -1.25735688e-02 1.06804128e-02 6.94865534e+01] [ 1.25790630e-02 9.99920780e-01 -4.47397670e-04 -1.47487218e+00] [-1.06739413e-02 5.81686368e-04 9.99942863e-01 -1.20503083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35439141799999 meters 0.034211876645669693 Centerline is valid? [True, True] Translation: X:69.52, Y:-1.47, Z:-1.20 [[ 9.99858463e-01 -1.40530684e-02 9.25016496e-03 6.95183875e+01] [ 1.40572477e-02 9.99901117e-01 -3.86947383e-04 -1.47073098e+00] [-9.24381248e-03 5.16924476e-04 9.99957141e-01 -1.20495125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters 0.03599421225637433 Centerline is valid? [True, True] Translation: X:69.55, Y:-1.47, Z:-1.21 [[ 9.99876276e-01 -1.42847873e-02 6.58620310e-03 6.95492033e+01] [ 1.42869116e-02 9.99897899e-01 -2.75601566e-04 -1.47420884e+00] [-6.58159374e-03 3.69663969e-04 9.99978273e-01 -1.20811083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414391418 meters 0.03599617624273949 Centerline is valid? [True, True] Translation: X:69.58, Y:-1.47, Z:-1.21 [[ 9.99924111e-01 -1.22016698e-02 1.70057841e-03 6.95812958e+01] [ 1.22018066e-02 9.99925553e-01 -7.01314783e-05 -1.47267669e+00] [-1.69959608e-03 9.08762849e-05 9.99998552e-01 -1.21498398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444391418 meters 0.03261075509684235 Centerline is valid? [True, True] Translation: X:69.61, Y:-1.47, Z:-1.21 [[ 9.99939773e-01 -1.07210920e-02 2.34717988e-03 6.96141154e+01] [ 1.07213496e-02 9.99942520e-01 -9.72018603e-05 -1.47036723e+00] [-2.34600285e-03 1.22360942e-04 9.99997241e-01 -1.21320454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474391418 meters 0.030785717717362812 Centerline is valid? [True, True] Translation: X:69.65, Y:-1.47, Z:-1.21 [[ 9.99963558e-01 -7.87967159e-03 3.28546190e-03 6.96456047e+01] [ 7.88016748e-03 9.99968941e-01 -1.38017808e-04 -1.46812504e+00] [-3.28427232e-03 1.63902769e-04 9.99994593e-01 -1.21326922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504391418 meters 0.03062931048190055 Centerline is valid? [True, True] Translation: X:69.68, Y:-1.47, Z:-1.21 [[ 9.99978194e-01 -4.60993201e-03 4.72867177e-03 6.96760376e+01] [ 4.61092657e-03 9.99989350e-01 -1.99444064e-04 -1.46818997e+00] [-4.72770198e-03 2.21243273e-04 9.99988800e-01 -1.21235838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534391418 meters 0.025504005179164728 Centerline is valid? [True, True] Translation: X:69.71, Y:-1.46, Z:-1.21 [[ 9.99960957e-01 4.28690599e-03 7.72701694e-03 6.97071914e+01] [-4.28451060e-03 9.99990768e-01 -3.26529841e-04 -1.45761332e+00] [-7.72834540e-03 2.93410607e-04 9.99970093e-01 -1.20798001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564391418 meters 0.02207435000401111 Centerline is valid? [True, True] Translation: X:69.74, Y:-1.45, Z:-1.21 [[ 9.99863246e-01 1.46393527e-02 7.69280898e-03 6.97368920e+01] [-1.46372831e-02 9.99892816e-01 -3.25259553e-04 -1.44765388e+00] [-7.69674602e-03 2.12613249e-04 9.99970357e-01 -1.20729642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594391418 meters 0.018665586828848942 Centerline is valid? [True, True] Translation: X:69.77, Y:-1.44, Z:-1.21 [[ 9.99786444e-01 1.92399645e-02 7.54261167e-03 6.97673360e+01] [-1.92381067e-02 9.99814880e-01 -3.18782041e-04 -1.44198246e+00] [-7.54734874e-03 1.73608395e-04 9.99971503e-01 -1.20597212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters 0.016828974973767903 Centerline is valid? [True, True] Translation: X:69.80, Y:-1.44, Z:-1.21 [[ 9.99593863e-01 2.77299789e-02 6.56946517e-03 6.97969618e+01] [-2.77287519e-02 9.99615446e-01 -2.77795067e-04 -1.43524296e+00] [-6.57464210e-03 9.55191743e-05 9.99978382e-01 -1.20665555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65439141799999 meters 0.015024529750196945 Centerline is valid? [True, True] Translation: X:69.83, Y:-1.43, Z:-1.21 [[ 9.99369858e-01 3.49856050e-02 5.99125396e-03 6.98266483e+01] [-3.49847145e-02 9.99387815e-01 -2.53406217e-04 -1.42654798e+00] [-5.99645177e-03 4.36442256e-05 9.99982020e-01 -1.20590786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters 0.014904850051069741 Centerline is valid? [True, True] Translation: X:69.85, Y:-1.42, Z:-1.21 [[ 9.99232538e-01 3.89412301e-02 4.23274862e-03 6.98536666e+01] [-3.89408162e-02 9.99241503e-01 -1.80183931e-04 -1.42419075e+00] [-4.23655468e-03 1.52189607e-05 9.99991026e-01 -1.21149566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71439141799999 meters 0.016507404767880398 Centerline is valid? [True, True] Translation: X:69.88, Y:-1.43, Z:-1.21 [[ 9.99238736e-01 3.86096673e-02 5.58937921e-03 6.98827534e+01] [-3.86089535e-02 9.99254369e-01 -2.35591940e-04 -1.42646603e+00] [-5.59430772e-03 1.96125101e-05 9.99984352e-01 -1.21325947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters 0.016507404767880398 Centerline is valid? [True, True] Translation: X:69.91, Y:-1.43, Z:-1.21 [[ 9.99243296e-01 3.84914785e-02 5.58937721e-03 6.99101878e+01] [-3.84907626e-02 9.99258928e-01 -2.35641643e-04 -1.42750038e+00] [-5.59430528e-03 2.03239409e-05 9.99984352e-01 -1.21375494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774391418 meters 0.016507404767880398 Centerline is valid? [True, True] Translation: X:69.94, Y:-1.43, Z:-1.21 [[ 9.99247842e-01 3.83732763e-02 5.58940492e-03 6.99376223e+01] [-3.83725623e-02 9.99263474e-01 -2.34980471e-04 -1.42853182e+00] [-5.59430515e-03 2.03239405e-05 9.99984352e-01 -1.21425064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804391418 meters 0.014779286944361704 Centerline is valid? [True, True] Translation: X:69.97, Y:-1.43, Z:-1.21 [[ 9.99306351e-01 3.65339414e-02 7.21715763e-03 6.99661039e+01] [-3.65327166e-02 9.99332412e-01 -3.01502332e-04 -1.43049013e+00] [-7.22335461e-03 3.76308203e-05 9.99973911e-01 -1.21186486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834391418 meters 0.015045491418951812 Centerline is valid? [True, True] Translation: X:69.99, Y:-1.43, Z:-1.21 [[ 9.99363849e-01 3.48088209e-02 7.76170840e-03 6.99946235e+01] [-3.48073579e-02 9.99393988e-01 -3.23535916e-04 -1.43269077e+00] [-7.76826661e-03 5.31655366e-05 9.99969825e-01 -1.21056163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864391418 meters 0.015304565991522134 Centerline is valid? [True, True] Translation: X:70.02, Y:-1.44, Z:-1.21 [[ 9.99434491e-01 3.27428263e-02 7.65547691e-03 7.00228183e+01] [-3.27413454e-02 9.99463808e-01 -3.18725521e-04 -1.43542226e+00] [-7.66180807e-03 6.78946652e-05 9.99970646e-01 -1.21062804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894391418 meters 0.016698128322860103 Centerline is valid? [True, True] Translation: X:70.05, Y:-1.44, Z:-1.21 [[ 9.99597089e-01 2.81005238e-02 4.00254339e-03 7.00510179e+01] [-2.81000822e-02 9.99605101e-01 -1.66535006e-04 -1.44146387e+00] [-4.00564251e-03 5.39961090e-05 9.99991976e-01 -1.21473007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924391418 meters 0.017772378000940833 Centerline is valid? [True, True] Translation: X:70.08, Y:-1.45, Z:-1.22 [[ 9.99675317e-01 2.53755356e-02 2.31137339e-03 7.00789714e+01] [-2.53753790e-02 9.99677989e-01 -9.70617962e-05 -1.44605011e+00] [-2.31309210e-03 3.83783060e-05 9.99997324e-01 -1.21728438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954391418 meters 0.018109361046831026 Centerline is valid? [True, True] Translation: X:70.11, Y:-1.45, Z:-1.22 [[ 9.99733511e-01 2.30008097e-02 1.96700427e-03 7.01072903e+01] [-2.30006920e-02 9.99735446e-01 -8.24266645e-05 -1.44888633e+00] [-1.96837977e-03 3.71622392e-05 9.99998062e-01 -1.21757474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984391418 meters 0.0215294035511098 Centerline is valid? [True, True] Translation: X:70.14, Y:-1.46, Z:-1.22 [[ 9.99784181e-01 2.00384418e-02 5.48192158e-03 7.01351710e+01] [-2.00374985e-02 9.99799203e-01 -2.26940985e-04 -1.45590487e+00] [-5.48536838e-03 1.17048012e-04 9.99984948e-01 -1.21611995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01439141799999 meters 0.020595350738080585 Centerline is valid? [True, True] Translation: X:70.16, Y:-1.46, Z:-1.21 [[ 9.99776976e-01 1.92763706e-02 8.62670066e-03 7.01639145e+01] [-1.92740244e-02 9.99814176e-01 -3.55023417e-04 -1.45629353e+00] [-8.63194117e-03 1.88672999e-04 9.99962726e-01 -1.21105181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters 0.019880563568552372 Centerline is valid? [True, True] Translation: X:70.19, Y:-1.46, Z:-1.21 [[ 9.99763071e-01 1.90245611e-02 1.05767597e-02 7.01939089e+01] [-1.90210350e-02 9.99818990e-01 -4.33879715e-04 -1.45615824e+00] [-1.05830995e-02 2.32596001e-04 9.99943970e-01 -1.20710598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07439141799999 meters 0.01942751412978067 Centerline is valid? [True, True] Translation: X:70.22, Y:-1.45, Z:-1.21 [[ 9.99749888e-01 1.98203222e-02 1.03593410e-02 7.02233240e+01] [-1.98169845e-02 9.99803534e-01 -4.24758766e-04 -1.45367581e+00] [-1.03657246e-02 2.19361630e-04 9.99946250e-01 -1.20709845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters 0.018879844139014633 Centerline is valid? [True, True] Translation: X:70.25, Y:-1.46, Z:-1.21 [[ 9.99770064e-01 1.99446282e-02 7.87598044e-03 7.02520845e+01] [-1.99427046e-02 9.99801072e-01 -3.22712945e-04 -1.45725443e+00] [-7.88085008e-03 1.65570390e-04 9.99968932e-01 -1.21076166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13439141799999 meters 0.020258284576160412 Centerline is valid? [True, True] Translation: X:70.28, Y:-1.46, Z:-1.21 [[ 9.99779653e-01 1.96964975e-02 7.25896842e-03 7.02805996e+01] [-1.96948596e-02 9.99805993e-01 -2.97055118e-04 -1.46312943e+00] [-7.26341108e-03 1.54025299e-04 9.99973609e-01 -1.21419283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164391418 meters 0.020633230254844336 Centerline is valid? [True, True] Translation: X:70.31, Y:-1.47, Z:-1.21 [[ 9.99790092e-01 1.89127688e-02 7.87906097e-03 7.03092135e+01] [-1.89108179e-02 9.99821123e-01 -3.22037664e-04 -1.46719218e+00] [-7.88374220e-03 1.72970578e-04 9.99968908e-01 -1.21435486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194391418 meters 0.01858872409870547 Centerline is valid? [True, True] Translation: X:70.34, Y:-1.47, Z:-1.21 [[ 9.99790774e-01 1.83910220e-02 8.95429187e-03 7.03380161e+01] [-1.83884882e-02 9.99830851e-01 -3.65224031e-04 -1.46640971e+00] [-8.95949410e-03 2.00491726e-04 9.99959843e-01 -1.21135188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224391418 meters 0.018718095119553364 Centerline is valid? [True, True] Translation: X:70.37, Y:-1.47, Z:-1.21 [[ 9.99789674e-01 1.82974107e-02 9.26355028e-03 7.03664424e+01] [-1.82947023e-02 9.99832567e-01 -3.77034589e-04 -1.46880312e+00] [-9.26889802e-03 2.07481394e-04 9.99957021e-01 -1.20957633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254391418 meters 0.01891824859569506 Centerline is valid? [True, True] Translation: X:70.40, Y:-1.47, Z:-1.21 [[ 9.99783372e-01 1.92844282e-02 7.83073919e-03 7.03959735e+01] [-1.92825296e-02 9.99814024e-01 -3.17890053e-04 -1.47042123e+00] [-7.83541319e-03 1.66824728e-04 9.99969289e-01 -1.21176369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284391418 meters 0.01894372365478192 Centerline is valid? [True, True] Translation: X:70.42, Y:-1.47, Z:-1.22 [[ 9.99714665e-01 2.34356919e-02 4.62141885e-03 7.04232473e+01] [-2.34350708e-02 9.99725343e-01 -1.88514472e-04 -1.47249957e+00] [-4.62456751e-03 8.01574047e-05 9.99989303e-01 -1.21768515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314391418 meters 0.01691475095216189 Centerline is valid? [True, True] Translation: X:70.45, Y:-1.47, Z:-1.22 [[ 9.99647271e-01 2.62629072e-02 3.94876518e-03 7.04519642e+01] [-2.62624774e-02 9.99655069e-01 -1.60648019e-04 -1.47176378e+00] [-3.95162221e-03 5.68869976e-05 9.99992191e-01 -1.21807560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344391418 meters 0.015797200027415696 Centerline is valid? [True, True] Translation: X:70.48, Y:-1.47, Z:-1.22 [[ 9.99541885e-01 3.00320622e-02 3.75444963e-03 7.04807231e+01] [-3.00317010e-02 9.99548935e-01 -1.52556408e-04 -1.47017377e+00] [-3.75733771e-03 3.97340107e-05 9.99992940e-01 -1.21850848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37439141799999 meters 0.015375548631101214 Centerline is valid? [True, True] Translation: X:70.51, Y:-1.47, Z:-1.22 [[ 9.99399800e-01 3.43358559e-02 4.59219203e-03 7.05090616e+01] [-3.43353643e-02 9.99410350e-01 -1.85883902e-04 -1.46871299e+00] [-4.59586673e-03 2.80977484e-05 9.99989439e-01 -1.21919563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters 0.015506487462737199 Centerline is valid? [True, True] Translation: X:70.54, Y:-1.46, Z:-1.22 [[ 9.99077386e-01 4.25013790e-02 6.16514730e-03 7.05371778e+01] [-4.25006530e-02 9.99096408e-01 -2.48779144e-04 -1.46285305e+00] [-6.17014998e-03 -1.34731696e-05 9.99980964e-01 -1.21855162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43439141799999 meters 0.015416486974849299 Centerline is valid? [True, True] Translation: X:70.57, Y:-1.46, Z:-1.22 [[ 9.98935857e-01 4.56568710e-02 6.52714779e-03 7.05658924e+01] [-4.56561311e-02 9.98957181e-01 -2.62405052e-04 -1.46196502e+00] [-6.53232175e-03 -3.58784994e-05 9.99978664e-01 -1.21867189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters 0.015681813186122925 Centerline is valid? [True, True] Translation: X:70.59, Y:-1.46, Z:-1.22 [[ 9.98843639e-01 4.76212852e-02 6.60289529e-03 7.05949473e+01] [-4.76205745e-02 9.98865462e-01 -2.64907570e-04 -1.46339453e+00] [-6.60801929e-03 -4.98324254e-05 9.99978166e-01 -1.22050866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49439141799999 meters 0.015403033514995466 Centerline is valid? [True, True] Translation: X:70.62, Y:-1.47, Z:-1.22 [[ 9.98809481e-01 4.79310662e-02 9.06828673e-03 7.06233715e+01] [-4.79297494e-02 9.98850643e-01 -3.62594497e-04 -1.46983554e+00] [-9.07524358e-03 -7.24778893e-05 9.99958817e-01 -1.21952318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters 0.015074615695845355 Centerline is valid? [True, True] Translation: X:70.65, Y:-1.47, Z:-1.22 [[ 9.98844475e-01 4.70044311e-02 1.00149196e-02 7.06520975e+01] [-4.70027880e-02 9.98894678e-01 -3.99498057e-04 -1.47360050e+00] [-1.00226281e-02 -7.16927162e-05 9.99949770e-01 -1.21797664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554391418 meters 0.016415676730475986 Centerline is valid? [True, True] Translation: X:70.68, Y:-1.48, Z:-1.22 [[ 9.98905663e-01 4.56707865e-02 1.00824353e-02 7.06801860e+01] [-4.56690600e-02 9.98956543e-01 -4.01524599e-04 -1.47641909e+00] [-1.00902527e-02 -5.93701465e-05 9.99949090e-01 -1.22002603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584391418 meters 0.014885725237297474 Centerline is valid? [True, True] Translation: X:70.71, Y:-1.48, Z:-1.22 [[ 9.99109101e-01 4.16448236e-02 6.83475943e-03 7.07085633e+01] [-4.16439381e-02 9.99132478e-01 -2.71875807e-04 -1.48284451e+00] [-6.84015235e-03 -1.29927056e-05 9.99976606e-01 -1.22136638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614391418 meters 0.014848874042867584 Centerline is valid? [True, True] Translation: X:70.74, Y:-1.49, Z:-1.22 [[ 9.99193582e-01 3.97246884e-02 5.84247446e-03 7.07374077e+01] [-3.97240101e-02 9.99210663e-01 -2.32152921e-04 -1.48668224e+00] [-5.84708499e-03 -1.20805368e-07 9.99982906e-01 -1.22302698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644391418 meters 0.01499689904512242 Centerline is valid? [True, True] Translation: X:70.77, Y:-1.49, Z:-1.22 [[ 9.99272179e-01 3.77179099e-02 5.69831067e-03 7.07656956e+01] [-3.77172345e-02 9.99288426e-01 -2.25990071e-04 -1.49049929e+00] [-5.70277977e-03 1.09010709e-05 9.99983739e-01 -1.22384499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674391418 meters 0.01499689904512242 Centerline is valid? [True, True] Translation: X:70.79, Y:-1.49, Z:-1.22 [[ 9.99276750e-01 3.75966117e-02 5.69830917e-03 7.07931349e+01] [-3.75959341e-02 9.99292997e-01 -2.26030364e-04 -1.49146801e+00] [-5.70277843e-03 1.16336315e-05 9.99983739e-01 -1.22434047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704391418 meters 0.015658251766043473 Centerline is valid? [True, True] Translation: X:70.82, Y:-1.50, Z:-1.22 [[ 9.99362676e-01 3.44788486e-02 9.24392321e-03 7.08221113e+01] [-3.44769582e-02 9.99405427e-01 -3.63823646e-04 -1.49739900e+00] [-9.25097124e-03 4.48894182e-05 9.99957208e-01 -1.22243736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734391418 meters 0.016727240461714706 Centerline is valid? [True, True] Translation: X:70.85, Y:-1.50, Z:-1.22 [[ 9.99401613e-01 3.29062703e-02 1.06580312e-02 7.08505899e+01] [-3.29036794e-02 9.99458440e-01 -4.18404543e-04 -1.50092119e+00] [-1.06660274e-02 6.74657325e-05 9.99943114e-01 -1.22223981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters 0.016474807731403605 Centerline is valid? [True, True] Translation: X:70.88, Y:-1.51, Z:-1.22 [[ 9.99477146e-01 3.04273000e-02 1.09367816e-02 7.08779192e+01] [-3.04244319e-02 9.99536978e-01 -4.28563697e-04 -1.50509113e+00] [-1.09447577e-02 9.55942539e-05 9.99940100e-01 -1.22235601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79439141799999 meters 0.016795614673684633 Centerline is valid? [True, True] Translation: X:70.91, Y:-1.51, Z:-1.22 [[ 9.99667329e-01 2.36520347e-02 1.02865416e-02 7.09067727e+01] [-2.36491515e-02 9.99720239e-01 -4.01859099e-04 -1.51380282e+00] [-1.02931687e-02 1.58457430e-04 9.99947011e-01 -1.22370044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters 0.017925973376089876 Centerline is valid? [True, True] Translation: X:70.94, Y:-1.52, Z:-1.22 [[ 9.99744585e-01 1.97436392e-02 1.09978949e-02 7.09364783e+01] [-1.97401167e-02 9.99805053e-01 -4.28759625e-04 -1.52039999e+00] [-1.10042162e-02 2.11550384e-04 9.99939429e-01 -1.22441589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85439141799999 meters 0.019948076179361177 Centerline is valid? [True, True] Translation: X:70.97, Y:-1.53, Z:-1.22 [[ 9.99808471e-01 1.54189116e-02 1.20531754e-02 7.09658689e+01] [-1.54143765e-02 9.99881081e-01 -4.69072166e-04 -1.52818863e+00] [-1.20589747e-02 2.83190140e-04 9.99927248e-01 -1.22403660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters 0.021216706461081862 Centerline is valid? [True, True] Translation: X:71.00, Y:-1.53, Z:-1.22 [[ 9.99834365e-01 1.14408325e-02 1.41544754e-02 7.09971925e+01] [-1.14341806e-02 9.99934476e-01 -5.50794168e-04 -1.53363524e+00] [-1.41598495e-02 3.88858111e-04 9.99899669e-01 -1.22254344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914391418 meters 0.023444314122300566 Centerline is valid? [True, True] Translation: X:71.03, Y:-1.54, Z:-1.22 [[ 9.99858514e-01 4.96610942e-03 1.60713747e-02 7.10280535e+01] [-4.95668531e-03 9.99987520e-01 -6.26171391e-04 -1.54089962e+00] [-1.60742838e-02 5.46422050e-04 9.99870651e-01 -1.21895923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944391418 meters 0.02512067743287179 Centerline is valid? [True, True] Translation: X:71.06, Y:-1.55, Z:-1.22 [[ 9.99877924e-01 3.16838758e-03 1.53002452e-02 7.10588721e+01] [-3.15964160e-03 9.99994831e-01 -5.95763184e-04 -1.54555067e+00] [-1.53020538e-02 5.47347165e-04 9.99882767e-01 -1.22061743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974391418 meters 0.02657478459413196 Centerline is valid? [True, True] Translation: X:71.09, Y:-1.55, Z:-1.23 [[ 9.99915960e-01 2.30856877e-03 1.27570820e-02 7.10901466e+01] [-2.30238590e-03 9.99997225e-01 -4.99327656e-04 -1.54952794e+00] [-1.27581994e-02 4.69913966e-04 9.99918500e-01 -1.22587647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004391418 meters 0.0280850741494006 Centerline is valid? [True, True] Translation: X:71.12, Y:-1.56, Z:-1.23 [[ 9.99941365e-01 -6.03087697e-04 1.08121783e-02 7.11221801e+01] [ 6.07735321e-04 9.99999724e-01 -4.26570367e-04 -1.55537147e+00] [-1.08119180e-02 4.33116298e-04 9.99941456e-01 -1.23087863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034391418 meters 0.028948475171376716 Centerline is valid? [True, True] Translation: X:71.15, Y:-1.56, Z:-1.23 [[ 9.99916230e-01 -1.29114331e-03 1.28789233e-02 7.11540462e+01] [ 1.29779807e-03 9.99999029e-01 -5.08373027e-04 -1.55864121e+00] [-1.28782544e-02 5.25044683e-04 9.99916934e-01 -1.23050600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064391418 meters 0.030296652547585474 Centerline is valid? [True, True] Translation: X:71.18, Y:-1.56, Z:-1.23 [[ 9.99871632e-01 -2.58981439e-03 1.58117810e-02 7.11847840e+01] [ 2.60009864e-03 9.99996421e-01 -6.29894129e-04 -1.56218445e+00] [-1.58100931e-02 6.70925461e-04 9.99874788e-01 -1.22749145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094391418 meters 0.030391856305663368 Centerline is valid? [True, True] Translation: X:71.22, Y:-1.56, Z:-1.22 [[ 9.99823417e-01 -3.92494309e-03 1.83773958e-02 7.12175002e+01] [ 3.93911536e-03 9.99991972e-01 -7.35043973e-04 -1.56251236e+00] [-1.83743632e-02 8.07304859e-04 9.99830851e-01 -1.22403385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters 0.031154413091885366 Centerline is valid? [True, True] Translation: X:71.25, Y:-1.56, Z:-1.23 [[ 9.99849171e-01 -4.81506804e-03 1.66868315e-02 7.12498450e+01] [ 4.82694952e-03 9.99988125e-01 -6.71823715e-04 -1.56327069e+00] [-1.66833984e-02 7.52268878e-04 9.99860539e-01 -1.22691489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15439141799999 meters 0.03232508870875031 Centerline is valid? [True, True] Translation: X:71.28, Y:-1.57, Z:-1.23 [[ 9.99872598e-01 -6.81922526e-03 1.44321144e-02 7.12805988e+01] [ 6.82833157e-03 9.99976517e-01 -5.81793160e-04 -1.56658211e+00] [-1.44278082e-02 6.80266301e-04 9.99895682e-01 -1.22872716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters 0.03507218443585042 Centerline is valid? [True, True] Translation: X:71.31, Y:-1.57, Z:-1.24 [[ 9.99873790e-01 -1.06693773e-02 1.17714889e-02 7.13112711e+01] [ 1.06757238e-02 9.99942899e-01 -4.76440673e-04 -1.57395394e+00] [-1.17657334e-02 6.02049706e-04 9.99930600e-01 -1.23617107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21439141799999 meters 0.03619404436357521 Centerline is valid? [True, True] Translation: X:71.34, Y:-1.58, Z:-1.24 [[ 9.99854941e-01 -1.21043728e-02 1.19825674e-02 7.13428639e+01] [ 1.21110518e-02 9.99926541e-01 -4.84987977e-04 -1.57817672e+00] [-1.19758167e-02 6.30039120e-04 9.99928089e-01 -1.23782612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters 0.038907634806771646 Centerline is valid? [True, True] Translation: X:71.37, Y:-1.58, Z:-1.23 [[ 9.99808620e-01 -1.23023587e-02 1.52110549e-02 7.13746723e+01] [ 1.23131612e-02 9.99924000e-01 -6.16721061e-04 -1.58206425e+00] [-1.52023118e-02 8.03899204e-04 9.99884115e-01 -1.23364303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274391418 meters 0.03207506634965808 Centerline is valid? [True, True] Translation: X:71.41, Y:-1.57, Z:-1.23 [[ 9.99815447e-01 -1.09066258e-02 1.58151132e-02 7.14069825e+01] [ 1.09181551e-02 9.99940189e-01 -6.42842952e-04 -1.57174725e+00] [-1.58071560e-02 8.15396172e-04 9.99874727e-01 -1.23120942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304391418 meters 0.035450241920463706 Centerline is valid? [True, True] Translation: X:71.44, Y:-1.57, Z:-1.23 [[ 9.99850362e-01 -8.49446640e-03 1.50697410e-02 7.14372233e+01] [ 8.50467698e-03 9.99963646e-01 -6.13597987e-04 -1.57425202e+00] [-1.50639810e-02 7.41669449e-04 9.99886257e-01 -1.23097832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334391418 meters 0.0323618971201269 Centerline is valid? [True, True] Translation: X:71.47, Y:-1.57, Z:-1.23 [[ 9.99895737e-01 -5.62448925e-03 1.32996180e-02 7.14687250e+01] [ 5.63221166e-03 9.99983991e-01 -5.43265148e-04 -1.56797004e+00] [-1.32963495e-02 6.18114769e-04 9.99911409e-01 -1.23291502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364391418 meters 0.027837718117236614 Centerline is valid? [True, True] Translation: X:71.50, Y:-1.56, Z:-1.24 [[ 9.99957133e-01 -3.88676974e-04 9.25103940e-03 7.14993335e+01] [ 3.92194132e-04 9.99999852e-01 -3.78379568e-04 -1.56082404e+00] [-9.25089096e-03 3.81991552e-04 9.99957137e-01 -1.23762472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394391418 meters 0.02662397874125476 Centerline is valid? [True, True] Translation: X:71.53, Y:-1.56, Z:-1.24 [[ 9.99962410e-01 1.88454075e-03 8.46333483e-03 7.15316678e+01] [-1.88168485e-03 9.99998170e-01 -3.45393604e-04 -1.56055588e+00] [-8.46397025e-03 3.29455291e-04 9.99964126e-01 -1.24053408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424391418 meters 0.02575423627586141 Centerline is valid? [True, True] Translation: X:71.56, Y:-1.56, Z:-1.24 [[ 9.99951976e-01 4.18369226e-03 8.86246233e-03 7.15641543e+01] [-4.18064384e-03 9.99991195e-01 -3.62467340e-04 -1.56051408e+00] [-8.86390075e-03 3.25399135e-04 9.99960662e-01 -1.24149509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454391418 meters 0.026536507344437014 Centerline is valid? [True, True] Translation: X:71.60, Y:-1.56, Z:-1.24 [[ 9.99924612e-01 7.51914402e-03 9.70732531e-03 7.15951476e+01] [-7.51563153e-03 9.99971678e-01 -3.98268685e-04 -1.55968973e+00] [-9.71004502e-03 3.25281981e-04 9.99952803e-01 -1.24284367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484391418 meters 0.02138521548013128 Centerline is valid? [True, True] Translation: X:71.63, Y:-1.55, Z:-1.23 [[ 9.99832688e-01 1.33612077e-02 1.24929799e-02 7.16266214e+01] [-1.33558353e-02 9.99910675e-01 -5.13368916e-04 -1.54830381e+00] [-1.24987231e-02 3.46428842e-04 9.99921828e-01 -1.23468713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51439141799999 meters 0.0196206054886324 Centerline is valid? [True, True] Translation: X:71.66, Y:-1.54, Z:-1.23 [[ 9.99766868e-01 1.75523309e-02 1.25747888e-02 7.16593139e+01] [-1.75472340e-02 9.99845903e-01 -5.15556544e-04 -1.54329386e+00] [-1.25819002e-02 2.94783591e-04 9.99920801e-01 -1.23450645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters 0.01822297574330757 Centerline is valid? [True, True] Translation: X:71.69, Y:-1.54, Z:-1.24 [[ 9.99695785e-01 2.17022275e-02 1.17196411e-02 7.16905132e+01] [-2.16980310e-02 9.99764452e-01 -4.85119037e-04 -1.54000602e+00] [-1.17274087e-02 2.30678321e-04 9.99931205e-01 -1.23591120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57439141799999 meters 0.016215477125511895 Centerline is valid? [True, True] Translation: X:71.72, Y:-1.54, Z:-1.24 [[ 9.99494601e-01 2.88899534e-02 1.32632601e-02 7.17204983e+01] [-2.88852031e-02 9.99582584e-01 -5.49617583e-04 -1.53694779e+00] [-1.32736023e-02 1.66227843e-04 9.99911888e-01 -1.23746521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters 0.017687984139061218 Centerline is valid? [True, True] Translation: X:71.75, Y:-1.54, Z:-1.24 [[ 9.99351423e-01 3.27682868e-02 1.49322572e-02 7.17493282e+01] [-3.27627080e-02 9.99462967e-01 -6.18142538e-04 -1.53744646e+00] [-1.49444936e-02 1.28520441e-04 9.99888317e-01 -1.23955118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63439141799999 meters 0.014898206385522264 Centerline is valid? [True, True] Translation: X:71.78, Y:-1.53, Z:-1.23 [[ 9.99108797e-01 3.81868875e-02 1.79825761e-02 7.17784075e+01] [-3.81796973e-02 9.99270613e-01 -7.43110679e-04 -1.53281361e+00] [-1.79978369e-02 5.58791054e-05 9.99838024e-01 -1.23389307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664391418 meters 0.01488740164536865 Centerline is valid? [True, True] Translation: X:71.81, Y:-1.53, Z:-1.23 [[ 9.99009086e-01 4.07343731e-02 1.79319900e-02 7.18070559e+01] [-4.07276595e-02 9.99170011e-01 -7.39580424e-04 -1.52992214e+00] [-1.79472330e-02 8.51958007e-06 9.99838935e-01 -1.23265272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694391418 meters 0.014737316350075228 Centerline is valid? [True, True] Translation: X:71.84, Y:-1.53, Z:-1.23 [[ 9.98964695e-01 4.22794106e-02 1.67925358e-02 7.18358780e+01] [-4.22737624e-02 9.99105826e-01 -6.91332175e-04 -1.52751968e+00] [-1.68067495e-02 -1.92672352e-05 9.99858756e-01 -1.23178508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724391418 meters 0.014833049324318642 Centerline is valid? [True, True] Translation: X:71.86, Y:-1.53, Z:-1.24 [[ 9.99043518e-01 4.25232216e-02 1.01894888e-02 7.18645908e+01] [-4.25211574e-02 9.99095479e-01 -4.19237503e-04 -1.52656531e+00] [-1.01980995e-02 -1.44323455e-05 9.99947998e-01 -1.23801541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754391418 meters 0.015078854094451694 Centerline is valid? [True, True] Translation: X:71.89, Y:-1.53, Z:-1.24 [[ 9.99140445e-01 4.08181673e-02 7.22825911e-03 7.18928974e+01] [-4.08170851e-02 9.99166591e-01 -2.97235453e-04 -1.53068861e+00] [-7.23436762e-03 1.94349554e-06 9.99973832e-01 -1.24426667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784391418 meters 0.014949258746808355 Centerline is valid? [True, True] Translation: X:71.92, Y:-1.54, Z:-1.25 [[ 9.99269090e-01 3.76999899e-02 6.32422686e-03 7.19217862e+01] [-3.76991008e-02 9.99289102e-01 -2.59771070e-04 -1.53693587e+00] [-6.32952435e-03 2.11635344e-05 9.99979968e-01 -1.24757351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814391418 meters 0.016691490902509994 Centerline is valid? [True, True] Translation: X:71.95, Y:-1.55, Z:-1.24 [[ 9.99491274e-01 2.96090035e-02 1.18533163e-02 7.19488132e+01] [-2.96053364e-02 9.99561548e-01 -4.84757687e-04 -1.54778659e+00] [-1.18624724e-02 1.33589661e-04 9.99929629e-01 -1.24460003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844391418 meters 0.017161132506354402 Centerline is valid? [True, True] Translation: X:71.98, Y:-1.55, Z:-1.24 [[ 9.99562244e-01 2.52084820e-02 1.54871588e-02 7.19787490e+01] [-2.52017287e-02 9.99682187e-01 -6.31100960e-04 -1.55089595e+00] [-1.54981459e-02 2.40521517e-04 9.99879868e-01 -1.23884998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87439141799999 meters 0.01818417764030571 Centerline is valid? [True, True] Translation: X:72.01, Y:-1.55, Z:-1.23 [[ 9.99606951e-01 2.17168380e-02 1.77291564e-02 7.20096077e+01] [-2.17074530e-02 9.99764105e-01 -7.21645854e-04 -1.55316642e+00] [-1.77406461e-02 3.36507381e-04 9.99842566e-01 -1.23479691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters 0.019238730019756015 Centerline is valid? [True, True] Translation: X:72.04, Y:-1.56, Z:-1.23 [[ 9.99671559e-01 1.90191278e-02 1.71769392e-02 7.20419770e+01] [-1.90099244e-02 9.99819051e-01 -6.98936228e-04 -1.55576690e+00] [-1.71871242e-02 3.72174353e-04 9.99852221e-01 -1.23488206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93439141799999 meters 0.023626456272235453 Centerline is valid? [True, True] Translation: X:72.07, Y:-1.57, Z:-1.25 [[ 9.99867101e-01 1.32421688e-02 9.50920345e-03 7.20719849e+01] [-1.32390625e-02 9.99912284e-01 -3.89537182e-04 -1.56530637e+00] [-9.51352765e-03 2.63592474e-04 9.99954711e-01 -1.24707165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters 0.023705439281437347 Centerline is valid? [True, True] Translation: X:72.10, Y:-1.57, Z:-1.25 [[ 9.99933149e-01 9.08702435e-03 7.15011751e-03 7.21027874e+01] [-9.08516164e-03 9.99958686e-01 -2.92952078e-04 -1.57151813e+00] [-7.15248418e-03 2.27972521e-04 9.99974395e-01 -1.25082151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99439141799999 meters 0.026298497763288117 Centerline is valid? [True, True] Translation: X:72.13, Y:-1.58, Z:-1.26 [[ 9.99964808e-01 5.64799892e-03 6.20344759e-03 7.21325596e+01] [-5.64653023e-03 9.99984026e-01 -2.54242223e-04 -1.57934383e+00] [-6.20478446e-03 2.19205321e-04 9.99980726e-01 -1.25521029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024391418 meters 0.029467417129329005 Centerline is valid? [True, True] Translation: X:72.16, Y:-1.59, Z:-1.25 [[ 9.99960217e-01 7.68509176e-04 8.88671120e-03 7.21635124e+01] [-7.65301315e-04 9.99999641e-01 -3.64367829e-04 -1.58729423e+00] [-8.88698803e-03 3.57552322e-04 9.99960446e-01 -1.25335764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054391418 meters 0.028487649249682227 Centerline is valid? [True, True] Translation: X:72.20, Y:-1.59, Z:-1.25 [[ 9.99949087e-01 1.84093180e-04 1.00890543e-02 7.21957369e+01] [-1.79942883e-04 9.99999899e-01 -4.12272525e-04 -1.58628865e+00] [-1.00891291e-02 4.10436082e-04 9.99949019e-01 -1.25064840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084391418 meters 0.027998490509738502 Centerline is valid? [True, True] Translation: X:72.23, Y:-1.58, Z:-1.25 [[ 9.99945695e-01 4.04861448e-04 1.04135681e-02 7.22277294e+01] [-4.00405008e-04 9.99999827e-01 -4.30026799e-04 -1.58433609e+00] [-1.04137404e-02 4.25833802e-04 9.99945685e-01 -1.24983519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114391418 meters 0.027556600740164503 Centerline is valid? [True, True] Translation: X:72.26, Y:-1.58, Z:-1.25 [[ 9.99954850e-01 2.85533088e-03 9.06339332e-03 7.22591969e+01] [-2.85205670e-03 9.99995863e-01 -3.74157365e-04 -1.58206976e+00] [-9.06442417e-03 3.48291160e-04 9.99958857e-01 -1.25247864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144391418 meters 0.026910077257944132 Centerline is valid? [True, True] Translation: X:72.29, Y:-1.58, Z:-1.25 [[ 9.99946852e-01 4.53742838e-03 9.25772951e-03 7.22915485e+01] [-4.53406468e-03 9.99989647e-01 -3.84294923e-04 -1.58314791e+00] [-9.25937738e-03 3.42299354e-04 9.99957072e-01 -1.25387247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174391418 meters 0.0255813549871494 Centerline is valid? [True, True] Translation: X:72.32, Y:-1.58, Z:-1.25 [[ 9.99921664e-01 6.65553529e-03 1.06004714e-02 7.23239333e+01] [-6.65123306e-03 9.99977783e-01 -4.41055736e-04 -1.58327865e+00] [-1.06031713e-02 3.70514980e-04 9.99943716e-01 -1.25362176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204391418 meters 0.022059897592424688 Centerline is valid? [True, True] Translation: X:72.36, Y:-1.58, Z:-1.25 [[ 9.99805487e-01 1.31250608e-02 1.47214589e-02 7.23551295e+01] [-1.31174356e-02 9.99913774e-01 -6.14411521e-04 -1.57756563e+00] [-1.47282537e-02 4.21184221e-04 9.99891445e-01 -1.24857495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234391418 meters 0.020328530927867218 Centerline is valid? [True, True] Translation: X:72.39, Y:-1.57, Z:-1.25 [[ 9.99716736e-01 1.72602417e-02 1.63869222e-02 7.23863480e+01] [-1.72513429e-02 9.99850950e-01 -6.84255834e-04 -1.57356047e+00] [-1.63962901e-02 4.01365596e-04 9.99865491e-01 -1.24509376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters 0.017896211860609797 Centerline is valid? [True, True] Translation: X:72.42, Y:-1.57, Z:-1.24 [[ 9.99622796e-01 2.22254134e-02 1.61337297e-02 7.24186568e+01] [-2.22174243e-02 9.99752935e-01 -6.74273876e-04 -1.56657373e+00] [-1.61447297e-02 3.15569619e-04 9.99869616e-01 -1.24291601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29439141799999 meters 0.015514272221433 Centerline is valid? [True, True] Translation: X:72.45, Y:-1.56, Z:-1.25 [[ 9.99476211e-01 3.03532182e-02 1.12243578e-02 7.24493450e+01] [-3.03498552e-02 9.99539227e-01 -4.69863205e-04 -1.55558693e+00] [-1.12334478e-02 1.28959461e-04 9.99936895e-01 -1.24532713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters 0.015455036943502162 Centerline is valid? [True, True] Translation: X:72.48, Y:-1.55, Z:-1.25 [[ 9.99424531e-01 3.28439137e-02 8.47841907e-03 7.24767821e+01] [-3.28420765e-02 9.99460490e-01 -3.55863751e-04 -1.55457786e+00] [-8.48553283e-03 7.72100747e-05 9.99963994e-01 -1.24968008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35439141799999 meters 0.015144721807132755 Centerline is valid? [True, True] Translation: X:72.51, Y:-1.56, Z:-1.25 [[ 9.99373192e-01 3.48369902e-02 6.29335376e-03 7.25051943e+01] [-3.48360200e-02 9.99393007e-01 -2.63746714e-04 -1.55582081e+00] [-6.29872188e-03 4.43459976e-05 9.99980162e-01 -1.25389102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters 0.015102587376693545 Centerline is valid? [True, True] Translation: X:72.53, Y:-1.56, Z:-1.26 [[ 9.99344777e-01 3.57494186e-02 5.65639817e-03 7.25330184e+01] [-3.57486499e-02 9.99360785e-01 -2.36982784e-04 -1.55777716e+00] [-5.66125451e-03 3.46189096e-05 9.99983974e-01 -1.25742999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414391418 meters 0.014793000794224985 Centerline is valid? [True, True] Translation: X:72.56, Y:-1.56, Z:-1.26 [[ 9.99323683e-01 3.61329617e-02 6.82538072e-03 7.25603547e+01] [-3.61318585e-02 9.99346991e-01 -2.84914456e-04 -1.55875738e+00] [-6.83121849e-03 3.81080735e-05 9.99976666e-01 -1.25853636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444391418 meters 0.014853684787414773 Centerline is valid? [True, True] Translation: X:72.59, Y:-1.56, Z:-1.26 [[ 9.99324656e-01 3.58349050e-02 8.12970639e-03 7.25893718e+01] [-3.58333407e-02 9.99357722e-01 -3.38042765e-04 -1.55940663e+00] [-8.13659859e-03 4.64999308e-05 9.99966896e-01 -1.25815481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474391418 meters 0.014684264169462235 Centerline is valid? [True, True] Translation: X:72.62, Y:-1.56, Z:-1.26 [[ 9.99316225e-01 3.58159768e-02 9.18136863e-03 7.26177527e+01] [-3.58139890e-02 9.99358401e-01 -3.80883029e-04 -1.55963838e+00] [-9.18911957e-03 5.18011565e-05 9.99957778e-01 -1.25647298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504391418 meters 0.014680067011277963 Centerline is valid? [True, True] Translation: X:72.65, Y:-1.56, Z:-1.25 [[ 9.99336104e-01 3.51944492e-02 9.41818322e-03 7.26454369e+01] [-3.51923339e-02 9.99380482e-01 -3.90280524e-04 -1.55784323e+00] [-9.42608419e-03 5.85735694e-05 9.99955572e-01 -1.25391314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534391418 meters 0.014588258615391586 Centerline is valid? [True, True] Translation: X:72.67, Y:-1.56, Z:-1.25 [[ 9.99357670e-01 3.47368799e-02 8.80888738e-03 7.26738549e+01] [-3.47350221e-02 9.99396491e-01 -3.63842067e-04 -1.55835518e+00] [-8.81620988e-03 5.76314625e-05 9.99961135e-01 -1.25318022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564391418 meters 0.015386039529300089 Centerline is valid? [True, True] Translation: X:72.70, Y:-1.57, Z:-1.26 [[ 9.99460529e-01 3.19819670e-02 7.47023879e-03 7.27017261e+01] [-3.19805554e-02 9.99488444e-01 -3.08369724e-04 -1.56503197e+00] [-7.47627962e-03 6.93009815e-05 9.99972050e-01 -1.25669784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594391418 meters 0.015386039529300089 Centerline is valid? [True, True] Translation: X:72.73, Y:-1.57, Z:-1.26 [[ 9.99464121e-01 3.18695003e-02 7.47026496e-03 7.27291666e+01] [-3.18680903e-02 9.99492036e-01 -3.07733705e-04 -1.56603741e+00] [-7.47627765e-03 6.95057184e-05 9.99972050e-01 -1.25719349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters 0.015571682516203349 Centerline is valid? [True, True] Translation: X:72.76, Y:-1.57, Z:-1.26 [[ 9.99548699e-01 2.93907896e-02 6.21122407e-03 7.27574160e+01] [-2.93897716e-02 9.99567995e-01 -2.55124903e-04 -1.56930160e+00] [-6.21603911e-03 7.24633087e-05 9.99980678e-01 -1.25869685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65439141799999 meters 0.016449988946791946 Centerline is valid? [True, True] Translation: X:72.78, Y:-1.57, Z:-1.26 [[ 9.99631335e-01 2.67578611e-02 4.60563320e-03 7.27849460e+01] [-2.67572723e-02 9.99641942e-01 -1.89437808e-04 -1.57411871e+00] [-4.60905306e-03 6.61337870e-05 9.99989376e-01 -1.26201679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters 0.01714675696804789 Centerline is valid? [True, True] Translation: X:72.81, Y:-1.58, Z:-1.26 [[ 9.99703315e-01 2.38553388e-02 4.91980151e-03 7.28137057e+01] [-2.38546360e-02 9.99715417e-01 -2.01487293e-04 -1.57814524e+00] [-4.92320797e-03 8.40674409e-05 9.99987877e-01 -1.26250214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71439141799999 meters 0.019550107480212863 Centerline is valid? [True, True] Translation: X:72.84, Y:-1.58, Z:-1.26 [[ 9.99726953e-01 2.15225642e-02 9.09943005e-03 7.28424461e+01] [-2.15200811e-02 9.99768348e-01 -3.70721115e-04 -1.58335127e+00] [-9.10530101e-03 1.74799418e-04 9.99958531e-01 -1.25827605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters 0.01724322741181535 Centerline is valid? [True, True] Translation: X:72.87, Y:-1.58, Z:-1.25 [[ 9.99697983e-01 2.18453769e-02 1.12570863e-02 7.28724272e+01] [-2.18416136e-02 9.99761339e-01 -4.57146813e-04 -1.58166706e+00] [-1.12643863e-02 2.11135817e-04 9.99936532e-01 -1.25262981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774391418 meters 0.015629110264969142 Centerline is valid? [True, True] Translation: X:72.90, Y:-1.58, Z:-1.25 [[ 9.99578561e-01 2.79381803e-02 7.88401463e-03 7.29015881e+01] [-2.79365255e-02 9.99609648e-01 -3.19964012e-04 -1.57649623e+00] [-7.88987630e-03 9.95771909e-05 9.99968869e-01 -1.25462365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804391418 meters 0.015167602007996838 Centerline is valid? [True, True] Translation: X:72.93, Y:-1.58, Z:-1.26 [[ 9.99484181e-01 3.13639731e-02 6.90457945e-03 7.29306681e+01] [-3.13627828e-02 9.99508028e-01 -2.80618189e-04 -1.57563690e+00] [-6.90998389e-03 6.39266147e-05 9.99976124e-01 -1.25708621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834391418 meters 0.014760402459045276 Centerline is valid? [True, True] Translation: X:72.96, Y:-1.58, Z:-1.26 [[ 9.99383374e-01 3.43926436e-02 7.07227656e-03 7.29584056e+01] [-3.43914735e-02 9.99408397e-01 -2.87042406e-04 -1.57592235e+00] [-7.07796472e-03 4.36393963e-05 9.99974950e-01 -1.25847806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864391418 meters 0.01540371045720808 Centerline is valid? [True, True] Translation: X:72.99, Y:-1.58, Z:-1.26 [[ 9.99261942e-01 3.77103386e-02 7.31452524e-03 7.29874738e+01] [-3.77091830e-02 9.99288712e-01 -2.95886536e-04 -1.57625122e+00] [-7.32048048e-03 1.98433840e-05 9.99973205e-01 -1.26043774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894391418 meters 0.014419795645190366 Centerline is valid? [True, True] Translation: X:73.02, Y:-1.57, Z:-1.26 [[ 9.99051709e-01 4.24909376e-02 9.49754248e-03 7.30158520e+01] [-4.24892165e-02 9.99096852e-01 -3.83002067e-04 -1.57488196e+00] [-9.50523891e-03 -2.09042697e-05 9.99954824e-01 -1.25921920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924391418 meters 0.01718067072498104 Centerline is valid? [True, True] Translation: X:73.04, Y:-1.57, Z:-1.26 [[ 9.98935890e-01 4.48440063e-02 1.07751352e-02 7.30437609e+01] [-4.48419363e-02 9.98994000e-01 -4.33754335e-04 -1.57450527e+00] [-1.07837467e-02 -4.98851530e-05 9.99941852e-01 -1.25902224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954391418 meters 0.014646790778147805 Centerline is valid? [True, True] Translation: X:73.07, Y:-1.57, Z:-1.25 [[ 9.98860369e-01 4.57412908e-02 1.36271115e-02 7.30724867e+01] [-4.57380950e-02 9.98953316e-01 -5.46246245e-04 -1.57396643e+00] [-1.36378342e-02 -7.76543942e-05 9.99906997e-01 -1.25366154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984391418 meters 0.014653822539444243 Centerline is valid? [True, True] Translation: X:73.10, Y:-1.58, Z:-1.26 [[ 9.98907395e-01 4.56725609e-02 9.90120285e-03 7.31000659e+01] [-4.56708727e-02 9.98956463e-01 -3.96657828e-04 -1.57578181e+00] [-9.90898695e-03 -5.59721376e-05 9.99950903e-01 -1.25758468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01439141799999 meters 0.014773187007635285 Centerline is valid? [True, True] Translation: X:73.13, Y:-1.58, Z:-1.26 [[ 9.98998036e-01 4.42340685e-02 6.80235170e-03 7.31288772e+01] [-4.42332406e-02 9.99021194e-01 -2.72184786e-04 -1.58072966e+00] [-6.80773336e-03 -2.89779930e-05 9.99976827e-01 -1.26378187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters 0.014571275719348215 Centerline is valid? [True, True] Translation: X:73.16, Y:-1.59, Z:-1.27 [[ 9.99106298e-01 4.20234216e-02 4.54287389e-03 7.31576815e+01] [-4.20230287e-02 9.99116626e-01 -1.81948934e-04 -1.58721196e+00] [-4.54650695e-03 -9.11899390e-06 9.99989665e-01 -1.26709014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07439141799999 meters 0.014602860763692866 Centerline is valid? [True, True] Translation: X:73.19, Y:-1.60, Z:-1.27 [[ 9.99289887e-01 3.72224436e-02 5.84901824e-03 7.31850719e+01] [-3.72217138e-02 9.99307005e-01 -2.33603203e-04 -1.59713048e+00] [-5.85366018e-03 1.57268353e-05 9.99982867e-01 -1.26978425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters 0.014553654856099817 Centerline is valid? [True, True] Translation: X:73.21, Y:-1.60, Z:-1.27 [[ 9.99359017e-01 3.51432933e-02 6.81932084e-03 7.32142627e+01] [-3.51422614e-02 9.99382283e-01 -2.71129452e-04 -1.59983558e+00] [-6.82463682e-03 3.13093079e-05 9.99976711e-01 -1.26769083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13439141799999 meters 0.014492204041350536 Centerline is valid? [True, True] Translation: X:73.24, Y:-1.60, Z:-1.27 [[ 9.99410833e-01 3.34662527e-02 7.61556210e-03 7.32426379e+01] [-3.34649194e-02 9.99439847e-01 -3.02462535e-04 -1.60135118e+00] [-7.62141851e-03 4.74301615e-05 9.99970955e-01 -1.26593405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164391418 meters 0.015175708853960823 Centerline is valid? [True, True] Translation: X:73.27, Y:-1.60, Z:-1.27 [[ 9.99544633e-01 2.95902524e-02 5.91135231e-03 7.32711016e+01] [-2.95893857e-02 9.99562111e-01 -2.34044707e-04 -1.60432174e+00] [-5.91568923e-03 5.90248477e-05 9.99982500e-01 -1.26610940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194391418 meters 0.016088900170504097 Centerline is valid? [True, True] Translation: X:73.30, Y:-1.61, Z:-1.27 [[ 9.99632132e-01 2.67877876e-02 4.24453896e-03 7.32984255e+01] [-2.67873141e-02 9.99641141e-01 -1.68385529e-04 -1.60879092e+00] [-4.24752644e-03 5.46237872e-05 9.99990978e-01 -1.26906374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224391418 meters 0.01636606642736321 Centerline is valid? [True, True] Translation: X:73.33, Y:-1.61, Z:-1.27 [[ 9.99709882e-01 2.37039206e-02 4.27497180e-03 7.33273222e+01] [-2.37034151e-02 9.99719020e-01 -1.68886604e-04 -1.61352574e+00] [-4.27777390e-03 6.75061757e-05 9.99990848e-01 -1.26973911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254391418 meters 0.018103910240387818 Centerline is valid? [True, True] Translation: X:73.36, Y:-1.62, Z:-1.27 [[ 9.99798869e-01 1.74856002e-02 9.82216560e-03 7.33554781e+01] [-1.74826578e-02 9.99847092e-01 -3.85355727e-04 -1.62436410e+00] [-9.82740189e-03 2.13560660e-04 9.99951687e-01 -1.26568568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284391418 meters 0.019153583126746615 Centerline is valid? [True, True] Translation: X:73.39, Y:-1.63, Z:-1.26 [[ 9.99800589e-01 1.49995974e-02 1.31830945e-02 7.33856856e+01] [-1.49941065e-02 9.99887449e-01 -5.15254310e-04 -1.62805808e+00] [-1.31893393e-02 3.17482840e-04 9.99912966e-01 -1.26115534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314391418 meters 0.019964039302447223 Centerline is valid? [True, True] Translation: X:73.42, Y:-1.63, Z:-1.26 [[ 9.99796526e-01 1.36441375e-02 1.48574456e-02 7.34182157e+01] [-1.36370268e-02 9.99906843e-01 -5.79806105e-04 -1.62960450e+00] [-1.48639725e-02 3.77076746e-04 9.99889454e-01 -1.25805077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344391418 meters 0.021349193898135832 Centerline is valid? [True, True] Translation: X:73.45, Y:-1.63, Z:-1.26 [[ 9.99857141e-01 1.16397931e-02 1.22561078e-02 7.34497503e+01] [-1.16347711e-02 9.99932198e-01 -4.80981953e-04 -1.63046937e+00] [-1.22608753e-02 3.38316233e-04 9.99924775e-01 -1.25966415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37439141799999 meters 0.02146403837808525 Centerline is valid? [True, True] Translation: X:73.48, Y:-1.63, Z:-1.26 [[ 9.99891737e-01 1.10690749e-02 9.69478702e-03 7.34820991e+01] [-1.10658931e-02 9.99938698e-01 -3.81774526e-04 -1.63246603e+00] [-9.69841860e-03 2.74451717e-04 9.99952932e-01 -1.26378137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters 0.022634437887154996 Centerline is valid? [True, True] Translation: X:73.51, Y:-1.64, Z:-1.27 [[ 9.99923729e-01 9.54317613e-03 7.83991805e-03 7.35128341e+01] [-9.54103685e-03 9.99954435e-01 -3.10226143e-04 -1.63850748e+00] [-7.84252137e-03 2.35401535e-04 9.99969219e-01 -1.26686415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43439141799999 meters 0.02291291048876841 Centerline is valid? [True, True] Translation: X:73.54, Y:-1.64, Z:-1.27 [[ 9.99932280e-01 7.92993225e-03 8.51770817e-03 7.35441253e+01] [-7.92730773e-03 9.99968520e-01 -3.41843414e-04 -1.64230049e+00] [-8.52015083e-03 2.74297771e-04 9.99963665e-01 -1.26696743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters 0.023317290909707748 Centerline is valid? [True, True] Translation: X:73.58, Y:-1.64, Z:-1.27 [[ 9.99915192e-01 8.62281134e-03 9.75987290e-03 7.35760159e+01] [-8.61939667e-03 9.99962776e-01 -3.91878506e-04 -1.64250497e+00] [-9.76288869e-03 3.07721055e-04 9.99952295e-01 -1.26638949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49439141799999 meters 0.021339106081788718 Centerline is valid? [True, True] Translation: X:73.61, Y:-1.64, Z:-1.26 [[ 9.99884084e-01 1.11255575e-02 1.03942994e-02 7.36086793e+01] [-1.11218266e-02 9.99938064e-01 -4.16675523e-04 -1.63810528e+00] [-1.03982914e-02 3.01023627e-04 9.99945891e-01 -1.26389583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524391418 meters 0.02272844202412265 Centerline is valid? [True, True] Translation: X:73.64, Y:-1.64, Z:-1.27 [[ 9.99887631e-01 1.23305737e-02 8.52533570e-03 7.36398738e+01] [-1.23280847e-02 9.99923947e-01 -3.44442406e-04 -1.63961924e+00] [-8.52893449e-03 2.39302641e-04 9.99963599e-01 -1.26746725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554391418 meters 0.022013296621247635 Centerline is valid? [True, True] Translation: X:73.67, Y:-1.64, Z:-1.27 [[ 9.99893395e-01 1.27219488e-02 7.16599535e-03 7.36712815e+01] [-1.27201860e-02 9.99919053e-01 -2.91523522e-04 -1.63907073e+00] [-7.16912403e-03 2.00339650e-04 9.99974281e-01 -1.27076650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584391418 meters 0.021048303980557286 Centerline is valid? [True, True] Translation: X:73.70, Y:-1.64, Z:-1.27 [[ 9.99895471e-01 1.24978331e-02 7.26987731e-03 7.37018342e+01] [-1.24960077e-02 9.99921878e-01 -2.96460154e-04 -1.64039448e+00] [-7.27301449e-03 2.05584722e-04 9.99973530e-01 -1.27255691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614391418 meters 0.022678578701547217 Centerline is valid? [True, True] Translation: X:73.73, Y:-1.65, Z:-1.27 [[ 9.99881805e-01 1.10348974e-02 1.07054293e-02 7.37316610e+01] [-1.10308625e-02 9.99939063e-01 -4.35877758e-04 -1.64777193e+00] [-1.07095868e-02 3.17736121e-04 9.99942600e-01 -1.27125181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644391418 meters 0.022335406532727843 Centerline is valid? [True, True] Translation: X:73.76, Y:-1.65, Z:-1.27 [[ 9.99875872e-01 1.10907685e-02 1.11908393e-02 7.37637798e+01] [-1.10863648e-02 9.99938441e-01 -4.55470799e-04 -1.64662245e+00] [-1.11952020e-02 3.31348535e-04 9.99937277e-01 -1.26995692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674391418 meters 0.022653675000281363 Centerline is valid? [True, True] Translation: X:73.80, Y:-1.65, Z:-1.27 [[ 9.99877999e-01 1.16720804e-02 1.03802516e-02 7.37954694e+01] [-1.16682977e-02 9.99931833e-01 -4.24903008e-04 -1.64625481e+00] [-1.03845035e-02 3.03731303e-04 9.99946033e-01 -1.26858195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704391418 meters 0.021645694666978493 Centerline is valid? [True, True] Translation: X:73.83, Y:-1.64, Z:-1.27 [[ 9.99876251e-01 1.47121555e-02 5.57087683e-03 7.38273761e+01] [-1.47111077e-02 9.99891760e-01 -2.29012766e-04 -1.63986296e+00] [-5.57364311e-03 1.47030657e-04 9.99984456e-01 -1.27100830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734391418 meters 0.02097149891196493 Centerline is valid? [True, True] Translation: X:73.86, Y:-1.64, Z:-1.28 [[ 9.99861823e-01 1.65283889e-02 1.77408835e-03 7.38561562e+01] [-1.65282817e-02 9.99863396e-01 -7.50724385e-05 -1.63741711e+00] [-1.77508683e-03 4.57394332e-05 9.99998423e-01 -1.27578104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters 0.020867056821330332 Centerline is valid? [True, True] Translation: X:73.88, Y:-1.64, Z:-1.28 [[ 9.99844085e-01 1.76301442e-02 -9.92119748e-04 7.38834769e+01] [-1.76301138e-02 9.99844577e-01 3.93929540e-05 -1.63722408e+00] [ 9.92660053e-04 -2.18956279e-05 9.99999507e-01 -1.28152554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79439141799999 meters 0.020752057039573717 Centerline is valid? [True, True] Translation: X:73.91, Y:-1.64, Z:-1.28 [[ 9.99839212e-01 1.76932919e-02 2.91520604e-03 7.39117441e+01] [-1.76930115e-02 9.99843459e-01 -1.21944739e-04 -1.64043479e+00] [-2.91690730e-03 7.03463573e-05 9.99995743e-01 -1.28151825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters 0.020444799526349807 Centerline is valid? [True, True] Translation: X:73.94, Y:-1.64, Z:-1.28 [[ 9.99811259e-01 1.77194577e-02 7.96660690e-03 7.39411325e+01] [-1.77173848e-02 9.99842980e-01 -3.30712081e-04 -1.63932001e+00] [-7.97121602e-03 1.89502222e-04 9.99968211e-01 -1.27561866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85439141799999 meters 0.01887945929643052 Centerline is valid? [True, True] Translation: X:73.97, Y:-1.64, Z:-1.27 [[ 9.99764535e-01 1.76364106e-02 1.26424666e-02 7.39708592e+01] [-1.76312232e-02 9.99844422e-01 -5.21661716e-04 -1.63676800e+00] [-1.26497000e-02 2.98636732e-04 9.99919945e-01 -1.26765801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters 0.018287995663265926 Centerline is valid? [True, True] Translation: X:74.00, Y:-1.63, Z:-1.26 [[ 9.99751448e-01 1.86033078e-02 1.22865433e-02 7.40026870e+01] [-1.85984930e-02 9.99826905e-01 -5.06031865e-04 -1.63024418e+00] [-1.22938304e-02 2.77394900e-04 9.99924390e-01 -1.26453958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914391418 meters 0.018376263683796218 Centerline is valid? [True, True] Translation: X:74.03, Y:-1.63, Z:-1.27 [[ 9.99778134e-01 1.86718166e-02 9.74910723e-03 7.40327771e+01] [-1.86687828e-02 9.99825642e-01 -4.02106827e-04 -1.63001929e+00] [-9.75491547e-03 2.20013648e-04 9.99952395e-01 -1.26741921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944391418 meters 0.020205121472184184 Centerline is valid? [True, True] Translation: X:74.06, Y:-1.63, Z:-1.27 [[ 9.99803138e-01 1.80039576e-02 8.33928560e-03 7.40623623e+01] [-1.80017113e-02 9.99837897e-01 -3.44351678e-04 -1.63166334e+00] [-8.34413346e-03 1.94162477e-04 9.99965168e-01 -1.27082102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974391418 meters 0.020880542432814276 Centerline is valid? [True, True] Translation: X:74.09, Y:-1.64, Z:-1.27 [[ 9.99840364e-01 1.38804229e-02 1.12507925e-02 7.40905545e+01] [-1.38760799e-02 9.99903615e-01 -4.63995869e-04 -1.63818406e+00] [-1.12561486e-02 3.07804903e-04 9.99936600e-01 -1.26964429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004391418 meters 0.02140881964892132 Centerline is valid? [True, True] Translation: X:74.12, Y:-1.64, Z:-1.27 [[ 9.99853435e-01 1.18643845e-02 1.23428280e-02 7.41219824e+01] [-1.18590215e-02 9.99929550e-01 -5.07610153e-04 -1.64204214e+00] [-1.23479810e-02 3.61161892e-04 9.99923696e-01 -1.26933204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034391418 meters 0.02117104955700568 Centerline is valid? [True, True] Translation: X:74.15, Y:-1.64, Z:-1.27 [[ 9.99867641e-01 1.07065100e-02 1.22503204e-02 7.41538058e+01] [-1.07011517e-02 9.99942615e-01 -5.02865282e-04 -1.64375691e+00] [-1.22550014e-02 3.71706186e-04 9.99924836e-01 -1.26893374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064391418 meters 0.022275485095805413 Centerline is valid? [True, True] Translation: X:74.18, Y:-1.64, Z:-1.27 [[ 9.99906438e-01 1.00730309e-02 9.25464484e-03 7.41846505e+01] [-1.00699311e-02 9.99949224e-01 -3.81488083e-04 -1.64395921e+00] [-9.25801767e-03 2.88258755e-04 9.99957102e-01 -1.27150138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094391418 meters 0.02335321612246789 Centerline is valid? [True, True] Translation: X:74.22, Y:-1.65, Z:-1.28 [[ 9.99921269e-01 1.04813160e-02 6.89910488e-03 7.42155055e+01] [-1.04795985e-02 9.99945047e-01 -2.85059538e-04 -1.64571793e+00] [-6.90171356e-03 2.12737246e-04 9.99976160e-01 -1.27548884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters 0.022874272611824474 Centerline is valid? [True, True] Translation: X:74.25, Y:-1.65, Z:-1.28 [[ 9.99924734e-01 1.11179768e-02 5.18814136e-03 7.42458120e+01] [-1.11169958e-02 9.99938181e-01 -2.17877787e-04 -1.64605790e+00] [-5.19024299e-03 1.60184843e-04 9.99986518e-01 -1.27920950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15439141799999 meters 0.02096571005301919 Centerline is valid? [True, True] Translation: X:74.28, Y:-1.64, Z:-1.28 [[ 9.99909916e-01 1.19655773e-02 6.08156670e-03 7.42758809e+01] [-1.19642421e-02 9.99928393e-01 -2.55883723e-04 -1.64319458e+00] [-6.08419301e-03 1.83099336e-04 9.99981474e-01 -1.27812068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters 0.021436277886617405 Centerline is valid? [True, True] Translation: X:74.31, Y:-1.64, Z:-1.28 [[ 9.99887987e-01 1.34294636e-02 6.60773364e-03 7.43053083e+01] [-1.34279230e-02 9.99909803e-01 -2.77454769e-04 -1.64335995e+00] [-6.61086371e-03 1.88695551e-04 9.99978130e-01 -1.27820617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21439141799999 meters 0.018897843157274097 Centerline is valid? [True, True] Translation: X:74.34, Y:-1.64, Z:-1.28 [[ 9.99819607e-01 1.74283207e-02 7.55027611e-03 7.43357010e+01] [-1.74264247e-02 9.99848098e-01 -3.16827973e-04 -1.63606580e+00] [-7.55465099e-03 1.85196501e-04 9.99971446e-01 -1.27707486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters 0.01818077063664025 Centerline is valid? [True, True] Translation: X:74.36, Y:-1.64, Z:-1.28 [[ 9.99796089e-01 1.85819953e-02 7.90505955e-03 7.43648664e+01] [-1.85799495e-02 9.99827323e-01 -3.32161916e-04 -1.63507438e+00] [-7.90986676e-03 1.85218578e-04 9.99968699e-01 -1.27813463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274391418 meters 0.018117570726032376 Centerline is valid? [True, True] Translation: X:74.39, Y:-1.64, Z:-1.28 [[ 9.99794794e-01 1.85777834e-02 8.07682694e-03 7.43936037e+01] [-1.85756532e-02 9.99827400e-01 -3.38684832e-04 -1.63653097e+00] [-8.08172489e-03 1.88582996e-04 9.99967325e-01 -1.27924085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304391418 meters 0.018839179614489273 Centerline is valid? [True, True] Translation: X:74.42, Y:-1.64, Z:-1.28 [[ 9.99802258e-01 1.78165817e-02 8.83255216e-03 7.44218256e+01] [-1.78140139e-02 9.99841250e-01 -3.69321525e-04 -1.64000317e+00] [-8.83773004e-03 2.11905288e-04 9.99960924e-01 -1.28040668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334391418 meters 0.019774470776198524 Centerline is valid? [True, True] Translation: X:74.45, Y:-1.64, Z:-1.28 [[ 9.99834618e-01 1.53854407e-02 9.69662153e-03 7.44510500e+01] [-1.53822400e-02 9.99881604e-01 -4.04580747e-04 -1.64275779e+00] [-9.70169814e-03 2.55358077e-04 9.99952905e-01 -1.27808280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364391418 meters 0.019685094976201543 Centerline is valid? [True, True] Translation: X:74.48, Y:-1.64, Z:-1.28 [[ 9.99828574e-01 1.53677356e-02 1.03273997e-02 7.44813001e+01] [-1.53641119e-02 9.99881873e-01 -4.30131597e-04 -1.64231414e+00] [-1.03327899e-02 2.71386537e-04 9.99946578e-01 -1.27577982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394391418 meters 0.020038648701385983 Centerline is valid? [True, True] Translation: X:74.51, Y:-1.64, Z:-1.27 [[ 9.99823089e-01 1.59039977e-02 1.00425898e-02 7.45114047e+01] [-1.59005997e-02 9.99873490e-01 -4.18110871e-04 -1.64110770e+00] [-1.00479690e-02 2.58353702e-04 9.99949485e-01 -1.27439495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424391418 meters 0.018806328247105316 Centerline is valid? [True, True] Translation: X:74.54, Y:-1.64, Z:-1.28 [[ 9.99828806e-01 1.77543134e-02 5.20992048e-03 7.45421205e+01] [-1.77534230e-02 9.99842372e-01 -2.17094507e-04 -1.63513416e+00] [-5.21295361e-03 1.24563420e-04 9.99986405e-01 -1.27822568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454391418 meters 0.019541605602648632 Centerline is valid? [True, True] Translation: X:74.57, Y:-1.64, Z:-1.28 [[ 9.99836651e-01 1.78147721e-02 3.05054560e-03 7.45692285e+01] [-1.78144617e-02 9.99841302e-01 -1.28913363e-04 -1.63757410e+00] [-3.05235805e-03 7.45484771e-05 9.99995339e-01 -1.28414929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484391418 meters 0.019541605602648632 Centerline is valid? [True, True] Translation: X:74.60, Y:-1.64, Z:-1.28 [[ 9.99838043e-01 1.77364234e-02 3.05058678e-03 7.45975194e+01] [-1.77361156e-02 9.99842695e-01 -1.27923491e-04 -1.63867116e+00] [-3.05237581e-03 7.37972136e-05 9.99995339e-01 -1.28466043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51439141799999 meters 0.019856258321187703 Centerline is valid? [True, True] Translation: X:74.63, Y:-1.64, Z:-1.29 [[ 9.99849228e-01 1.71724389e-02 2.57445789e-03 7.46263316e+01] [-1.71722178e-02 9.99852541e-01 -1.07968129e-04 -1.64244064e+00] [-2.57593234e-03 6.37426992e-05 9.99996680e-01 -1.28900130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters 0.022002191365132474 Centerline is valid? [True, True] Translation: X:74.66, Y:-1.65, Z:-1.29 [[ 9.99848464e-01 1.54915448e-02 7.94105777e-03 7.46553582e+01] [-1.54894177e-02 9.99879978e-01 -3.29288707e-04 -1.64951168e+00] [-7.94520586e-03 2.06236447e-04 9.99968415e-01 -1.28831121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57439141799999 meters 0.020513396784920576 Centerline is valid? [True, True] Translation: X:74.68, Y:-1.65, Z:-1.28 [[ 9.99814482e-01 1.52820788e-02 1.17243074e-02 7.46848819e+01] [-1.52774431e-02 9.99883175e-01 -4.84863425e-04 -1.65013562e+00] [-1.17303474e-02 3.05656036e-04 9.99931150e-01 -1.28252684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters 0.018699792150510826 Centerline is valid? [True, True] Translation: X:74.72, Y:-1.65, Z:-1.28 [[ 9.99774441e-01 1.64495643e-02 1.34342229e-02 7.47162983e+01] [-1.64435962e-02 9.99864641e-01 -5.54585004e-04 -1.64594959e+00] [-1.34415271e-02 3.33552976e-04 9.99909603e-01 -1.27783425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63439141799999 meters 0.0173224576139536 Centerline is valid? [True, True] Translation: X:74.75, Y:-1.64, Z:-1.28 [[ 9.99713203e-01 2.12930457e-02 1.09598079e-02 7.47482914e+01] [-2.12893613e-02 9.99773253e-01 -4.52749696e-04 -1.63770968e+00] [-1.09669632e-02 2.19292538e-04 9.99939837e-01 -1.27565784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664391418 meters 0.01683472618799942 Centerline is valid? [True, True] Translation: X:74.78, Y:-1.64, Z:-1.28 [[ 9.99698839e-01 2.32595731e-02 7.82456994e-03 7.47772547e+01] [-2.32577447e-02 9.99729449e-01 -3.24601152e-04 -1.63599458e+00] [-7.83000308e-03 1.42521545e-04 9.99969335e-01 -1.27863640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694391418 meters 0.01641841775769553 Centerline is valid? [True, True] Translation: X:74.80, Y:-1.64, Z:-1.28 [[ 9.99692031e-01 2.43037722e-02 5.01691720e-03 7.48045255e+01] [-2.43030318e-02 9.99704616e-01 -2.08499587e-04 -1.63657756e+00] [-5.02050261e-03 8.65090774e-05 9.99987393e-01 -1.28348320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724391418 meters 0.01663042821011665 Centerline is valid? [True, True] Translation: X:74.83, Y:-1.64, Z:-1.29 [[ 9.99691403e-01 2.44991653e-02 4.10967836e-03 7.48321619e+01] [-2.44986706e-02 9.99699848e-01 -1.70692958e-04 -1.64232079e+00] [-4.11262667e-03 6.99586261e-05 9.99991541e-01 -1.29046888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754391418 meters 0.016672063363524982 Centerline is valid? [True, True] Translation: X:74.86, Y:-1.64, Z:-1.29 [[ 9.99672744e-01 2.46715432e-02 6.76168612e-03 7.48605530e+01] [-2.46702217e-02 9.99695605e-01 -2.78783149e-04 -1.64436052e+00] [-6.76650591e-03 1.11879620e-04 9.99977101e-01 -1.28888722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784391418 meters 0.01643507461635405 Centerline is valid? [True, True] Translation: X:74.89, Y:-1.65, Z:-1.29 [[ 9.99648038e-01 2.46910365e-02 9.70322219e-03 7.48888137e+01] [-2.46883281e-02 9.99695117e-01 -3.98824612e-04 -1.64517911e+00] [-9.71011124e-03 1.59127908e-04 9.99952843e-01 -1.28599013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814391418 meters 0.015682313722893502 Centerline is valid? [True, True] Translation: X:74.92, Y:-1.64, Z:-1.28 [[ 9.99583785e-01 2.68385800e-02 1.05805035e-02 7.49173909e+01] [-2.68354955e-02 9.99639769e-01 -4.33416179e-04 -1.64124394e+00] [-1.05883244e-02 1.49302730e-04 9.99943931e-01 -1.28227131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844391418 meters 0.015334749096270948 Centerline is valid? [True, True] Translation: X:74.95, Y:-1.64, Z:-1.28 [[ 9.99564311e-01 2.79440410e-02 9.50360052e-03 7.49457698e+01] [-2.79416081e-02 9.99609481e-01 -3.88707388e-04 -1.64057415e+00] [-9.51075124e-03 1.22992151e-04 9.99954764e-01 -1.28331413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87439141799999 meters 0.015551790753781724 Centerline is valid? [True, True] Translation: X:74.97, Y:-1.64, Z:-1.29 [[ 9.99593224e-01 2.77958494e-02 6.38574000e-03 7.49747062e+01] [-2.77947481e-02 9.99613617e-01 -2.61148958e-04 -1.64307911e+00] [-6.39053151e-03 8.35526939e-05 9.99979577e-01 -1.28820471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters 0.016719632201992872 Centerline is valid? [True, True] Translation: X:75.00, Y:-1.65, Z:-1.29 [[ 9.99610402e-01 2.72199073e-02 6.17422260e-03 7.50035533e+01] [-2.72188696e-02 9.99629466e-01 -2.52050538e-04 -1.64627753e+00] [-6.17879563e-03 8.38969799e-05 9.99980908e-01 -1.29041968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93439141799999 meters 0.016061248061171752 Centerline is valid? [True, True] Translation: X:75.03, Y:-1.65, Z:-1.29 [[ 9.99637480e-01 2.58119622e-02 7.65842191e-03 7.50312573e+01] [-2.58103295e-02 9.99666809e-01 -3.11969748e-04 -1.64926693e+00] [-7.66392274e-03 1.14190260e-04 9.99970625e-01 -1.28948659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters 0.017006542336167368 Centerline is valid? [True, True] Translation: X:75.06, Y:-1.65, Z:-1.29 [[ 9.99723738e-01 2.18815907e-02 8.58160251e-03 7.50597023e+01] [-2.18794078e-02 9.99760556e-01 -3.48183908e-04 -1.65140515e+00] [-8.58716652e-03 1.60327337e-04 9.99963117e-01 -1.28700180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99439141799999 meters 0.01834622293671383 Centerline is valid? [True, True] Translation: X:75.09, Y:-1.65, Z:-1.29 [[ 9.99790660e-01 1.88545368e-02 7.94625957e-03 7.50879510e+01] [-1.88525754e-02 9.99822223e-01 -3.21673047e-04 -1.65408933e+00] [-7.95091190e-03 1.71798251e-04 9.99968376e-01 -1.28864376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024391418 meters 0.02005039839945353 Centerline is valid? [True, True] Translation: X:75.12, Y:-1.66, Z:-1.29 [[ 9.99862679e-01 1.51972385e-02 6.60811040e-03 7.51160842e+01] [-1.51958040e-02 9.99884501e-01 -2.67237911e-04 -1.65927263e+00] [-6.61140846e-03 1.66785663e-04 9.99978130e-01 -1.29174309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054391418 meters 0.02474465667277444 Centerline is valid? [True, True] Translation: X:75.15, Y:-1.67, Z:-1.30 [[ 9.99957789e-01 5.78244900e-03 7.14025379e-03 7.51457046e+01] [-5.78054119e-03 9.99983251e-01 -2.87799603e-04 -1.67350290e+00] [-7.14179838e-03 2.46512924e-04 9.99974467e-01 -1.29553004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084391418 meters 0.026837234468461202 Centerline is valid? [True, True] Translation: X:75.18, Y:-1.68, Z:-1.29 [[ 9.99957268e-01 6.14916326e-04 9.22410937e-03 7.51764366e+01] [-6.11519315e-04 9.99999744e-01 -3.71091177e-04 -1.67926677e+00] [-9.22433520e-03 3.65434599e-04 9.99957388e-01 -1.29428539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114391418 meters 0.035125239813130205 Centerline is valid? [True, True] Translation: X:75.21, Y:-1.69, Z:-1.29 [[ 9.99883070e-01 -8.04229223e-03 1.30064859e-02 7.52058294e+01] [ 8.04979689e-03 9.99967462e-01 -5.24743434e-04 -1.68856074e+00] [-1.30018425e-02 6.29381645e-04 9.99915274e-01 -1.28758701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144391418 meters 0.034255766837452385 Centerline is valid? [True, True] Translation: X:75.24, Y:-1.69, Z:-1.29 [[ 9.99847656e-01 -1.12370336e-02 1.33563949e-02 7.52375330e+01] [ 1.12452253e-02 9.99936626e-01 -5.38371273e-04 -1.68662579e+00] [-1.33494987e-02 6.88484925e-04 9.99910654e-01 -1.28566826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174391418 meters 0.03486301520746606 Centerline is valid? [True, True] Translation: X:75.27, Y:-1.69, Z:-1.29 [[ 9.99829144e-01 -1.40762311e-02 1.19809415e-02 7.52684519e+01] [ 1.40830318e-02 9.99900712e-01 -4.83440398e-04 -1.68821080e+00] [-1.19729469e-02 6.52085778e-04 9.99928109e-01 -1.28775498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204391418 meters 0.03587695991475382 Centerline is valid? [True, True] Translation: X:75.30, Y:-1.69, Z:-1.29 [[ 9.99804689e-01 -1.68951052e-02 1.02536973e-02 7.52991231e+01] [ 1.69002330e-02 9.99857095e-01 -4.13647007e-04 -1.69229025e+00] [-1.02452434e-02 5.86856091e-04 9.99947344e-01 -1.29200097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234391418 meters 0.041411192269843904 Centerline is valid? [True, True] Translation: X:75.33, Y:-1.70, Z:-1.30 [[ 9.99691379e-01 -2.28471002e-02 9.75484947e-03 7.53281349e+01] [ 2.28520335e-02 9.99738780e-01 -3.94552793e-04 -1.70495480e+00] [-9.74328693e-03 6.17349173e-04 9.99952342e-01 -1.29754392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters 0.04325613129207114 Centerline is valid? [True, True] Translation: X:75.36, Y:-1.71, Z:-1.30 [[ 9.99623918e-01 -2.49404934e-02 1.14015404e-02 7.53604299e+01] [ 2.49473588e-02 9.99688660e-01 -4.60292906e-04 -1.70912477e+00] [-1.13865107e-02 7.44558117e-04 9.99934894e-01 -1.29608987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29439141799999 meters 0.0446575694066227 Centerline is valid? [True, True] Translation: X:75.39, Y:-1.71, Z:-1.29 [[ 9.99571913e-01 -2.59190435e-02 1.35718294e-02 7.53923957e+01] [ 2.59288791e-02 9.99663639e-01 -5.49223252e-04 -1.71074033e+00] [-1.35530290e-02 9.00890460e-04 9.99907748e-01 -1.29334688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters 0.038875186863022194 Centerline is valid? [True, True] Translation: X:75.42, Y:-1.70, Z:-1.29 [[ 9.99632516e-01 -2.40553144e-02 1.24970189e-02 7.54248212e+01] [ 2.40635205e-02 9.99710303e-01 -5.06674256e-04 -1.69822960e+00] [-1.24812103e-02 8.07210332e-04 9.99921781e-01 -1.29103539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35439141799999 meters 0.043032372844221164 Centerline is valid? [True, True] Translation: X:75.45, Y:-1.70, Z:-1.29 [[ 9.99708170e-01 -2.19083897e-02 1.01782675e-02 7.54548872e+01] [ 2.19137297e-02 9.99759780e-01 -4.13404150e-04 -1.70215613e+00] [-1.01667655e-02 6.36327309e-04 9.99948115e-01 -1.29406353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799999 meters 0.0414892899743507 Centerline is valid? [True, True] Translation: X:75.48, Y:-1.70, Z:-1.30 [[ 9.99825370e-01 -1.67324407e-02 8.32194457e-03 7.54844613e+01] [ 1.67358356e-02 9.99859889e-01 -3.38470191e-04 -1.69738901e+00] [-8.31511514e-03 4.77685780e-04 9.99965315e-01 -1.30016136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414391418 meters 0.03997795397613223 Centerline is valid? [True, True] Translation: X:75.52, Y:-1.70, Z:-1.30 [[ 9.99840186e-01 -1.50167107e-02 9.70053401e-03 7.55163598e+01] [ 1.50212338e-02 9.99887097e-01 -3.93577614e-04 -1.69693557e+00] [-9.69352855e-03 5.39228704e-04 9.99952871e-01 -1.29987523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444391418 meters 0.03218977113712947 Centerline is valid? [True, True] Translation: X:75.55, Y:-1.69, Z:-1.30 [[ 9.99848673e-01 -1.27528043e-02 1.18320242e-02 7.55478855e+01] [ 1.27593917e-02 9.99918480e-01 -4.81417483e-04 -1.68591897e+00] [-1.18249202e-02 6.32314062e-04 9.99929883e-01 -1.29967173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474391418 meters 0.033906440856249796 Centerline is valid? [True, True] Translation: X:75.58, Y:-1.69, Z:-1.29 [[ 9.99817815e-01 -9.91112580e-03 1.63127957e-02 7.55790629e+01] [ 9.92328677e-03 9.99950542e-01 -6.64710009e-04 -1.68626578e+00] [-1.63054009e-02 8.26465458e-04 9.99866717e-01 -1.29235207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504391418 meters 0.03056218910297541 Centerline is valid? [True, True] Translation: X:75.61, Y:-1.68, Z:-1.29 [[ 9.99834139e-01 -7.97045526e-03 1.63757894e-02 7.56112390e+01] [ 7.98246096e-03 9.99967917e-01 -6.67903267e-04 -1.67958706e+00] [-1.63699405e-02 7.98511588e-04 9.99865685e-01 -1.29005345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534391418 meters 0.028911700569733613 Centerline is valid? [True, True] Translation: X:75.64, Y:-1.68, Z:-1.29 [[ 9.99871952e-01 -6.55202337e-03 1.45997084e-02 7.56437954e+01] [ 6.56142975e-03 9.99978296e-01 -5.96477711e-04 -1.67526290e+00] [-1.45954834e-02 6.92196294e-04 9.99893241e-01 -1.29085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564391418 meters 0.029630122465412915 Centerline is valid? [True, True] Translation: X:75.67, Y:-1.68, Z:-1.30 [[ 9.99954923e-01 -3.22398268e-03 8.93069432e-03 7.56738108e+01] [ 3.22737614e-03 9.99994725e-01 -3.65591642e-04 -1.67555701e+00] [-8.92946855e-03 3.94397872e-04 9.99960054e-01 -1.29854487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594391418 meters 0.02920695048389345 Centerline is valid? [True, True] Translation: X:75.71, Y:-1.67, Z:-1.30 [[ 9.99977650e-01 -1.54718826e-03 6.50421474e-03 7.57060842e+01] [ 1.54894857e-03 9.99998765e-01 -2.65613581e-04 -1.67401922e+00] [-6.50379575e-03 2.75682339e-04 9.99978812e-01 -1.30304121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters 0.025053590858619895 Centerline is valid? [True, True] Translation: X:75.74, Y:-1.67, Z:-1.30 [[ 9.99975004e-01 3.20977915e-03 6.29984692e-03 7.57376502e+01] [-3.20821472e-03 9.99994820e-01 -2.58417987e-04 -1.66522326e+00] [-6.30064375e-03 2.38200266e-04 9.99980122e-01 -1.30227875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65439141799999 meters 0.023391701804207545 Centerline is valid? [True, True] Translation: X:75.77, Y:-1.66, Z:-1.30 [[ 9.99949304e-01 6.64888521e-03 7.56187061e-03 7.57692627e+01] [-6.64672932e-03 9.99977862e-01 -3.10196897e-04 -1.66044015e+00] [-7.56376567e-03 2.59919464e-04 9.99971361e-01 -1.30157670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters 0.021790619917575527 Centerline is valid? [True, True] Translation: X:75.80, Y:-1.66, Z:-1.30 [[ 9.99900636e-01 1.03583827e-02 9.56150902e-03 7.58009781e+01] [-1.03550997e-02 9.99946307e-01 -3.92804074e-04 -1.65678164e+00] [-9.56506445e-03 2.93754664e-04 9.99954211e-01 -1.30036377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71439141799999 meters 0.020043570247185928 Centerline is valid? [True, True] Translation: X:75.83, Y:-1.65, Z:-1.30 [[ 9.99843403e-01 1.33443858e-02 1.16231103e-02 7.58322962e+01] [-1.33397287e-02 9.99910908e-01 -4.78114728e-04 -1.65313744e+00] [-1.16284550e-02 3.22990719e-04 9.99932335e-01 -1.29953754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters 0.018953340612101015 Centerline is valid? [True, True] Translation: X:75.86, Y:-1.65, Z:-1.30 [[ 9.99736996e-01 1.78021097e-02 1.44576347e-02 7.58624517e+01] [-1.77953575e-02 9.99841473e-01 -5.95554906e-04 -1.65096399e+00] [-1.44659449e-02 3.38119495e-04 9.99895306e-01 -1.29850871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774391418 meters 0.018478552377501838 Centerline is valid? [True, True] Translation: X:75.89, Y:-1.65, Z:-1.30 [[ 9.99711087e-01 1.93199092e-02 1.42997916e-02 7.58934804e+01] [-1.93134547e-02 9.99813304e-01 -5.89344302e-04 -1.65078516e+00] [-1.43085080e-02 3.12995655e-04 9.99897579e-01 -1.29888206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804391418 meters 0.019131856138578505 Centerline is valid? [True, True] Translation: X:75.92, Y:-1.65, Z:-1.30 [[ 9.99688277e-01 2.10785131e-02 1.33807586e-02 7.59236891e+01] [-2.10730135e-02 9.99777787e-01 -5.51883545e-04 -1.64996422e+00] [-1.33894181e-02 2.69738604e-04 9.99910321e-01 -1.30032926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834391418 meters 0.016065224607278994 Centerline is valid? [True, True] Translation: X:75.95, Y:-1.64, Z:-1.30 [[ 9.99628904e-01 2.51979590e-02 1.03497572e-02 7.59537030e+01] [-2.51948892e-02 9.99682467e-01 -4.26903421e-04 -1.64274554e+00] [-1.03572279e-02 1.65984015e-04 9.99946349e-01 -1.29997260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864391418 meters 0.01555101688805638 Centerline is valid? [True, True] Translation: X:75.98, Y:-1.64, Z:-1.30 [[ 9.99590291e-01 2.74079784e-02 8.24941936e-03 7.59814889e+01] [-2.74061002e-02 9.99624324e-01 -3.40654715e-04 -1.63979793e+00] [-8.25565691e-03 1.14430733e-04 9.99965915e-01 -1.30208676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894391418 meters 0.014834257333427928 Centerline is valid? [True, True] Translation: X:76.01, Y:-1.64, Z:-1.30 [[ 9.99545393e-01 2.92742231e-02 7.21299498e-03 7.60100164e+01] [-2.92728407e-02 9.99571414e-01 -2.97168163e-04 -1.63762242e+00] [-7.21860296e-03 8.58882152e-05 9.99973942e-01 -1.30370809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924391418 meters 0.014533299714750446 Centerline is valid? [True, True] Translation: X:76.04, Y:-1.64, Z:-1.31 [[ 9.99485405e-01 3.09980948e-02 8.24882785e-03 7.60376671e+01] [-3.09963501e-02 9.99519440e-01 -3.39309468e-04 -1.63874928e+00] [-8.25538174e-03 8.34513056e-05 9.99965920e-01 -1.30556742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954391418 meters 0.014480382750844609 Centerline is valid? [True, True] Translation: X:76.07, Y:-1.64, Z:-1.31 [[ 9.99466692e-01 3.10398466e-02 1.01419649e-02 7.60667512e+01] [-3.10372297e-02 9.99518143e-01 -4.15353456e-04 -1.64085026e+00] [-1.01499704e-02 1.00353451e-04 9.99948483e-01 -1.30514985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984391418 meters 0.014382578177342316 Centerline is valid? [True, True] Translation: X:76.10, Y:-1.64, Z:-1.30 [[ 9.99441249e-01 3.11631618e-02 1.20850003e-02 7.60953084e+01] [-3.11594696e-02 9.99514304e-01 -4.93738951e-04 -1.64193885e+00] [-1.20945171e-02 1.16900876e-04 9.99926852e-01 -1.30364056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01439141799999 meters 0.014103361369341622 Centerline is valid? [True, True] Translation: X:76.12, Y:-1.64, Z:-1.30 [[ 9.99420158e-01 3.12971196e-02 1.34103490e-02 7.61245642e+01] [-3.12926010e-02 9.99510117e-01 -5.46700692e-04 -1.64093553e+00] [-1.34208896e-02 1.26738992e-04 9.99909928e-01 -1.30133494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters 0.015163937009878638 Centerline is valid? [True, True] Translation: X:76.15, Y:-1.64, Z:-1.30 [[ 9.99446965e-01 3.08488806e-02 1.24140995e-02 7.61537029e+01] [-3.08449848e-02 9.99524053e-01 -5.05209750e-04 -1.64101709e+00] [-1.24237762e-02 1.22017643e-04 9.99922814e-01 -1.30248271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07439141799999 meters 0.015233957712919615 Centerline is valid? [True, True] Translation: X:76.18, Y:-1.64, Z:-1.30 [[ 9.99505497e-01 2.92552854e-02 1.15277751e-02 7.61812155e+01] [-2.92518281e-02 9.99571964e-01 -4.68440615e-04 -1.64432546e+00] [-1.15365451e-02 1.31000475e-04 9.99933443e-01 -1.30402534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters 0.01596980144067549 Centerline is valid? [True, True] Translation: X:76.21, Y:-1.65, Z:-1.31 [[ 9.99637697e-01 2.47773999e-02 1.05144954e-02 7.62099015e+01] [-2.47742871e-02 9.99692979e-01 -4.26212822e-04 -1.64873345e+00] [-1.05218277e-02 1.65569277e-04 9.99944630e-01 -1.30596990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13439141799999 meters 0.017078949369786642 Centerline is valid? [True, True] Translation: X:76.24, Y:-1.65, Z:-1.31 [[ 9.99708122e-01 2.20238753e-02 9.93072463e-03 7.62381861e+01] [-2.20209698e-02 9.99757428e-01 -4.01847618e-04 -1.65356430e+00] [-9.93716596e-03 1.83046141e-04 9.99950608e-01 -1.30785792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164391418 meters 0.020277538227603295 Centerline is valid? [True, True] Translation: X:76.27, Y:-1.66, Z:-1.31 [[ 9.99762382e-01 1.96370740e-02 9.46386852e-03 7.62678606e+01] [-1.96343378e-02 9.99807155e-01 -3.81954600e-04 -1.65916359e+00] [-9.46954393e-03 1.96047049e-04 9.99955144e-01 -1.31195507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194391418 meters 0.021275306683848805 Centerline is valid? [True, True] Translation: X:76.30, Y:-1.67, Z:-1.31 [[ 9.99867383e-01 1.31033954e-02 9.67044570e-03 7.62968805e+01] [-1.31002352e-02 9.99914112e-01 -3.90062433e-04 -1.66918326e+00] [-9.67472627e-03 2.63325591e-04 9.99953164e-01 -1.31306926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224391418 meters 0.02213109524834578 Centerline is valid? [True, True] Translation: X:76.33, Y:-1.67, Z:-1.31 [[ 9.99889763e-01 1.03936598e-02 1.06034916e-02 7.63272407e+01] [-1.03897202e-02 9.99945934e-01 -4.26561004e-04 -1.67223967e+00] [-1.06073518e-02 3.16346671e-04 9.99943690e-01 -1.31175770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254391418 meters 0.023669679344963057 Centerline is valid? [True, True] Translation: X:76.36, Y:-1.68, Z:-1.31 [[ 9.99889646e-01 8.91882660e-03 1.18806329e-02 7.63586390e+01] [-8.91379501e-03 9.99960158e-01 -4.76398203e-04 -1.67528856e+00] [-1.18844085e-02 3.70444104e-04 9.99929309e-01 -1.30936010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284391418 meters 0.022937492638317878 Centerline is valid? [True, True] Translation: X:76.39, Y:-1.67, Z:-1.30 [[ 9.99891397e-01 8.52873324e-03 1.20189061e-02 7.63908826e+01] [-8.52352052e-03 9.99963557e-01 -4.84867632e-04 -1.67172750e+00] [-1.20226034e-02 3.82371582e-04 9.99927653e-01 -1.30499110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314391418 meters 0.02218311002718312 Centerline is valid? [True, True] Translation: X:76.42, Y:-1.67, Z:-1.31 [[ 9.99895420e-01 9.60187644e-03 1.08145078e-02 7.64228682e+01] [-9.59769223e-03 9.99953845e-01 -4.38741204e-04 -1.67020179e+00] [-1.08182214e-02 3.34901002e-04 9.99941425e-01 -1.30566705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344391418 meters 0.023322487259827905 Centerline is valid? [True, True] Translation: X:76.45, Y:-1.67, Z:-1.31 [[ 9.99899466e-01 1.08360776e-02 9.14530371e-03 7.64541482e+01] [-1.08331189e-02 9.99941250e-01 -3.72991354e-04 -1.67189923e+00] [-9.14880819e-03 2.73881693e-04 9.99958111e-01 -1.30937728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37439141799999 meters 0.021454908646013213 Centerline is valid? [True, True] Translation: X:76.48, Y:-1.67, Z:-1.32 [[ 9.99914859e-01 1.07190960e-02 7.44149380e-03 7.64842760e+01] [-1.07171059e-02 9.99942523e-01 -3.07261068e-04 -1.67465073e+00] [-7.44435965e-03 2.27483630e-04 9.99972264e-01 -1.31559824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters 0.021454908646013213 Centerline is valid? [True, True] Translation: X:76.51, Y:-1.68, Z:-1.32 [[ 9.99914859e-01 1.07190960e-02 7.44149380e-03 7.65142613e+01] [-1.07171059e-02 9.99942523e-01 -3.07261068e-04 -1.67588883e+00] [-7.44435965e-03 2.27483630e-04 9.99972264e-01 -1.31613935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43439141799999 meters 0.023153560844596036 Centerline is valid? [True, True] Translation: X:76.54, Y:-1.68, Z:-1.32 [[ 9.99919008e-01 9.97136633e-03 7.90886364e-03 7.65438143e+01] [-9.96909501e-03 9.99950254e-01 -3.26558880e-04 -1.68227674e+00] [-7.91172644e-03 2.47688218e-04 9.99968671e-01 -1.31923626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters 0.02396192110454861 Centerline is valid? [True, True] Translation: X:76.57, Y:-1.68, Z:-1.32 [[ 9.99907275e-01 9.25694750e-03 9.98753534e-03 7.65738542e+01] [-9.25328968e-03 9.99957102e-01 -4.12387735e-04 -1.68363769e+00] [-9.99092435e-03 3.19931938e-04 9.99950038e-01 -1.31702982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49439141799999 meters 0.022605838109643863 Centerline is valid? [True, True] Translation: X:76.61, Y:-1.68, Z:-1.31 [[ 9.99888380e-01 9.49199248e-03 1.15381920e-02 7.66057977e+01] [-9.48712917e-03 9.99954883e-01 -4.76158893e-04 -1.68273039e+00] [-1.15421912e-02 3.66641425e-04 9.99933319e-01 -1.31315951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524391418 meters 0.02420819426430283 Centerline is valid? [True, True] Translation: X:76.64, Y:-1.68, Z:-1.31 [[ 9.99877483e-01 1.14618914e-02 1.06603994e-02 7.66371309e+01] [-1.14578571e-02 9.99934260e-01 -4.39433467e-04 -1.68350598e+00] [-1.06647354e-02 3.17234295e-04 9.99943080e-01 -1.31327706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554391418 meters 0.020223228404039065 Centerline is valid? [True, True] Translation: X:76.67, Y:-1.68, Z:-1.32 [[ 9.99833516e-01 1.64904211e-02 7.81062042e-03 7.66687071e+01] [-1.64883957e-02 9.99864005e-01 -3.23646480e-04 -1.67724787e+00] [-7.81489528e-03 1.94807998e-04 9.99969444e-01 -1.31512610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584391418 meters 0.019176032744545633 Centerline is valid? [True, True] Translation: X:76.70, Y:-1.68, Z:-1.32 [[ 9.99806887e-01 1.86135258e-02 6.30284414e-03 7.66978294e+01] [-1.86122398e-02 9.99826743e-01 -2.62637658e-04 -1.67643608e+00] [-6.30664074e-03 1.45276893e-04 9.99980102e-01 -1.31836168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614391418 meters 0.018640562790566976 Centerline is valid? [True, True] Translation: X:76.73, Y:-1.68, Z:-1.32 [[ 9.99777600e-01 2.03792294e-02 5.42556292e-03 7.67258061e+01] [-2.03783024e-02 9.99792315e-01 -2.26089035e-04 -1.67739481e+00] [-5.42904364e-03 1.15474991e-04 9.99985256e-01 -1.32147783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644391418 meters 0.017290189768393444 Centerline is valid? [True, True] Translation: X:76.75, Y:-1.68, Z:-1.32 [[ 9.99731645e-01 2.19314283e-02 7.45990004e-03 7.67549064e+01] [-2.19297304e-02 9.99759467e-01 -3.09324806e-04 -1.67848239e+00] [-7.46488962e-03 1.45648200e-04 9.99972127e-01 -1.32125540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674391418 meters 0.01666788489548871 Centerline is valid? [True, True] Translation: X:76.78, Y:-1.68, Z:-1.32 [[ 9.99704744e-01 2.22925539e-02 9.66786267e-03 7.67837041e+01] [-2.22897305e-02 9.99751473e-01 -3.99705516e-04 -1.67901955e+00] [-9.67437041e-03 1.84093447e-04 9.99953185e-01 -1.31880325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704391418 meters 0.016691738948274568 Centerline is valid? [True, True] Translation: X:76.81, Y:-1.68, Z:-1.31 [[ 9.99678705e-01 2.32210741e-02 1.01621361e-02 7.68121173e+01] [-2.32180102e-02 9.99730338e-01 -4.19392869e-04 -1.67779943e+00] [-1.01691345e-02 1.83313541e-04 9.99948276e-01 -1.31404077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734391418 meters 0.016344393071862043 Centerline is valid? [True, True] Translation: X:76.84, Y:-1.68, Z:-1.31 [[ 9.99679885e-01 2.38038695e-02 8.57340270e-03 7.68405198e+01] [-2.38017168e-02 9.99716637e-01 -3.53050189e-04 -1.67659917e+00] [-8.57937728e-03 1.48875470e-04 9.99963185e-01 -1.31400474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters 0.016234041053385925 Centerline is valid? [True, True] Translation: X:76.87, Y:-1.68, Z:-1.31 [[ 9.99682590e-01 2.42650201e-02 6.77705873e-03 7.68694597e+01] [-2.42636872e-02 9.99705555e-01 -2.78836433e-04 -1.67664479e+00] [-6.78182923e-03 1.14311494e-04 9.99976997e-01 -1.31489712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79439141799999 meters 0.016172302533093767 Centerline is valid? [True, True] Translation: X:76.90, Y:-1.68, Z:-1.32 [[ 9.99683581e-01 2.45510606e-02 5.47573113e-03 7.68985498e+01] [-2.45501957e-02 9.99698573e-01 -2.25131345e-04 -1.67776418e+00] [-5.47960781e-03 9.06298386e-05 9.99984983e-01 -1.31673349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters 0.016187072393538827 Centerline is valid? [True, True] Translation: X:76.93, Y:-1.68, Z:-1.32 [[ 9.99681482e-01 2.50092883e-02 3.38679537e-03 7.69260496e+01] [-2.50089575e-02 9.99687217e-01 -1.40016680e-04 -1.68116653e+00] [-3.38923776e-03 5.52718609e-05 9.99994255e-01 -1.32274190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85439141799999 meters 0.015947087349571155 Centerline is valid? [True, True] Translation: X:76.95, Y:-1.68, Z:-1.32 [[ 9.99679287e-01 2.51415452e-02 3.03740343e-03 7.69543111e+01] [-2.51412798e-02 9.99683900e-01 -1.25541831e-04 -1.68290486e+00] [-3.03959963e-03 4.91373590e-05 9.99995379e-01 -1.32487009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799999 meters 0.016073179734515795 Centerline is valid? [True, True] Translation: X:76.98, Y:-1.69, Z:-1.33 [[ 9.99674407e-01 2.51576639e-02 4.26283454e-03 7.69825065e+01] [-2.51571496e-02 9.99683494e-01 -1.74243570e-04 -1.68546885e+00] [-4.26586889e-03 6.69460714e-05 9.99990899e-01 -1.32590934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914391418 meters 0.015910831597471576 Centerline is valid? [True, True] Translation: X:77.01, Y:-1.69, Z:-1.32 [[ 9.99638061e-01 2.49474233e-02 1.00684120e-02 7.70116221e+01] [-2.49445711e-02 9.99688752e-01 -4.08790083e-04 -1.68551326e+00] [-1.00754765e-02 1.57489908e-04 9.99949229e-01 -1.31876237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944391418 meters 0.01562800890311418 Centerline is valid? [True, True] Translation: X:77.04, Y:-1.68, Z:-1.31 [[ 9.99617842e-01 2.44647273e-02 1.28703676e-02 7.70411023e+01] [-2.44600458e-02 9.99700673e-01 -5.21052747e-04 -1.68449762e+00] [-1.28792626e-02 2.06043842e-04 9.99917038e-01 -1.31369946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974391418 meters 0.015873983347025156 Centerline is valid? [True, True] Translation: X:77.07, Y:-1.69, Z:-1.31 [[ 9.99654025e-01 2.28295267e-02 1.30630158e-02 7.70695397e+01] [-2.28245736e-02 9.99739346e-01 -5.28147818e-04 -1.68557786e+00] [-1.30716682e-02 2.29807328e-04 9.99914536e-01 -1.31125164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004391418 meters 0.016493396484235662 Centerline is valid? [True, True] Translation: X:77.10, Y:-1.69, Z:-1.32 [[ 9.99717282e-01 2.14277763e-02 1.03056478e-02 7.70982690e+01] [-2.14246263e-02 9.99770380e-01 -4.15970723e-04 -1.69019738e+00] [-1.03121947e-02 1.95058468e-04 9.99946809e-01 -1.31605775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034391418 meters 0.017014084722214915 Centerline is valid? [True, True] Translation: X:77.13, Y:-1.70, Z:-1.32 [[ 9.99782504e-01 1.95366527e-02 7.29816755e-03 7.71270221e+01] [-1.95350235e-02 9.99809130e-01 -2.94455346e-04 -1.69595803e+00] [-7.30252722e-03 1.51821429e-04 9.99973325e-01 -1.32259631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064391418 meters 0.01878012860401141 Centerline is valid? [True, True] Translation: X:77.16, Y:-1.71, Z:-1.33 [[ 9.99872551e-01 1.50297844e-02 5.38403715e-03 7.71561664e+01] [-1.50288340e-02 9.99887037e-01 -2.16931046e-04 -1.70520763e+00] [-5.38668938e-03 1.35987597e-04 9.99985482e-01 -1.32915243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094391418 meters 0.0196930189975404 Centerline is valid? [True, True] Translation: X:77.18, Y:-1.71, Z:-1.33 [[ 9.99889835e-01 1.32287195e-02 6.73194520e-03 7.71842619e+01] [-1.32271997e-02 9.99912480e-01 -2.70245777e-04 -1.70831587e+00] [-6.73493103e-03 1.81171222e-04 9.99977304e-01 -1.32820435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters 0.01929467077513573 Centerline is valid? [True, True] Translation: X:77.21, Y:-1.71, Z:-1.33 [[ 9.99879420e-01 1.28198536e-02 8.76333410e-03 7.72140856e+01] [-1.28172577e-02 9.99917794e-01 -3.52332514e-04 -1.70861133e+00] [-8.76713055e-03 2.39968119e-04 9.99961539e-01 -1.32521664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15439141799999 meters 0.019903075305309718 Centerline is valid? [True, True] Translation: X:77.24, Y:-1.71, Z:-1.32 [[ 9.99846195e-01 1.36260163e-02 1.10416444e-02 7.72436550e+01] [-1.36219528e-02 9.99907119e-01 -4.43144920e-04 -1.71016142e+00] [-1.10466571e-02 2.92668004e-04 9.99938941e-01 -1.32244473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters 0.017663639394337287 Centerline is valid? [True, True] Translation: X:77.27, Y:-1.71, Z:-1.32 [[ 9.99764598e-01 1.82480646e-02 1.17369991e-02 7.72742933e+01] [-1.82437959e-02 9.99833457e-01 -4.70663264e-04 -1.70545268e+00] [-1.17436331e-02 2.56425052e-04 9.99931008e-01 -1.31931665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21439141799999 meters 0.018795193080008862 Centerline is valid? [True, True] Translation: X:77.30, Y:-1.70, Z:-1.32 [[ 9.99724887e-01 2.11387996e-02 1.01637529e-02 7.73025809e+01] [-2.11357432e-02 9.99776532e-01 -4.08040463e-04 -1.70428874e+00] [-1.01701071e-02 1.93109733e-04 9.99948264e-01 -1.32154075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters 0.01705568424005274 Centerline is valid? [True, True] Translation: X:77.33, Y:-1.70, Z:-1.32 [[ 9.99713529e-01 2.16293252e-02 1.02485289e-02 7.73313604e+01] [-2.16262482e-02 9.99766041e-01 -4.10980495e-04 -1.70408778e+00] [-1.02550204e-02 1.89225533e-04 9.99947398e-01 -1.32106315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274391418 meters 0.01767488233089879 Centerline is valid? [True, True] Translation: X:77.36, Y:-1.71, Z:-1.32 [[ 9.99753242e-01 1.91241748e-02 1.13013818e-02 7.73593272e+01] [-1.91202849e-02 9.99817088e-01 -4.52156602e-04 -1.71032289e+00] [-1.13079618e-02 2.35959389e-04 9.99936035e-01 -1.32178313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304391418 meters 0.018312649087625293 Centerline is valid? [True, True] Translation: X:77.39, Y:-1.72, Z:-1.32 [[ 9.99787311e-01 1.72350230e-02 1.13263888e-02 7.73886773e+01] [-1.72310078e-02 9.99851433e-01 -4.52003582e-04 -1.71639947e+00] [-1.13324964e-02 2.56742353e-04 9.99935752e-01 -1.32410138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334391418 meters 0.018406100844708534 Centerline is valid? [True, True] Translation: X:77.42, Y:-1.72, Z:-1.33 [[ 9.99823561e-01 1.56432781e-02 1.03988076e-02 7.74181644e+01] [-1.56398111e-02 9.99877605e-01 -4.14644230e-04 -1.72074419e+00] [-1.04040213e-02 2.51935683e-04 9.99945845e-01 -1.32619375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364391418 meters 0.01950957515671488 Centerline is valid? [True, True] Translation: X:77.45, Y:-1.72, Z:-1.33 [[ 9.99842041e-01 1.56119684e-02 8.49469271e-03 7.74472225e+01] [-1.56096571e-02 9.99878105e-01 -3.38316428e-04 -1.72431851e+00] [-8.49893903e-03 2.05663747e-04 9.99963862e-01 -1.32825277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394391418 meters 0.018165462771069087 Centerline is valid? [True, True] Translation: X:77.48, Y:-1.72, Z:-1.33 [[ 9.99826807e-01 1.69572031e-02 7.66877771e-03 7.74766745e+01] [-1.69553583e-02 9.99856201e-01 -3.05508205e-04 -1.72172338e+00] [-7.67285552e-03 1.75428419e-04 9.99970548e-01 -1.32764382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424391418 meters 0.016963994495812644 Centerline is valid? [True, True] Translation: X:77.51, Y:-1.72, Z:-1.33 [[ 9.99788134e-01 1.92207269e-02 7.36556719e-03 7.75061937e+01] [-1.92190868e-02 9.99815253e-01 -2.93388117e-04 -1.71732675e+00] [-7.36984556e-03 1.51766482e-04 9.99972831e-01 -1.32706539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454391418 meters 0.017075263998307715 Centerline is valid? [True, True] Translation: X:77.53, Y:-1.72, Z:-1.33 [[ 9.99780285e-01 1.96294483e-02 7.35297284e-03 7.75339907e+01] [-1.96278251e-02 9.99807313e-01 -2.92863738e-04 -1.71861779e+00] [-7.35730477e-03 1.48476526e-04 9.99972924e-01 -1.32835773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484391418 meters 0.0170727845229427 Centerline is valid? [True, True] Translation: X:77.56, Y:-1.72, Z:-1.33 [[ 9.99767170e-01 1.98698778e-02 8.41387658e-03 7.75612106e+01] [-1.98677702e-02 9.99802561e-01 -3.34001564e-04 -1.72149218e+00] [-8.41885192e-03 1.66758832e-04 9.99964547e-01 -1.32940081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51439141799999 meters 0.016546078049053666 Centerline is valid? [True, True] Translation: X:77.59, Y:-1.72, Z:-1.33 [[ 9.99753166e-01 1.97147600e-02 1.02437746e-02 7.75900111e+01] [-1.97116436e-02 9.99805625e-01 -4.05110477e-04 -1.72434124e+00] [-1.02497701e-02 2.03088849e-04 9.99947449e-01 -1.32941613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters 0.017152406438504617 Centerline is valid? [True, True] Translation: X:77.62, Y:-1.73, Z:-1.33 [[ 9.99751856e-01 1.83411564e-02 1.26423229e-02 7.76193007e+01] [-1.83363199e-02 9.99831751e-01 -4.98377769e-04 -1.72959834e+00] [-1.26493367e-02 2.66440422e-04 9.99919958e-01 -1.32875133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57439141799999 meters 0.01772669604210399 Centerline is valid? [True, True] Translation: X:77.65, Y:-1.73, Z:-1.33 [[ 9.99750837e-01 1.78250462e-02 1.34361880e-02 7.76485383e+01] [-1.78195459e-02 9.99841079e-01 -5.28987116e-04 -1.73121237e+00] [-1.34434820e-02 2.89428543e-04 9.99909590e-01 -1.32816949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters 0.017667554186992222 Centerline is valid? [True, True] Translation: X:77.68, Y:-1.73, Z:-1.33 [[ 9.99750092e-01 1.74946306e-02 1.39173187e-02 7.76786553e+01] [-1.74887025e-02 9.99846911e-01 -5.47553431e-04 -1.73088215e+00] [-1.39247673e-02 3.04020747e-04 9.99903000e-01 -1.32673214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63439141799999 meters 0.01805952510513837 Centerline is valid? [True, True] Translation: X:77.71, Y:-1.73, Z:-1.33 [[ 9.99758867e-01 1.69480592e-02 1.39631782e-02 7.77095793e+01] [-1.69420441e-02 9.99856323e-01 -5.48966534e-04 -1.73077263e+00] [-1.39704759e-02 3.12269380e-04 9.99902359e-01 -1.32504863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664391418 meters 0.0178057504289462 Centerline is valid? [True, True] Translation: X:77.74, Y:-1.73, Z:-1.33 [[ 9.99777495e-01 1.68947414e-02 1.26304846e-02 7.77408835e+01] [-1.68897984e-02 9.99857233e-01 -4.97928559e-04 -1.73221466e+00] [-1.26370937e-02 2.84491429e-04 9.99920108e-01 -1.32739706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694391418 meters 0.017758961002129293 Centerline is valid? [True, True] Translation: X:77.77, Y:-1.74, Z:-1.34 [[ 9.99821511e-01 1.74196249e-02 7.31462319e-03 7.77713837e+01] [-1.74179782e-02 9.99848254e-01 -2.88781976e-04 -1.73636693e+00] [-7.31854370e-03 1.61324484e-04 9.99973206e-01 -1.33605062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724391418 meters 0.017682441458446867 Centerline is valid? [True, True] Translation: X:77.80, Y:-1.74, Z:-1.34 [[ 9.99829897e-01 1.73828525e-02 6.16546615e-03 7.78002318e+01] [-1.73816759e-02 9.99848897e-01 -2.44370416e-04 -1.73772434e+00] [-6.16878238e-03 1.37162713e-04 9.99980963e-01 -1.33915775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754391418 meters 0.01798602948270877 Centerline is valid? [True, True] Translation: X:77.83, Y:-1.74, Z:-1.34 [[ 9.99826556e-01 1.75036420e-02 6.36236387e-03 7.78276875e+01] [-1.75023937e-02 9.99846790e-01 -2.51839153e-04 -1.73909868e+00] [-6.36579719e-03 1.40438876e-04 9.99979728e-01 -1.34031771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784391418 meters 0.017413807789124026 Centerline is valid? [True, True] Translation: X:77.86, Y:-1.74, Z:-1.34 [[ 9.99763280e-01 1.88989663e-02 1.07802011e-02 7.78563571e+01] [-1.88954901e-02 9.99821374e-01 -4.24223655e-04 -1.73664255e+00] [-1.07862929e-02 2.20426050e-04 9.99941802e-01 -1.33606956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814391418 meters 0.017083767769336615 Centerline is valid? [True, True] Translation: X:77.89, Y:-1.74, Z:-1.33 [[ 9.99708309e-01 2.04073874e-02 1.29165156e-02 7.78851471e+01] [-2.04025409e-02 9.99791718e-01 -5.06887334e-04 -1.73516210e+00] [-1.29241696e-02 2.43209741e-04 9.99916450e-01 -1.33415600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844391418 meters 0.016105410057700824 Centerline is valid? [True, True] Translation: X:77.91, Y:-1.73, Z:-1.33 [[ 9.99660228e-01 2.21230728e-02 1.37840035e-02 7.79149348e+01] [-2.21177298e-02 9.99755227e-01 -5.39969385e-04 -1.73373460e+00] [-1.37925753e-02 2.34915054e-04 9.99904850e-01 -1.33353895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87439141799999 meters 0.016224905912776942 Centerline is valid? [True, True] Translation: X:77.94, Y:-1.74, Z:-1.34 [[ 9.99655042e-01 2.25938794e-02 1.33908018e-02 7.79430520e+01] [-2.25888857e-02 9.99744701e-01 -5.24067427e-04 -1.73643122e+00] [-1.33992239e-02 2.21403354e-04 9.99910202e-01 -1.33659395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters 0.016583074636917928 Centerline is valid? [True, True] Translation: X:77.97, Y:-1.74, Z:-1.34 [[ 9.99685800e-01 2.14911567e-02 1.29008448e-02 7.79726885e+01] [-2.14864365e-02 9.99769013e-01 -5.04387890e-04 -1.74044946e+00] [-1.29087048e-02 2.27036229e-04 9.99916653e-01 -1.33877713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93439141799999 meters 0.017392834053898274 Centerline is valid? [True, True] Translation: X:78.00, Y:-1.74, Z:-1.34 [[ 9.99715501e-01 1.98430853e-02 1.32351250e-02 7.80018087e+01] [-1.98379799e-02 9.99803074e-01 -5.16927333e-04 -1.74415092e+00] [-1.32427761e-02 2.54222123e-04 9.99912278e-01 -1.33914269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters 0.017591472221322624 Centerline is valid? [True, True] Translation: X:78.03, Y:-1.74, Z:-1.34 [[ 9.99760350e-01 1.69540908e-02 1.38492598e-02 7.80314633e+01] [-1.69482313e-02 9.99856222e-01 -5.40357023e-04 -1.74435387e+00] [-1.38564298e-02 3.05507068e-04 9.99903948e-01 -1.33517995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99439141799999 meters 0.020242690315829055 Centerline is valid? [True, True] Translation: X:78.06, Y:-1.74, Z:-1.34 [[ 9.99787310e-01 1.67948737e-02 1.19694302e-02 7.80632478e+01] [-1.67904960e-02 9.99858921e-01 -4.66146071e-04 -1.74401540e+00] [-1.19755704e-02 2.65074257e-04 9.99928255e-01 -1.33666173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024391418 meters 0.018445435932032038 Centerline is valid? [True, True] Translation: X:78.09, Y:-1.74, Z:-1.34 [[ 9.99823006e-01 1.58310162e-02 1.01654378e-02 7.80940824e+01] [-1.58278027e-02 9.99874654e-01 -3.96498806e-04 -1.74357768e+00] [-1.01704406e-02 2.35532083e-04 9.99948252e-01 -1.33723693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054391418 meters 0.018859731579811644 Centerline is valid? [True, True] Translation: X:78.12, Y:-1.75, Z:-1.34 [[ 9.99848067e-01 1.62942064e-02 6.19205897e-03 7.81231096e+01] [-1.62930216e-02 9.99867231e-01 -2.41752134e-04 -1.74594047e+00] [-6.19517601e-03 1.40828053e-04 9.99980800e-01 -1.34459601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084391418 meters 0.01800512575600284 Centerline is valid? [True, True] Translation: X:78.15, Y:-1.75, Z:-1.35 [[ 9.99830944e-01 1.73028766e-02 6.22048006e-03 7.81521706e+01] [-1.73016968e-02 9.99850285e-01 -2.43439584e-04 -1.74691846e+00] [-6.22376096e-03 1.35773570e-04 9.99980623e-01 -1.34656113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114391418 meters 0.017255498436508414 Centerline is valid? [True, True] Translation: X:78.18, Y:-1.75, Z:-1.35 [[ 9.99791419e-01 1.90871520e-02 7.26630845e-03 7.81811617e+01] [-1.90855951e-02 9.99817813e-01 -2.83554526e-04 -1.74669076e+00] [-7.27039687e-03 1.44813561e-04 9.99973560e-01 -1.34744437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144391418 meters 0.0152967660250491 Centerline is valid? [True, True] Translation: X:78.21, Y:-1.74, Z:-1.35 [[ 9.99639143e-01 2.52126702e-02 9.26853162e-03 7.82109722e+01] [-2.52104123e-02 9.99682102e-01 -3.60386801e-04 -1.73931620e+00] [-9.27467149e-03 1.26593249e-04 9.99956981e-01 -1.34606872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174391418 meters 0.014272308916415222 Centerline is valid? [True, True] Translation: X:78.24, Y:-1.74, Z:-1.34 [[ 9.99537473e-01 2.85680897e-02 1.04260984e-02 7.82401171e+01] [-2.85654213e-02 9.99591843e-01 -4.04797053e-04 -1.73516760e+00] [-1.04334072e-02 1.06783931e-04 9.99945565e-01 -1.34494986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204391418 meters 0.013873150990423468 Centerline is valid? [True, True] Translation: X:78.27, Y:-1.73, Z:-1.34 [[ 9.99419866e-01 3.17864610e-02 1.22291455e-02 7.82685806e+01] [-3.17830460e-02 9.99494679e-01 -4.73540248e-04 -1.73207377e+00] [-1.22380180e-02 8.45860381e-05 9.99925109e-01 -1.34324156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234391418 meters 0.013319059991572865 Centerline is valid? [True, True] Translation: X:78.30, Y:-1.73, Z:-1.34 [[ 9.99166253e-01 3.70515354e-02 1.71459434e-02 7.82980392e+01] [-3.70456311e-02 9.99313356e-01 -6.61954154e-04 -1.72792975e+00] [-1.71586967e-02 2.62199559e-05 9.99852778e-01 -1.33728781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters 0.01339092596030482 Centerline is valid? [True, True] Translation: X:78.33, Y:-1.73, Z:-1.34 [[ 9.99102016e-01 3.82526705e-02 1.82179726e-02 7.83255819e+01] [-3.82462329e-02 9.99268099e-01 -7.01774314e-04 -1.72807184e+00] [-1.82314836e-02 4.37530800e-06 9.99833793e-01 -1.33659174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29439141799999 meters 0.01339092596030482 Centerline is valid? [True, True] Translation: X:78.35, Y:-1.73, Z:-1.34 [[ 9.99105038e-01 3.81736337e-02 1.82180476e-02 7.83538604e+01] [-3.81672185e-02 9.99271121e-01 -6.99822110e-04 -1.72908223e+00] [-1.82314836e-02 3.86359047e-06 9.99833793e-01 -1.33710264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters 0.013450394806177747 Centerline is valid? [True, True] Translation: X:78.38, Y:-1.73, Z:-1.34 [[ 9.99113353e-01 3.87403199e-02 1.64831791e-02 7.83825010e+01] [-3.87351648e-02 9.99249312e-01 -6.32012576e-04 -1.73044016e+00] [-1.64952897e-02 -7.02645456e-06 9.99863943e-01 -1.33889062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35439141799999 meters 0.013428819178753215 Centerline is valid? [True, True] Translation: X:78.41, Y:-1.74, Z:-1.35 [[ 9.99287815e-01 3.64163184e-02 9.88503485e-03 7.84102882e+01] [-3.64143514e-02 9.99336706e-01 -3.78961479e-04 -1.73510111e+00] [-9.89227855e-03 1.87344565e-05 9.99951070e-01 -1.34843180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799999 meters 0.013818450908700658 Centerline is valid? [True, True] Translation: X:78.44, Y:-1.74, Z:-1.35 [[ 9.99406511e-01 3.37218125e-02 7.03317476e-03 7.84386108e+01] [-3.37207531e-02 9.99431257e-01 -2.69204201e-04 -1.73878126e+00] [-7.03825275e-03 3.18804816e-05 9.99975231e-01 -1.35357333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414391418 meters 0.014958638730961288 Centerline is valid? [True, True] Translation: X:78.47, Y:-1.74, Z:-1.36 [[ 9.99596265e-01 2.77350254e-02 6.17059102e-03 7.84672471e+01] [-2.77340977e-02 9.99615308e-01 -2.35876613e-04 -1.74388556e+00] [-6.17475929e-03 6.46456068e-05 9.99980934e-01 -1.35630591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444391418 meters 0.015023629382797754 Centerline is valid? [True, True] Translation: X:78.50, Y:-1.75, Z:-1.35 [[ 9.99638772e-01 2.56174228e-02 8.12854274e-03 7.84951849e+01] [-2.56157485e-02 9.99671815e-01 -3.10034422e-04 -1.74566950e+00] [-8.13381736e-03 1.01703723e-04 9.99966915e-01 -1.35406850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474391418 meters 0.015657039238108253 Centerline is valid? [True, True] Translation: X:78.52, Y:-1.75, Z:-1.35 [[ 9.99657934e-01 2.40364353e-02 1.03084334e-02 7.85229769e+01] [-2.40336787e-02 9.99711073e-01 -3.91224957e-04 -1.74749492e+00] [-1.03148587e-02 1.43341555e-04 9.99946790e-01 -1.35203589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504391418 meters 0.01594327391616527 Centerline is valid? [True, True] Translation: X:78.55, Y:-1.75, Z:-1.35 [[ 9.99664067e-01 2.29524221e-02 1.20390549e-02 7.85518982e+01] [-2.29486028e-02 9.99736542e-01 -4.55304304e-04 -1.74901428e+00] [-1.20463334e-02 1.78871863e-04 9.99927424e-01 -1.35007247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534391418 meters 0.016618731165789075 Centerline is valid? [True, True] Translation: X:78.58, Y:-1.75, Z:-1.35 [[ 9.99736229e-01 1.96422708e-02 1.19018394e-02 7.85812767e+01] [-1.96383171e-02 9.99807049e-01 -4.48985893e-04 -1.75083355e+00] [-1.19083620e-02 2.15135367e-04 9.99929070e-01 -1.35037627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564391418 meters 0.01807110607648401 Centerline is valid? [True, True] Translation: X:78.61, Y:-1.75, Z:-1.35 [[ 9.99795232e-01 1.64918388e-02 1.17266246e-02 7.86097646e+01] [-1.64877879e-02 9.99863969e-01 -4.42042697e-04 -1.75436175e+00] [-1.17323195e-02 2.48606081e-04 9.99931143e-01 -1.35209199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594391418 meters 0.02045580271420332 Centerline is valid? [True, True] Translation: X:78.64, Y:-1.76, Z:-1.35 [[ 9.99837945e-01 1.34163694e-02 1.20035704e-02 7.86398965e+01] [-1.34119164e-02 9.99909954e-01 -4.51392451e-04 -1.75851655e+00] [-1.20085455e-02 2.90328418e-04 9.99927853e-01 -1.35356372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters 0.02274440650313894 Centerline is valid? [True, True] Translation: X:78.67, Y:-1.76, Z:-1.35 [[ 9.99869940e-01 9.20600195e-03 1.32420919e-02 7.86702482e+01] [-9.20021487e-03 9.99957553e-01 -4.97874153e-04 -1.76427801e+00] [-1.32461132e-02 3.75979309e-04 9.99912196e-01 -1.35223789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65439141799999 meters 0.024840296132182905 Centerline is valid? [True, True] Translation: X:78.70, Y:-1.77, Z:-1.35 [[ 9.99868311e-01 3.32155520e-03 1.58848154e-02 7.87017298e+01] [-3.31248027e-03 9.99994335e-01 -5.97572592e-04 -1.76880181e+00] [-1.58867102e-02 5.44875761e-04 9.99873650e-01 -1.34826213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters 0.025233160833049748 Centerline is valid? [True, True] Translation: X:78.73, Y:-1.77, Z:-1.35 [[ 9.99867993e-01 2.78084752e-03 1.60082545e-02 7.87341026e+01] [-2.77155925e-03 9.99995978e-01 -6.02373170e-04 -1.76983044e+00] [-1.60098652e-02 5.57925827e-04 9.99871678e-01 -1.34745846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71439141799999 meters 0.025270356542422778 Centerline is valid? [True, True] Translation: X:78.77, Y:-1.77, Z:-1.35 [[ 9.99903610e-01 3.91057463e-03 1.33220788e-02 7.87656752e+01] [-3.90420391e-03 9.99992251e-01 -5.04181282e-04 -1.76947656e+00] [-1.33239472e-02 4.52120572e-04 9.99911130e-01 -1.35062478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters 0.024668541860763435 Centerline is valid? [True, True] Translation: X:78.80, Y:-1.77, Z:-1.36 [[ 9.99929425e-01 4.92571779e-03 1.08111847e-02 7.87991773e+01] [-4.92156606e-03 9.99987805e-01 -4.10593427e-04 -1.76986341e+00] [-1.08130753e-02 3.57356490e-04 9.99941473e-01 -1.35521359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774391418 meters 0.02470678501428319 Centerline is valid? [True, True] Translation: X:78.83, Y:-1.77, Z:-1.36 [[ 9.99939033e-01 5.68526283e-03 9.46619257e-03 7.88326499e+01] [-5.68209282e-03 9.99983791e-01 -3.61738356e-04 -1.77084874e+00] [-9.46809571e-03 3.07928517e-04 9.99955129e-01 -1.35906929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804391418 meters 0.02370004428210684 Centerline is valid? [True, True] Translation: X:78.86, Y:-1.77, Z:-1.36 [[ 9.99881887e-01 8.54108945e-03 1.27773967e-02 7.88637316e+01] [-8.53545466e-03 9.99963450e-01 -4.95465434e-04 -1.76777681e+00] [-1.27811615e-02 3.86346023e-04 9.99918243e-01 -1.35536772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834391418 meters 0.022845678536876406 Centerline is valid? [True, True] Translation: X:78.90, Y:-1.77, Z:-1.35 [[ 9.99809447e-01 1.15633784e-02 1.57276185e-02 7.88953546e+01] [-1.15552098e-02 9.99933050e-01 -6.10154512e-04 -1.76561801e+00] [-1.57336210e-02 4.28302314e-04 9.99876127e-01 -1.35113321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864391418 meters 0.019050744587009196 Centerline is valid? [True, True] Translation: X:78.93, Y:-1.76, Z:-1.35 [[ 9.99702085e-01 1.85479165e-02 1.58655516e-02 7.89271287e+01] [-1.85404147e-02 9.99827920e-01 -6.19804965e-04 -1.75753532e+00] [-1.58743175e-02 3.25466410e-04 9.99873942e-01 -1.35104610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894391418 meters 0.017746218059492246 Centerline is valid? [True, True] Translation: X:78.96, Y:-1.76, Z:-1.36 [[ 9.99674871e-01 2.14189554e-02 1.38340526e-02 7.89580750e+01] [-2.14135191e-02 9.99770558e-01 -5.40987326e-04 -1.75596623e+00] [-1.38424659e-02 2.44575686e-04 9.99904159e-01 -1.35552754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924391418 meters 0.017229857506001357 Centerline is valid? [True, True] Translation: X:78.99, Y:-1.76, Z:-1.36 [[ 9.99662574e-01 2.29781387e-02 1.21137565e-02 7.89880235e+01] [-2.29740812e-02 9.99735949e-01 -4.74014096e-04 -1.75596984e+00] [-1.21214498e-02 1.95551725e-04 9.99926513e-01 -1.36058401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954391418 meters 0.017244073383059923 Centerline is valid? [True, True] Translation: X:79.02, Y:-1.76, Z:-1.36 [[ 9.99671005e-01 2.30241009e-02 1.13036251e-02 7.90165782e+01] [-2.30205724e-02 9.99734894e-01 -4.42187473e-04 -1.75731172e+00] [-1.13108094e-02 1.81826076e-04 9.99936014e-01 -1.36382094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984391418 meters 0.018658492918854064 Centerline is valid? [True, True] Translation: X:79.04, Y:-1.76, Z:-1.36 [[ 9.99720238e-01 2.04828819e-02 1.18277964e-02 7.90446309e+01] [-2.04788515e-02 9.99790180e-01 -4.61778250e-04 -1.76001156e+00] [-1.18347732e-02 2.19429377e-04 9.99929943e-01 -1.36275543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01439141799999 meters 0.0190850824440682 Centerline is valid? [True, True] Translation: X:79.07, Y:-1.76, Z:-1.36 [[ 9.99742373e-01 1.95486532e-02 1.15342177e-02 7.90743275e+01] [-1.95447701e-02 9.99808882e-01 -4.49292016e-04 -1.76050111e+00] [-1.15407964e-02 2.23742633e-04 9.99933378e-01 -1.36164277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters 0.018973755964673378 Centerline is valid? [True, True] Translation: X:79.10, Y:-1.76, Z:-1.36 [[ 9.99755198e-01 2.03785694e-02 8.61735882e-03 7.91032720e+01] [-2.03764327e-02 9.99792323e-01 -3.35690244e-04 -1.75907409e+00] [-8.62241007e-03 1.60017034e-04 9.99962814e-01 -1.36307001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07439141799999 meters 0.018520446264977935 Centerline is valid? [True, True] Translation: X:79.13, Y:-1.76, Z:-1.37 [[ 9.99741317e-01 2.17279954e-02 6.72254230e-03 7.91321480e+01] [-2.17267252e-02 9.99763913e-01 -2.61920732e-04 -1.75907104e+00] [-6.72664620e-03 1.15794149e-04 9.99977369e-01 -1.36711525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters 0.01572783716058808 Centerline is valid? [True, True] Translation: X:79.16, Y:-1.75, Z:-1.37 [[ 9.99715342e-01 2.32981769e-02 5.14108944e-03 7.91614168e+01] [-2.32974544e-02 9.99728557e-01 -2.00385466e-04 -1.75496467e+00] [-5.14436254e-03 8.05541279e-05 9.99986764e-01 -1.36776682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13439141799999 meters 0.015693568696567236 Centerline is valid? [True, True] Translation: X:79.19, Y:-1.75, Z:-1.37 [[ 9.99687683e-01 2.45697452e-02 4.56771717e-03 7.91894878e+01] [-2.45691876e-02 9.99698116e-01 -1.78149252e-04 -1.75484957e+00] [-4.57071533e-03 6.58685133e-05 9.99989552e-01 -1.37104712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164391418 meters 0.01534129632435069 Centerline is valid? [True, True] Translation: X:79.22, Y:-1.76, Z:-1.37 [[ 9.99685805e-01 2.44359009e-02 5.58371613e-03 7.92187687e+01] [-2.44350730e-02 9.99701396e-01 -2.16464534e-04 -1.75528491e+00] [-5.58733831e-03 7.99580114e-05 9.99984388e-01 -1.37015541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194391418 meters 0.01569367980453774 Centerline is valid? [True, True] Translation: X:79.25, Y:-1.76, Z:-1.37 [[ 9.99690768e-01 2.37212429e-02 7.46135142e-03 7.92468272e+01] [-2.37197504e-02 9.99718606e-01 -2.88463661e-04 -1.75705296e+00] [-7.46609455e-03 1.11393066e-04 9.99972122e-01 -1.36860559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224391418 meters 0.015044375275811695 Centerline is valid? [True, True] Translation: X:79.28, Y:-1.76, Z:-1.36 [[ 9.99594125e-01 2.54652174e-02 1.27714087e-02 7.92760407e+01] [-2.54610234e-02 9.99675695e-01 -4.90900893e-04 -1.75763865e+00] [-1.27797677e-02 1.65528514e-04 9.99918322e-01 -1.36189669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254391418 meters 0.014009098911313652 Centerline is valid? [True, True] Translation: X:79.30, Y:-1.76, Z:-1.36 [[ 9.99498566e-01 2.80847732e-02 1.46240021e-02 7.93049416e+01] [-2.80795741e-02 9.99605534e-01 -5.60767421e-04 -1.75607651e+00] [-1.46339824e-02 1.49850484e-04 9.99892906e-01 -1.35912117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284391418 meters 0.013275307746874628 Centerline is valid? [True, True] Translation: X:79.33, Y:-1.75, Z:-1.36 [[ 9.99366232e-01 3.25126565e-02 1.44934791e-02 7.93339480e+01] [-3.25080317e-02 9.99471320e-01 -5.54637139e-04 -1.75141210e+00] [-1.45038494e-02 8.31311498e-05 9.99894810e-01 -1.35781725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314391418 meters 0.01323229229633691 Centerline is valid? [True, True] Translation: X:79.36, Y:-1.75, Z:-1.36 [[ 9.99376699e-01 3.25326104e-02 1.37055571e-02 7.93613770e+01] [-3.25284898e-02 9.99470672e-01 -5.23524591e-04 -1.75218748e+00] [-1.37153340e-02 7.73772038e-05 9.99905937e-01 -1.35903649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344391418 meters 0.013291159429600841 Centerline is valid? [True, True] Translation: X:79.39, Y:-1.76, Z:-1.36 [[ 9.99428477e-01 3.09573088e-02 1.35780814e-02 7.93892201e+01] [-3.09531377e-02 9.99520703e-01 -5.17288319e-04 -1.75526717e+00] [-1.35875873e-02 9.67084545e-05 9.99907680e-01 -1.36002409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37439141799999 meters 0.013790377287097864 Centerline is valid? [True, True] Translation: X:79.42, Y:-1.76, Z:-1.36 [[ 9.99495627e-01 2.85020860e-02 1.40043585e-02 7.94165309e+01] [-2.84974284e-02 9.99593724e-01 -5.32062440e-04 -1.75998660e+00] [-1.40138337e-02 1.32705878e-04 9.99901793e-01 -1.36092488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters 0.014972622916812988 Centerline is valid? [True, True] Translation: X:79.44, Y:-1.77, Z:-1.37 [[ 9.99599447e-01 2.57240561e-02 1.17990675e-02 7.94446582e+01] [-2.57205684e-02 9.99669071e-01 -4.47270567e-04 -1.76672577e+00] [-1.18066685e-02 1.43612690e-04 9.99930289e-01 -1.36504476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43439141799999 meters 0.014358142201072979 Centerline is valid? [True, True] Translation: X:79.47, Y:-1.77, Z:-1.37 [[ 9.99616278e-01 2.60318959e-02 9.46770580e-03 7.94733529e+01] [-2.60296686e-02 9.99661107e-01 -3.58424738e-04 -1.76873642e+00] [-9.47382773e-03 1.11845958e-04 9.99955116e-01 -1.36926914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters 0.01453683583097024 Centerline is valid? [True, True] Translation: X:79.50, Y:-1.77, Z:-1.37 [[ 9.99610645e-01 2.69793856e-02 7.11839932e-03 7.95011064e+01] [-2.69781506e-02 9.99635987e-01 -2.69483937e-04 -1.76991174e+00] [-7.12307864e-03 7.73377636e-05 9.99974628e-01 -1.37386313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49439141799999 meters 0.014200401549862619 Centerline is valid? [True, True] Translation: X:79.53, Y:-1.77, Z:-1.37 [[ 9.99588112e-01 2.76050256e-02 7.84658948e-03 7.95303794e+01] [-2.76035535e-02 9.99618906e-01 -2.95873911e-04 -1.76820091e+00] [-7.85176679e-03 7.91582915e-05 9.99969171e-01 -1.37377356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524391418 meters 0.014126659259304303 Centerline is valid? [True, True] Translation: X:79.56, Y:-1.77, Z:-1.37 [[ 9.99598804e-01 2.63263238e-02 1.04477535e-02 7.95588024e+01] [-2.63236572e-02 9.99653395e-01 -3.92687533e-04 -1.76852844e+00] [-1.04544703e-02 1.17506907e-04 9.99945344e-01 -1.37066570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554391418 meters 0.015353362607655149 Centerline is valid? [True, True] Translation: X:79.59, Y:-1.77, Z:-1.37 [[ 9.99651257e-01 2.17509541e-02 1.49752950e-02 7.95872370e+01] [-2.17449896e-02 9.99763392e-01 -5.61022074e-04 -1.77479870e+00] [-1.49839545e-02 2.35188788e-04 9.99887707e-01 -1.36598768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584391418 meters 0.017138753251332375 Centerline is valid? [True, True] Translation: X:79.62, Y:-1.78, Z:-1.37 [[ 9.99690293e-01 1.91816278e-02 1.58550808e-02 7.96155142e+01] [-1.91746410e-02 9.99815974e-01 -5.92580646e-04 -1.78198088e+00] [-1.58635297e-02 2.88381636e-04 9.99874125e-01 -1.36631560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614391418 meters 0.018380123555790998 Centerline is valid? [True, True] Translation: X:79.65, Y:-1.79, Z:-1.37 [[ 9.99736893e-01 1.69345009e-02 1.54714767e-02 7.96453471e+01] [-1.69275961e-02 9.99856551e-01 -5.77146629e-04 -1.78859246e+00] [-1.54790310e-02 3.15099870e-04 9.99880143e-01 -1.36839808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644391418 meters 0.01981834902474593 Centerline is valid? [True, True] Translation: X:79.68, Y:-1.80, Z:-1.37 [[ 9.99874789e-01 1.11878106e-02 1.11910432e-02 7.96765820e+01] [-1.11838386e-02 9.99937372e-01 -4.17445481e-04 -1.79585228e+00] [-1.11950126e-02 2.92234391e-04 9.99937291e-01 -1.37455032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674391418 meters 0.022190253818499827 Centerline is valid? [True, True] Translation: X:79.71, Y:-1.80, Z:-1.38 [[ 9.99927675e-01 7.93929956e-03 9.03391949e-03 7.97072534e+01] [-7.93657683e-03 9.99968448e-01 -3.37200257e-04 -1.80093253e+00] [-9.03631159e-03 2.65477473e-04 9.99959136e-01 -1.37686617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704391418 meters 0.022529985600806008 Centerline is valid? [True, True] Translation: X:79.74, Y:-1.80, Z:-1.38 [[ 9.99954022e-01 5.18715418e-03 8.06521569e-03 7.97388831e+01] [-5.18489276e-03 9.99986513e-01 -3.01275094e-04 -1.80121587e+00] [-8.06666967e-03 2.59443964e-04 9.99967430e-01 -1.37642106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734391418 meters 0.023834018117395276 Centerline is valid? [True, True] Translation: X:79.77, Y:-1.80, Z:-1.38 [[ 9.99965559e-01 1.36160081e-03 8.18700318e-03 7.97709736e+01] [-1.35914299e-03 9.99999030e-01 -3.05765097e-04 -1.80491683e+00] [-8.18741157e-03 2.94627258e-04 9.99966439e-01 -1.37534434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters 0.023737552118577393 Centerline is valid? [True, True] Translation: X:79.80, Y:-1.81, Z:-1.38 [[ 9.99969824e-01 1.13723379e-03 7.68487317e-03 7.98029048e+01] [-1.13507366e-03 9.99999315e-01 -2.85444596e-04 -1.80784359e+00] [-7.68519252e-03 2.76713086e-04 9.99970430e-01 -1.37662827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79439141799999 meters 0.026221579829233118 Centerline is valid? [True, True] Translation: X:79.83, Y:-1.82, Z:-1.38 [[ 9.99987930e-01 9.74018370e-04 4.81571757e-03 7.98332268e+01] [-9.73161740e-04 9.99999510e-01 -1.80221978e-04 -1.81534763e+00] [-4.81589075e-03 1.75533330e-04 9.99988388e-01 -1.38424881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters 0.02701463315437603 Centerline is valid? [True, True] Translation: X:79.87, Y:-1.82, Z:-1.39 [[ 9.99986509e-01 3.99013067e-04 5.17901706e-03 7.98653852e+01] [-3.98018241e-04 9.99999902e-01 -1.93116969e-04 -1.81943431e+00] [-5.17909361e-03 1.91053021e-04 9.99986570e-01 -1.38611757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85439141799999 meters 0.025548979315784075 Centerline is valid? [True, True] Translation: X:79.90, Y:-1.82, Z:-1.38 [[ 9.99972571e-01 -3.39499702e-04 7.39881603e-03 7.98974234e+01] [ 3.41579325e-04 9.99999903e-01 -2.79813295e-04 -1.81979653e+00] [-7.39872031e-03 2.82332903e-04 9.99972589e-01 -1.38453694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799999 meters 0.026678556863169646 Centerline is valid? [True, True] Translation: X:79.93, Y:-1.82, Z:-1.38 [[ 9.99905466e-01 -1.15841367e-03 1.37010096e-02 7.99297399e+01] [ 1.16573265e-03 9.99999182e-01 -5.26218268e-04 -1.82174977e+00] [-1.37003888e-02 5.42140236e-04 9.99905998e-01 -1.37693482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914391418 meters 0.026486380002698266 Centerline is valid? [True, True] Translation: X:79.96, Y:-1.82, Z:-1.37 [[ 9.99890920e-01 -4.47462115e-04 1.47630270e-02 7.99622059e+01] [ 4.55964117e-04 9.99999732e-01 -5.72537424e-04 -1.82117320e+00] [-1.47627669e-02 5.79206383e-04 9.99890857e-01 -1.37450448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944391418 meters 0.025842985899849992 Centerline is valid? [True, True] Translation: X:79.99, Y:-1.82, Z:-1.37 [[ 9.99892013e-01 7.79864362e-04 1.46749723e-02 7.99945171e+01] [-7.71578493e-04 9.99999540e-01 -5.70279141e-04 -1.82028340e+00] [-1.46754103e-02 5.58894665e-04 9.99892154e-01 -1.37386951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974391418 meters 0.023876060264147198 Centerline is valid? [True, True] Translation: X:80.03, Y:-1.82, Z:-1.37 [[ 9.99899951e-01 2.52117090e-03 1.39187532e-02 8.00272665e+01] [-2.51387502e-03 9.99996694e-01 -5.41647201e-04 -1.81847891e+00] [-1.39200727e-02 5.06603004e-04 9.99902983e-01 -1.37482659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004391418 meters 0.02319267781598027 Centerline is valid? [True, True] Translation: X:80.06, Y:-1.82, Z:-1.38 [[ 9.99915516e-01 5.68652431e-03 1.16886527e-02 8.00581645e+01] [-5.68157227e-03 9.99983755e-01 -4.56825340e-04 -1.81875241e+00] [-1.16910606e-02 3.90376820e-04 9.99931581e-01 -1.37770715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034391418 meters 0.023780851870822774 Centerline is valid? [True, True] Translation: X:80.09, Y:-1.82, Z:-1.38 [[ 9.99921708e-01 8.06206726e-03 9.56984484e-03 8.00908314e+01] [-8.05887353e-03 9.99967457e-01 -3.72243944e-04 -1.81813069e+00] [-9.57253447e-03 2.95092631e-04 9.99954139e-01 -1.38106345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064391418 meters 0.02268375960496522 Centerline is valid? [True, True] Translation: X:80.12, Y:-1.82, Z:-1.38 [[ 9.99924805e-01 8.05743645e-03 9.24452385e-03 8.01218947e+01] [-8.05443176e-03 9.99967497e-01 -3.62208570e-04 -1.81921388e+00] [-9.24714184e-03 2.87721947e-04 9.99957203e-01 -1.38173273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094391418 meters 0.02104162370175795 Centerline is valid? [True, True] Translation: X:80.15, Y:-1.82, Z:-1.38 [[ 9.99912686e-01 9.24044824e-03 9.44643890e-03 8.01532148e+01] [-9.23732195e-03 9.99957265e-01 -3.74526911e-04 -1.81774755e+00] [-9.44949600e-03 2.87234412e-04 9.99955311e-01 -1.38259668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters 0.021363671527479842 Centerline is valid? [True, True] Translation: X:80.18, Y:-1.82, Z:-1.38 [[ 9.99895083e-01 1.06926595e-02 9.77187129e-03 8.01843928e+01] [-1.06893971e-02 9.99942792e-01 -3.86027447e-04 -1.81964198e+00] [-9.77543993e-03 2.81531534e-04 9.99952180e-01 -1.38325368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15439141799999 meters 0.01989394093507415 Centerline is valid? [True, True] Translation: X:80.22, Y:-1.82, Z:-1.38 [[ 9.99856547e-01 1.42019581e-02 9.22985947e-03 8.02156695e+01] [-1.41991590e-02 9.99899119e-01 -3.68726270e-04 -1.81594516e+00] [-9.23416499e-03 2.37617132e-04 9.99957336e-01 -1.38338962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters 0.01907458922828903 Centerline is valid? [True, True] Translation: X:80.25, Y:-1.81, Z:-1.38 [[ 9.99820501e-01 1.64633829e-02 9.37675651e-03 8.02454295e+01] [-1.64605834e-02 9.99864445e-01 -3.75661799e-04 -1.81376085e+00] [-9.38167010e-03 2.21247486e-04 9.99955967e-01 -1.38371802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21439141799999 meters 0.01907458922828903 Centerline is valid? [True, True] Translation: X:80.27, Y:-1.81, Z:-1.38 [[ 9.99821787e-01 1.63851034e-02 9.37675770e-03 8.02737164e+01] [-1.63823007e-02 9.99865731e-01 -3.75632490e-04 -1.81481364e+00] [-9.38165347e-03 2.21952684e-04 9.99955967e-01 -1.38422865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799999 meters 0.017716505184187315 Centerline is valid? [True, True] Translation: X:80.30, Y:-1.81, Z:-1.38 [[ 9.99771853e-01 1.87032395e-02 1.03165435e-02 8.03033430e+01] [-1.86999830e-02 9.99825055e-01 -4.12033589e-04 -1.81205973e+00] [-1.03224451e-02 2.19020396e-04 9.99946698e-01 -1.38365623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274391418 meters 0.01728052600740722 Centerline is valid? [True, True] Translation: X:80.33, Y:-1.81, Z:-1.38 [[ 9.99690831e-01 2.09878013e-02 1.33324998e-02 8.03318388e+01] [-2.09825742e-02 9.99779700e-01 -5.31835674e-04 -1.81126596e+00] [-1.33407247e-02 2.51921081e-04 9.99910977e-01 -1.38218103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304391418 meters 0.017625967766517 Centerline is valid? [True, True] Translation: X:80.36, Y:-1.81, Z:-1.38 [[ 9.99693185e-01 2.04341709e-02 1.39993354e-02 8.03616240e+01] [-2.04283671e-02 9.99791164e-01 -5.57467458e-04 -1.81313215e+00] [-1.40078033e-02 2.71312855e-04 9.99901849e-01 -1.38243504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334391418 meters 0.01769427519655769 Centerline is valid? [True, True] Translation: X:80.39, Y:-1.81, Z:-1.38 [[ 9.99707420e-01 1.96789559e-02 1.40645753e-02 8.03909781e+01] [-1.96730308e-02 9.99806311e-01 -5.59523670e-04 -1.81482376e+00] [-1.40728619e-02 2.82667143e-04 9.99900932e-01 -1.38290611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364391418 meters 0.018751362952098668 Centerline is valid? [True, True] Translation: X:80.42, Y:-1.82, Z:-1.38 [[ 9.99770997e-01 1.73183845e-02 1.25708624e-02 8.04208450e+01] [-1.73134698e-02 9.99849986e-01 -4.99683720e-04 -1.81814900e+00] [-1.25776303e-02 2.81924044e-04 9.99920859e-01 -1.38406293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394391418 meters 0.019332289344191823 Centerline is valid? [True, True] Translation: X:80.45, Y:-1.82, Z:-1.39 [[ 9.99792925e-01 1.65778337e-02 1.18017703e-02 8.04500502e+01] [-1.65734592e-02 9.99862541e-01 -4.68376913e-04 -1.82057163e+00] [-1.18079128e-02 2.72683764e-04 9.99930247e-01 -1.38575608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424391418 meters 0.018605744408111163 Centerline is valid? [True, True] Translation: X:80.48, Y:-1.82, Z:-1.39 [[ 9.99824428e-01 1.63111644e-02 9.22271287e-03 8.04809030e+01] [-1.63084800e-02 9.99866941e-01 -3.66206770e-04 -1.82033468e+00] [-9.22745896e-03 2.15734046e-04 9.99957403e-01 -1.38899336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454391418 meters 0.018297726239180825 Centerline is valid? [True, True] Translation: X:80.51, Y:-1.82, Z:-1.39 [[ 9.99810426e-01 1.70829718e-02 9.34264895e-03 8.05094564e+01] [-1.70802443e-02 9.99854053e-01 -3.71656223e-04 -1.82040938e+00] [-9.34763442e-03 2.12011040e-04 9.99956287e-01 -1.39049477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484391418 meters 0.017251834393957097 Centerline is valid? [True, True] Translation: X:80.54, Y:-1.82, Z:-1.39 [[ 9.99777179e-01 1.85215373e-02 1.01264606e-02 8.05387362e+01] [-1.85184123e-02 9.99828439e-01 -4.02288965e-04 -1.81938406e+00] [-1.01321743e-02 2.14673354e-04 9.99948645e-01 -1.39020571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51439141799999 meters 0.01635437702854606 Centerline is valid? [True, True] Translation: X:80.57, Y:-1.82, Z:-1.39 [[ 9.99646598e-01 2.26970871e-02 1.38391082e-02 8.05672361e+01] [-2.26916921e-02 9.99742361e-01 -5.46755062e-04 -1.81777674e+00] [-1.38479525e-02 2.32529055e-04 9.99904085e-01 -1.38684850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters 0.015088894087202147 Centerline is valid? [True, True] Translation: X:80.60, Y:-1.82, Z:-1.38 [[ 9.99562386e-01 2.51402198e-02 1.55886222e-02 8.05966241e+01] [-2.51336741e-02 9.99683910e-01 -6.15706419e-04 -1.81599108e+00] [-1.55991738e-02 2.23637628e-04 9.99878300e-01 -1.38496406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57439141799999 meters 0.014711560921326167 Centerline is valid? [True, True] Translation: X:80.63, Y:-1.82, Z:-1.39 [[ 9.99486275e-01 2.76020071e-02 1.62885250e-02 8.06256222e+01] [-2.75952230e-02 9.99618974e-01 -6.41145685e-04 -1.81592610e+00] [-1.63000155e-02 1.91330833e-04 9.99867128e-01 -1.38527271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters 0.013869383603994 Centerline is valid? [True, True] Translation: X:80.65, Y:-1.82, Z:-1.39 [[ 9.99415790e-01 3.13894197e-02 1.35197506e-02 8.06547011e+01] [-3.13850997e-02 9.99507225e-01 -5.31630413e-04 -1.81618762e+00] [-1.35297760e-02 1.07001107e-04 9.99908463e-01 -1.38934085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63439141799999 meters 0.013552378830404282 Centerline is valid? [True, True] Translation: X:80.68, Y:-1.82, Z:-1.39 [[ 9.99391211e-01 3.25969033e-02 1.24358347e-02 8.06839664e+01] [-3.25933540e-02 9.99468576e-01 -4.88033282e-04 -1.81680102e+00] [-1.24451344e-02 8.24106100e-05 9.99922553e-01 -1.39159849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664391418 meters 0.013572310823142017 Centerline is valid? [True, True] Translation: X:80.71, Y:-1.82, Z:-1.39 [[ 9.99333510e-01 3.45322166e-02 1.18348017e-02 8.07119873e+01] [-3.45291427e-02 9.99403584e-01 -4.64023458e-04 -1.81742211e+00] [-1.18437670e-02 5.50686323e-05 9.99929859e-01 -1.39289132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694391418 meters 0.013531125889204038 Centerline is valid? [True, True] Translation: X:80.74, Y:-1.82, Z:-1.39 [[ 9.99309355e-01 3.49347416e-02 1.26639866e-02 8.07411491e+01] [-3.49312733e-02 9.99389594e-01 -4.95031108e-04 -1.81742574e+00] [-1.26735503e-02 5.23200394e-05 9.99919686e-01 -1.39155386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724391418 meters 0.013389552618070327 Centerline is valid? [True, True] Translation: X:80.77, Y:-1.82, Z:-1.39 [[ 9.99283218e-01 3.56315729e-02 1.27844044e-02 8.07693493e+01] [-3.56281064e-02 9.99364993e-01 -4.98875562e-04 -1.81773239e+00] [-1.27940619e-02 4.30338586e-05 9.99918152e-01 -1.39096747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754391418 meters 0.013354528171517142 Centerline is valid? [True, True] Translation: X:80.80, Y:-1.82, Z:-1.39 [[ 9.99270419e-01 3.60410667e-02 1.26361265e-02 8.07968723e+01] [-3.60377313e-02 9.99350309e-01 -4.91630467e-04 -1.81779793e+00] [-1.26456358e-02 3.58944530e-05 9.99920040e-01 -1.39114679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784391418 meters 0.013465875015445883 Centerline is valid? [True, True] Translation: X:80.83, Y:-1.82, Z:-1.39 [[ 9.99321945e-01 3.47935893e-02 1.20439007e-02 8.08252436e+01] [-3.47904874e-02 9.99394519e-01 -4.67027980e-04 -1.82148334e+00] [-1.20528579e-02 4.76981331e-05 9.99927361e-01 -1.39373722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814391418 meters 0.013712178118360611 Centerline is valid? [True, True] Translation: X:80.85, Y:-1.83, Z:-1.40 [[ 9.99383479e-01 3.30941977e-02 1.17232897e-02 8.08535633e+01] [-3.30911522e-02 9.99452235e-01 -4.53713483e-04 -1.82593696e+00] [-1.17318834e-02 6.54965942e-05 9.99931177e-01 -1.39659612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844391418 meters 0.013980694070077578 Centerline is valid? [True, True] Translation: X:80.88, Y:-1.83, Z:-1.40 [[ 9.99455528e-01 3.08755166e-02 1.16340075e-02 8.08815378e+01] [-3.08723761e-02 9.99523234e-01 -4.49477140e-04 -1.83168763e+00] [-1.16423386e-02 9.00629567e-05 9.99932222e-01 -1.39965099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87439141799999 meters 0.014633557126429761 Centerline is valid? [True, True] Translation: X:80.91, Y:-1.84, Z:-1.40 [[ 9.99532972e-01 2.80255321e-02 1.21822675e-02 8.09092021e+01] [-2.80218925e-02 9.99607199e-01 -4.69389760e-04 -1.83790265e+00] [-1.21906372e-02 1.27800353e-04 9.99925683e-01 -1.40144544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters 0.017798239761906007 Centerline is valid? [True, True] Translation: X:80.94, Y:-1.85, Z:-1.40 [[ 9.99673800e-01 2.16150044e-02 1.36046373e-02 8.09382239e+01] [-2.16098955e-02 9.99766342e-01 -5.22438533e-04 -1.84687708e+00] [-1.36127510e-02 2.28273324e-04 9.99907316e-01 -1.40028464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93439141799999 meters 0.01758977178744403 Centerline is valid? [True, True] Translation: X:80.97, Y:-1.85, Z:-1.40 [[ 9.99730982e-01 1.90483980e-02 1.32333738e-02 8.09678218e+01] [-1.90433457e-02 9.99818530e-01 -5.07704426e-04 -1.84738238e+00] [-1.32406433e-02 2.55560133e-04 9.99912306e-01 -1.39829800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters 0.01848680965504141 Centerline is valid? [True, True] Translation: X:81.00, Y:-1.85, Z:-1.40 [[ 9.99821972e-01 1.57077312e-02 1.04542237e-02 8.09972598e+01] [-1.57044002e-02 9.99876598e-01 -4.00654381e-04 -1.84935378e+00] [-1.04592270e-02 2.36405740e-04 9.99945273e-01 -1.39768289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99439141799999 meters 0.018259610854396625 Centerline is valid? [True, True] Translation: X:81.03, Y:-1.85, Z:-1.40 [[ 9.99849775e-01 1.48150530e-02 8.99676459e-03 8.10269828e+01] [-1.48125494e-02 9.99890229e-01 -3.44852939e-04 -1.85025371e+00] [-9.00088602e-03 2.11536113e-04 9.99959469e-01 -1.40004394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024391418 meters 0.019084468796634023 Centerline is valid? [True, True] Translation: X:81.06, Y:-1.86, Z:-1.41 [[ 9.99892937e-01 1.32624794e-02 6.18240129e-03 8.10558947e+01] [-1.32612710e-02 9.99912038e-01 -2.36415176e-04 -1.85710143e+00] [-6.18499293e-03 1.54403366e-04 9.99980861e-01 -1.40740120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054391418 meters 0.02005029819124707 Centerline is valid? [True, True] Translation: X:81.08, Y:-1.86, Z:-1.41 [[ 9.99894689e-01 1.26015760e-02 7.19799798e-03 8.10845724e+01] [-1.25999154e-02 9.99920580e-01 -2.75997538e-04 -1.86256711e+00] [-7.20090432e-03 1.85274307e-04 9.99974056e-01 -1.41047884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084391418 meters 0.019472673814747606 Centerline is valid? [True, True] Translation: X:81.11, Y:-1.87, Z:-1.41 [[ 9.99873609e-01 1.26746310e-02 9.59794986e-03 8.11145171e+01] [-1.26716924e-02 9.99919644e-01 -3.66922802e-04 -1.86519026e+00] [-9.60182921e-03 2.45254158e-04 9.99953871e-01 -1.40966579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114391418 meters 0.018865512722756834 Centerline is valid? [True, True] Translation: X:81.14, Y:-1.87, Z:-1.41 [[ 9.99822193e-01 1.35688843e-02 1.30945516e-02 8.11446607e+01] [-1.35635039e-02 9.99907887e-01 -4.99610785e-04 -1.86615018e+00] [-1.31001246e-02 3.21913949e-04 9.99914138e-01 -1.40633419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144391418 meters 0.016950703721582507 Centerline is valid? [True, True] Translation: X:81.18, Y:-1.86, Z:-1.40 [[ 9.99676311e-01 1.90512766e-02 1.68618238e-02 8.11765074e+01] [-1.90431348e-02 9.99818456e-01 -6.43300614e-04 -1.85902746e+00] [-1.68710183e-02 3.21990403e-04 9.99857622e-01 -1.39719859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174391418 meters 0.01616701683159202 Centerline is valid? [True, True] Translation: X:81.21, Y:-1.85, Z:-1.40 [[ 9.99589446e-01 2.34451778e-02 1.64700815e-02 8.12077850e+01] [-2.34379954e-02 9.99725095e-01 -6.29010587e-04 -1.85382458e+00] [-1.64803010e-02 2.42726650e-04 9.99864161e-01 -1.39513422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204391418 meters 0.01545563760299797 Centerline is valid? [True, True] Translation: X:81.24, Y:-1.85, Z:-1.40 [[ 9.99518671e-01 2.73580888e-02 1.46274272e-02 8.12377421e+01] [-2.73528320e-02 9.99625685e-01 -5.59354605e-04 -1.85025035e+00] [-1.46372549e-02 1.58983811e-04 9.99892857e-01 -1.39539781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234391418 meters 0.014578907674450876 Centerline is valid? [True, True] Translation: X:81.27, Y:-1.85, Z:-1.40 [[ 9.99413097e-01 3.28778735e-02 9.61804092e-03 8.12658964e+01] [-3.28758507e-02 9.99459375e-01 -3.68384528e-04 -1.84821658e+00] [-9.62495287e-03 5.19670447e-05 9.99953678e-01 -1.40205186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters 0.013809417257034407 Centerline is valid? [True, True] Translation: X:81.29, Y:-1.85, Z:-1.41 [[ 9.99391777e-01 3.38742013e-02 8.28343081e-03 8.12943558e+01] [-3.38727415e-02 9.99426104e-01 -3.16499046e-04 -1.85029465e+00] [-8.28939813e-03 3.57240337e-05 9.99965642e-01 -1.40526354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29439141799999 meters 0.01369514795434668 Centerline is valid? [True, True] Translation: X:81.32, Y:-1.85, Z:-1.41 [[ 9.99360784e-01 3.46194407e-02 8.91725734e-03 8.13233321e+01] [-3.46177856e-02 9.99400567e-01 -3.39935570e-04 -1.85445960e+00] [-8.92368042e-03 3.10225746e-05 9.99960183e-01 -1.40829181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters 0.01374903468537349 Centerline is valid? [True, True] Translation: X:81.35, Y:-1.86, Z:-1.41 [[ 9.99363384e-01 3.43012119e-02 9.81090174e-03 8.13522326e+01] [-3.42992023e-02 9.99411540e-01 -3.73065232e-04 -1.85585809e+00] [-9.81792500e-03 3.63216288e-05 9.99951802e-01 -1.40792887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35439141799999 meters 0.013656363988397738 Centerline is valid? [True, True] Translation: X:81.38, Y:-1.86, Z:-1.41 [[ 9.99349657e-01 3.44706742e-02 1.05846965e-02 8.13807390e+01] [-3.44683550e-02 9.99405709e-01 -4.01509106e-04 -1.85571535e+00] [-1.05922464e-02 3.64109110e-05 9.99943900e-01 -1.40685998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799999 meters 0.013692686062104166 Centerline is valid? [True, True] Translation: X:81.41, Y:-1.85, Z:-1.40 [[ 9.99370281e-01 3.38693926e-02 1.05785089e-02 8.14083906e+01] [-3.38670482e-02 9.99426267e-01 -4.00720947e-04 -1.85421951e+00] [-1.05860118e-02 4.22057346e-05 9.99943966e-01 -1.40396298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414391418 meters 0.015190739746729187 Centerline is valid? [True, True] Translation: X:81.44, Y:-1.86, Z:-1.41 [[ 9.99400706e-01 3.32464482e-02 9.63858958e-03 8.14357145e+01] [-3.32444840e-02 9.99447183e-01 -3.63974629e-04 -1.85601105e+00] [-9.64536207e-03 4.33265633e-05 9.99953481e-01 -1.40524000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444391418 meters 0.014266469237231011 Centerline is valid? [True, True] Translation: X:81.46, Y:-1.86, Z:-1.41 [[ 9.99545504e-01 2.90594339e-02 8.02093427e-03 8.14638337e+01] [-2.90579429e-02 9.99577683e-01 -3.02390313e-04 -1.86287462e+00] [-8.02633418e-03 6.91810276e-05 9.99967786e-01 -1.40608066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474391418 meters 0.014987769142589619 Centerline is valid? [True, True] Translation: X:81.49, Y:-1.87, Z:-1.41 [[ 9.99629767e-01 2.62073266e-02 7.31476870e-03 8.14915242e+01] [-2.62060135e-02 9.99656526e-01 -2.75317193e-04 -1.86806641e+00] [-7.31947159e-03 8.35243341e-05 9.99973209e-01 -1.40808574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504391418 meters 0.015798474677505774 Centerline is valid? [True, True] Translation: X:81.52, Y:-1.87, Z:-1.41 [[ 9.99722921e-01 2.23123275e-02 7.49938978e-03 8.15203572e+01] [-2.23108467e-02 9.99751043e-01 -2.81067498e-04 -1.87299743e+00] [-7.50379402e-03 1.13671885e-04 9.99971840e-01 -1.40933812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534391418 meters 0.017265014359898547 Centerline is valid? [True, True] Translation: X:81.55, Y:-1.88, Z:-1.41 [[ 9.99803248e-01 1.84274958e-02 7.34112062e-03 8.15483910e+01] [-1.84259763e-02 9.99830190e-01 -2.74578951e-04 -1.87890519e+00] [-7.34493382e-03 1.39257612e-04 9.99973016e-01 -1.41057337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564391418 meters 0.020444376889464815 Centerline is valid? [True, True] Translation: X:81.58, Y:-1.89, Z:-1.41 [[ 9.99909275e-01 9.98516363e-03 9.04095998e-03 8.15781733e+01] [-9.98252812e-03 9.99950117e-01 -3.36588401e-04 -1.88774065e+00] [-9.04386987e-03 2.46306227e-04 9.99959073e-01 -1.40977054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594391418 meters 0.022139190051495058 Centerline is valid? [True, True] Translation: X:81.61, Y:-1.89, Z:-1.41 [[ 9.99927032e-01 6.72518244e-03 1.00350208e-02 8.16093411e+01] [-6.72177854e-03 9.99977339e-01 -3.72891225e-04 -1.89214631e+00] [-1.00373011e-02 3.05410829e-04 9.99949578e-01 -1.40920172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters 0.022706202585003415 Centerline is valid? [True, True] Translation: X:81.64, Y:-1.89, Z:-1.41 [[ 9.99931826e-01 4.82653302e-03 1.06323593e-02 8.16417759e+01] [-4.82261844e-03 9.99988294e-01 -3.93783560e-04 -1.89467290e+00] [-1.06341354e-02 3.42480903e-04 9.99943397e-01 -1.40903816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65439141799999 meters 0.024593035375264454 Centerline is valid? [True, True] Translation: X:81.67, Y:-1.90, Z:-1.41 [[ 9.99949913e-01 2.85759690e-03 9.59197443e-03 8.16730516e+01] [-2.85429783e-03 9.99995863e-01 -3.57613356e-04 -1.89785008e+00] [-9.59295666e-03 3.30217092e-04 9.99953932e-01 -1.41045460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters 0.02604015384297888 Centerline is valid? [True, True] Translation: X:81.70, Y:-1.90, Z:-1.41 [[ 9.99951145e-01 2.47223192e-03 9.57052162e-03 8.17046465e+01] [-2.46890625e-03 9.99996888e-01 -3.59289622e-04 -1.90044413e+00] [-9.57138008e-03 3.35643348e-04 9.99954137e-01 -1.41108737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71439141799999 meters 0.02541635247082437 Centerline is valid? [True, True] Translation: X:81.74, Y:-1.90, Z:-1.41 [[ 9.99943667e-01 2.08571996e-03 1.04073347e-02 8.17367674e+01] [-2.08173664e-03 9.99997756e-01 -3.93560032e-04 -1.90059879e+00] [-1.04081322e-02 3.71872532e-04 9.99945765e-01 -1.41047319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799999 meters 0.02701049691366575 Centerline is valid? [True, True] Translation: X:81.77, Y:-1.91, Z:-1.41 [[ 9.99903723e-01 1.90066395e-04 1.38747651e-02 8.17681372e+01] [-1.82727936e-04 9.99999843e-01 -5.30172682e-04 -1.90722942e+00] [-1.38748636e-02 5.27586332e-04 9.99903600e-01 -1.40944749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774391418 meters 0.02796626972106865 Centerline is valid? [True, True] Translation: X:81.80, Y:-1.91, Z:-1.41 [[ 9.99894501e-01 -1.09209463e-03 1.44842691e-02 8.18003146e+01] [ 1.10028084e-03 9.99999239e-01 -5.57222273e-04 -1.91173467e+00] [-1.44836495e-02 5.73100250e-04 9.99894942e-01 -1.41004739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804391418 meters 0.028850053539298474 Centerline is valid? [True, True] Translation: X:81.83, Y:-1.91, Z:-1.41 [[ 9.99904465e-01 -2.74805917e-03 1.35465687e-02 8.18318947e+01] [ 2.75541754e-03 9.99996066e-01 -5.24556888e-04 -1.91445952e+00] [-1.35450739e-02 5.61833228e-04 9.99908103e-01 -1.41049547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834391418 meters 0.02887503322642548 Centerline is valid? [True, True] Translation: X:81.86, Y:-1.91, Z:-1.41 [[ 9.99923603e-01 -2.45154923e-03 1.21152392e-02 8.18649267e+01] [ 2.45745359e-03 9.99996869e-01 -4.72486791e-04 -1.91498527e+00] [-1.21140429e-02 5.02223332e-04 9.99926496e-01 -1.41109098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864391418 meters 0.028750621789552136 Centerline is valid? [True, True] Translation: X:81.90, Y:-1.91, Z:-1.41 [[ 9.99948257e-01 -1.18392118e-03 1.01035935e-02 8.18970237e+01] [ 1.18797439e-03 9.99999216e-01 -3.95172780e-04 -1.91494629e+00] [-1.01031177e-02 4.07155143e-04 9.99948879e-01 -1.41355678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894391418 meters 0.026328590979044973 Centerline is valid? [True, True] Translation: X:81.93, Y:-1.91, Z:-1.42 [[ 9.99982504e-01 2.72033675e-03 5.25270540e-03 8.19280669e+01] [-2.71929386e-03 9.99996282e-01 -2.05675013e-04 -1.91252620e+00] [-5.25324537e-03 1.91387765e-04 9.99986183e-01 -1.42007590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924391418 meters 0.025457602453475663 Centerline is valid? [True, True] Translation: X:81.96, Y:-1.91, Z:-1.42 [[ 9.99978328e-01 5.43059417e-03 3.72188489e-03 8.19588202e+01] [-5.43009053e-03 9.99985246e-01 -1.45410207e-04 -1.91282484e+00] [-3.72261965e-03 1.25196884e-04 9.99993063e-01 -1.42408040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954391418 meters 0.021805949524099987 Centerline is valid? [True, True] Translation: X:81.99, Y:-1.91, Z:-1.42 [[ 9.99959545e-01 8.08160456e-03 3.94906239e-03 8.19900726e+01] [-8.08105503e-03 9.99967336e-01 -1.55093441e-04 -1.90835745e+00] [-3.95018680e-03 1.23174576e-04 9.99992190e-01 -1.42435893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984391418 meters 0.018919759612904333 Centerline is valid? [True, True] Translation: X:82.02, Y:-1.90, Z:-1.42 [[ 9.99870407e-01 1.42594813e-02 7.47241786e-03 8.20199728e+01] [-1.42576778e-02 9.99898311e-01 -2.94574473e-04 -1.90387222e+00] [-7.47585848e-03 1.87996971e-04 9.99972038e-01 -1.42204995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01439141799999 meters 0.02011221160393361 Centerline is valid? [True, True] Translation: X:82.05, Y:-1.91, Z:-1.42 [[ 9.99817936e-01 1.67275039e-02 9.18068344e-03 8.20486224e+01] [-1.67248888e-02 9.99860064e-01 -3.61553673e-04 -1.90506835e+00] [-9.18544662e-03 2.07941937e-04 9.99957791e-01 -1.42104547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters 0.016685251539145105 Centerline is valid? [True, True] Translation: X:82.08, Y:-1.90, Z:-1.42 [[ 9.99742352e-01 2.05494889e-02 9.64097465e-03 8.20786051e+01] [-2.05467903e-02 9.99788821e-01 -3.78883667e-04 -1.89798574e+00] [-9.64672454e-03 1.80694964e-04 9.99953453e-01 -1.41784048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07439141799999 meters 0.016165864932296856 Centerline is valid? [True, True] Translation: X:82.11, Y:-1.90, Z:-1.42 [[ 9.99723555e-01 2.17274978e-02 8.98492335e-03 8.21076441e+01] [-2.17252011e-02 9.99763918e-01 -3.53153711e-04 -1.89849881e+00] [-8.99047531e-03 1.57856817e-04 9.99959572e-01 -1.41882138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters 0.016165864932296856 Centerline is valid? [True, True] Translation: X:82.14, Y:-1.90, Z:-1.42 [[ 9.99725284e-01 2.16478204e-02 8.98495144e-03 8.21359289e+01] [-2.16455269e-02 9.99765646e-01 -3.52436970e-04 -1.89952962e+00] [-8.99047527e-03 1.57856141e-04 9.99959572e-01 -1.41933218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13439141799999 meters 0.016306774695524176 Centerline is valid? [True, True] Translation: X:82.16, Y:-1.90, Z:-1.42 [[ 9.99727639e-01 2.18411641e-02 8.22258137e-03 8.21635582e+01] [-2.18392527e-02 9.99761443e-01 -3.22185538e-04 -1.90051147e+00] [-8.22765673e-03 1.42522755e-04 9.99966142e-01 -1.42059430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164391418 meters 0.01611053490689872 Centerline is valid? [True, True] Translation: X:82.19, Y:-1.90, Z:-1.42 [[ 9.99737974e-01 2.16369444e-02 7.47162383e-03 8.21921147e+01] [-2.16353663e-02 9.99765885e-01 -2.91985136e-04 -1.89652332e+00] [-7.47619228e-03 1.30257310e-04 9.99972044e-01 -1.41819594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194391418 meters 0.01671924266684461 Centerline is valid? [True, True] Translation: X:82.22, Y:-1.90, Z:-1.42 [[ 9.99747498e-01 2.14352356e-02 6.74325049e-03 8.22200019e+01] [-2.14339468e-02 9.99770232e-01 -2.63338662e-04 -1.89656105e+00] [-6.74734583e-03 1.18737696e-04 9.99977229e-01 -1.41859887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224391418 meters 0.017532069637747706 Centerline is valid? [True, True] Translation: X:82.25, Y:-1.90, Z:-1.42 [[ 9.99759917e-01 2.11212469e-02 5.83100197e-03 8.22490431e+01] [-2.11202815e-02 9.99776916e-01 -2.27102351e-04 -1.89763180e+00] [-5.83449785e-03 1.03895425e-04 9.99982974e-01 -1.42081097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254391418 meters 0.016762060695593908 Centerline is valid? [True, True] Translation: X:82.28, Y:-1.90, Z:-1.42 [[ 9.99775771e-01 2.02441430e-02 6.21146837e-03 8.22772545e+01] [-2.02430325e-02 9.99795060e-01 -2.41606133e-04 -1.89964540e+00] [-6.21508650e-03 1.15813002e-04 9.99980679e-01 -1.42225849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284391418 meters 0.017535464285956127 Centerline is valid? [True, True] Translation: X:82.30, Y:-1.91, Z:-1.43 [[ 9.99794117e-01 1.92100276e-02 6.53433007e-03 8.23049121e+01] [-1.92087814e-02 9.99815462e-01 -2.53420919e-04 -1.90598878e+00] [-6.53799246e-03 1.27852226e-04 9.99978619e-01 -1.42730353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314391418 meters 0.017678077017728226 Centerline is valid? [True, True] Translation: X:82.33, Y:-1.91, Z:-1.43 [[ 9.99799752e-01 1.85435885e-02 7.52265641e-03 8.23338356e+01] [-1.85419271e-02 9.99828041e-01 -2.90538667e-04 -1.90765601e+00] [-7.52675045e-03 1.50995941e-04 9.99971662e-01 -1.42815158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344391418 meters 0.017599343737593708 Centerline is valid? [True, True] Translation: X:82.36, Y:-1.91, Z:-1.42 [[ 9.99802474e-01 1.74748217e-02 9.46806859e-03 8.23627189e+01] [-1.74721522e-02 9.99847284e-01 -3.64600715e-04 -1.90643827e+00] [-9.47299399e-03 1.99101161e-04 9.99955110e-01 -1.42485368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37439141799999 meters 0.017853532608277434 Centerline is valid? [True, True] Translation: X:82.39, Y:-1.91, Z:-1.42 [[ 9.99794511e-01 1.72538319e-02 1.06415063e-02 8.23912767e+01] [-1.72504578e-02 9.99851116e-01 -4.08778703e-04 -1.90606306e+00] [-1.06469750e-02 2.25123847e-04 9.99943294e-01 -1.42322832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters 0.01786762151004889 Centerline is valid? [True, True] Translation: X:82.42, Y:-1.91, Z:-1.42 [[ 9.99784184e-01 1.73775696e-02 1.13844576e-02 8.24211860e+01] [-1.73737301e-02 9.99848970e-01 -4.36080503e-04 -1.90647220e+00] [-1.13903162e-02 2.38195896e-04 9.99935100e-01 -1.42216838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43439141799999 meters 0.017830989061594367 Centerline is valid? [True, True] Translation: X:82.45, Y:-1.91, Z:-1.42 [[ 9.99799709e-01 1.67986500e-02 1.08787822e-02 8.24511756e+01] [-1.67951140e-02 9.99858865e-01 -4.16325461e-04 -1.90894419e+00] [-1.08842405e-02 2.33531688e-04 9.99940738e-01 -1.42361344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters 0.017881450489301814 Centerline is valid? [True, True] Translation: X:82.48, Y:-1.91, Z:-1.42 [[ 9.99820992e-01 1.58491035e-02 1.03339488e-02 8.24807285e+01] [-1.58458658e-02 9.99874368e-01 -3.95110843e-04 -1.91148858e+00] [-1.03389127e-02 2.31289748e-04 9.99946525e-01 -1.42499263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49439141799999 meters 0.019745161970363447 Centerline is valid? [True, True] Translation: X:82.51, Y:-1.92, Z:-1.43 [[ 9.99841176e-01 1.43650392e-02 1.05483870e-02 8.25096209e+01] [-1.43615893e-02 9.99896786e-01 -4.02727565e-04 -1.91664944e+00] [-1.05530835e-02 2.51172000e-04 9.99944283e-01 -1.42609733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524391418 meters 0.02045493462787255 Centerline is valid? [True, True] Translation: X:82.54, Y:-1.92, Z:-1.43 [[ 9.99875009e-01 1.10617801e-02 1.12961269e-02 8.25404043e+01] [-1.10576230e-02 9.99938770e-01 -4.30403332e-04 -1.91911254e+00] [-1.13001963e-02 3.05441223e-04 9.99936104e-01 -1.42504408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554391418 meters 0.022430492087090474 Centerline is valid? [True, True] Translation: X:82.57, Y:-1.92, Z:-1.43 [[ 9.99897433e-01 9.95309789e-03 1.02984716e-02 8.25714933e+01] [-9.94959143e-03 9.99950425e-01 -3.91663174e-04 -1.92334577e+00] [-1.03018593e-02 2.89157418e-04 9.99946893e-01 -1.42690189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584391418 meters 0.021054160215758025 Centerline is valid? [True, True] Translation: X:82.60, Y:-1.92, Z:-1.43 [[ 9.99921393e-01 8.92472398e-03 8.80667195e-03 8.26026959e+01] [-8.92208919e-03 9.99960140e-01 -3.38423422e-04 -1.92311744e+00] [-8.80934126e-03 2.59822907e-04 9.99961163e-01 -1.42889693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614391418 meters 0.021173006745848204 Centerline is valid? [True, True] Translation: X:82.63, Y:-1.93, Z:-1.43 [[ 9.99941805e-01 8.07198345e-03 7.15750056e-03 8.26336619e+01] [-8.07022023e-03 9.99967397e-01 -2.75194275e-04 -1.92519150e+00] [-7.15948857e-03 2.17415654e-04 9.99974347e-01 -1.43184434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644391418 meters 0.025203269016078073 Centerline is valid? [True, True] Translation: X:82.66, Y:-1.93, Z:-1.44 [[ 9.99964302e-01 6.96553619e-03 4.78298378e-03 8.26638562e+01] [-6.96473514e-03 9.99975729e-01 -1.84116316e-04 -1.93033996e+00] [-4.78415016e-03 1.50797528e-04 9.99988545e-01 -1.43629524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674391418 meters 0.02165457888138117 Centerline is valid? [True, True] Translation: X:82.69, Y:-1.92, Z:-1.43 [[ 9.99961307e-01 7.16026852e-03 5.11037963e-03 8.26946624e+01] [-7.15935464e-03 9.99974352e-01 -1.97099546e-04 -1.92401362e+00] [-5.11165985e-03 1.60504900e-04 9.99986923e-01 -1.43334110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704391418 meters 0.020998389011386804 Centerline is valid? [True, True] Translation: X:82.73, Y:-1.92, Z:-1.43 [[ 9.99941545e-01 8.49521223e-03 6.68866842e-03 8.27254900e+01] [-8.49367652e-03 9.99963895e-01 -2.57971737e-04 -1.92124078e+00] [-6.69061845e-03 2.01145271e-04 9.99977597e-01 -1.43217457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734391418 meters 0.021047007519328878 Centerline is valid? [True, True] Translation: X:82.76, Y:-1.92, Z:-1.43 [[ 9.99936326e-01 8.93829795e-03 6.88841590e-03 8.27562812e+01] [-8.93667965e-03 9.99960032e-01 -2.65675692e-04 -1.92210452e+00] [-6.89051527e-03 2.04099210e-04 9.99976239e-01 -1.43387678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters 0.021493992355568137 Centerline is valid? [True, True] Translation: X:82.79, Y:-1.92, Z:-1.44 [[ 9.99942726e-01 8.61296016e-03 6.35314752e-03 8.27868548e+01] [-8.61157848e-03 9.99962890e-01 -2.44802443e-04 -1.92450714e+00] [-6.35502023e-03 1.90077793e-04 9.99979789e-01 -1.43679059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79439141799999 meters 0.024294470482296618 Centerline is valid? [True, True] Translation: X:82.82, Y:-1.93, Z:-1.44 [[ 9.99966127e-01 4.05850920e-03 7.16050484e-03 8.28169318e+01] [-4.05663922e-03 9.99991734e-01 -2.75657233e-04 -1.92965169e+00] [-7.16156441e-03 2.46600311e-04 9.99974325e-01 -1.43879844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters 0.026314535390438213 Centerline is valid? [True, True] Translation: X:82.85, Y:-1.93, Z:-1.44 [[ 9.99964939e-01 9.58285629e-04 8.31885891e-03 8.28489172e+01] [-9.55650298e-04 9.99999492e-01 -3.20759153e-04 -1.93321510e+00] [-8.31916206e-03 3.12797987e-04 9.99965346e-01 -1.43801913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85439141799999 meters 0.028367737827262582 Centerline is valid? [True, True] Translation: X:82.88, Y:-1.94, Z:-1.44 [[ 9.99953946e-01 -2.29858793e-03 9.31785804e-03 8.28810236e+01] [ 2.30204376e-03 9.99997285e-01 -3.60173699e-04 -1.93664815e+00] [-9.31700486e-03 3.81607228e-04 9.99956523e-01 -1.43713224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799999 meters 0.03269673248001055 Centerline is valid? [True, True] Translation: X:82.91, Y:-1.94, Z:-1.44 [[ 9.99928040e-01 -8.21690027e-03 8.74053612e-03 8.29099951e+01] [ 8.22017598e-03 9.99966156e-01 -3.38912495e-04 -1.94281480e+00] [-8.73745550e-03 4.10736852e-04 9.99961743e-01 -1.43815691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914391418 meters 0.034312327755079745 Centerline is valid? [True, True] Translation: X:82.94, Y:-1.95, Z:-1.44 [[ 9.99914566e-01 -1.09157308e-02 7.19083199e-03 8.29405232e+01] [ 1.09180188e-02 9.99940358e-01 -2.79001787e-04 -1.94647433e+00] [-7.18735760e-03 3.57487589e-04 9.99974107e-01 -1.44124331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944391418 meters 0.03664293692247261 Centerline is valid? [True, True] Translation: X:82.97, Y:-1.95, Z:-1.44 [[ 9.99895515e-01 -1.34340983e-02 5.33698160e-03 8.29703946e+01] [ 1.34353958e-02 9.99909720e-01 -2.07327122e-04 -1.95133551e+00] [-5.33371452e-03 2.79009919e-04 9.99985737e-01 -1.44478004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974391418 meters 0.04035334318122211 Centerline is valid? [True, True] Translation: X:83.00, Y:-1.96, Z:-1.45 [[ 9.99838203e-01 -1.75447984e-02 3.96845862e-03 8.29996715e+01] [ 1.75455485e-02 9.99846053e-01 -1.54292711e-04 -1.95554930e+00] [-3.96514065e-03 2.23896530e-04 9.99992114e-01 -1.44772480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004391418 meters 0.04093536161733393 Centerline is valid? [True, True] Translation: X:83.03, Y:-1.96, Z:-1.45 [[ 9.99823651e-01 -1.83646566e-02 3.92499840e-03 8.30315765e+01] [ 1.83653920e-02 9.99831331e-01 -1.51389828e-04 -1.95528441e+00] [-3.92155615e-03 2.23447265e-04 9.99992286e-01 -1.44766541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034391418 meters 0.0409512832990825 Centerline is valid? [True, True] Translation: X:83.06, Y:-1.95, Z:-1.45 [[ 9.99831126e-01 -1.78592042e-02 4.33217901e-03 8.30637821e+01] [ 1.78600973e-02 9.99840482e-01 -1.67561806e-04 -1.95436836e+00] [-4.32849543e-03 2.44906648e-04 9.99990602e-01 -1.44770236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064391418 meters 0.040146043754784845 Centerline is valid? [True, True] Translation: X:83.10, Y:-1.95, Z:-1.45 [[ 9.99856609e-01 -1.62432327e-02 4.78746016e-03 8.30955624e+01] [ 1.62443073e-02 9.99868035e-01 -1.85657946e-04 -1.95223836e+00] [-4.78381270e-03 2.63400299e-04 9.99988523e-01 -1.44819671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094391418 meters 0.037101992822763656 Centerline is valid? [True, True] Translation: X:83.13, Y:-1.95, Z:-1.45 [[ 9.99927785e-01 -1.01951130e-02 6.36270811e-03 8.31253606e+01] [ 1.01969018e-02 9.99947979e-01 -2.48755034e-04 -1.94544300e+00] [-6.35984103e-03 3.13616980e-04 9.99979727e-01 -1.44834224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters 0.03598375514844798 Centerline is valid? [True, True] Translation: X:83.16, Y:-1.94, Z:-1.45 [[ 9.99946421e-01 -7.39478915e-03 7.24377280e-03 8.31559610e+01] [ 7.39703011e-03 9.99972602e-01 -2.82621358e-04 -1.94338229e+00] [-7.24148441e-03 3.36188621e-04 9.99973724e-01 -1.44861243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15439141799999 meters 0.03305186654555569 Centerline is valid? [True, True] Translation: X:83.19, Y:-1.94, Z:-1.45 [[ 9.99950625e-01 -5.46679834e-03 8.29825529e-03 8.31876810e+01] [ 5.46967315e-03 9.99984989e-01 -3.23779579e-04 -1.93880862e+00] [-8.29636069e-03 3.69152337e-04 9.99965516e-01 -1.44786934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters 0.03217804284083934 Centerline is valid? [True, True] Translation: X:83.22, Y:-1.94, Z:-1.45 [[ 9.99943317e-01 -3.45738428e-03 1.00702144e-02 8.32191424e+01] [ 3.46152148e-03 9.99993932e-01 -3.93434536e-04 -1.93551256e+00] [-1.00687930e-02 4.28270498e-04 9.99949217e-01 -1.44533500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21439141799999 meters 0.032990145166559987 Centerline is valid? [True, True] Translation: X:83.25, Y:-1.94, Z:-1.44 [[ 9.99939589e-01 -2.09576081e-03 1.07900510e-02 8.32505679e+01] [ 2.10043493e-03 9.99997705e-01 -4.21873345e-04 -1.93617657e+00] [-1.07891421e-02 4.44511660e-04 9.99941697e-01 -1.44442282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799999 meters 0.026166492212103685 Centerline is valid? [True, True] Translation: X:83.28, Y:-1.93, Z:-1.44 [[ 9.99933859e-01 3.67616048e-05 1.15011202e-02 8.32834571e+01] [-3.15857971e-05 9.99999898e-01 -4.50207713e-04 -1.92580297e+00] [-1.15011356e-02 4.49814663e-04 9.99933759e-01 -1.44252643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274391418 meters 0.02661432685874327 Centerline is valid? [True, True] Translation: X:83.31, Y:-1.92, Z:-1.44 [[ 9.99906338e-01 8.25958550e-03 1.09130235e-02 8.33135953e+01] [-8.25539876e-03 9.99965832e-01 -4.28637956e-04 -1.92205399e+00] [-1.09161910e-02 3.38506448e-04 9.99940359e-01 -1.44386977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304391418 meters 0.022468105833548743 Centerline is valid? [True, True] Translation: X:83.35, Y:-1.91, Z:-1.44 [[ 9.99851234e-01 1.34126186e-02 1.08448437e-02 8.33455086e+01] [-1.34087938e-02 9.99910008e-01 -4.25324838e-04 -1.91441150e+00] [-1.08495724e-02 2.79845292e-04 9.99941102e-01 -1.44424885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334391418 meters 0.020384817567121 Centerline is valid? [True, True] Translation: X:83.38, Y:-1.91, Z:-1.45 [[ 9.99769631e-01 1.84320843e-02 1.09974138e-02 8.33756829e+01] [-1.84284437e-02 9.99830088e-01 -4.32288071e-04 -1.90961325e+00] [-1.10035131e-02 2.29523264e-04 9.99939433e-01 -1.44534676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364391418 meters 0.014790583087425849 Centerline is valid? [True, True] Translation: X:83.41, Y:-1.90, Z:-1.45 [[ 9.99582890e-01 2.66582373e-02 1.11078218e-02 8.34057967e+01] [-2.66550280e-02 9.99644596e-01 -4.36894265e-04 -1.89759446e+00] [-1.11155209e-02 1.40632730e-04 9.99938211e-01 -1.44716216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394391418 meters 0.014571945342854917 Centerline is valid? [True, True] Translation: X:83.43, Y:-1.90, Z:-1.45 [[ 9.99489887e-01 3.00251486e-02 1.08838013e-02 8.34333907e+01] [-3.00222671e-02 9.99549138e-01 -4.28082758e-04 -1.89727319e+00] [-1.08917475e-02 1.01107998e-04 9.99940678e-01 -1.45112913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424391418 meters 0.013537382802337466 Centerline is valid? [True, True] Translation: X:83.46, Y:-1.90, Z:-1.45 [[ 9.99435133e-01 3.19080785e-02 1.05493468e-02 8.34626672e+01] [-3.19054893e-02 9.99490805e-01 -4.13681789e-04 -1.89788582e+00] [-1.05571749e-02 7.68660410e-05 9.99944269e-01 -1.45360327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454391418 meters 0.01382231436609664 Centerline is valid? [True, True] Translation: X:83.49, Y:-1.89, Z:-1.45 [[ 9.99266922e-01 3.64273623e-02 1.17756439e-02 8.34914151e+01] [-3.64244573e-02 9.99336303e-01 -4.61140519e-04 -1.89383156e+00] [-1.17846266e-02 3.18810281e-05 9.99930558e-01 -1.45246391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters 0.012829649368373783 Centerline is valid? [True, True] Translation: X:83.52, Y:-1.89, Z:-1.45 [[ 9.99168854e-01 3.86025738e-02 1.30936366e-02 8.35190903e+01] [-3.85991835e-02 9.99254643e-01 -5.11633719e-04 -1.89011017e+00] [-1.31036276e-02 5.80479411e-06 9.99914144e-01 -1.44832051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51439141799999 meters 0.013028043754952739 Centerline is valid? [True, True] Translation: X:83.55, Y:-1.89, Z:-1.45 [[ 9.99045163e-01 4.12838285e-02 1.42971426e-02 8.35476912e+01] [-4.12800825e-02 9.99147459e-01 -5.57146921e-04 -1.88592353e+00] [-1.43079549e-02 -3.35722902e-05 9.99897635e-01 -1.44560250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters 0.013184136531860369 Centerline is valid? [True, True] Translation: X:83.58, Y:-1.88, Z:-1.45 [[ 9.98954203e-01 4.37564662e-02 1.32616748e-02 8.35752988e+01] [-4.37534788e-02 9.99042225e-01 -5.15455697e-04 -1.88245448e+00] [-1.32715277e-02 -6.53277730e-05 9.99911927e-01 -1.44592512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57439141799999 meters 0.013438915736036271 Centerline is valid? [True, True] Translation: X:83.60, Y:-1.89, Z:-1.45 [[ 9.98939171e-01 4.47311662e-02 1.09387329e-02 8.36034185e+01] [-4.47292088e-02 9.98999058e-01 -4.23644524e-04 -1.88644867e+00] [-1.09467340e-02 -6.60857595e-05 9.99940081e-01 -1.45408673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799999 meters 0.013105791707996875 Centerline is valid? [True, True] Translation: X:83.63, Y:-1.89, Z:-1.46 [[ 9.99034628e-01 4.23900325e-02 1.15280836e-02 8.36320130e+01] [-4.23877139e-02 9.99101138e-01 -4.45493080e-04 -1.89410342e+00] [-1.15366059e-02 -4.35860968e-05 9.99933450e-01 -1.45786588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63439141799999 meters 0.012803090496033235 Centerline is valid? [True, True] Translation: X:83.66, Y:-1.90, Z:-1.46 [[ 9.99140242e-01 3.92750826e-02 1.32757553e-02 8.36605931e+01] [-3.92717491e-02 9.99228436e-01 -5.11799448e-04 -1.90175406e+00] [-1.32856131e-02 -1.00027057e-05 9.99911742e-01 -1.45889771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664391418 meters 0.015184437199005335 Centerline is valid? [True, True] Translation: X:83.69, Y:-1.91, Z:-1.46 [[ 9.99329493e-01 3.22438235e-02 1.73464917e-02 8.36883923e+01] [-3.22371039e-02 9.99480027e-01 -6.66928867e-04 -1.91110413e+00] [-1.73589763e-02 1.07281032e-04 9.99849316e-01 -1.45567163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694391418 meters 0.014095783404277763 Centerline is valid? [True, True] Translation: X:83.72, Y:-1.91, Z:-1.45 [[ 9.99418774e-01 2.86864127e-02 1.84175118e-02 8.37164289e+01] [-2.86782782e-02 9.99588444e-01 -7.05689784e-04 -1.91459023e+00] [-1.84301756e-02 1.77097093e-04 9.99830134e-01 -1.45190477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724391418 meters 0.014344448168478163 Centerline is valid? [True, True] Translation: X:83.75, Y:-1.92, Z:-1.45 [[ 9.99502876e-01 2.62337370e-02 1.74869347e-02 8.37455495e+01] [-2.62260566e-02 9.99655814e-01 -6.68428593e-04 -1.91573936e+00] [-1.74984514e-02 2.09482961e-04 9.99846868e-01 -1.45124895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754391418 meters 0.01669210635350119 Centerline is valid? [True, True] Translation: X:83.77, Y:-1.92, Z:-1.45 [[ 9.99670147e-01 2.17460280e-02 1.36641280e-02 8.37747450e+01] [-2.17409300e-02 9.99763502e-01 -5.21541453e-04 -1.92288577e+00] [-1.36722379e-02 2.24298571e-04 9.99906505e-01 -1.45256528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784391418 meters 0.017219817801937785 Centerline is valid? [True, True] Translation: X:83.80, Y:-1.93, Z:-1.45 [[ 9.99732472e-01 1.91978731e-02 1.29006220e-02 8.38043453e+01] [-1.91931187e-02 9.99815674e-01 -4.92256307e-04 -1.92709842e+00] [-1.29076943e-02 2.44521446e-04 9.99916662e-01 -1.45387348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814391418 meters 0.019526606670184403 Centerline is valid? [True, True] Translation: X:83.83, Y:-1.94, Z:-1.46 [[ 9.99770941e-01 1.70204215e-02 1.29757993e-02 8.38326691e+01] [-1.70154335e-02 9.99855105e-01 -4.94718437e-04 -1.93538067e+00] [-1.29823395e-02 2.73816267e-04 9.99915688e-01 -1.45639457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844391418 meters 0.02053052604180354 Centerline is valid? [True, True] Translation: X:83.86, Y:-1.95, Z:-1.46 [[ 9.99791700e-01 1.33681046e-02 1.54224034e-02 8.38630103e+01] [-1.33606455e-02 9.99910571e-01 -5.86590048e-04 -1.94709742e+00] [-1.54288658e-02 3.80414598e-04 9.99880896e-01 -1.45740164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87439141799999 meters 0.02109644580597483 Centerline is valid? [True, True] Translation: X:83.89, Y:-1.95, Z:-1.46 [[ 9.99788121e-01 1.27271327e-02 1.61781935e-02 8.38946427e+01] [-1.27188256e-02 9.99918923e-01 -6.16265255e-04 -1.95168636e+00] [-1.61847251e-02 4.10367060e-04 9.99868935e-01 -1.45864839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters 0.01951309301814653 Centerline is valid? [True, True] Translation: X:83.93, Y:-1.95, Z:-1.46 [[ 9.99797116e-01 1.24669936e-02 1.58209248e-02 8.39267327e+01] [-1.24589589e-02 9.99922200e-01 -6.06316769e-04 -1.95157719e+00] [-1.58272529e-02 4.09081505e-04 9.99874658e-01 -1.46026637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93439141799999 meters 0.02155537510170468 Centerline is valid? [True, True] Translation: X:83.96, Y:-1.96, Z:-1.46 [[ 9.99819423e-01 1.30999544e-02 1.37663377e-02 8.39586372e+01] [-1.30938882e-02 9.99914131e-01 -5.30694176e-04 -1.95832357e+00] [-1.37721077e-02 3.50343457e-04 9.99905099e-01 -1.46409182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters 0.01914851711984512 Centerline is valid? [True, True] Translation: X:83.99, Y:-1.96, Z:-1.46 [[ 9.99822679e-01 1.38862458e-02 1.27193738e-02 8.39905338e+01] [-1.38810867e-02 9.99903531e-01 -4.93805288e-04 -1.95650369e+00] [-1.27250039e-02 3.17158996e-04 9.99918984e-01 -1.46471074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99439141799999 meters 0.01880800063615932 Centerline is valid? [True, True] Translation: X:84.02, Y:-1.96, Z:-1.46 [[ 9.99820234e-01 1.46983257e-02 1.19774291e-02 8.40221794e+01] [-1.46937552e-02 9.99891931e-01 -4.69503147e-04 -1.95750893e+00] [-1.19830356e-02 2.93425335e-04 9.99928158e-01 -1.46472287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024391418 meters 0.01880800063615932 Centerline is valid? [True, True] Translation: X:84.05, Y:-1.96, Z:-1.47 [[ 9.99820234e-01 1.46983386e-02 1.19774010e-02 8.40521610e+01] [-1.46937596e-02 9.99891930e-01 -4.70220540e-04 -1.95868564e+00] [-1.19830180e-02 2.94142961e-04 9.99928158e-01 -1.46526362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054391418 meters 0.01801783736570105 Centerline is valid? [True, True] Translation: X:84.08, Y:-1.96, Z:-1.46 [[ 9.99789523e-01 1.74561951e-02 1.07792336e-02 8.40827526e+01] [-1.74526552e-02 9.99847602e-01 -4.22391892e-04 -1.95720546e+00] [-1.07849642e-02 2.34176741e-04 9.99941813e-01 -1.46379384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084391418 meters 0.017492140858945234 Centerline is valid? [True, True] Translation: X:84.11, Y:-1.96, Z:-1.46 [[ 9.99770138e-01 1.90843674e-02 9.77027246e-03 8.41126179e+01] [-1.90815163e-02 9.99817857e-01 -3.84959614e-04 -1.95657139e+00] [-9.77583958e-03 1.98439513e-04 9.99952196e-01 -1.46464363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114391418 meters 0.018184163257104605 Centerline is valid? [True, True] Translation: X:84.14, Y:-1.96, Z:-1.47 [[ 9.99742843e-01 2.09833110e-02 8.59933163e-03 8.41400541e+01] [-2.09811694e-02 9.99779813e-01 -3.39198469e-04 -1.95891632e+00] [-8.60455568e-03 1.58687208e-04 9.99962968e-01 -1.46799521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144391418 meters 0.01643299885807809 Centerline is valid? [True, True] Translation: X:84.17, Y:-1.96, Z:-1.47 [[ 9.99708286e-01 2.28611545e-02 7.79166901e-03 8.41684450e+01] [-2.28594605e-02 9.99738641e-01 -3.06402529e-04 -1.95817996e+00] [-7.79663730e-03 1.28199797e-04 9.99969598e-01 -1.47015526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174391418 meters 0.014868297392582904 Centerline is valid? [True, True] Translation: X:84.20, Y:-1.96, Z:-1.47 [[ 9.99625246e-01 2.63140214e-02 7.54587090e-03 8.41968251e+01] [-2.63125348e-02 9.99653721e-01 -2.96234777e-04 -1.96111149e+00] [-7.55105305e-03 9.75727715e-05 9.99971486e-01 -1.47435598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204391418 meters 0.014354342225859911 Centerline is valid? [True, True] Translation: X:84.23, Y:-1.96, Z:-1.47 [[ 9.99573026e-01 2.79587216e-02 8.48976516e-03 8.42253087e+01] [-2.79569064e-02 9.99609074e-01 -3.32443729e-04 -1.96237917e+00] [-8.49574099e-03 9.49542142e-05 9.99963906e-01 -1.47468768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23439141799999 meters 0.01414707896876579 Centerline is valid? [True, True] Translation: X:84.25, Y:-1.96, Z:-1.47 [[ 9.99516083e-01 2.97170695e-02 9.19219517e-03 8.42529108e+01] [-2.97150222e-02 9.99558347e-01 -3.59247305e-04 -1.96298143e+00] [-9.19881119e-03 8.59271754e-05 9.99957686e-01 -1.47386396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters 0.013509428647511264 Centerline is valid? [True, True] Translation: X:84.28, Y:-1.96, Z:-1.47 [[ 9.99375873e-01 3.34485115e-02 1.13605413e-02 8.42819620e+01] [-3.34456450e-02 9.99440440e-01 -4.42264734e-04 -1.96044976e+00] [-1.13689775e-02 6.20280725e-05 9.99935369e-01 -1.46819337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29439141799999 meters 0.01339212763331471 Centerline is valid? [True, True] Translation: X:84.31, Y:-1.96, Z:-1.47 [[ 9.99347869e-01 3.44024355e-02 1.09685695e-02 8.43094145e+01] [-3.43998285e-02 9.99408060e-01 -4.26309355e-04 -1.96134971e+00] [-1.09767428e-02 4.87144356e-05 9.99939753e-01 -1.46769169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters 0.013404734048944286 Centerline is valid? [True, True] Translation: X:84.34, Y:-1.96, Z:-1.47 [[ 9.99350731e-01 3.45608325e-02 1.01816024e-02 8.43382093e+01] [-3.45586050e-02 9.99402595e-01 -3.94683398e-04 -1.96391551e+00] [-1.01891604e-02 4.25651669e-05 9.99948088e-01 -1.46856384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35439141799999 meters 0.013701393053146889 Centerline is valid? [True, True] Translation: X:84.37, Y:-1.97, Z:-1.47 [[ 9.99427302e-01 3.27197462e-02 8.63058425e-03 8.43654825e+01] [-3.27180796e-02 9.99464564e-01 -3.34267511e-04 -1.97005245e+00] [-8.63690027e-03 5.16999348e-05 9.99962700e-01 -1.47064448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799999 meters 0.013973423255204412 Centerline is valid? [True, True] Translation: X:84.39, Y:-1.97, Z:-1.47 [[ 9.99474815e-01 3.11320232e-02 8.99398596e-03 8.43940684e+01] [-3.11301594e-02 9.99515279e-01 -3.47182287e-04 -1.97314424e+00] [-9.00043487e-03 6.70157355e-05 9.99959493e-01 -1.47056053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414391418 meters 0.01419775493155188 Centerline is valid? [True, True] Translation: X:84.42, Y:-1.98, Z:-1.47 [[ 9.99507553e-01 2.98534743e-02 9.66552726e-03 8.44231636e+01] [-2.98512701e-02 9.99554282e-01 -3.72263453e-04 -1.97535338e+00] [-9.67233252e-03 8.35518676e-05 9.99953218e-01 -1.46982416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444391418 meters 0.014444018034179435 Centerline is valid? [True, True] Translation: X:84.45, Y:-1.98, Z:-1.47 [[ 9.99541162e-01 2.86990495e-02 9.68656245e-03 8.44505705e+01] [-2.86967875e-02 9.99588093e-01 -3.72454068e-04 -1.97908697e+00] [-9.69326156e-03 9.43099482e-05 9.99953015e-01 -1.47066407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474391418 meters 0.0147531812680393 Centerline is valid? [True, True] Translation: X:84.48, Y:-1.98, Z:-1.47 [[ 9.99565469e-01 2.78630440e-02 9.61897530e-03 8.44788839e+01] [-2.78607857e-02 9.99611745e-01 -3.68724153e-04 -1.98352286e+00] [-9.62551446e-03 1.00571722e-04 9.99953669e-01 -1.47280455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504391418 meters 0.0157459458471849 Centerline is valid? [True, True] Translation: X:84.51, Y:-1.99, Z:-1.48 [[ 9.99608849e-01 2.63681396e-02 9.32037485e-03 8.45077159e+01] [-2.63659605e-02 9.99652294e-01 -3.56618398e-04 -1.99378291e+00] [-9.32653746e-03 1.10738271e-04 9.99956501e-01 -1.47709982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534391418 meters 0.01593461443292857 Centerline is valid? [True, True] Translation: X:84.54, Y:-2.00, Z:-1.48 [[ 9.99656557e-01 2.43911399e-02 9.58337264e-03 8.45355170e+01] [-2.43887513e-02 9.99702483e-01 -3.66053411e-04 -1.99942657e+00] [-9.58944989e-03 1.32201201e-04 9.99954011e-01 -1.47777290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564391418 meters 0.01668158455816549 Centerline is valid? [True, True] Translation: X:84.56, Y:-2.00, Z:-1.47 [[ 9.99753521e-01 1.94338472e-02 1.07342253e-02 8.45646516e+01] [-1.94305793e-02 9.99811125e-01 -4.08652414e-04 -2.00185576e+00] [-1.07401395e-02 1.99979475e-04 9.99942303e-01 -1.47315363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594391418 meters 0.017568098588903527 Centerline is valid? [True, True] Translation: X:84.59, Y:-2.00, Z:-1.47 [[ 9.99799769e-01 1.67481022e-02 1.09508988e-02 8.45943235e+01] [-1.67445531e-02 9.99859714e-01 -4.15704438e-04 -2.00378800e+00] [-1.09563248e-02 2.32253296e-04 9.99939951e-01 -1.47153532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters 0.018558130580419958 Centerline is valid? [True, True] Translation: X:84.62, Y:-2.01, Z:-1.47 [[ 9.99834559e-01 1.45014389e-02 1.09800959e-02 8.46233264e+01] [-1.44977442e-02 9.99894816e-01 -4.16016138e-04 -2.00783278e+00] [-1.09849738e-02 2.56760689e-04 9.99939630e-01 -1.47116939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65439141799999 meters 0.019878668937678628 Centerline is valid? [True, True] Translation: X:84.65, Y:-2.02, Z:-1.47 [[ 9.99878134e-01 1.05733562e-02 1.14856993e-02 8.46539450e+01] [-1.05690556e-02 9.99944051e-01 -4.35073539e-04 -2.01877071e+00] [-1.14896568e-02 3.13627524e-04 9.99933943e-01 -1.47331247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters 0.02018526423001391 Centerline is valid? [True, True] Translation: X:84.69, Y:-2.03, Z:-1.48 [[ 9.99876370e-01 9.85317034e-03 1.22539874e-02 8.46858953e+01] [-9.84823152e-03 9.99951398e-01 -4.63316777e-04 -2.02615710e+00] [-1.22579570e-02 3.42579392e-04 9.99924810e-01 -1.47512447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71439141799999 meters 0.02074192989168262 Centerline is valid? [True, True] Translation: X:84.72, Y:-2.03, Z:-1.48 [[ 9.99879915e-01 8.81124559e-03 1.27482575e-02 8.47182223e+01] [-8.80576690e-03 9.99961110e-01 -4.85828898e-04 -2.03320275e+00] [-1.27520425e-02 3.73512373e-04 9.99918620e-01 -1.47648157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799999 meters 0.02277611431950353 Centerline is valid? [True, True] Translation: X:84.75, Y:-2.04, Z:-1.48 [[ 9.99889216e-01 9.44545612e-03 1.15039022e-02 8.47504805e+01] [-9.44100610e-03 9.99955335e-01 -4.41073157e-04 -2.03513146e+00] [-1.15075545e-02 3.32415882e-04 9.99933731e-01 -1.47838349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774391418 meters 0.020823125547700157 Centerline is valid? [True, True] Translation: X:84.78, Y:-2.04, Z:-1.48 [[ 9.99888000e-01 8.95519296e-03 1.19913545e-02 8.47831493e+01] [-8.95027470e-03 9.99959838e-01 -4.63753583e-04 -2.03593513e+00] [-1.19950259e-02 3.56375725e-04 9.99927994e-01 -1.47656565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804391418 meters 0.021116452242438803 Centerline is valid? [True, True] Translation: X:84.82, Y:-2.04, Z:-1.48 [[ 9.99883190e-01 9.18720608e-03 1.22148297e-02 8.48156931e+01] [-9.18207894e-03 9.99957731e-01 -4.75762653e-04 -2.03927958e+00] [-1.22186843e-02 3.63549548e-04 9.99925283e-01 -1.47687107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834391418 meters 0.02188872698779248 Centerline is valid? [True, True] Translation: X:84.85, Y:-2.05, Z:-1.48 [[ 9.99884662e-01 8.63780986e-03 1.24920461e-02 8.48480481e+01] [-8.63234920e-03 9.99962620e-01 -4.90985399e-04 -2.04818840e+00] [-1.24958202e-02 3.83093065e-04 9.99921851e-01 -1.47762015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864391418 meters 0.02294080625827942 Centerline is valid? [True, True] Translation: X:84.88, Y:-2.05, Z:-1.48 [[ 9.99891924e-01 8.79960339e-03 1.17773908e-02 8.48795170e+01] [-8.79471932e-03 9.99961217e-01 -4.66426632e-04 -2.05425416e+00] [-1.17810384e-02 3.62797376e-04 9.99930535e-01 -1.47847909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894391418 meters 0.022180458457683558 Centerline is valid? [True, True] Translation: X:84.91, Y:-2.06, Z:-1.48 [[ 9.99902282e-01 9.63627178e-03 1.01276544e-02 8.49124281e+01] [-9.63269691e-03 9.99953524e-01 -4.01702769e-04 -2.05625549e+00] [-1.01310546e-02 3.04106891e-04 9.99948633e-01 -1.47924903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924391418 meters 0.02209862330671862 Centerline is valid? [True, True] Translation: X:84.94, Y:-2.06, Z:-1.48 [[ 9.99909152e-01 1.02650279e-02 8.73597048e-03 8.49444325e+01] [-1.02623715e-02 9.99947280e-01 -3.48847631e-04 -2.05728128e+00] [-8.73909084e-03 2.59164164e-04 9.99961780e-01 -1.48088470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954391418 meters 0.021623530725396904 Centerline is valid? [True, True] Translation: X:84.98, Y:-2.06, Z:-1.48 [[ 9.99914680e-01 1.05260934e-02 7.73527366e-03 8.49760767e+01] [-1.05239878e-02 9.99944572e-01 -3.12869126e-04 -2.05889921e+00] [-7.73813821e-03 2.31436506e-04 9.99970033e-01 -1.48314972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters 0.023305120665760654 Centerline is valid? [True, True] Translation: X:85.01, Y:-2.07, Z:-1.49 [[ 9.99937042e-01 9.46606710e-03 6.02546752e-03 8.50062251e+01] [-9.46476828e-03 9.99955178e-01 -2.44034743e-04 -2.06849183e+00] [-6.02750750e-03 1.86989725e-04 9.99981817e-01 -1.48956539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01439141799999 meters 0.023505104522448524 Centerline is valid? [True, True] Translation: X:85.04, Y:-2.07, Z:-1.49 [[ 9.99935178e-01 9.27812390e-03 6.59972151e-03 8.50364446e+01] [-9.27655904e-03 9.99956936e-01 -2.67681844e-04 -2.07338812e+00] [-6.60192088e-03 2.06441786e-04 9.99978186e-01 -1.49119541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters 0.02139617224363661 Centerline is valid? [True, True] Translation: X:85.07, Y:-2.07, Z:-1.49 [[ 9.99919039e-01 9.99587960e-03 7.87392200e-03 8.50674296e+01] [-9.99367761e-03 9.99950011e-01 -3.18952401e-04 -2.07311322e+00] [-7.87671660e-03 2.40237140e-04 9.99968949e-01 -1.48929108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07439141799999 meters 0.02095077553157292 Centerline is valid? [True, True] Translation: X:85.10, Y:-2.07, Z:-1.49 [[ 9.99885144e-01 1.14595697e-02 9.91851984e-03 8.50986609e+01] [-1.14561417e-02 9.99934295e-01 -4.02367229e-04 -2.07337992e+00] [-9.92247911e-03 2.88693046e-04 9.99950729e-01 -1.48660610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799999 meters 0.019347960199325578 Centerline is valid? [True, True] Translation: X:85.13, Y:-2.07, Z:-1.48 [[ 9.99797688e-01 1.57496857e-02 1.25112300e-02 8.51309882e+01] [-1.57445612e-02 9.99875918e-01 -5.07985810e-04 -2.06763082e+00] [-1.25176782e-02 3.10899211e-04 9.99921602e-01 -1.48009868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13439141799999 meters 0.019517047212712954 Centerline is valid? [True, True] Translation: X:85.16, Y:-2.07, Z:-1.48 [[ 9.99778368e-01 1.74256774e-02 1.18135990e-02 8.51618769e+01] [-1.74212110e-02 9.99848124e-01 -4.80879017e-04 -2.06811034e+00] [-1.18201845e-02 2.74965236e-04 9.99930101e-01 -1.48028067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164391418 meters 0.01789058546803109 Centerline is valid? [True, True] Translation: X:85.19, Y:-2.07, Z:-1.48 [[ 9.99762088e-01 1.89199336e-02 1.08537503e-02 8.51923629e+01] [-1.89162444e-02 9.99820974e-01 -4.42463024e-04 -2.06782516e+00] [-1.08601785e-02 2.37045563e-04 9.99940998e-01 -1.48183800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194391418 meters 0.018386693913639285 Centerline is valid? [True, True] Translation: X:85.22, Y:-2.08, Z:-1.49 [[ 9.99780869e-01 1.89899685e-02 8.80878162e-03 8.52215521e+01] [-1.89875397e-02 9.99819656e-01 -3.59280852e-04 -2.07599234e+00] [-8.81401574e-03 1.91945031e-04 9.99961137e-01 -1.48949298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224391418 meters 0.01981252667145684 Centerline is valid? [True, True] Translation: X:85.25, Y:-2.08, Z:-1.49 [[ 9.99789710e-01 1.87058958e-02 8.40386772e-03 8.52514158e+01] [-1.87036749e-02 9.99825012e-01 -3.42798891e-04 -2.08105014e+00] [-8.40880951e-03 1.85543594e-04 9.99964628e-01 -1.49267568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254391418 meters 0.019329191506451033 Centerline is valid? [True, True] Translation: X:85.28, Y:-2.08, Z:-1.49 [[ 9.99800361e-01 1.73352806e-02 9.93607682e-03 8.52801136e+01] [-1.73321119e-02 9.99849706e-01 -4.04936797e-04 -2.08487579e+00] [-9.94160317e-03 2.32642761e-04 9.99950554e-01 -1.49191132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284391418 meters 0.020893212982979702 Centerline is valid? [True, True] Translation: X:85.31, Y:-2.09, Z:-1.49 [[ 9.99796206e-01 1.74182778e-02 1.02054100e-02 8.53108590e+01] [-1.74149502e-02 9.99848262e-01 -4.14840487e-04 -2.08661867e+00] [-1.02110873e-02 2.37029239e-04 9.99947837e-01 -1.49161342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314391418 meters 0.01749643519388156 Centerline is valid? [True, True] Translation: X:85.34, Y:-2.08, Z:-1.49 [[ 9.99737420e-01 1.96131116e-02 1.18497247e-02 8.53416761e+01] [-1.96087794e-02 9.99807613e-01 -4.81680363e-04 -2.08217650e+00] [-1.18568923e-02 2.49195245e-04 9.99929674e-01 -1.48649808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344391418 meters 0.01745801860938436 Centerline is valid? [True, True] Translation: X:85.37, Y:-2.08, Z:-1.49 [[ 9.99687623e-01 2.26161057e-02 1.06380402e-02 8.53714754e+01] [-2.26127826e-02 9.99744205e-01 -4.32575017e-04 -2.08284975e+00] [-1.06451022e-02 1.91884200e-04 9.99943321e-01 -1.48796719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37439141799999 meters 0.01604510972998658 Centerline is valid? [True, True] Translation: X:85.40, Y:-2.08, Z:-1.49 [[ 9.99631387e-01 2.56514024e-02 8.89362756e-03 8.54012059e+01] [-2.56491994e-02 9.99670940e-01 -3.61695824e-04 -2.08052758e+00] [-8.89997902e-03 1.33448071e-04 9.99960385e-01 -1.48993890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters 0.014471504381358358 Centerline is valid? [True, True] Translation: X:85.43, Y:-2.08, Z:-1.49 [[ 9.99460053e-01 3.18158584e-02 8.20693266e-03 8.54287480e+01] [-3.18141877e-02 9.99493745e-01 -3.34070243e-04 -2.08015067e+00] [-8.21340659e-03 7.27929660e-05 9.99966267e-01 -1.49360459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43439141799999 meters 0.013863833899112391 Centerline is valid? [True, True] Translation: X:85.46, Y:-2.08, Z:-1.49 [[ 9.99363020e-01 3.45481530e-02 8.94315416e-03 8.54575388e+01] [-3.45462892e-02 9.99403033e-01 -3.62856403e-04 -2.08035286e+00] [-8.95035141e-03 5.36724809e-05 9.99959943e-01 -1.49362010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters 0.013413431782156504 Centerline is valid? [True, True] Translation: X:85.49, Y:-2.08, Z:-1.49 [[ 9.99268317e-01 3.69524158e-02 9.86655375e-03 8.54865114e+01] [-3.69502735e-02 9.99317026e-01 -3.99395184e-04 -2.08091805e+00] [-9.87457377e-03 3.45310936e-05 9.99951245e-01 -1.49369697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49439141799999 meters 0.01315654037420949 Centerline is valid? [True, True] Translation: X:85.52, Y:-2.08, Z:-1.49 [[ 9.99182772e-01 3.89508280e-02 1.07991542e-02 8.55154851e+01] [-3.89483892e-02 9.99241128e-01 -4.36132688e-04 -2.08115586e+00] [-1.08079468e-02 1.51666076e-05 9.99941592e-01 -1.49350468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524391418 meters 0.013332367269658984 Centerline is valid? [True, True] Translation: X:85.54, Y:-2.08, Z:-1.49 [[ 9.99087023e-01 4.09155489e-02 1.22897623e-02 8.55434807e+01] [-4.09125524e-02 9.99162608e-01 -4.95240006e-04 -2.08074980e+00] [-1.22997339e-02 -8.01767956e-06 9.99924355e-01 -1.49123394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554391418 meters 0.01321715521457179 Centerline is valid? [True, True] Translation: X:85.57, Y:-2.08, Z:-1.49 [[ 9.99090381e-01 4.08313644e-02 1.22967748e-02 8.55725948e+01] [-4.08283748e-02 9.99166052e-01 -4.94164491e-04 -2.08172613e+00] [-1.23066973e-02 -8.34234035e-06 9.99924270e-01 -1.48995629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584391418 meters 0.013243618184692883 Centerline is valid? [True, True] Translation: X:85.60, Y:-2.08, Z:-1.49 [[ 9.99123956e-01 4.02549614e-02 1.14393368e-02 8.56012261e+01] [-4.02523457e-02 9.99189441e-01 -4.58895848e-04 -2.08353734e+00] [-1.14485374e-02 -1.96630566e-06 9.99934463e-01 -1.49020937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614391418 meters 0.013405421314416603 Centerline is valid? [True, True] Translation: X:85.63, Y:-2.09, Z:-1.49 [[ 9.99263866e-01 3.74849530e-02 8.16116093e-03 8.56290763e+01] [-3.74835297e-02 9.99297192e-01 -3.27338338e-04 -2.09075332e+00] [-8.16769546e-03 2.11882550e-05 9.99966644e-01 -1.49440239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644391418 meters 0.013739037637708448 Centerline is valid? [True, True] Translation: X:85.66, Y:-2.10, Z:-1.50 [[ 9.99340647e-01 3.54578331e-02 7.81106534e-03 8.56570764e+01] [-3.54564731e-02 9.99371173e-01 -3.12570860e-04 -2.09688894e+00] [-7.81723662e-03 3.54119376e-05 9.99969444e-01 -1.49719853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674391418 meters 0.01376932168291774 Centerline is valid? [True, True] Translation: X:85.69, Y:-2.10, Z:-1.50 [[ 9.99407293e-01 3.33684666e-02 8.46210483e-03 8.56856591e+01] [-3.33668055e-02 9.99443116e-01 -3.37438853e-04 -2.10248401e+00] [-8.46865223e-03 5.48854449e-05 9.99964139e-01 -1.49779869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704391418 meters 0.014741926120027856 Centerline is valid? [True, True] Translation: X:85.71, Y:-2.11, Z:-1.50 [[ 9.99540766e-01 2.83721187e-02 1.06432741e-02 8.57139090e+01] [-2.83692207e-02 9.99597423e-01 -4.23190210e-04 -2.11110086e+00] [-1.06509962e-02 1.21054475e-04 9.99943269e-01 -1.49734546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73439141799999 meters 0.01519483302489821 Centerline is valid? [True, True] Translation: X:85.74, Y:-2.12, Z:-1.50 [[ 9.99610698e-01 2.58069539e-02 1.06043678e-02 8.57419162e+01] [-2.58039486e-02 9.99666934e-01 -4.20147338e-04 -2.11572755e+00] [-1.06116786e-02 1.46349212e-04 9.99943684e-01 -1.49817376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters 0.016288020519569225 Centerline is valid? [True, True] Translation: X:85.77, Y:-2.12, Z:-1.50 [[ 9.99682377e-01 2.31982750e-02 9.84810849e-03 8.57705478e+01] [-2.31955507e-02 9.99730871e-01 -3.90775003e-04 -2.12064800e+00] [-9.85452338e-03 1.62218584e-04 9.99951430e-01 -1.49977019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79439141799999 meters 0.018493811689787698 Centerline is valid? [True, True] Translation: X:85.80, Y:-2.13, Z:-1.50 [[ 9.99769903e-01 1.95123398e-02 8.91122285e-03 8.57998269e+01] [-1.95099681e-02 9.99809600e-01 -3.53000139e-04 -2.12593501e+00] [-8.91641401e-03 1.79061240e-04 9.99960232e-01 -1.50107379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters 0.019250617908250302 Centerline is valid? [True, True] Translation: X:85.83, Y:-2.13, Z:-1.50 [[ 9.99796857e-01 1.72621273e-02 1.04050038e-02 8.58286103e+01] [-1.72587778e-02 9.99850971e-01 -4.11623376e-04 -2.13282926e+00] [-1.04105587e-02 2.31962109e-04 9.99945782e-01 -1.50037239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85439141799999 meters 0.019699822605059154 Centerline is valid? [True, True] Translation: X:85.86, Y:-2.14, Z:-1.50 [[ 9.99830858e-01 1.37516882e-02 1.22125639e-02 8.58598407e+01] [-1.37468254e-02 9.99905392e-01 -4.82043750e-04 -2.13854971e+00] [-1.22180374e-02 3.14078233e-04 9.99925308e-01 -1.49702112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799999 meters 0.02021496595067727 Centerline is valid? [True, True] Translation: X:85.89, Y:-2.14, Z:-1.50 [[ 9.99844228e-01 1.24728945e-02 1.24878508e-02 8.58918264e+01] [-1.24677206e-02 9.99922154e-01 -4.92088892e-04 -2.14116767e+00] [-1.24930164e-02 3.36317204e-04 9.99921903e-01 -1.49629482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914391418 meters 0.02021496595067727 Centerline is valid? [True, True] Translation: X:85.92, Y:-2.14, Z:-1.50 [[ 9.99840171e-01 1.27941115e-02 1.24877205e-02 8.59243983e+01] [-1.27889216e-02 9.99918096e-01 -4.95368719e-04 -2.14260367e+00] [-1.24930355e-02 3.35585065e-04 9.99921903e-01 -1.49688145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944391418 meters 0.019974611749513323 Centerline is valid? [True, True] Translation: X:85.96, Y:-2.14, Z:-1.50 [[ 9.99851238e-01 1.18296435e-02 1.25523738e-02 8.59570372e+01] [-1.18242704e-02 9.99929965e-01 -5.02182807e-04 -2.14427542e+00] [-1.25574353e-02 3.53685440e-04 9.99921090e-01 -1.49644491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974391418 meters 0.021050905695123225 Centerline is valid? [True, True] Translation: X:85.99, Y:-2.15, Z:-1.50 [[ 9.99868882e-01 1.07098070e-02 1.21456956e-02 8.59880053e+01] [-1.07046517e-02 9.99942584e-01 -4.89383674e-04 -2.14825223e+00] [-1.21502395e-02 3.59304065e-04 9.99926119e-01 -1.49794187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004391418 meters 0.022084665464449642 Centerline is valid? [True, True] Translation: X:86.02, Y:-2.16, Z:-1.50 [[ 9.99897846e-01 8.82806551e-03 1.12411458e-02 8.60191019e+01] [-8.82349219e-03 9.99960968e-01 -4.56367984e-04 -2.15697204e+00] [-1.12447358e-02 3.57135202e-04 9.99936712e-01 -1.50255433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034391418 meters 0.022540760937162556 Centerline is valid? [True, True] Translation: X:86.05, Y:-2.16, Z:-1.50 [[ 9.99906709e-01 8.70490309e-03 1.05260703e-02 8.60512719e+01] [-8.70088201e-03 9.99962055e-01 -4.27746109e-04 -2.16176474e+00] [-1.05293943e-02 3.36120109e-04 9.99944508e-01 -1.50491026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064391418 meters 0.02235035825359222 Centerline is valid? [True, True] Translation: X:86.08, Y:-2.16, Z:-1.51 [[ 9.99901846e-01 9.10762071e-03 1.06466137e-02 8.60846810e+01] [-9.10350076e-03 9.99958468e-01 -4.35371876e-04 -2.16405751e+00] [-1.06501367e-02 3.38407687e-04 9.99943228e-01 -1.50544642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094391418 meters 0.022250007122947654 Centerline is valid? [True, True] Translation: X:86.12, Y:-2.17, Z:-1.50 [[ 9.99883538e-01 1.01285183e-02 1.14158951e-02 8.61167258e+01] [-1.01237977e-02 9.99948642e-01 -4.71222042e-04 -2.16517277e+00] [-1.14200815e-02 3.55594951e-04 9.99934726e-01 -1.50440403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters 0.02148261539391964 Centerline is valid? [True, True] Translation: X:86.15, Y:-2.16, Z:-1.50 [[ 9.99853773e-01 1.33315148e-02 1.07099367e-02 8.61481736e+01] [-1.33275054e-02 9.99911086e-01 -4.45650417e-04 -2.16478006e+00] [-1.07149257e-02 3.02848511e-04 9.99942548e-01 -1.50354337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15439141799999 meters 0.020082407441341005 Centerline is valid? [True, True] Translation: X:86.18, Y:-2.16, Z:-1.50 [[ 9.99836173e-01 1.52781488e-02 9.70596298e-03 8.61804140e+01] [-1.52749448e-02 9.99883250e-01 -4.04148599e-04 -2.16445316e+00] [-9.71100445e-03 2.55824339e-04 9.99952814e-01 -1.50471793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters 0.01972620218530366 Centerline is valid? [True, True] Translation: X:86.21, Y:-2.17, Z:-1.51 [[ 9.99807217e-01 1.71837976e-02 9.49983896e-03 8.62110572e+01] [-1.71807689e-02 9.99852320e-01 -4.00339786e-04 -2.16608882e+00] [-9.50531538e-03 2.37048070e-04 9.99954795e-01 -1.50658076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21439141799999 meters 0.01835957400878775 Centerline is valid? [True, True] Translation: X:86.24, Y:-2.17, Z:-1.51 [[ 9.99727471e-01 2.06724019e-02 1.08459631e-02 8.62411206e+01] [-2.06686547e-02 9.99786276e-01 -4.57476257e-04 -2.16587645e+00] [-1.08531021e-02 2.33180116e-04 9.99941076e-01 -1.50544894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799999 meters 0.01818882208252584 Centerline is valid? [True, True] Translation: X:86.27, Y:-2.17, Z:-1.50 [[ 9.99685321e-01 2.18040462e-02 1.24033559e-02 8.62715720e+01] [-2.17992339e-02 9.99762232e-01 -5.23057393e-04 -2.16609233e+00] [-1.24118116e-02 2.52509140e-04 9.99922939e-01 -1.50426321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274391418 meters 0.018327727401432993 Centerline is valid? [True, True] Translation: X:86.30, Y:-2.17, Z:-1.50 [[ 9.99667427e-01 2.21441080e-02 1.32164292e-02 8.63019214e+01] [-2.21386702e-02 9.99754754e-01 -5.57625090e-04 -2.16853382e+00] [-1.32255360e-02 2.64845472e-04 9.99912504e-01 -1.50422853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304391418 meters 0.018587379257287578 Centerline is valid? [True, True] Translation: X:86.33, Y:-2.17, Z:-1.51 [[ 9.99702546e-01 2.12722533e-02 1.19293768e-02 8.63330902e+01] [-2.12677600e-02 9.99773689e-01 -5.03401074e-04 -2.17320418e+00] [-1.19373855e-02 2.49540212e-04 9.99928716e-01 -1.50745061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334391418 meters 0.019682531866500964 Centerline is valid? [True, True] Translation: X:86.36, Y:-2.18, Z:-1.51 [[ 9.99748106e-01 2.00197221e-02 1.01457435e-02 8.63635069e+01] [-2.00164184e-02 9.99799560e-01 -4.27073615e-04 -2.17963866e+00] [-1.01522598e-02 2.23884590e-04 9.99948439e-01 -1.51132893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364391418 meters 0.020785312511337046 Centerline is valid? [True, True] Translation: X:86.39, Y:-2.19, Z:-1.51 [[ 9.99808779e-01 1.77401693e-02 8.22748539e-03 8.63936113e+01] [-1.77378944e-02 9.99842610e-01 -3.49391768e-04 -2.18631758e+00] [-8.23238873e-03 2.03386690e-04 9.99966093e-01 -1.51392035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394391418 meters 0.021377530756206155 Centerline is valid? [True, True] Translation: X:86.42, Y:-2.19, Z:-1.51 [[ 9.99825641e-01 1.69607470e-02 7.81155571e-03 8.64244945e+01] [-1.69586726e-02 9.99856136e-01 -3.31728728e-04 -2.18658883e+00] [-7.81605828e-03 1.99197272e-04 9.99969434e-01 -1.51385002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424391418 meters 0.02187695012324797 Centerline is valid? [True, True] Translation: X:86.46, Y:-2.19, Z:-1.51 [[ 9.99834835e-01 1.67688627e-02 7.00776696e-03 8.64553056e+01] [-1.67671885e-02 9.99859377e-01 -2.97594705e-04 -2.18563830e+00] [-7.01177183e-03 1.80045003e-04 9.99975401e-01 -1.51378431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454391418 meters 0.02174093207718086 Centerline is valid? [True, True] Translation: X:86.49, Y:-2.18, Z:-1.51 [[ 9.99827342e-01 1.70348629e-02 7.42294872e-03 8.64860861e+01] [-1.70329918e-02 9.99854878e-01 -3.15225984e-04 -2.18477495e+00] [-7.42724133e-03 1.88736533e-04 9.99972400e-01 -1.51253490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters 0.019015292505195108 Centerline is valid? [True, True] Translation: X:86.52, Y:-2.18, Z:-1.51 [[ 9.99784607e-01 1.73692342e-02 1.13599522e-02 8.65163825e+01] [-1.73648718e-02 9.99849103e-01 -4.82552110e-04 -2.18272873e+00] [-1.13666195e-02 2.85184060e-04 9.99935357e-01 -1.50771320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51439141799999 meters 0.022926361339391202 Centerline is valid? [True, True] Translation: X:86.55, Y:-2.19, Z:-1.51 [[ 9.99760264e-01 1.78788976e-02 1.26395771e-02 8.65474983e+01] [-1.78735607e-02 9.99840112e-01 -5.35087130e-04 -2.19206034e+00] [-1.26471229e-02 3.09044603e-04 9.99919974e-01 -1.50969664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters 0.019592045232305944 Centerline is valid? [True, True] Translation: X:86.58, Y:-2.19, Z:-1.51 [[ 9.99755160e-01 1.75613134e-02 1.34618012e-02 8.65802784e+01] [-1.75551805e-02 9.99845731e-01 -5.73618704e-04 -2.19097742e+00] [-1.34697980e-02 3.37153908e-04 9.99909221e-01 -1.50965528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57439141799999 meters 0.020002021195574822 Centerline is valid? [True, True] Translation: X:86.61, Y:-2.20, Z:-1.51 [[ 9.99802385e-01 1.57669233e-02 1.21076201e-02 8.66116298e+01] [-1.57617848e-02 9.99875640e-01 -5.19716790e-04 -2.19619899e+00] [-1.21143088e-02 3.28776383e-04 9.99926565e-01 -1.51235816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799999 meters 0.021233660007314657 Centerline is valid? [True, True] Translation: X:86.64, Y:-2.20, Z:-1.51 [[ 9.99827598e-01 1.48615654e-02 1.11313730e-02 8.66430765e+01] [-1.48571580e-02 9.99889512e-01 -4.78538739e-04 -2.19784877e+00] [-1.11372550e-02 3.13075670e-04 9.99937930e-01 -1.51356134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63439141799999 meters 0.021220280554974102 Centerline is valid? [True, True] Translation: X:86.68, Y:-2.20, Z:-1.51 [[ 9.99840515e-01 1.44238352e-02 1.05307551e-02 8.66752770e+01] [-1.44198415e-02 9.99895925e-01 -4.55077712e-04 -2.19749004e+00] [-1.05362230e-02 3.03153315e-04 9.99944447e-01 -1.51354388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664391418 meters 0.02158045915385868 Centerline is valid? [True, True] Translation: X:86.71, Y:-2.20, Z:-1.51 [[ 9.99844438e-01 1.39590630e-02 1.07816356e-02 8.67075141e+01] [-1.39548157e-02 9.99902517e-01 -4.69078731e-04 -2.19923452e+00] [-1.07871325e-02 3.18550023e-04 9.99941766e-01 -1.51280512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694391418 meters 0.021911321660901827 Centerline is valid? [True, True] Translation: X:86.74, Y:-2.20, Z:-1.51 [[ 9.99838925e-01 1.43932026e-02 1.07218892e-02 8.67392106e+01] [-1.43889965e-02 9.99896363e-01 -4.69338019e-04 -2.20328902e+00] [-1.07275332e-02 3.14985195e-04 9.99942409e-01 -1.51353745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724391418 meters 0.022057012622423666 Centerline is valid? [True, True] Translation: X:86.77, Y:-2.21, Z:-1.51 [[ 9.99820599e-01 1.53596002e-02 1.10838696e-02 8.67701272e+01] [-1.53551224e-02 9.99881984e-01 -4.88982330e-04 -2.20751414e+00] [-1.10900721e-02 3.18700432e-04 9.99938452e-01 -1.51374600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754391418 meters 0.021181414701739912 Centerline is valid? [True, True] Translation: X:86.80, Y:-2.21, Z:-1.51 [[ 9.99786159e-01 1.71968181e-02 1.14850193e-02 8.68019225e+01] [-1.71920806e-02 9.99852075e-01 -5.11097290e-04 -2.20872574e+00] [-1.14921096e-02 3.13536619e-04 9.99933914e-01 -1.51325489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784391418 meters 0.019983183660108542 Centerline is valid? [True, True] Translation: X:86.83, Y:-2.21, Z:-1.51 [[ 9.99777393e-01 1.83293007e-02 1.04499302e-02 8.68345316e+01] [-1.83254528e-02 9.99831967e-01 -4.63859587e-04 -2.20718975e+00] [-1.04566765e-02 2.72256626e-04 9.99945290e-01 -1.51426569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814391418 meters 0.02163264438407569 Centerline is valid? [True, True] Translation: X:86.86, Y:-2.21, Z:-1.52 [[ 9.99775403e-01 1.93831785e-02 8.56949180e-03 8.68647239e+01] [-1.93805953e-02 9.99812105e-01 -3.84379938e-04 -2.20871728e+00] [-8.57533214e-03 2.18211754e-04 9.99963207e-01 -1.51807361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844391418 meters 0.01926613420612459 Centerline is valid? [True, True] Translation: X:86.90, Y:-2.21, Z:-1.52 [[ 9.99778857e-01 1.97880143e-02 7.11837305e-03 8.68950049e+01] [-1.97862401e-02 9.99804182e-01 -3.19591360e-04 -2.20509092e+00] [-7.12330322e-03 1.78674846e-04 9.99974613e-01 -1.51882166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87439141799999 meters 0.019244320078805086 Centerline is valid? [True, True] Translation: X:86.92, Y:-2.21, Z:-1.52 [[ 9.99765601e-01 2.03526061e-02 7.38344596e-03 8.69234110e+01] [-2.03507095e-02 9.99792848e-01 -3.31920230e-04 -2.20543479e+00] [-7.38867190e-03 1.81584064e-04 9.99972687e-01 -1.51997318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters 0.018481643798696684 Centerline is valid? [True, True] Translation: X:86.95, Y:-2.21, Z:-1.52 [[ 9.99753805e-01 2.02591868e-02 9.04955185e-03 8.69529127e+01] [-2.02563384e-02 9.99794737e-01 -4.06301449e-04 -2.20749063e+00] [-9.05592565e-03 2.22890634e-04 9.99958969e-01 -1.51886494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93439141799999 meters 0.019419018719815474 Centerline is valid? [True, True] Translation: X:86.98, Y:-2.21, Z:-1.52 [[ 9.99772477e-01 1.89224431e-02 9.84557381e-03 8.69819296e+01] [-1.89190132e-02 9.99820922e-01 -4.41396901e-04 -2.21452574e+00] [-9.85216299e-03 2.55027932e-04 9.99951434e-01 -1.51776189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799999 meters 0.020115218258082854 Centerline is valid? [True, True] Translation: X:87.01, Y:-2.22, Z:-1.52 [[ 9.99793412e-01 1.83631392e-02 8.71373303e-03 8.70125627e+01] [-1.83604523e-02 9.99831357e-01 -3.88254844e-04 -2.21651078e+00] [-8.71939311e-03 2.28186555e-04 9.99961959e-01 -1.51841660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99439141799999 meters 0.021219704051492618 Centerline is valid? [True, True] Translation: X:87.04, Y:-2.22, Z:-1.52 [[ 9.99805894e-01 1.82295346e-02 7.47380886e-03 8.70431015e+01] [-1.82275301e-02 9.99833808e-01 -3.36241052e-04 -2.21761242e+00] [-7.47869629e-03 1.99946710e-04 9.99972014e-01 -1.52015024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024391418 meters 0.01991802429616272 Centerline is valid? [True, True] Translation: X:87.07, Y:-2.21, Z:-1.52 [[ 9.99815958e-01 1.80641851e-02 6.46035325e-03 8.70728734e+01] [-1.80626788e-02 9.99836814e-01 -2.91428541e-04 -2.21441851e+00] [-6.46456343e-03 1.74683620e-04 9.99979089e-01 -1.52004700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054391418 meters 0.0197479437674621 Centerline is valid? [True, True] Translation: X:87.10, Y:-2.21, Z:-1.52 [[ 9.99805796e-01 1.87691534e-02 6.00739773e-03 8.71028330e+01] [-1.87678649e-02 9.99823831e-01 -2.70800822e-04 -2.21260664e+00] [-6.01142212e-03 1.58002202e-04 9.99981919e-01 -1.52142506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084391418 meters 0.020805045263946643 Centerline is valid? [True, True] Translation: X:87.13, Y:-2.21, Z:-1.52 [[ 9.99784425e-01 1.99641895e-02 5.70391023e-03 8.71311790e+01] [-1.99630486e-02 9.99800685e-01 -2.56895445e-04 -2.21464478e+00] [-5.70790207e-03 1.42972628e-04 9.99983700e-01 -1.52353131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114391418 meters 0.019301907756217467 Centerline is valid? [True, True] Translation: X:87.16, Y:-2.22, Z:-1.52 [[ 9.99762771e-01 2.04007653e-02 7.62961415e-03 8.71605535e+01] [-2.03987405e-02 9.99791865e-01 -3.43119329e-04 -2.21678408e+00] [-7.63502605e-03 1.87403412e-04 9.99970835e-01 -1.52270420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144391418 meters 0.018547462925427412 Centerline is valid? [True, True] Translation: X:87.19, Y:-2.22, Z:-1.52 [[ 9.99740826e-01 2.09251833e-02 8.96752718e-03 8.71897302e+01] [-2.09224114e-02 9.99781021e-01 -4.02810009e-04 -2.21870263e+00] [-8.97399236e-03 2.15083319e-04 9.99959710e-01 -1.52204273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174391418 meters 0.01918100318395317 Centerline is valid? [True, True] Translation: X:87.22, Y:-2.22, Z:-1.52 [[ 9.99687281e-01 2.25317956e-02 1.08470188e-02 8.72193148e+01] [-2.25278427e-02 9.99746098e-01 -4.86482756e-04 -2.22191683e+00] [-1.08552260e-02 2.41970690e-04 9.99941051e-01 -1.51993476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204391418 meters 0.018000470192127263 Centerline is valid? [True, True] Translation: X:87.25, Y:-2.22, Z:-1.52 [[ 9.99659864e-01 2.36530116e-02 1.09859524e-02 8.72500951e+01] [-2.36490285e-02 9.99720201e-01 -4.92341409e-04 -2.21889712e+00] [-1.09945239e-02 2.32366844e-04 9.99939531e-01 -1.51860023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23439141799999 meters 0.017144564939310672 Centerline is valid? [True, True] Translation: X:87.28, Y:-2.22, Z:-1.52 [[ 9.99615799e-01 2.61467430e-02 9.19795075e-03 8.72806916e+01] [-2.61440565e-02 9.99658101e-01 -4.12211147e-04 -2.21511466e+00] [-9.20558396e-03 1.71581031e-04 9.99957613e-01 -1.51967174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters 0.017469734664099255 Centerline is valid? [True, True] Translation: X:87.31, Y:-2.22, Z:-1.52 [[ 9.99598032e-01 2.71940070e-02 8.01630271e-03 8.73092688e+01] [-2.71919952e-02 9.99630165e-01 -3.59863911e-04 -2.21817157e+00] [-8.02312414e-03 1.41739992e-04 9.99967804e-01 -1.52338438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29439141799999 meters 0.016361252964362527 Centerline is valid? [True, True] Translation: X:87.34, Y:-2.22, Z:-1.53 [[ 9.99578984e-01 2.81042203e-02 7.21157362e-03 8.73385104e+01] [-2.81026181e-02 9.99604991e-01 -3.23421398e-04 -2.21976911e+00] [-7.21781449e-03 1.20621133e-04 9.99973944e-01 -1.52565051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters 0.01697587361281673 Centerline is valid? [True, True] Translation: X:87.37, Y:-2.22, Z:-1.53 [[ 9.99546521e-01 2.93219361e-02 6.85392817e-03 8.73656298e+01] [-2.93205170e-02 9.99570014e-01 -3.07459355e-04 -2.22482233e+00] [-6.85999638e-03 1.06359211e-04 9.99976464e-01 -1.52896650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35439141799999 meters 0.015311436401489778 Centerline is valid? [True, True] Translation: X:87.40, Y:-2.22, Z:-1.52 [[ 9.99419308e-01 3.29115536e-02 8.82478231e-03 8.73951129e+01] [-3.29093570e-02 9.99458263e-01 -3.94051948e-04 -2.22164337e+00] [-8.83297046e-03 1.03405214e-04 9.99960983e-01 -1.52462557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799999 meters 0.014751248514471326 Centerline is valid? [True, True] Translation: X:87.42, Y:-2.22, Z:-1.52 [[ 9.99316055e-01 3.56692402e-02 9.75335824e-03 8.74244523e+01] [-3.56666936e-02 9.99363646e-01 -4.34978935e-04 -2.21788996e+00] [-9.76266702e-03 8.68113937e-05 9.99952340e-01 -1.52180402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414391418 meters 0.014174965806257914 Centerline is valid? [True, True] Translation: X:87.45, Y:-2.21, Z:-1.52 [[ 9.99191014e-01 3.89095260e-02 1.01669402e-02 8.74538689e+01] [-3.89069353e-02 9.99242736e-01 -4.52550096e-04 -2.21398609e+00] [-1.01768496e-02 5.66195052e-05 9.99948213e-01 -1.52060953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444391418 meters 0.013909091592112545 Centerline is valid? [True, True] Translation: X:87.48, Y:-2.21, Z:-1.52 [[ 9.99093758e-01 4.15725926e-02 9.13140694e-03 8.74829008e+01] [-4.15706193e-02 9.99135486e-01 -4.05883214e-04 -2.21216187e+00] [-9.14038632e-03 2.59171447e-05 9.99958225e-01 -1.52153087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474391418 meters 0.015185996121052042 Centerline is valid? [True, True] Translation: X:87.51, Y:-2.22, Z:-1.53 [[ 9.99023168e-01 4.35722538e-02 7.35991308e-03 8.75104179e+01] [-4.35710269e-02 9.99050278e-01 -3.27033678e-04 -2.21685801e+00] [-7.36717280e-03 6.03525063e-06 9.99972862e-01 -1.52781202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504391418 meters 0.013877695448909207 Centerline is valid? [True, True] Translation: X:87.54, Y:-2.22, Z:-1.53 [[ 9.99085575e-01 4.17854073e-02 9.05502399e-03 8.75387991e+01] [-4.17834903e-02 9.99126608e-01 -4.00866208e-04 -2.22183706e+00] [-9.06386576e-03 2.21491390e-05 9.99958922e-01 -1.52779258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534391418 meters 0.014269792917125344 Centerline is valid? [True, True] Translation: X:87.57, Y:-2.23, Z:-1.53 [[ 9.99276326e-01 3.64869777e-02 1.07482376e-02 8.75658657e+01] [-3.64839812e-02 9.99334125e-01 -4.74803634e-04 -2.22961234e+00] [-1.07584048e-02 8.23215333e-05 9.99942123e-01 -1.52684066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564391418 meters 0.015203339416554763 Centerline is valid? [True, True] Translation: X:87.59, Y:-2.23, Z:-1.53 [[ 9.99407242e-01 3.25174727e-02 1.13039614e-02 8.75946264e+01] [-3.25139218e-02 9.99471159e-01 -4.97815478e-04 -2.23415868e+00] [-1.13141711e-02 1.29984276e-04 9.99935984e-01 -1.52648169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594391418 meters 0.016728973450770148 Centerline is valid? [True, True] Translation: X:87.62, Y:-2.24, Z:-1.53 [[ 9.99532892e-01 2.84687956e-02 1.11141795e-02 8.76233666e+01] [-2.84651199e-02 9.99594667e-01 -4.88804885e-04 -2.23949792e+00] [-1.11235902e-02 1.72210110e-04 9.99938116e-01 -1.52640090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters 0.01896808421718716 Centerline is valid? [True, True] Translation: X:87.65, Y:-2.25, Z:-1.53 [[ 9.99728009e-01 2.05681934e-02 1.09935154e-02 8.76532958e+01] [-2.05641293e-02 9.99788419e-01 -4.82604922e-04 -2.24816128e+00] [-1.10011157e-02 2.56401586e-04 9.99939453e-01 -1.52500810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65439141799999 meters 0.021901932240502135 Centerline is valid? [True, True] Translation: X:87.68, Y:-2.26, Z:-1.53 [[ 9.99797284e-01 1.69592746e-02 1.08523603e-02 8.76833317e+01] [-1.69551071e-02 9.99856139e-01 -4.75914838e-04 -2.25610829e+00] [-1.08588703e-02 2.91815431e-04 9.99940998e-01 -1.52623240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters 0.0239540068558947 Centerline is valid? [True, True] Translation: X:87.71, Y:-2.27, Z:-1.53 [[ 9.99904763e-01 8.90371197e-03 1.05446445e-02 8.77141787e+01] [-8.89932783e-03 9.99960293e-01 -4.62618391e-04 -2.26524076e+00] [-1.05483449e-02 3.68734083e-04 9.99944297e-01 -1.52773899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71439141799999 meters 0.025960696185766262 Centerline is valid? [True, True] Translation: X:87.75, Y:-2.27, Z:-1.53 [[ 9.99935445e-01 4.52725537e-03 1.04215793e-02 8.77453482e+01] [-4.52273516e-03 9.99989668e-01 -4.57262554e-04 -2.27198525e+00] [-1.04235418e-02 4.10098993e-04 9.99945589e-01 -1.52958581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799999 meters 0.029768559340248284 Centerline is valid? [True, True] Translation: X:87.77, Y:-2.28, Z:-1.53 [[ 9.99938278e-01 9.19623590e-05 1.11099799e-02 8.77749882e+01] [-8.65502605e-05 9.99999877e-01 -4.87618274e-04 -2.28052465e+00] [-1.11100234e-02 4.86626606e-04 9.99938163e-01 -1.53096147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774391418 meters 0.03312415000965758 Centerline is valid? [True, True] Translation: X:87.80, Y:-2.29, Z:-1.53 [[ 9.99888562e-01 -7.83526521e-03 1.27071820e-02 8.78047111e+01] [ 7.84300722e-03 9.99969087e-01 -5.59542919e-04 -2.29010569e+00] [-1.27024050e-02 6.59143084e-04 9.99919104e-01 -1.53081527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804391418 meters 0.03312415000965758 Centerline is valid? [True, True] Translation: X:87.84, Y:-2.29, Z:-1.53 [[ 9.99889501e-01 -7.71442020e-03 1.27072055e-02 8.78372416e+01] [ 7.72214571e-03 9.99970028e-01 -5.59009272e-04 -2.29165781e+00] [-1.27025122e-02 6.57074395e-04 9.99919104e-01 -1.53140245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834391418 meters 0.03312415000965758 Centerline is valid? [True, True] Translation: X:87.87, Y:-2.29, Z:-1.53 [[ 9.99890427e-01 -7.59353779e-03 1.27071377e-02 8.78697719e+01] [ 7.60127304e-03 9.99970953e-01 -5.60545385e-04 -2.29321288e+00] [-1.27025121e-02 6.57074388e-04 9.99919104e-01 -1.53198927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864391418 meters 0.037066470578938186 Centerline is valid? [True, True] Translation: X:87.90, Y:-2.30, Z:-1.53 [[ 9.99827146e-01 -1.31108619e-02 1.31826591e-02 8.78989416e+01] [ 1.31196960e-02 9.99913763e-01 -5.83863507e-04 -2.30012081e+00] [-1.31738673e-02 7.56715063e-04 9.99912935e-01 -1.53078251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894391418 meters 0.03883544114067483 Centerline is valid? [True, True] Translation: X:87.93, Y:-2.30, Z:-1.53 [[ 9.99815638e-01 -1.44616493e-02 1.26313346e-02 8.79299304e+01] [ 1.44698596e-02 9.99895150e-01 -5.58845038e-04 -2.30211926e+00] [-1.26219284e-02 7.41515648e-04 9.99920065e-01 -1.53088937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924391418 meters 0.03688334900651426 Centerline is valid? [True, True] Translation: X:87.96, Y:-2.30, Z:-1.53 [[ 9.99809472e-01 -1.55057747e-02 1.18571067e-02 8.79623155e+01] [ 1.55130885e-02 9.99879527e-01 -5.25094578e-04 -2.29845063e+00] [-1.18475363e-02 7.08934878e-04 9.99929564e-01 -1.53084028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954391418 meters 0.037258634261471676 Centerline is valid? [True, True] Translation: X:87.99, Y:-2.30, Z:-1.53 [[ 9.99812245e-01 -1.58279038e-02 1.11781979e-02 8.79946884e+01] [ 1.58344333e-02 9.99874505e-01 -4.95853172e-04 -2.29804277e+00] [-1.11689468e-02 6.72760502e-04 9.99937399e-01 -1.53156413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters 0.03642100925931699 Centerline is valid? [True, True] Translation: X:88.03, Y:-2.30, Z:-1.53 [[ 9.99785294e-01 -1.64401336e-02 1.26130157e-02 8.80267583e+01] [ 1.64485107e-02 9.99864557e-01 -5.60703415e-04 -2.29650861e+00] [-1.26020893e-02 7.68048351e-04 9.99920296e-01 -1.53252933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01439141799999 meters 0.038019956291645604 Centerline is valid? [True, True] Translation: X:88.06, Y:-2.30, Z:-1.53 [[ 9.99754023e-01 -1.72148342e-02 1.39836430e-02 8.80578649e+01] [ 1.72252211e-02 9.99851441e-01 -6.22673412e-04 -2.30034342e+00] [-1.39708464e-02 8.63391592e-04 9.99902030e-01 -1.53284245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters 0.04003329048946489 Centerline is valid? [True, True] Translation: X:88.09, Y:-2.31, Z:-1.53 [[ 9.99699673e-01 -1.90274488e-02 1.54440870e-02 8.80899353e+01] [ 1.90403775e-02 9.99818477e-01 -6.90510262e-04 -2.30526923e+00] [-1.54281449e-02 9.84364131e-04 9.99880495e-01 -1.53414660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07439141799999 meters 0.03989976873468682 Centerline is valid? [True, True] Translation: X:88.12, Y:-2.31, Z:-1.54 [[ 9.99690932e-01 -1.95915536e-02 1.53039828e-02 8.81219899e+01] [ 1.96043333e-02 9.99807582e-01 -6.85465148e-04 -2.30558922e+00] [-1.52876087e-02 9.85277672e-04 9.99882652e-01 -1.53587297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799999 meters 0.040821538132353244 Centerline is valid? [True, True] Translation: X:88.15, Y:-2.31, Z:-1.54 [[ 9.99704376e-01 -1.96360431e-02 1.43382862e-02 8.81542584e+01] [ 1.96472805e-02 9.99806767e-01 -6.43285177e-04 -2.30598614e+00] [-1.43228840e-02 9.24803338e-04 9.99896995e-01 -1.53762978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13439141799999 meters 0.04058774690810981 Centerline is valid? [True, True] Translation: X:88.19, Y:-2.30, Z:-1.54 [[ 9.99732591e-01 -1.86044932e-02 1.37338509e-02 8.81868565e+01] [ 1.86147205e-02 9.99826541e-01 -6.17210569e-04 -2.30405371e+00] [-1.37199857e-02 8.72697316e-04 9.99905496e-01 -1.53872058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164391418 meters 0.04232866619536865 Centerline is valid? [True, True] Translation: X:88.22, Y:-2.30, Z:-1.54 [[ 9.99786346e-01 -1.52660576e-02 1.39359201e-02 8.82164834e+01] [ 1.52762865e-02 9.99883114e-01 -6.27838433e-04 -2.30108320e+00] [-1.39247066e-02 8.40593401e-04 9.99902693e-01 -1.53702932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194391418 meters 0.03849199939901695 Centerline is valid? [True, True] Translation: X:88.25, Y:-2.29, Z:-1.54 [[ 9.99804393e-01 -1.30558726e-02 1.48566246e-02 8.82483029e+01] [ 1.30672473e-02 9.99914396e-01 -6.68812363e-04 -2.29421247e+00] [-1.48466209e-02 8.62816727e-04 9.99889411e-01 -1.53645980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224391418 meters 0.03806369007180725 Centerline is valid? [True, True] Translation: X:88.28, Y:-2.29, Z:-1.53 [[ 9.99822124e-01 -1.06050067e-02 1.55965774e-02 8.82791023e+01] [ 1.06172559e-02 9.99943388e-01 -7.02783768e-04 -2.29318432e+00] [-1.55882415e-02 8.68251615e-04 9.99878119e-01 -1.53477720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254391418 meters 0.037629394358131285 Centerline is valid? [True, True] Translation: X:88.31, Y:-2.29, Z:-1.54 [[ 9.99838738e-01 -9.40870982e-03 1.52961851e-02 8.83118657e+01] [ 9.42035878e-03 9.99955390e-01 -6.89684995e-04 -2.29301659e+00] [-1.52890137e-02 8.33669327e-04 9.99882769e-01 -1.53635759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284391418 meters 0.03736880752632011 Centerline is valid? [True, True] Translation: X:88.34, Y:-2.29, Z:-1.54 [[ 9.99859542e-01 -8.00313036e-03 1.47257306e-02 8.83429578e+01] [ 8.01379640e-03 9.99967668e-01 -6.65447426e-04 -2.29255220e+00] [-1.47199289e-02 7.83362965e-04 9.99891349e-01 -1.53868585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314391418 meters 0.03529791013918007 Centerline is valid? [True, True] Translation: X:88.37, Y:-2.28, Z:-1.54 [[ 9.99901074e-01 -4.60864746e-03 1.32891707e-02 8.83746392e+01] [ 4.61704481e-03 9.99989161e-01 -6.01283764e-04 -2.28487786e+00] [-1.32862556e-02 6.62580979e-04 9.99911514e-01 -1.54234009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344391418 meters 0.030396373316138366 Centerline is valid? [True, True] Translation: X:88.41, Y:-2.28, Z:-1.54 [[ 9.99903566e-01 -2.18027445e-03 1.37151322e-02 8.84064286e+01] [ 2.18899829e-03 9.99997411e-01 -6.21094617e-04 -2.27543823e+00] [-1.37137425e-02 6.51057123e-04 9.99905750e-01 -1.54227526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37439141799999 meters 0.03340161120987258 Centerline is valid? [True, True] Translation: X:88.44, Y:-2.28, Z:-1.54 [[ 9.99890270e-01 6.20246394e-04 1.48008050e-02 8.84364934e+01] [-6.10381953e-04 9.99999589e-01 -6.70988041e-04 -2.27721312e+00] [-1.48012150e-02 6.61880269e-04 9.99890237e-01 -1.54256071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters 0.0301865783430613 Centerline is valid? [True, True] Translation: X:88.47, Y:-2.27, Z:-1.54 [[ 9.99859482e-01 3.56157465e-03 1.63808030e-02 8.84680993e+01] [-3.54987977e-03 9.99993423e-01 -7.42959699e-04 -2.27059386e+00] [-1.63833414e-02 6.84705419e-04 9.99865550e-01 -1.54141768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43439141799999 meters 0.024411160448189986 Centerline is valid? [True, True] Translation: X:88.50, Y:-2.26, Z:-1.54 [[ 9.99792387e-01 8.44391141e-03 1.85441166e-02 8.84992760e+01] [-8.42974663e-03 9.99964115e-01 -8.41878290e-04 -2.25837795e+00] [-1.85505599e-02 6.85381300e-04 9.99827689e-01 -1.53667591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799999 meters 0.024903257151337177 Centerline is valid? [True, True] Translation: X:88.53, Y:-2.26, Z:-1.54 [[ 9.99768776e-01 1.19027698e-02 1.79086382e-02 8.85299612e+01] [-1.18901135e-02 9.99928980e-01 -8.13026334e-04 -2.25618454e+00] [-1.79170436e-02 5.99902602e-04 9.99839297e-01 -1.53701300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49439141799999 meters 0.023295118658091755 Centerline is valid? [True, True] Translation: X:88.56, Y:-2.25, Z:-1.54 [[ 9.99744695e-01 1.49775944e-02 1.69179450e-02 8.85625796e+01] [-1.49667387e-02 9.99887697e-01 -7.68104224e-04 -2.25265343e+00] [-1.69275494e-02 5.14701660e-04 9.99856586e-01 -1.53738456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524391418 meters 0.020135059078346857 Centerline is valid? [True, True] Translation: X:88.59, Y:-2.25, Z:-1.54 [[ 9.99688078e-01 1.99254648e-02 1.50573264e-02 8.85945444e+01] [-1.99173632e-02 9.99801393e-01 -6.87836751e-04 -2.24547354e+00] [-1.50680414e-02 3.87719961e-04 9.99886395e-01 -1.54063583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554391418 meters 0.019678807159853883 Centerline is valid? [True, True] Translation: X:88.63, Y:-2.25, Z:-1.54 [[ 9.99645070e-01 2.20715122e-02 1.49191990e-02 8.86257440e+01] [-2.20637932e-02 9.99756332e-01 -6.81809986e-04 -2.24591430e+00] [-1.49306123e-02 3.52393870e-04 9.99888470e-01 -1.54236246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584391418 meters 0.019896698040570572 Centerline is valid? [True, True] Translation: X:88.66, Y:-2.25, Z:-1.54 [[ 9.99598115e-01 2.39837738e-02 1.51125041e-02 8.86567736e+01] [-2.39760113e-02 9.99712293e-01 -6.94643629e-04 -2.24762387e+00] [-1.51248163e-02 3.32026894e-04 9.99885558e-01 -1.54373009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614391418 meters 0.018646194882893423 Centerline is valid? [True, True] Translation: X:88.69, Y:-2.25, Z:-1.55 [[ 9.99532186e-01 2.72720892e-02 1.38434759e-02 8.86877193e+01] [-2.72658347e-02 9.99628013e-01 -6.40372196e-04 -2.24536653e+00] [-1.38557906e-02 2.62618694e-04 9.99903969e-01 -1.54628636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644391418 meters 0.017985547649292662 Centerline is valid? [True, True] Translation: X:88.72, Y:-2.24, Z:-1.55 [[ 9.99485833e-01 2.91411820e-02 1.33738788e-02 8.87172471e+01] [-2.91355009e-02 9.99575279e-01 -6.19474793e-04 -2.24374481e+00] [-1.33862509e-02 2.29501623e-04 9.99910374e-01 -1.54761267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674391418 meters 0.017088695071421085 Centerline is valid? [True, True] Translation: X:88.75, Y:-2.24, Z:-1.55 [[ 9.99426277e-01 3.11078717e-02 1.33946659e-02 8.87468992e+01] [-3.11023560e-02 9.99516012e-01 -6.19953799e-04 -2.23948777e+00] [-1.34074685e-02 2.02992449e-04 9.99910095e-01 -1.54736447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704391418 meters 0.015647379663949194 Centerline is valid? [True, True] Translation: X:88.78, Y:-2.24, Z:-1.54 [[ 9.99310889e-01 3.40327999e-02 1.48160344e-02 8.87757218e+01] [-3.40263819e-02 9.99420700e-01 -6.85121523e-04 -2.23530009e+00] [-1.48307681e-02 1.80513353e-04 9.99890002e-01 -1.54387488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73439141799999 meters 0.015823400279339546 Centerline is valid? [True, True] Translation: X:88.80, Y:-2.23, Z:-1.54 [[ 9.99246314e-01 3.56946102e-02 1.52544540e-02 8.88039846e+01] [-3.56880133e-02 9.99362732e-01 -7.04548059e-04 -2.23451190e+00] [-1.52698814e-02 1.59615894e-04 9.99883396e-01 -1.54373250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters 0.015221244871174558 Centerline is valid? [True, True] Translation: X:88.83, Y:-2.23, Z:-1.54 [[ 9.99223695e-01 3.63705329e-02 1.51390577e-02 8.88332414e+01] [-3.63641363e-02 9.99338363e-01 -6.97672863e-04 -2.23362082e+00] [-1.51544159e-02 1.46612498e-04 9.99885154e-01 -1.54360672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79439141799999 meters 0.01544094555317855 Centerline is valid? [True, True] Translation: X:88.86, Y:-2.24, Z:-1.54 [[ 9.99242697e-01 3.58645459e-02 1.50919450e-02 8.88608281e+01] [-3.58581490e-02 9.99356649e-01 -6.94335517e-04 -2.23532105e+00] [-1.51071376e-02 1.52640481e-04 9.99885869e-01 -1.54402962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters 0.01573433624462864 Centerline is valid? [True, True] Translation: X:88.89, Y:-2.24, Z:-1.54 [[ 9.99318873e-01 3.31329592e-02 1.62479648e-02 8.88899251e+01] [-3.31252130e-02 9.99450931e-01 -7.45715731e-04 -2.23950663e+00] [-1.62637513e-02 2.06990509e-04 9.99867715e-01 -1.54376096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85439141799999 meters 0.016460826084909414 Centerline is valid? [True, True] Translation: X:88.92, Y:-2.24, Z:-1.54 [[ 9.99378822e-01 3.10285305e-02 1.67093108e-02 8.89182685e+01] [-3.10200683e-02 9.99518469e-01 -7.65439291e-04 -2.24482201e+00] [-1.67250152e-02 2.46639855e-04 9.99860097e-01 -1.54430205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799999 meters 0.01746892681614515 Centerline is valid? [True, True] Translation: X:88.95, Y:-2.25, Z:-1.55 [[ 9.99498329e-01 2.77926683e-02 1.51873993e-02 8.89472466e+01] [-2.77853177e-02 9.99613672e-01 -6.94830275e-04 -2.25206091e+00] [-1.52008432e-02 2.72494985e-04 9.99884423e-01 -1.54710863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914391418 meters 0.01771696430274192 Centerline is valid? [True, True] Translation: X:88.98, Y:-2.25, Z:-1.55 [[ 9.99559717e-01 2.68084289e-02 1.27153450e-02 8.89779195e+01] [-2.68032046e-02 9.99640561e-01 -5.81126688e-04 -2.25437334e+00] [-1.27263537e-02 2.40058835e-04 9.99918988e-01 -1.54971153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944391418 meters 0.018199788455329748 Centerline is valid? [True, True] Translation: X:89.01, Y:-2.26, Z:-1.55 [[ 9.99608642e-01 2.59944949e-02 1.03367525e-02 8.90078586e+01] [-2.59909958e-02 9.99662065e-01 -4.72725454e-04 -2.25583702e+00] [-1.03455476e-02 2.03877959e-04 9.99946463e-01 -1.55266067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974391418 meters 0.018541378887456803 Centerline is valid? [True, True] Translation: X:89.04, Y:-2.26, Z:-1.55 [[ 9.99653796e-01 2.48004280e-02 8.78785218e-03 8.90369879e+01] [-2.47978534e-02 9.99692405e-01 -4.01830624e-04 -2.25700674e+00] [-8.79511466e-03 1.83771638e-04 9.99961305e-01 -1.55435911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004391418 meters 0.019981635614891524 Centerline is valid? [True, True] Translation: X:89.07, Y:-2.26, Z:-1.55 [[ 9.99679794e-01 2.24990412e-02 1.15802785e-02 8.90654771e+01] [-2.24944280e-02 9.99746829e-01 -5.28474909e-04 -2.26278418e+00] [-1.15892369e-02 2.67813947e-04 9.99932807e-01 -1.55233624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034391418 meters 0.020727180877614982 Centerline is valid? [True, True] Translation: X:89.09, Y:-2.27, Z:-1.55 [[ 9.99673211e-01 2.09853243e-02 1.45974940e-02 8.90949394e+01] [-2.09778504e-02 9.99779720e-01 -6.64950336e-04 -2.26820548e+00] [-1.46082326e-02 3.58508993e-04 9.99893230e-01 -1.54921408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064391418 meters 0.021834152918807505 Centerline is valid? [True, True] Translation: X:89.13, Y:-2.28, Z:-1.55 [[ 9.99659442e-01 1.89909867e-02 1.78981310e-02 8.91261816e+01] [-1.89794462e-02 9.99819542e-01 -8.14444803e-04 -2.27683547e+00] [-1.79103683e-02 4.74470823e-04 9.99839484e-01 -1.54546161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094391418 meters 0.02129353060786897 Centerline is valid? [True, True] Translation: X:89.16, Y:-2.28, Z:-1.55 [[ 9.99681375e-01 1.91672526e-02 1.64245283e-02 8.91588145e+01] [-1.91575560e-02 9.99816198e-01 -7.47526101e-04 -2.27820742e+00] [-1.64358375e-02 4.32634099e-04 9.99864829e-01 -1.54727578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters 0.020558051790728817 Centerline is valid? [True, True] Translation: X:89.19, Y:-2.28, Z:-1.55 [[ 9.99706778e-01 2.00476426e-02 1.35812454e-02 8.91914353e+01] [-2.00410495e-02 9.99798965e-01 -6.21395736e-04 -2.27781542e+00] [-1.35909726e-02 3.49031118e-04 9.99907578e-01 -1.55027732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15439141799999 meters 0.020397425162549762 Centerline is valid? [True, True] Translation: X:89.22, Y:-2.28, Z:-1.56 [[ 9.99712787e-01 2.18183453e-02 9.91482899e-03 8.92226695e+01] [-2.18148975e-02 9.99761923e-01 -4.55766449e-04 -2.27722496e+00] [-9.92241256e-03 2.39344568e-04 9.99950743e-01 -1.55522438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters 0.01975646539181697 Centerline is valid? [True, True] Translation: X:89.25, Y:-2.28, Z:-1.56 [[ 9.99666533e-01 2.34902988e-02 1.07251705e-02 8.92526854e+01] [-2.34863051e-02 9.99724035e-01 -4.98181332e-04 -2.28148747e+00] [-1.07339132e-02 2.46120578e-04 9.99942360e-01 -1.55746978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21439141799999 meters 0.019290071461888433 Centerline is valid? [True, True] Translation: X:89.28, Y:-2.29, Z:-1.56 [[ 9.99625393e-01 2.48300328e-02 1.15127338e-02 8.92826143e+01] [-2.48255213e-02 9.99691656e-01 -5.34636657e-04 -2.28532952e+00] [-1.15224589e-02 2.48626762e-04 9.99933583e-01 -1.55803552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799999 meters 0.018658312373838106 Centerline is valid? [True, True] Translation: X:89.31, Y:-2.29, Z:-1.56 [[ 9.99563391e-01 2.69437010e-02 1.21269938e-02 8.93126028e+01] [-2.69388568e-02 9.99636925e-01 -5.62650878e-04 -2.28685302e+00] [-1.21377507e-02 2.35717869e-04 9.99926307e-01 -1.55795886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274391418 meters 0.018046978643812345 Centerline is valid? [True, True] Translation: X:89.34, Y:-2.29, Z:-1.56 [[ 9.99488333e-01 2.95824800e-02 1.21634343e-02 8.93410428e+01] [-2.95778064e-02 9.99562322e-01 -5.63978403e-04 -2.28565566e+00] [-1.21747946e-02 2.03922127e-04 9.99925864e-01 -1.55735055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304391418 meters 0.017236038726256342 Centerline is valid? [True, True] Translation: X:89.37, Y:-2.28, Z:-1.56 [[ 9.99399113e-01 3.26398067e-02 1.16642821e-02 8.93707689e+01] [-3.26357258e-02 9.99467167e-01 -5.40078582e-04 -2.28176239e+00] [-1.16756950e-02 1.59081743e-04 9.99931824e-01 -1.55651795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334391418 meters 0.016356850992475653 Centerline is valid? [True, True] Translation: X:89.40, Y:-2.28, Z:-1.56 [[ 9.99304803e-01 3.56233606e-02 1.09948211e-02 8.93996675e+01] [-3.56199165e-02 9.99365280e-01 -5.08972850e-04 -2.27694571e+00] [-1.10059738e-02 1.16984403e-04 9.99939426e-01 -1.55547631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364391418 meters 0.015068996789787877 Centerline is valid? [True, True] Translation: X:89.43, Y:-2.27, Z:-1.55 [[ 9.99063006e-01 4.17344685e-02 1.14605603e-02 8.94293122e+01] [-4.17311358e-02 9.99128736e-01 -5.29882661e-04 -2.27122708e+00] [-1.14726895e-02 5.11239648e-05 9.99934185e-01 -1.55446242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394391418 meters 0.015084993702023068 Centerline is valid? [True, True] Translation: X:89.46, Y:-2.27, Z:-1.56 [[ 9.98949405e-01 4.41722364e-02 1.22024119e-02 8.94568977e+01] [-4.41686605e-02 9.99023930e-01 -5.62517868e-04 -2.27323403e+00] [-1.22153491e-02 2.29627028e-05 9.99925390e-01 -1.55666553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424391418 meters 0.01503899106692267 Centerline is valid? [True, True] Translation: X:89.49, Y:-2.28, Z:-1.56 [[ 9.98867509e-01 4.60319967e-02 1.20313656e-02 8.94850187e+01] [-4.60286678e-02 9.98939966e-01 -5.53590937e-04 -2.27643070e+00] [-1.20440948e-02 -8.23728313e-07 9.99927467e-01 -1.55858040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454391418 meters 0.015065364307680358 Centerline is valid? [True, True] Translation: X:89.51, Y:-2.28, Z:-1.56 [[ 9.98794034e-01 4.77268278e-02 1.15163748e-02 8.95125544e+01] [-4.77239061e-02 9.98860425e-01 -5.28539629e-04 -2.27977034e+00] [-1.15284766e-02 -2.17041616e-05 9.99933545e-01 -1.56099546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters 0.015347474633109495 Centerline is valid? [True, True] Translation: X:89.54, Y:-2.28, Z:-1.56 [[ 9.98646737e-01 5.08494573e-02 1.09099996e-02 8.95400171e+01] [-5.08470341e-02 9.98706328e-01 -4.99551677e-04 -2.28011457e+00] [-1.09212876e-02 -5.58654709e-05 9.99940359e-01 -1.56275607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51439141799999 meters 0.015750387237151782 Centerline is valid? [True, True] Translation: X:89.57, Y:-2.28, Z:-1.56 [[ 9.98587256e-01 5.20291868e-02 1.07914895e-02 8.95680411e+01] [-5.20268995e-02 9.98645562e-01 -4.92768314e-04 -2.27865940e+00] [-1.08025114e-02 -6.93755793e-05 9.99941649e-01 -1.56224550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters 0.01593853721343874 Centerline is valid? [True, True] Translation: X:89.60, Y:-2.28, Z:-1.56 [[ 9.98505669e-01 5.35231384e-02 1.10319059e-02 8.95966438e+01] [-5.35208529e-02 9.98566606e-01 -5.02511909e-04 -2.27712093e+00] [-1.10429888e-02 -8.86760219e-05 9.99939020e-01 -1.55971440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57439141799999 meters 0.01563457639819931 Centerline is valid? [True, True] Translation: X:89.63, Y:-2.28, Z:-1.56 [[ 9.98514872e-01 5.32127810e-02 1.16811691e-02 8.96254635e+01] [-5.32102087e-02 9.98583192e-01 -5.31108872e-04 -2.28062781e+00] [-1.16928809e-02 -9.12373390e-05 9.99931632e-01 -1.55931810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799999 meters 0.015646483258864974 Centerline is valid? [True, True] Translation: X:89.65, Y:-2.29, Z:-1.56 [[ 9.98590683e-01 5.17842801e-02 1.16205302e-02 8.96526851e+01] [-5.17816471e-02 9.98658291e-01 -5.27547958e-04 -2.28529451e+00] [-1.16322575e-02 -7.49257189e-05 9.99932340e-01 -1.56041270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63439141799999 meters 0.015657858750971306 Centerline is valid? [True, True] Translation: X:89.68, Y:-2.29, Z:-1.56 [[ 9.98696005e-01 4.96815340e-02 1.17488270e-02 8.96816225e+01] [-4.96787139e-02 9.98765109e-01 -5.31929529e-04 -2.29348278e+00] [-1.17607456e-02 -5.24307223e-05 9.99930839e-01 -1.56155051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664391418 meters 0.015066688978268052 Centerline is valid? [True, True] Translation: X:89.71, Y:-2.31, Z:-1.56 [[ 9.98982864e-01 4.38775425e-02 1.03922366e-02 8.97100088e+01] [-4.38750255e-02 9.99036917e-01 -4.70172963e-04 -2.30686206e+00] [-1.04028581e-02 1.37350874e-05 9.99945889e-01 -1.56434442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694391418 meters 0.0177020216110911 Centerline is valid? [True, True] Translation: X:89.74, Y:-2.31, Z:-1.57 [[ 9.99090162e-01 4.17546112e-02 8.68336223e-03 8.97373757e+01] [-4.17527762e-02 9.99127896e-01 -3.92577170e-04 -2.31158361e+00] [-8.69218133e-03 2.96655087e-05 9.99962222e-01 -1.56826417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724391418 meters 0.0177020216110911 Centerline is valid? [True, True] Translation: X:89.77, Y:-2.31, Z:-1.57 [[ 9.99093506e-01 4.16744993e-02 8.68340984e-03 8.97656575e+01] [-4.16726705e-02 9.99131240e-01 -3.91519862e-04 -2.31278105e+00] [-8.69218243e-03 2.93040752e-05 9.99962222e-01 -1.56877500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754391418 meters 0.015593080469275983 Centerline is valid? [True, True] Translation: X:89.79, Y:-2.32, Z:-1.57 [[ 9.99226757e-01 3.84048276e-02 8.42367520e-03 8.97936287e+01] [-3.84029932e-02 9.99262261e-01 -3.79471582e-04 -2.31564920e+00] [-8.43203427e-03 5.56838166e-05 9.99964448e-01 -1.56773277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784391418 meters 0.015730817298370108 Centerline is valid? [True, True] Translation: X:89.82, Y:-2.32, Z:-1.57 [[ 9.99306879e-01 3.62202757e-02 8.59382168e-03 8.98227548e+01] [-3.62182968e-02 9.99343828e-01 -3.85839215e-04 -2.31811093e+00] [-8.60215785e-03 7.43181971e-05 9.99962998e-01 -1.56739015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814391418 meters 0.016599085170254664 Centerline is valid? [True, True] Translation: X:89.85, Y:-2.33, Z:-1.57 [[ 9.99417963e-01 3.22968942e-02 1.09839249e-02 8.98516714e+01] [-3.22934385e-02 9.99478310e-01 -4.91877250e-04 -2.32602162e+00] [-1.09940808e-02 1.36882257e-04 9.99939554e-01 -1.56577215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844391418 meters 0.01727337902151598 Centerline is valid? [True, True] Translation: X:89.88, Y:-2.33, Z:-1.57 [[ 9.99467341e-01 3.03838393e-02 1.19103229e-02 8.98801674e+01] [-3.03796543e-02 9.99538290e-01 -5.32181028e-04 -2.33313193e+00] [-1.19209935e-02 1.70066063e-04 9.99928928e-01 -1.56567346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87439141799999 meters 0.01859576223496558 Centerline is valid? [True, True] Translation: X:89.91, Y:-2.34, Z:-1.57 [[ 9.99593651e-01 2.56912320e-02 1.23487967e-02 8.99100545e+01] [-2.56863887e-02 9.99669899e-01 -5.50677033e-04 -2.34400635e+00] [-1.23588679e-02 2.33257274e-04 9.99923599e-01 -1.56513214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters 0.019888341962719658 Centerline is valid? [True, True] Translation: X:89.94, Y:-2.35, Z:-1.57 [[ 9.99658662e-01 2.30310375e-02 1.23341715e-02 8.99399830e+01] [-2.30260046e-02 9.99734715e-01 -5.49913610e-04 -2.34896804e+00] [-1.23435645e-02 2.65719212e-04 9.99923780e-01 -1.56564735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93439141799999 meters 0.02220911064454567 Centerline is valid? [True, True] Translation: X:89.97, Y:-2.35, Z:-1.57 [[ 9.99716156e-01 2.10141707e-02 1.12255381e-02 8.99712637e+01] [-2.10098743e-02 9.99779143e-01 -5.00542671e-04 -2.35237495e+00] [-1.12335773e-02 2.64553451e-04 9.99936866e-01 -1.56781297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799999 meters 0.023272943221848294 Centerline is valid? [True, True] Translation: X:90.00, Y:-2.36, Z:-1.57 [[ 9.99804782e-01 1.62128449e-02 1.12934113e-02 9.00011618e+01] [-1.62081837e-02 9.99868512e-01 -5.04145304e-04 -2.36006779e+00] [-1.13001000e-02 3.21001200e-04 9.99936100e-01 -1.56766289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99439141799999 meters 0.02386626093768807 Centerline is valid? [True, True] Translation: X:90.03, Y:-2.37, Z:-1.57 [[ 9.99819571e-01 1.52787701e-02 1.12865125e-02 9.00332314e+01] [-1.52740715e-02 9.99883218e-01 -5.02382320e-04 -2.36581805e+00] [-1.12928703e-02 3.29900676e-04 9.99936179e-01 -1.56912413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024391418 meters 0.02493825311272008 Centerline is valid? [True, True] Translation: X:90.06, Y:-2.37, Z:-1.57 [[ 9.99826677e-01 1.47844541e-02 1.13153254e-02 9.00639276e+01] [-1.47796560e-02 9.99890646e-01 -5.07540159e-04 -2.37313528e+00] [-1.13215917e-02 3.40215573e-04 9.99935851e-01 -1.57105635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054391418 meters 0.023129668566366807 Centerline is valid? [True, True] Translation: X:90.10, Y:-2.38, Z:-1.57 [[ 9.99810778e-01 1.54971908e-02 1.17577512e-02 9.00962991e+01] [-1.54920478e-02 9.99879851e-01 -5.28371013e-04 -2.37928742e+00] [-1.17645268e-02 3.46119390e-04 9.99930736e-01 -1.57168910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084391418 meters 0.021947050440271246 Centerline is valid? [True, True] Translation: X:90.13, Y:-2.38, Z:-1.57 [[ 9.99790791e-01 1.73672408e-02 1.08052039e-02 9.01281843e+01] [-1.73629793e-02 9.99849133e-01 -4.88086776e-04 -2.37990076e+00] [-1.08120505e-02 3.00374132e-04 9.99941503e-01 -1.57271988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114391418 meters 0.021043350970116916 Centerline is valid? [True, True] Translation: X:90.16, Y:-2.38, Z:-1.57 [[ 9.99745816e-01 2.01311704e-02 1.01508108e-02 9.01601215e+01] [-2.01275259e-02 9.99797315e-01 -4.61078139e-04 -2.37932755e+00] [-1.01580355e-02 2.56650233e-04 9.99948373e-01 -1.57329122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144391418 meters 0.018847683334371486 Centerline is valid? [True, True] Translation: X:90.19, Y:-2.37, Z:-1.57 [[ 9.99597512e-01 2.66160704e-02 9.81830965e-03 9.01904822e+01] [-2.66129259e-02 9.99645712e-01 -4.50806637e-04 -2.37294356e+00] [-9.82682984e-03 1.89331245e-04 9.99951698e-01 -1.57255156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174391418 meters 0.017930885836467916 Centerline is valid? [True, True] Translation: X:90.22, Y:-2.37, Z:-1.57 [[ 9.99495962e-01 2.97955811e-02 1.09565498e-02 9.02190695e+01] [-2.97918517e-02 9.99555997e-01 -5.03477283e-04 -2.37146893e+00] [-1.09666864e-02 1.76807606e-04 9.99939848e-01 -1.57203913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204391418 meters 0.01662369995768723 Centerline is valid? [True, True] Translation: X:90.25, Y:-2.37, Z:-1.57 [[ 9.99403019e-01 3.26378597e-02 1.13303238e-02 9.02486915e+01] [-3.26340633e-02 9.99467232e-01 -5.19839143e-04 -2.37031559e+00] [-1.13412538e-02 1.49774307e-04 9.99935675e-01 -1.57136005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23439141799999 meters 0.01640308512349909 Centerline is valid? [True, True] Translation: X:90.28, Y:-2.37, Z:-1.57 [[ 9.99312706e-01 3.49386348e-02 1.23858128e-02 9.02770524e+01] [-3.49342821e-02 9.99389450e-01 -5.67671260e-04 -2.37339879e+00] [-1.23980843e-02 1.34591626e-04 9.99923132e-01 -1.57247244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters 0.01604345133001499 Centerline is valid? [True, True] Translation: X:90.31, Y:-2.38, Z:-1.57 [[ 9.99243231e-01 3.70081737e-02 1.19732796e-02 9.03066736e+01] [-3.70042600e-02 9.99314957e-01 -5.48311990e-04 -2.37796043e+00] [-1.19853694e-02 1.04834693e-04 9.99928167e-01 -1.57471186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29439141799999 meters 0.0166674126043326 Centerline is valid? [True, True] Translation: X:90.34, Y:-2.38, Z:-1.58 [[ 9.99265165e-01 3.67330124e-02 1.09460197e-02 9.03355121e+01] [-3.67297239e-02 9.99325110e-01 -5.01368284e-04 -2.38003376e+00] [-1.09570491e-02 9.89555789e-05 9.99939965e-01 -1.57723881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799999 meters 0.01672277567654878 Centerline is valid? [True, True] Translation: X:90.36, Y:-2.38, Z:-1.58 [[ 9.99298478e-01 3.61600046e-02 9.74708209e-03 9.03647083e+01] [-3.61573729e-02 9.99346009e-01 -4.46144280e-04 -2.38013696e+00] [-9.75684016e-03 9.34024187e-05 9.99952397e-01 -1.57829213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35439141799999 meters 0.016576855645388053 Centerline is valid? [True, True] Translation: X:90.39, Y:-2.38, Z:-1.58 [[ 9.99411271e-01 3.30798238e-02 9.10149481e-03 9.03940592e+01] [-3.30774110e-02 9.99452706e-01 -4.15548644e-04 -2.37971424e+00] [-9.11025990e-03 1.14250115e-04 9.99958494e-01 -1.57682944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799999 meters 0.017437707063480697 Centerline is valid? [True, True] Translation: X:90.42, Y:-2.38, Z:-1.58 [[ 9.99493990e-01 3.05073042e-02 9.00374290e-03 9.04219979e+01] [-3.05048390e-02 9.99534535e-01 -4.11031516e-04 -2.38397215e+00] [-9.01209143e-03 1.36165802e-04 9.99959381e-01 -1.57703239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414391418 meters 0.018363033139163952 Centerline is valid? [True, True] Translation: X:90.45, Y:-2.39, Z:-1.58 [[ 9.99572231e-01 2.74648930e-02 1.00516188e-02 9.04510730e+01] [-2.74616795e-02 9.99622752e-01 -4.57602313e-04 -2.39014477e+00] [-1.00603948e-02 1.81372232e-04 9.99949376e-01 -1.57717072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444391418 meters 0.02017241506386743 Centerline is valid? [True, True] Translation: X:90.48, Y:-2.40, Z:-1.58 [[ 9.99729334e-01 2.12552847e-02 9.45898249e-03 9.04805885e+01] [-2.12521657e-02 9.99774055e-01 -4.30141814e-04 -2.40195976e+00] [-9.46598806e-03 2.29001526e-04 9.99955170e-01 -1.57847311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474391418 meters 0.022985959078457824 Centerline is valid? [True, True] Translation: X:90.51, Y:-2.41, Z:-1.58 [[ 9.99787512e-01 1.87268978e-02 8.61589196e-03 9.05107505e+01] [-1.87242207e-02 9.99824610e-01 -3.91278773e-04 -2.40941668e+00] [-8.62170825e-03 2.29869769e-04 9.99962806e-01 -1.58110859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504391418 meters 0.024638521378823743 Centerline is valid? [True, True] Translation: X:90.54, Y:-2.41, Z:-1.58 [[ 9.99848839e-01 1.63823449e-02 5.82398386e-03 9.05413712e+01] [-1.63810820e-02 9.99865786e-01 -2.64487677e-04 -2.40999270e+00] [-5.82753513e-03 1.69044539e-04 9.99983005e-01 -1.58325021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534391418 meters 0.025936028036276322 Centerline is valid? [True, True] Translation: X:90.57, Y:-2.41, Z:-1.58 [[ 9.99908590e-01 1.12766519e-02 7.45984749e-03 9.05710516e+01] [-1.12744327e-02 9.99936384e-01 -3.39468224e-04 -2.41088179e+00] [-7.46320098e-03 2.55331644e-04 9.99972117e-01 -1.58022712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564391418 meters 0.027738078917593015 Centerline is valid? [True, True] Translation: X:90.60, Y:-2.41, Z:-1.58 [[ 9.99931456e-01 8.10293891e-03 8.45133273e-03 9.06024036e+01] [-8.09998382e-03 9.99967121e-01 -3.83830598e-04 -2.41414714e+00] [-8.45416501e-03 3.15348631e-04 9.99964213e-01 -1.57985530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594391418 meters 0.028101184401383452 Centerline is valid? [True, True] Translation: X:90.63, Y:-2.42, Z:-1.58 [[ 9.99943227e-01 5.24320424e-03 9.27643967e-03 9.06339332e+01] [-5.23953479e-03 9.99986185e-01 -4.19825437e-04 -2.41806538e+00] [-9.27851275e-03 3.71197374e-04 9.99956885e-01 -1.57983057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters 0.03320697278461633 Centerline is valid? [True, True] Translation: X:90.66, Y:-2.43, Z:-1.58 [[ 9.99929677e-01 -2.66972243e-03 1.15547832e-02 9.06630332e+01] [ 2.67601062e-03 9.99996280e-01 -5.28779630e-04 -2.43268753e+00] [-1.15533285e-02 5.59663168e-04 9.99933101e-01 -1.57915012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65439141799999 meters 0.03579054209444111 Centerline is valid? [True, True] Translation: X:90.69, Y:-2.44, Z:-1.58 [[ 9.99899502e-01 -6.84277942e-03 1.24162320e-02 9.06938307e+01] [ 6.85035418e-03 9.99976375e-01 -5.67641778e-04 -2.43899134e+00] [-1.24120544e-02 6.52640318e-04 9.99922754e-01 -1.57851227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters 0.03890603042457202 Centerline is valid? [True, True] Translation: X:90.72, Y:-2.44, Z:-1.58 [[ 9.99871164e-01 -1.09783909e-02 1.17102661e-02 9.07244600e+01] [ 1.09854187e-02 9.99939515e-01 -5.35989150e-04 -2.44375783e+00] [-1.17036735e-02 6.64562272e-04 9.99931289e-01 -1.57866182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71439141799999 meters 0.04155305574930848 Centerline is valid? [True, True] Translation: X:90.75, Y:-2.45, Z:-1.58 [[ 9.99837225e-01 -1.50489035e-02 9.95256705e-03 9.07549476e+01] [ 1.50541830e-02 9.99886575e-01 -4.55758357e-04 -2.44590395e+00] [-9.94457952e-03 6.05511936e-04 9.99950368e-01 -1.57981239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799999 meters 0.046069289021513825 Centerline is valid? [True, True] Translation: X:90.79, Y:-2.45, Z:-1.58 [[ 9.99741238e-01 -2.21699087e-02 5.09424969e-03 9.07851246e+01] [ 2.21713838e-02 9.99754157e-01 -2.33274872e-04 -2.44757973e+00] [-5.08782563e-03 3.46161074e-04 9.99986997e-01 -1.58462929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774391418 meters 0.049201884686166236 Centerline is valid? [True, True] Translation: X:90.81, Y:-2.45, Z:-1.59 [[ 9.99691189e-01 -2.45324716e-02 3.96045470e-03 9.08147362e+01] [ 2.45333821e-02 9.99698995e-01 -1.81457315e-04 -2.45270955e+00] [-3.95481099e-03 2.78564627e-04 9.99992141e-01 -1.58775338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804391418 meters 0.05116418272965713 Centerline is valid? [True, True] Translation: X:90.85, Y:-2.46, Z:-1.59 [[ 9.99656713e-01 -2.59919255e-02 3.29786862e-03 9.08455934e+01] [ 2.59925619e-02 9.99662125e-01 -1.50266882e-04 -2.45736825e+00] [-3.29284862e-03 2.35935352e-04 9.99994551e-01 -1.59046456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834391418 meters 0.05258872084559907 Centerline is valid? [True, True] Translation: X:90.88, Y:-2.46, Z:-1.59 [[ 9.99656194e-01 -2.61297449e-02 2.17480916e-03 9.08772675e+01] [ 2.61300209e-02 9.99658548e-01 -9.85835022e-05 -2.46061092e+00] [-2.17149061e-03 1.55377418e-04 9.99997630e-01 -1.59315772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864391418 meters 0.04042897238846579 Centerline is valid? [True, True] Translation: X:90.91, Y:-2.44, Z:-1.59 [[ 9.99708983e-01 -2.37635330e-02 4.15263796e-03 9.09094463e+01] [ 2.37645284e-02 9.99717566e-01 -1.90517208e-04 -2.44279742e+00] [-4.14693775e-03 2.89147247e-04 9.99991360e-01 -1.58731864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894391418 meters 0.043722247985386466 Centerline is valid? [True, True] Translation: X:90.94, Y:-2.44, Z:-1.59 [[ 9.99739980e-01 -2.17955490e-02 6.70275341e-03 9.09400891e+01] [ 2.17980993e-02 9.99762346e-01 -3.07649765e-04 -2.44437948e+00] [-6.69445508e-03 4.53677054e-04 9.99977489e-01 -1.58508243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924391418 meters 0.04680188459418302 Centerline is valid? [True, True] Translation: X:90.97, Y:-2.44, Z:-1.58 [[ 9.99836439e-01 -1.66185369e-02 7.13579118e-03 9.09697408e+01] [ 1.66213033e-02 9.99861803e-01 -3.28538558e-04 -2.43909202e+00] [-7.12934520e-03 4.47090971e-04 9.99974486e-01 -1.58373776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954391418 meters 0.036090513350366255 Centerline is valid? [True, True] Translation: X:91.00, Y:-2.42, Z:-1.58 [[ 9.99877144e-01 -1.42949217e-02 6.43050748e-03 9.10015685e+01] [ 1.42971153e-02 9.99897747e-01 -2.95272826e-04 -2.42299080e+00] [-6.42562904e-03 3.87174257e-04 9.99979280e-01 -1.58313119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters 0.035982306787512915 Centerline is valid? [True, True] Translation: X:91.03, Y:-2.42, Z:-1.59 [[ 9.99913374e-01 -1.17998148e-02 5.83176926e-03 9.10316640e+01] [ 1.18015719e-02 9.99930323e-01 -2.66967297e-04 -2.42304790e+00] [-5.82821275e-03 3.35768215e-04 9.99982959e-01 -1.58592183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01439141799999 meters 0.034373596638849854 Centerline is valid? [True, True] Translation: X:91.06, Y:-2.42, Z:-1.59 [[ 9.99937591e-01 -1.01268120e-02 4.71827656e-03 9.10640657e+01] [ 1.01279468e-02 9.99948688e-01 -2.16687236e-04 -2.42231629e+00] [-4.71584011e-03 2.64460167e-04 9.99988845e-01 -1.58872761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters 0.03465452938916369 Centerline is valid? [True, True] Translation: X:91.10, Y:-2.42, Z:-1.59 [[ 9.99951615e-01 -9.00061527e-03 3.96953628e-03 9.10951299e+01] [ 9.00141119e-03 9.99959470e-01 -1.82687606e-04 -2.42426707e+00] [-3.96773109e-03 2.18410195e-04 9.99992105e-01 -1.59139028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07439141799999 meters 0.034977242497093705 Centerline is valid? [True, True] Translation: X:91.13, Y:-2.42, Z:-1.59 [[ 9.99964746e-01 -7.55834358e-03 3.65752391e-03 9.11261149e+01] [ 7.55901022e-03 9.99971416e-01 -1.68475504e-04 -2.42159607e+00] [-3.65614597e-03 1.96116826e-04 9.99993297e-01 -1.59169382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799999 meters 0.032496813781312334 Centerline is valid? [True, True] Translation: X:91.16, Y:-2.41, Z:-1.59 [[ 9.99973878e-01 -6.16646738e-03 3.77066631e-03 9.11584285e+01] [ 6.16716587e-03 9.99980968e-01 -1.73642457e-04 -2.41452379e+00] [-3.76952378e-03 1.96892246e-04 9.99992876e-01 -1.58990369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13439141799999 meters 0.0341649258021014 Centerline is valid? [True, True] Translation: X:91.19, Y:-2.41, Z:-1.59 [[ 9.99983053e-01 -3.81468559e-03 4.39795345e-03 9.11888322e+01] [ 3.81561945e-03 9.99992700e-01 -2.03967876e-04 -2.41256566e+00] [-4.39714327e-03 2.20745336e-04 9.99990308e-01 -1.58926673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164391418 meters 0.028188127474521422 Centerline is valid? [True, True] Translation: X:91.22, Y:-2.40, Z:-1.59 [[ 9.99986037e-01 3.08691710e-03 4.28910437e-03 9.12203698e+01] [-3.08609082e-03 9.99995218e-01 -1.99251704e-04 -2.39584665e+00] [-4.28969894e-03 1.86012356e-04 9.99990782e-01 -1.58746858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194391418 meters 0.02700994402016135 Centerline is valid? [True, True] Translation: X:91.25, Y:-2.39, Z:-1.59 [[ 9.99966985e-01 6.81835884e-03 4.42037582e-03 9.12512964e+01] [-6.81751985e-03 9.99976739e-01 -2.04842645e-04 -2.39242720e+00] [-4.42166969e-03 1.74699882e-04 9.99990209e-01 -1.58872589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224391418 meters 0.0254671316482199 Centerline is valid? [True, True] Translation: X:91.28, Y:-2.39, Z:-1.59 [[ 9.99936131e-01 1.02100098e-02 4.84662587e-03 9.12819504e+01] [-1.02090371e-02 9.99947861e-01 -2.25386795e-04 -2.38965610e+00] [-4.84867438e-03 1.75893016e-04 9.99988230e-01 -1.58994962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254391418 meters 0.023102863030504357 Centerline is valid? [True, True] Translation: X:91.31, Y:-2.38, Z:-1.59 [[ 9.99859146e-01 1.55467633e-02 6.32345742e-03 9.13121800e+01] [-1.55452141e-02 9.99879123e-01 -2.94065157e-04 -2.38323654e+00] [-6.32726481e-03 1.95724237e-04 9.99979964e-01 -1.59000578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284391418 meters 0.02245813385287058 Centerline is valid? [True, True] Translation: X:91.34, Y:-2.38, Z:-1.59 [[ 9.99829937e-01 1.71854948e-02 6.69001598e-03 9.13417161e+01] [-1.71837945e-02 9.99852299e-01 -3.11550101e-04 -2.37982129e+00] [-6.69438200e-03 1.96537258e-04 9.99977573e-01 -1.58942228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314391418 meters 0.021709823188623197 Centerline is valid? [True, True] Translation: X:91.37, Y:-2.38, Z:-1.59 [[ 9.99799890e-01 1.88144369e-02 6.79688093e-03 9.13714219e+01] [-1.88127213e-02 9.99822975e-01 -3.16251555e-04 -2.37636366e+00] [-6.80162781e-03 1.88320443e-04 9.99976851e-01 -1.58919223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344391418 meters 0.02115460827718599 Centerline is valid? [True, True] Translation: X:91.40, Y:-2.37, Z:-1.59 [[ 9.99762951e-01 2.08311517e-02 6.33284691e-03 9.14004767e+01] [-2.08297028e-02 9.99782995e-01 -2.94683047e-04 -2.37356448e+00] [-6.33761124e-03 1.62701874e-04 9.99979904e-01 -1.59098219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37439141799999 meters 0.019585280634460404 Centerline is valid? [True, True] Translation: X:91.43, Y:-2.37, Z:-1.59 [[ 9.99746367e-01 2.16468317e-02 6.21421188e-03 9.14294428e+01] [-2.16454528e-02 9.99765668e-01 -2.89087716e-04 -2.37168913e+00] [-6.21901352e-03 1.54504965e-04 9.99980650e-01 -1.59107467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters 0.019060540952823744 Centerline is valid? [True, True] Translation: X:91.46, Y:-2.37, Z:-1.59 [[ 9.99720606e-01 2.27061575e-02 6.56806392e-03 9.14583761e+01] [-2.27046438e-02 9.99742170e-01 -3.04946529e-04 -2.37093179e+00] [-6.57329464e-03 1.55735777e-04 9.99978384e-01 -1.59102165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43439141799999 meters 0.018497690188394575 Centerline is valid? [True, True] Translation: X:91.49, Y:-2.37, Z:-1.59 [[ 9.99651026e-01 2.52944444e-02 7.61685676e-03 9.14864081e+01] [-2.52924887e-02 9.99680032e-01 -3.52984065e-04 -2.36686534e+00] [-7.62334814e-03 1.60211619e-04 9.99970929e-01 -1.58919701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799999 meters 0.017224760014645003 Centerline is valid? [True, True] Translation: X:91.52, Y:-2.36, Z:-1.59 [[ 9.99632855e-01 2.60561171e-02 7.43190505e-03 9.15151120e+01] [-2.60542827e-02 9.99660471e-01 -3.43555640e-04 -2.36381550e+00] [-7.43833343e-03 1.49796550e-04 9.99972324e-01 -1.58865600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49439141799999 meters 0.018900530177090764 Centerline is valid? [True, True] Translation: X:91.54, Y:-2.37, Z:-1.59 [[ 9.99623740e-01 2.67044196e-02 6.26521588e-03 9.15426885e+01] [-2.67031290e-02 9.99643366e-01 -2.89572520e-04 -2.36510171e+00] [-6.27071436e-03 1.22162698e-04 9.99980331e-01 -1.59135158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524391418 meters 0.01857371399496538 Centerline is valid? [True, True] Translation: X:91.57, Y:-2.37, Z:-1.59 [[ 9.99664923e-01 2.50922301e-02 6.35774711e-03 9.15699047e+01] [-2.50908731e-02 9.99685132e-01 -2.93122254e-04 -2.37022799e+00] [-6.36310034e-03 1.33502610e-04 9.99979746e-01 -1.59478603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554391418 meters 0.017676490310385314 Centerline is valid? [True, True] Translation: X:91.60, Y:-2.37, Z:-1.60 [[ 9.99696755e-01 2.36058043e-02 7.01176595e-03 9.15985919e+01] [-2.36041243e-02 9.99721332e-01 -3.22262391e-04 -2.37279816e+00] [-7.01741926e-03 1.56658072e-04 9.99975365e-01 -1.59529914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584391418 meters 0.01894863563404965 Centerline is valid? [True, True] Translation: X:91.63, Y:-2.38, Z:-1.60 [[ 9.99732850e-01 2.19211260e-02 7.32758868e-03 9.16265331e+01] [-2.19192510e-02 9.99759688e-01 -3.36100339e-04 -2.37782742e+00] [-7.33319547e-03 1.75395295e-04 9.99973096e-01 -1.59629370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614391418 meters 0.01952586978864091 Centerline is valid? [True, True] Translation: X:91.66, Y:-2.38, Z:-1.60 [[ 9.99766626e-01 2.02724910e-02 7.46459077e-03 9.16562869e+01] [-2.02705074e-02 9.99794474e-01 -3.41307277e-04 -2.37982998e+00] [-7.46997575e-03 1.89916583e-04 9.99972081e-01 -1.59569248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644391418 meters 0.01952586978864091 Centerline is valid? [True, True] Translation: X:91.68, Y:-2.38, Z:-1.60 [[ 9.99768237e-01 2.01928706e-02 7.46458520e-03 9.16845758e+01] [-2.01908838e-02 9.99796085e-01 -3.41429912e-04 -2.38104340e+00] [-7.46995751e-03 1.90634209e-04 9.99972081e-01 -1.59620319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674391418 meters 0.021071989553698836 Centerline is valid? [True, True] Translation: X:91.71, Y:-2.38, Z:-1.59 [[ 9.99826118e-01 1.71066788e-02 7.42257848e-03 9.17140211e+01] [-1.71046353e-02 9.99853648e-01 -3.38708870e-04 -2.37899900e+00] [-7.42728635e-03 2.11689477e-04 9.99972395e-01 -1.59339687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704391418 meters 0.02180502748413348 Centerline is valid? [True, True] Translation: X:91.74, Y:-2.38, Z:-1.59 [[ 9.99839528e-01 1.61909249e-02 7.66635659e-03 9.17422800e+01] [-1.61887218e-02 9.99868893e-01 -3.49337842e-04 -2.37986445e+00] [-7.67100758e-03 2.25173268e-04 9.99970552e-01 -1.59304362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73439141799999 meters 0.023023717786405544 Centerline is valid? [True, True] Translation: X:91.77, Y:-2.38, Z:-1.59 [[ 9.99846969e-01 1.54877087e-02 8.13447149e-03 9.17713679e+01] [-1.54852128e-02 9.99880029e-01 -3.69731789e-04 -2.38409190e+00] [-8.13922189e-03 2.43711187e-04 9.99966846e-01 -1.59400162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters 0.021804101457925128 Centerline is valid? [True, True] Translation: X:91.80, Y:-2.39, Z:-1.60 [[ 9.99874780e-01 1.40937593e-02 7.19652928e-03 9.18011233e+01] [-1.40917725e-02 9.99900653e-01 -3.26711953e-04 -2.38815893e+00] [-7.20041892e-03 2.25259189e-04 9.99974051e-01 -1.59718371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79439141799999 meters 0.022195205717903503 Centerline is valid? [True, True] Translation: X:91.83, Y:-2.39, Z:-1.60 [[ 9.99887308e-01 1.34943374e-02 6.57837085e-03 9.18315274e+01] [-1.34926635e-02 9.99908925e-01 -2.98767674e-04 -2.39241973e+00] [-6.58180340e-03 2.09974261e-04 9.99978318e-01 -1.60015964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799999 meters 0.022838918111969055 Centerline is valid? [True, True] Translation: X:91.86, Y:-2.40, Z:-1.60 [[ 9.99896943e-01 1.30299461e-02 6.02699290e-03 9.18608761e+01] [-1.30285312e-02 9.99915088e-01 -2.73964018e-04 -2.39592587e+00] [-6.03005087e-03 1.95412919e-04 9.99981800e-01 -1.60234866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85439141799999 meters 0.02303926929589194 Centerline is valid? [True, True] Translation: X:91.89, Y:-2.40, Z:-1.60 [[ 9.99893582e-01 1.26019649e-02 7.34956864e-03 9.18904249e+01] [-1.25998494e-02 9.99920563e-01 -3.34068321e-04 -2.39702747e+00] [-7.35319473e-03 2.41429312e-04 9.99972936e-01 -1.60130640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799999 meters 0.0235253235598781 Centerline is valid? [True, True] Translation: X:91.92, Y:-2.40, Z:-1.60 [[ 9.99883640e-01 1.29110408e-02 8.12475111e-03 9.19209488e+01] [-1.29084804e-02 9.99916615e-01 -3.67500312e-04 -2.39785293e+00] [-8.12881844e-03 2.62579359e-04 9.99966926e-01 -1.60019390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914391418 meters 0.023270634685561065 Centerline is valid? [True, True] Translation: X:91.95, Y:-2.40, Z:-1.60 [[ 9.99870039e-01 1.35829884e-02 8.68376288e-03 9.19510784e+01] [-1.35800716e-02 9.99907709e-01 -3.94764328e-04 -2.39819655e+00] [-8.68832352e-03 2.76786902e-04 9.99962217e-01 -1.59903339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944391418 meters 0.022936728796790592 Centerline is valid? [True, True] Translation: X:91.98, Y:-2.40, Z:-1.60 [[ 9.99855986e-01 1.47058752e-02 8.47023265e-03 9.19817298e+01] [-1.47031404e-02 9.99891829e-01 -3.85057232e-04 -2.39923544e+00] [-8.47497902e-03 2.60462759e-04 9.99964053e-01 -1.59930476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974391418 meters 0.021583980484328042 Centerline is valid? [True, True] Translation: X:92.01, Y:-2.40, Z:-1.60 [[ 9.99823015e-01 1.75568820e-02 6.75975707e-03 9.20118773e+01] [-1.75552054e-02 9.99845848e-01 -3.07298920e-04 -2.39953403e+00] [-6.76411025e-03 1.88575610e-04 9.99977105e-01 -1.60234540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004391418 meters 0.02130572977924367 Centerline is valid? [True, True] Translation: X:92.04, Y:-2.40, Z:-1.60 [[ 9.99817537e-01 1.78029888e-02 6.92426222e-03 9.20406102e+01] [-1.78012309e-02 9.99841496e-01 -3.15436508e-04 -2.40351606e+00] [-6.92878041e-03 1.92118563e-04 9.99975977e-01 -1.60445655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034391418 meters 0.019124820183883142 Centerline is valid? [True, True] Translation: X:92.07, Y:-2.40, Z:-1.61 [[ 9.99794088e-01 1.90153925e-02 7.08493471e-03 9.20698950e+01] [-1.90135870e-02 9.99819174e-01 -3.22106947e-04 -2.40315870e+00] [-7.08977855e-03 1.87330599e-04 9.99974850e-01 -1.60617673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064391418 meters 0.020582940772701664 Centerline is valid? [True, True] Translation: X:92.10, Y:-2.41, Z:-1.61 [[ 9.99771839e-01 1.98792137e-02 7.81576436e-03 9.20986311e+01] [-1.98770444e-02 9.99802369e-01 -3.55140756e-04 -2.40695343e+00] [-7.82127964e-03 1.99705431e-04 9.99969393e-01 -1.60723676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094391418 meters 0.01758501239382064 Centerline is valid? [True, True] Translation: X:92.13, Y:-2.40, Z:-1.60 [[ 9.99682865e-01 2.29879861e-02 1.02820747e-02 9.21287198e+01] [-2.29844076e-02 9.99735715e-01 -4.66081545e-04 -2.40240750e+00] [-1.02900716e-02 2.29606339e-04 9.99947029e-01 -1.60335905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters 0.01758501239382064 Centerline is valid? [True, True] Translation: X:92.16, Y:-2.40, Z:-1.60 [[ 9.99683799e-01 2.29473269e-02 1.02820937e-02 9.21578491e+01] [-2.29437506e-02 9.99736649e-01 -4.65661529e-04 -2.40368826e+00] [-1.02900716e-02 2.29604493e-04 9.99947029e-01 -1.60388496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15439141799999 meters 0.016150586771162732 Centerline is valid? [True, True] Translation: X:92.19, Y:-2.40, Z:-1.60 [[ 9.99574170e-01 2.72510416e-02 1.04335240e-02 9.21882057e+01] [-2.72475996e-02 9.99628604e-01 -4.71928800e-04 -2.40206839e+00] [-1.04425095e-02 1.87439356e-04 9.99945458e-01 -1.60293362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters 0.01557354134274682 Centerline is valid? [True, True] Translation: X:92.22, Y:-2.40, Z:-1.60 [[ 9.99523407e-01 2.93759457e-02 9.48753722e-03 9.22175217e+01] [-2.93731935e-02 9.99568422e-01 -4.29326179e-04 -2.40213674e+00] [-9.49605447e-03 1.50442298e-04 9.99954900e-01 -1.60454167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21439141799999 meters 0.014771443069613331 Centerline is valid? [True, True] Translation: X:92.25, Y:-2.40, Z:-1.61 [[ 9.99474697e-01 3.13564703e-02 8.19151536e-03 9.22466142e+01] [-3.13544863e-02 9.99508259e-01 -3.70544441e-04 -2.40214958e+00] [-8.19910622e-03 1.13509037e-04 9.99966380e-01 -1.60634059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799999 meters 0.014253649640392722 Centerline is valid? [True, True] Translation: X:92.27, Y:-2.40, Z:-1.61 [[ 9.99393625e-01 3.39393519e-02 7.77828835e-03 9.22742871e+01] [-3.39376441e-02 9.99423890e-01 -3.51483877e-04 -2.40355017e+00] [-7.78573633e-03 8.72939650e-05 9.99969687e-01 -1.60945640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274391418 meters 0.014184274620463472 Centerline is valid? [True, True] Translation: X:92.30, Y:-2.41, Z:-1.61 [[ 9.99362115e-01 3.46397781e-02 8.68613233e-03 9.23026477e+01] [-3.46376862e-02 9.99399859e-01 -3.91201685e-04 -2.40535654e+00] [-8.69447057e-03 9.00846172e-05 9.99962198e-01 -1.60979588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304391418 meters 0.014047807600280654 Centerline is valid? [True, True] Translation: X:92.33, Y:-2.41, Z:-1.61 [[ 9.99337543e-01 3.50067740e-02 9.94989752e-03 9.23313841e+01] [-3.50040574e-02 9.99387070e-01 -4.47098572e-04 -2.40753453e+00] [-9.95945041e-03 9.85156050e-05 9.99950399e-01 -1.60953089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334391418 meters 0.013833310490034558 Centerline is valid? [True, True] Translation: X:92.36, Y:-2.41, Z:-1.61 [[ 9.99304286e-01 3.52463813e-02 1.21916729e-02 9.23603262e+01] [-3.52423361e-02 9.99378646e-01 -5.46545555e-04 -2.40903053e+00] [-1.22033613e-02 1.16502283e-04 9.99925529e-01 -1.60628700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364391418 meters 0.014088900906211788 Centerline is valid? [True, True] Translation: X:92.39, Y:-2.41, Z:-1.61 [[ 9.99298904e-01 3.51826238e-02 1.28017067e-02 9.23882722e+01] [-3.51781713e-02 9.99380892e-01 -5.72889347e-04 -2.41019598e+00] [-1.28139368e-02 1.22147065e-04 9.99917891e-01 -1.60611473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394391418 meters 0.013883031391989976 Centerline is valid? [True, True] Translation: X:92.42, Y:-2.41, Z:-1.61 [[ 9.99307790e-01 3.51530397e-02 1.21739119e-02 9.24167677e+01] [-3.51490271e-02 9.99381934e-01 -5.43471502e-04 -2.41164367e+00] [-1.21854923e-02 1.15194146e-04 9.99925747e-01 -1.60653916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424391418 meters 0.014520011988422434 Centerline is valid? [True, True] Translation: X:92.44, Y:-2.42, Z:-1.61 [[ 9.99401030e-01 3.29165095e-02 1.06810871e-02 9.24448873e+01] [-3.29133020e-02 9.99458097e-01 -4.75991383e-04 -2.41574035e+00] [-1.06909669e-02 1.24156434e-04 9.99942842e-01 -1.60946084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454391418 meters 0.01514041478708331 Centerline is valid? [True, True] Translation: X:92.47, Y:-2.42, Z:-1.61 [[ 9.99476442e-01 3.05604969e-02 1.06253134e-02 9.24738604e+01] [-3.05571948e-02 9.99532908e-01 -4.73018815e-04 -2.41992160e+00] [-1.06348061e-02 1.48091392e-04 9.99943438e-01 -1.61081292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters 0.016498723998334488 Centerline is valid? [True, True] Translation: X:92.50, Y:-2.43, Z:-1.61 [[ 9.99611551e-01 2.47658646e-02 1.27827975e-02 9.25035874e+01] [-2.47606308e-02 9.99693247e-01 -5.67565126e-04 -2.42805761e+00] [-1.27929326e-02 2.50834527e-04 9.99918136e-01 -1.61023477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51439141799999 meters 0.017599025774692703 Centerline is valid? [True, True] Translation: X:92.53, Y:-2.43, Z:-1.61 [[ 9.99658323e-01 2.20342094e-02 1.40616978e-02 9.25337961e+01] [-2.20276171e-02 9.99757168e-01 -6.23539369e-04 -2.43288664e+00] [-1.40720224e-02 3.13580624e-04 9.99900935e-01 -1.60976085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters 0.019856813743843304 Centerline is valid? [True, True] Translation: X:92.57, Y:-2.44, Z:-1.61 [[ 9.99671118e-01 2.03658904e-02 1.55848131e-02 9.25653157e+01] [-2.03575914e-02 9.99792524e-01 -6.90980057e-04 -2.43644690e+00] [-1.55956520e-02 3.73483549e-04 9.99878311e-01 -1.60971727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57439141799999 meters 0.02135832236222016 Centerline is valid? [True, True] Translation: X:92.60, Y:-2.44, Z:-1.61 [[ 9.99711345e-01 1.69650554e-02 1.70121546e-02 9.25966630e+01] [-1.69546633e-02 9.99855974e-01 -7.54918764e-04 -2.44161072e+00] [-1.70225116e-02 4.66265501e-04 9.99854998e-01 -1.60677395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799999 meters 0.021471104092803114 Centerline is valid? [True, True] Translation: X:92.63, Y:-2.44, Z:-1.61 [[ 9.99742180e-01 1.59251686e-02 1.61852541e-02 9.26283481e+01] [-1.59155926e-02 9.99873079e-01 -7.20291849e-04 -2.44341804e+00] [-1.61946706e-02 4.62508234e-04 9.99868751e-01 -1.60713093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63439141799999 meters 0.021947217259786073 Centerline is valid? [True, True] Translation: X:92.66, Y:-2.45, Z:-1.61 [[ 9.99776381e-01 1.55909288e-02 1.42867305e-02 9.26607905e+01] [-1.55833903e-02 9.99878368e-01 -6.38835462e-04 -2.44520018e+00] [-1.42949528e-02 4.16056909e-04 9.99897735e-01 -1.60945094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664391418 meters 0.02206294959205551 Centerline is valid? [True, True] Translation: X:92.69, Y:-2.45, Z:-1.61 [[ 9.99790460e-01 1.60519804e-02 1.27031324e-02 9.26935854e+01] [-1.60460231e-02 9.99871091e-01 -5.70749645e-04 -2.44736427e+00] [-1.27106566e-02 3.66795293e-04 9.99919149e-01 -1.61273156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694391418 meters 0.020731631341899544 Centerline is valid? [True, True] Translation: X:92.73, Y:-2.45, Z:-1.62 [[ 9.99767651e-01 1.73964735e-02 1.27282134e-02 9.27252729e+01] [-1.73905342e-02 9.99848607e-01 -5.77158718e-04 -2.45009283e+00] [-1.27363270e-02 3.55674185e-04 9.99918826e-01 -1.61583154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724391418 meters 0.01961341138338523 Centerline is valid? [True, True] Translation: X:92.76, Y:-2.45, Z:-1.62 [[ 9.99717677e-01 1.88786668e-02 1.44278148e-02 9.27572251e+01] [-1.88711868e-02 9.99821709e-01 -6.54424918e-04 -2.45178759e+00] [-1.44375971e-02 3.81970170e-04 9.99895700e-01 -1.61509553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754391418 meters 0.018424383077523424 Centerline is valid? [True, True] Translation: X:92.79, Y:-2.45, Z:-1.61 [[ 9.99642691e-01 2.12218868e-02 1.62517986e-02 9.27893031e+01] [-2.12126193e-02 9.99774711e-01 -7.42430640e-04 -2.45235253e+00] [-1.62638930e-02 3.97422147e-04 9.99867655e-01 -1.61386995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784391418 meters 0.017923100707960608 Centerline is valid? [True, True] Translation: X:92.82, Y:-2.45, Z:-1.61 [[ 9.99473552e-01 2.75692385e-02 1.71042414e-02 9.28196527e+01] [-2.75598089e-02 9.99619847e-01 -7.86809272e-04 -2.44808184e+00] [-1.71194309e-02 3.15005434e-04 9.99853402e-01 -1.61118283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814391418 meters 0.015390747503902126 Centerline is valid? [True, True] Translation: X:92.85, Y:-2.44, Z:-1.61 [[ 9.99378007e-01 3.10834901e-02 1.66558166e-02 9.28510990e+01] [-3.10750313e-02 9.99516761e-01 -7.66489046e-04 -2.44397590e+00] [-1.66715930e-02 2.48432274e-04 9.99860988e-01 -1.61033710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844391418 meters 0.014472562291585288 Centerline is valid? [True, True] Translation: X:92.88, Y:-2.44, Z:-1.61 [[ 9.99254123e-01 3.52194702e-02 1.58362352e-02 9.28805334e+01] [-3.52123328e-02 9.99379587e-01 -7.29395585e-04 -2.44086929e+00] [-1.58520992e-02 1.71220761e-04 9.99874333e-01 -1.61114957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87439141799999 meters 0.013679544756902655 Centerline is valid? [True, True] Translation: X:92.91, Y:-2.44, Z:-1.61 [[ 9.99131639e-01 3.90711120e-02 1.44712365e-02 9.29099302e+01] [-3.90655420e-02 9.99236427e-01 -6.67486749e-04 -2.43895722e+00] [-1.44862661e-02 1.01580431e-04 9.99895063e-01 -1.61305078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters 0.013360823404543615 Centerline is valid? [True, True] Translation: X:92.94, Y:-2.44, Z:-1.62 [[ 9.98922292e-01 4.48589704e-02 1.19133540e-02 9.29390767e+01] [-4.48556250e-02 9.98993330e-01 -5.47999058e-04 -2.44038505e+00] [-1.19259438e-02 1.30275368e-05 9.99928883e-01 -1.62003910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93439141799999 meters 0.013441567785196814 Centerline is valid? [True, True] Translation: X:92.97, Y:-2.44, Z:-1.62 [[ 9.98859407e-01 4.64138240e-02 1.12090104e-02 9.29666176e+01] [-4.64109642e-02 9.98922298e-01 -5.15257718e-04 -2.44358927e+00] [-1.12208455e-02 -5.55096322e-06 9.99937044e-01 -1.62320076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799999 meters 0.013464198779826308 Centerline is valid? [True, True] Translation: X:93.00, Y:-2.45, Z:-1.62 [[ 9.98739216e-01 4.85738241e-02 1.26713156e-02 9.29957039e+01] [-4.85703634e-02 9.98819595e-01 -5.80891148e-04 -2.44541302e+00] [-1.26845744e-02 -3.52916332e-05 9.99919547e-01 -1.62225503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99439141799999 meters 0.013518698634898059 Centerline is valid? [True, True] Translation: X:93.02, Y:-2.44, Z:-1.62 [[ 9.98667500e-01 4.97685433e-02 1.36497606e-02 9.30237852e+01] [-4.97646534e-02 9.98760777e-01 -6.24693399e-04 -2.44383465e+00] [-1.36639356e-02 -5.54146092e-05 9.99906643e-01 -1.62003779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024391418 meters 0.013855179562796787 Centerline is valid? [True, True] Translation: X:93.05, Y:-2.44, Z:-1.62 [[ 9.98610232e-01 5.09312219e-02 1.35504435e-02 9.30523868e+01] [-5.09275163e-02 9.98702161e-01 -6.18605886e-04 -2.44158374e+00] [-1.35643636e-02 -7.23442672e-05 9.99907997e-01 -1.61784793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054391418 meters 0.014175364968565024 Centerline is valid? [True, True] Translation: X:93.08, Y:-2.44, Z:-1.62 [[ 9.98476094e-01 5.35279565e-02 1.34256439e-02 9.30808068e+01] [-5.35245660e-02 9.98566345e-01 -6.11986871e-04 -2.44086073e+00] [-1.34391546e-02 -1.07547502e-04 9.99909685e-01 -1.61659807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084391418 meters 0.014324807267617756 Centerline is valid? [True, True] Translation: X:93.11, Y:-2.45, Z:-1.62 [[ 9.98442127e-01 5.42774200e-02 1.29337181e-02 9.31091616e+01] [-5.42743527e-02 9.98525888e-01 -5.88297905e-04 -2.44505722e+00] [-1.29465836e-02 -1.14587765e-04 9.99916183e-01 -1.61829740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114391418 meters 0.01441661860096879 Centerline is valid? [True, True] Translation: X:93.14, Y:-2.45, Z:-1.62 [[ 9.98419768e-01 5.47560653e-02 1.26387972e-02 9.31371203e+01] [-5.47531858e-02 9.98499754e-01 -5.73996144e-04 -2.44925650e+00] [-1.26512657e-02 -1.18925314e-04 9.99919962e-01 -1.62101653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144391418 meters 0.014333771481757084 Centerline is valid? [True, True] Translation: X:93.17, Y:-2.45, Z:-1.62 [[ 9.98445559e-01 5.43470867e-02 1.23636554e-02 9.31651594e+01] [-5.43443133e-02 9.98522099e-01 -5.60415751e-04 -2.45356550e+00] [-1.23758401e-02 -1.12349746e-04 9.99923410e-01 -1.62268062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174391418 meters 0.016301297330890807 Centerline is valid? [True, True] Translation: X:93.19, Y:-2.46, Z:-1.62 [[ 9.98550842e-01 5.20306534e-02 1.37486837e-02 9.31938012e+01] [-5.20270329e-02 9.98645484e-01 -6.21112180e-04 -2.45949004e+00] [-1.37623778e-02 -9.50911279e-05 9.99905289e-01 -1.62383000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204391418 meters 0.013674628118166167 Centerline is valid? [True, True] Translation: X:93.22, Y:-2.46, Z:-1.62 [[ 9.98673641e-01 4.90823961e-02 1.55523977e-02 9.32211250e+01] [-4.90774276e-02 9.98794731e-01 -7.01194494e-04 -2.46315927e+00] [-1.55680691e-02 -6.30072119e-05 9.99878808e-01 -1.62139229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23439141799999 meters 0.013650464703414245 Centerline is valid? [True, True] Translation: X:93.25, Y:-2.47, Z:-1.62 [[ 9.98775495e-01 4.66077963e-02 1.65898969e-02 9.32497601e+01] [-4.66018316e-02 9.98913266e-01 -7.46155970e-04 -2.46730646e+00] [-1.66066448e-02 -2.78772832e-05 9.99862100e-01 -1.62022453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters 0.013595499282030379 Centerline is valid? [True, True] Translation: X:93.28, Y:-2.48, Z:-1.62 [[ 9.98974213e-01 4.21571034e-02 1.65317739e-02 9.32773873e+01] [-4.21505924e-02 9.99110993e-01 -7.42243403e-04 -2.47563071e+00] [-1.65483679e-02 4.46579544e-05 9.99863065e-01 -1.61962189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29439141799999 meters 0.013721027096597208 Centerline is valid? [True, True] Translation: X:93.31, Y:-2.48, Z:-1.62 [[ 9.99074068e-01 4.01365446e-02 1.54940188e-02 9.33058092e+01] [-4.01306054e-02 9.99194202e-01 -6.94164912e-04 -2.48084743e+00] [-1.55093951e-02 7.17378098e-05 9.99879720e-01 -1.62092992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799999 meters 0.014082821780271142 Centerline is valid? [True, True] Translation: X:93.33, Y:-2.49, Z:-1.62 [[ 9.99175650e-01 3.79848594e-02 1.43238090e-02 9.33343923e+01] [-3.79795776e-02 9.99278310e-01 -6.40682568e-04 -2.48642579e+00] [-1.43378079e-02 9.61422037e-05 9.99897204e-01 -1.62254071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35439141799999 meters 0.015368640996122482 Centerline is valid? [True, True] Translation: X:93.36, Y:-2.50, Z:-1.63 [[ 9.99351078e-01 3.34998993e-02 1.32355549e-02 9.33635730e+01] [-3.34950128e-02 9.99438710e-01 -5.90757899e-04 -2.49698333e+00] [-1.32479162e-02 1.47049464e-04 9.99912232e-01 -1.62548023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799999 meters 0.015455372298203226 Centerline is valid? [True, True] Translation: X:93.39, Y:-2.50, Z:-1.63 [[ 9.99433941e-01 3.10542269e-02 1.29396063e-02 9.33918841e+01] [-3.10493522e-02 9.99517686e-01 -5.77496434e-04 -2.50034018e+00] [-1.29512991e-02 1.75403142e-04 9.99916113e-01 -1.62583896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414391418 meters 0.016140184135295835 Centerline is valid? [True, True] Translation: X:93.42, Y:-2.50, Z:-1.63 [[ 9.99496476e-01 2.87995149e-02 1.33184860e-02 9.34211494e+01] [-2.87941654e-02 9.99585186e-01 -5.93284608e-04 -2.50475638e+00] [-1.33300477e-02 2.09491186e-04 9.99911129e-01 -1.62634368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444391418 meters 0.017674695847797777 Centerline is valid? [True, True] Translation: X:93.45, Y:-2.51, Z:-1.63 [[ 9.99587756e-01 2.51745610e-02 1.38043386e-02 9.34510215e+01] [-2.51684747e-02 9.99683035e-01 -6.14467989e-04 -2.51240564e+00] [-1.38154321e-02 2.66780531e-04 9.99904527e-01 -1.62722392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474391418 meters 0.017613040375096974 Centerline is valid? [True, True] Translation: X:93.48, Y:-2.52, Z:-1.63 [[ 9.99619734e-01 2.39654278e-02 1.36398528e-02 9.34826513e+01] [-2.39593708e-02 9.99712749e-01 -6.07322051e-04 -2.51629517e+00] [-1.36504894e-02 2.80288816e-04 9.99906788e-01 -1.62821135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504391418 meters 0.018478106839263014 Centerline is valid? [True, True] Translation: X:93.51, Y:-2.52, Z:-1.63 [[ 9.99655586e-01 2.28357478e-02 1.29320383e-02 9.35138972e+01] [-2.28302170e-02 9.99739191e-01 -5.75168493e-04 -2.52174599e+00] [-1.29417999e-02 2.79729156e-04 9.99916212e-01 -1.62932702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534391418 meters 0.018478106839263014 Centerline is valid? [True, True] Translation: X:93.54, Y:-2.52, Z:-1.63 [[ 9.99654678e-01 2.28755982e-02 1.29318355e-02 9.35447109e+01] [-2.28700122e-02 9.99738279e-01 -5.79691098e-04 -2.52316428e+00] [-1.29417118e-02 2.83739682e-04 9.99916212e-01 -1.62988223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564391418 meters 0.01895355541140463 Centerline is valid? [True, True] Translation: X:93.58, Y:-2.53, Z:-1.63 [[ 9.99694040e-01 2.15021483e-02 1.22263314e-02 9.35756369e+01] [-2.14970471e-02 9.99768761e-01 -5.48513029e-04 -2.52699750e+00] [-1.22352984e-02 2.85515185e-04 9.99925105e-01 -1.63054732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594391418 meters 0.020544021262906074 Centerline is valid? [True, True] Translation: X:93.61, Y:-2.53, Z:-1.63 [[ 9.99765830e-01 1.86797944e-02 1.09248021e-02 9.36069636e+01] [-1.86755661e-02 9.99825477e-01 -4.88937116e-04 -2.53221861e+00] [-1.09320288e-02 2.84795757e-04 9.99940203e-01 -1.63126768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters 0.021457260348302566 Centerline is valid? [True, True] Translation: X:93.64, Y:-2.53, Z:-1.63 [[ 9.99812415e-01 1.67000525e-02 9.81035344e-03 9.36383300e+01] [-1.66965098e-02 9.99860505e-01 -4.42911614e-04 -2.53454314e+00] [-9.81638160e-03 2.79029868e-04 9.99951779e-01 -1.63232920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65439141799999 meters 0.021932868475160638 Centerline is valid? [True, True] Translation: X:93.67, Y:-2.54, Z:-1.63 [[ 9.99861634e-01 1.36127396e-02 9.56067385e-03 9.36697669e+01] [-1.36092305e-02 9.99907297e-01 -4.31990939e-04 -2.53815758e+00] [-9.56566813e-03 3.01817751e-04 9.99954202e-01 -1.63321081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters 0.022890363789754495 Centerline is valid? [True, True] Translation: X:93.70, Y:-2.54, Z:-1.63 [[ 9.99868652e-01 1.29294970e-02 9.77277400e-03 9.37004922e+01] [-1.29258117e-02 9.99916361e-01 -4.40165965e-04 -2.54287255e+00] [-9.77764774e-03 3.13787113e-04 9.99952148e-01 -1.63426303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71439141799999 meters 0.022871327721048145 Centerline is valid? [True, True] Translation: X:93.73, Y:-2.55, Z:-1.64 [[ 9.99868099e-01 1.28109125e-02 9.98327168e-03 9.37323187e+01] [-1.28070353e-02 9.99917884e-01 -4.52197609e-04 -2.54674670e+00] [-9.98824496e-03 3.24281850e-04 9.99950064e-01 -1.63510410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799999 meters 0.022149841988449902 Centerline is valid? [True, True] Translation: X:93.76, Y:-2.55, Z:-1.64 [[ 9.99855708e-01 1.36925397e-02 1.00537197e-02 9.37645672e+01] [-1.36886237e-02 9.99906201e-01 -4.58224479e-04 -2.54940101e+00] [-1.00590509e-02 3.20536776e-04 9.99949355e-01 -1.63625767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774391418 meters 0.021225559759931303 Centerline is valid? [True, True] Translation: X:93.80, Y:-2.55, Z:-1.64 [[ 9.99803889e-01 1.73475295e-02 9.55234587e-03 9.37963806e+01] [-1.73441370e-02 9.99849483e-01 -4.37888028e-04 -2.54927645e+00] [-9.55850436e-03 2.72124958e-04 9.99954279e-01 -1.63639133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804391418 meters 0.019829337317889183 Centerline is valid? [True, True] Translation: X:93.83, Y:-2.55, Z:-1.64 [[ 9.99740970e-01 2.07042123e-02 9.45135802e-03 9.38277434e+01] [-2.07009965e-02 9.99785615e-01 -4.37963974e-04 -2.54607131e+00] [-9.45839950e-03 2.42197999e-04 9.99955239e-01 -1.63554489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834391418 meters 0.0171377024719362 Centerline is valid? [True, True] Translation: X:93.86, Y:-2.54, Z:-1.63 [[ 9.99525026e-01 2.92178461e-02 9.80004016e-03 9.38578944e+01] [-2.92147901e-02 9.99573053e-01 -4.54875321e-04 -2.53795152e+00] [-9.80914654e-03 1.68353151e-04 9.99951875e-01 -1.63444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864391418 meters 0.016376340005577326 Centerline is valid? [True, True] Translation: X:93.89, Y:-2.54, Z:-1.64 [[ 9.99382252e-01 3.36509901e-02 1.01353597e-02 9.38872059e+01] [-3.36479377e-02 9.99433637e-01 -4.71581203e-04 -2.53738566e+00] [-1.01454886e-02 1.30255933e-04 9.99948525e-01 -1.63600643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894391418 meters 0.015115563176258581 Centerline is valid? [True, True] Translation: X:93.92, Y:-2.54, Z:-1.64 [[ 9.99231950e-01 3.76935326e-02 1.07101519e-02 9.39166317e+01] [-3.76903810e-02 9.99289342e-01 -4.96020820e-04 -2.53612444e+00] [-1.07212374e-02 9.19701467e-05 9.99942522e-01 -1.63677417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924391418 meters 0.014390001701729542 Centerline is valid? [True, True] Translation: X:93.95, Y:-2.54, Z:-1.64 [[ 9.99083870e-01 4.13392882e-02 1.10672717e-02 9.39457332e+01] [-4.13361530e-02 9.99145165e-01 -5.11972169e-04 -2.53530811e+00] [-1.10789756e-02 5.40246994e-05 9.99938625e-01 -1.63768403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954391418 meters 0.014030271368759048 Centerline is valid? [True, True] Translation: X:93.97, Y:-2.53, Z:-1.64 [[ 9.98888819e-01 4.55716921e-02 1.20145027e-02 9.39744365e+01] [-4.55683169e-02 9.98961071e-01 -5.54671677e-04 -2.53088529e+00] [-1.20272978e-02 6.57466853e-06 9.99927669e-01 -1.63691112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters 0.015534268587036763 Centerline is valid? [True, True] Translation: X:94.00, Y:-2.53, Z:-1.64 [[ 9.98854056e-01 4.64821914e-02 1.14009266e-02 9.40030162e+01] [-4.64792211e-02 9.98919119e-01 -5.25503064e-04 -2.52979278e+00] [-1.14130301e-02 -5.00532106e-06 9.99934869e-01 -1.63743905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01439141799999 meters 0.014005057399660247 Centerline is valid? [True, True] Translation: X:94.03, Y:-2.53, Z:-1.64 [[ 9.98892963e-01 4.54576835e-02 1.21015851e-02 9.40307089e+01] [-4.54542734e-02 9.98966265e-01 -5.56826435e-04 -2.53052516e+00] [-1.21143873e-02 6.14125082e-06 9.99926618e-01 -1.63679751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters 0.014162637167702209 Centerline is valid? [True, True] Translation: X:94.06, Y:-2.54, Z:-1.64 [[ 9.99055355e-01 4.16236599e-02 1.24847252e-02 9.40591804e+01] [-4.16197521e-02 9.99133359e-01 -5.72778182e-04 -2.53732661e+00] [-1.24977466e-02 5.26259423e-05 9.99921899e-01 -1.63765015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07439141799999 meters 0.014595396877853842 Centerline is valid? [True, True] Translation: X:94.09, Y:-2.54, Z:-1.64 [[ 9.99163616e-01 3.90171488e-02 1.22364334e-02 9.40881285e+01] [-3.90132148e-02 9.99238538e-01 -5.60123035e-04 -2.54333649e+00] [-1.22489703e-02 8.22719502e-05 9.99924975e-01 -1.63891348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799999 meters 0.016979970179602438 Centerline is valid? [True, True] Translation: X:94.12, Y:-2.55, Z:-1.64 [[ 9.99378165e-01 3.34737824e-02 1.10810318e-02 9.41164912e+01] [-3.34702184e-02 9.99439587e-01 -5.06974151e-04 -2.55216737e+00] [-1.10917922e-02 1.35774342e-04 9.99938475e-01 -1.64026831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13439141799999 meters 0.017157672082272153 Centerline is valid? [True, True] Translation: X:94.15, Y:-2.55, Z:-1.64 [[ 9.99484720e-01 3.02396826e-02 1.07636153e-02 9.41465216e+01] [-3.02361451e-02 9.99542663e-01 -4.91268436e-04 -2.55433853e+00] [-1.07735485e-02 1.65565061e-04 9.99941950e-01 -1.63941497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164391418 meters 0.01808364559111451 Centerline is valid? [True, True] Translation: X:94.18, Y:-2.56, Z:-1.64 [[ 9.99575482e-01 2.73707432e-02 9.98488009e-03 9.41768442e+01] [-2.73675544e-02 9.99625334e-01 -4.55884750e-04 -2.55622057e+00] [-9.99361701e-03 1.82429469e-04 9.99950046e-01 -1.64004604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194391418 meters 0.01866925864663112 Centerline is valid? [True, True] Translation: X:94.21, Y:-2.56, Z:-1.64 [[ 9.99664579e-01 2.42002383e-02 9.22374780e-03 9.42063140e+01] [-2.41973826e-02 9.99707112e-01 -4.21086918e-04 -2.55830718e+00] [-9.23123667e-03 1.97755121e-04 9.99957372e-01 -1.64087500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224391418 meters 0.022271454850684692 Centerline is valid? [True, True] Translation: X:94.24, Y:-2.57, Z:-1.64 [[ 9.99803403e-01 1.75073108e-02 9.30851834e-03 9.42354392e+01] [-1.75041196e-02 9.99846701e-01 -4.24200577e-04 -2.57025537e+00] [-9.31451797e-03 2.61179762e-04 9.99956585e-01 -1.64441720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254391418 meters 0.022835886021727543 Centerline is valid? [True, True] Translation: X:94.27, Y:-2.57, Z:-1.64 [[ 9.99856873e-01 1.37588928e-02 9.84511192e-03 9.42663458e+01] [-1.37551262e-02 9.99905292e-01 -4.50195124e-04 -2.57492589e+00] [-9.85037370e-03 3.14709932e-04 9.99951434e-01 -1.64443403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284391418 meters 0.02668923919434232 Centerline is valid? [True, True] Translation: X:94.30, Y:-2.58, Z:-1.64 [[ 9.99890301e-01 1.01773784e-02 1.07613175e-02 9.42974659e+01] [-1.01726733e-02 9.99948136e-01 -4.91869953e-04 -2.58259933e+00] [-1.07657653e-02 3.82344629e-04 9.99941974e-01 -1.64436899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314391418 meters 0.0279557596388686 Centerline is valid? [True, True] Translation: X:94.33, Y:-2.58, Z:-1.64 [[ 9.99913307e-01 4.44401478e-03 1.23947202e-02 9.43286701e+01] [-4.43729877e-03 9.99989993e-01 -5.69292396e-04 -2.58259289e+00] [-1.23971261e-02 5.14243966e-04 9.99923020e-01 -1.64014443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344391418 meters 0.02945244717522646 Centerline is valid? [True, True] Translation: X:94.36, Y:-2.58, Z:-1.64 [[ 9.99912785e-01 2.63867828e-03 1.29406441e-02 9.43604838e+01] [-2.63121864e-03 9.99996362e-01 -5.93441882e-04 -2.58446382e+00] [-1.29421630e-02 5.59340461e-04 9.99916090e-01 -1.63937588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37439141799999 meters 0.02907604584935731 Centerline is valid? [True, True] Translation: X:94.39, Y:-2.59, Z:-1.64 [[ 9.99924067e-01 2.21883098e-05 1.23231432e-02 9.43924625e+01] [-1.51770106e-05 9.99999838e-01 -5.69047029e-04 -2.58584965e+00] [-1.23231539e-02 5.68816791e-04 9.99923905e-01 -1.64095315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters 0.02886523659791655 Centerline is valid? [True, True] Translation: X:94.42, Y:-2.59, Z:-1.64 [[ 9.99932022e-01 -4.53840044e-04 1.16509757e-02 9.44242455e+01] [ 4.60134307e-04 9.99999750e-01 -5.37559955e-04 -2.58750522e+00] [-1.16507289e-02 5.42884427e-04 9.99931981e-01 -1.64297218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43439141799999 meters 0.029975858282199952 Centerline is valid? [True, True] Translation: X:94.45, Y:-2.59, Z:-1.64 [[ 9.99934257e-01 -5.35108097e-04 1.14540397e-02 9.44548332e+01] [ 5.41238243e-04 9.99999712e-01 -5.32102057e-04 -2.59037772e+00] [-1.14537517e-02 5.38266439e-04 9.99934259e-01 -1.64474841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799999 meters 0.02907018076065899 Centerline is valid? [True, True] Translation: X:94.49, Y:-2.59, Z:-1.65 [[ 9.99943021e-01 -5.19789547e-04 1.06623274e-02 9.44871040e+01] [ 5.25134758e-04 9.99999738e-01 -4.98523972e-04 -2.58756869e+00] [-1.06620655e-02 5.04094725e-04 9.99943032e-01 -1.64614170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49439141799999 meters 0.03061056927022988 Centerline is valid? [True, True] Translation: X:94.52, Y:-2.59, Z:-1.65 [[ 9.99943315e-01 2.78366524e-04 1.06437575e-02 9.45179581e+01] [-2.73074054e-04 9.99999838e-01 -4.98687011e-04 -2.58947342e+00] [-1.06438946e-02 4.95752209e-04 9.99943229e-01 -1.64709732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524391418 meters 0.027693477663914615 Centerline is valid? [True, True] Translation: X:94.55, Y:-2.58, Z:-1.64 [[ 9.99926474e-01 2.85694520e-03 1.17848982e-02 9.45496289e+01] [-2.85062427e-03 9.99995784e-01 -5.53121249e-04 -2.58313087e+00] [-1.17864288e-02 5.19486263e-04 9.99930403e-01 -1.64485151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554391418 meters 0.027693477663914615 Centerline is valid? [True, True] Translation: X:94.58, Y:-2.58, Z:-1.65 [[ 9.99925480e-01 3.18567098e-03 1.17849598e-02 9.45821943e+01] [-3.17938816e-03 9.99994793e-01 -5.51819005e-04 -2.58480255e+00] [-1.17866563e-02 5.14308922e-04 9.99930403e-01 -1.64543930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584391418 meters 0.02585024918040156 Centerline is valid? [True, True] Translation: X:94.61, Y:-2.58, Z:-1.64 [[ 9.99899469e-01 7.85970810e-03 1.18015612e-02 9.46126695e+01] [-7.85366238e-03 9.99969004e-01 -5.58539025e-04 -2.58016382e+00] [-1.18055854e-02 4.65797397e-04 9.99930203e-01 -1.64449365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614391418 meters 0.02497352326156088 Centerline is valid? [True, True] Translation: X:94.64, Y:-2.58, Z:-1.65 [[ 9.99879366e-01 1.07619619e-02 1.11996904e-02 9.46446744e+01] [-1.07567205e-02 9.99942005e-01 -5.28129579e-04 -2.57832895e+00] [-1.12047245e-02 4.07593930e-04 9.99937142e-01 -1.64580679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644391418 meters 0.023927862781135557 Centerline is valid? [True, True] Translation: X:94.68, Y:-2.58, Z:-1.65 [[ 9.99853725e-01 1.36011898e-02 1.03700057e-02 9.46767130e+01] [-1.35968221e-02 9.99907438e-01 -4.91568531e-04 -2.57604615e+00] [-1.03757318e-02 3.50497503e-04 9.99946109e-01 -1.64759476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674391418 meters 0.0233402462124869 Centerline is valid? [True, True] Translation: X:94.71, Y:-2.57, Z:-1.65 [[ 9.99798351e-01 1.81432287e-02 8.60700149e-03 9.47077357e+01] [-1.81403551e-02 9.99835365e-01 -4.11828735e-04 -2.57061712e+00] [-8.61305638e-03 2.55611627e-04 9.99962874e-01 -1.65124172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704391418 meters 0.02291519758265919 Centerline is valid? [True, True] Translation: X:94.74, Y:-2.57, Z:-1.65 [[ 9.99781289e-01 1.86926305e-02 9.37865037e-03 9.47383338e+01] [-1.86892369e-02 9.99825240e-01 -4.49366539e-04 -2.57101276e+00] [-9.38541120e-03 2.73988439e-04 9.99955919e-01 -1.65159459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73439141799999 meters 0.021699314871960928 Centerline is valid? [True, True] Translation: X:94.77, Y:-2.57, Z:-1.65 [[ 9.99761424e-01 1.95369148e-02 9.76746578e-03 9.47685735e+01] [-1.95332706e-02 9.99809098e-01 -4.68363827e-04 -2.56919347e+00] [-9.77475153e-03 2.77461535e-04 9.99952187e-01 -1.65171231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters 0.0209884094121308 Centerline is valid? [True, True] Translation: X:94.80, Y:-2.57, Z:-1.65 [[ 9.99732886e-01 2.05458494e-02 1.05841643e-02 9.47990257e+01] [-2.05416268e-02 9.99788870e-01 -5.07525681e-04 -2.56621584e+00] [-1.05923572e-02 2.89974160e-04 9.99943857e-01 -1.65074269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79439141799999 meters 0.020536681515613168 Centerline is valid? [True, True] Translation: X:94.83, Y:-2.56, Z:-1.65 [[ 9.99713774e-01 2.09462366e-02 1.15596798e-02 9.48295813e+01] [-2.09412264e-02 9.99780555e-01 -5.54303031e-04 -2.56347966e+00] [-1.15687537e-02 3.12070502e-04 9.99933031e-01 -1.64853506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799999 meters 0.021269911336131455 Centerline is valid? [True, True] Translation: X:94.86, Y:-2.56, Z:-1.65 [[ 9.99707664e-01 2.13866526e-02 1.12781789e-02 9.48596490e+01] [-2.13819129e-02 9.99771235e-01 -5.40670540e-04 -2.56387997e+00] [-1.12871619e-02 2.99363444e-04 9.99936253e-01 -1.64862099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85439141799999 meters 0.020954259299746005 Centerline is valid? [True, True] Translation: X:94.89, Y:-2.56, Z:-1.65 [[ 9.99703361e-01 2.17049145e-02 1.10492875e-02 9.48907521e+01] [-2.17003823e-02 9.99764379e-01 -5.29913500e-04 -2.56234886e+00] [-1.10581858e-02 2.89982543e-04 9.99938814e-01 -1.64932894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799999 meters 0.02186246255752234 Centerline is valid? [True, True] Translation: X:94.92, Y:-2.56, Z:-1.65 [[ 9.99706317e-01 2.20068533e-02 1.01478535e-02 9.49213558e+01] [-2.20030444e-02 9.99757785e-01 -4.86852001e-04 -2.56291844e+00] [-1.01561097e-02 2.63425349e-04 9.99948391e-01 -1.65111754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914391418 meters 0.020937872884442394 Centerline is valid? [True, True] Translation: X:94.95, Y:-2.56, Z:-1.65 [[ 9.99720291e-01 2.07791452e-02 1.12945406e-02 9.49515714e+01] [-2.07743410e-02 9.99784043e-01 -5.42520034e-04 -2.56035551e+00] [-1.13033745e-02 3.07731649e-04 9.99936067e-01 -1.65155173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944391418 meters 0.021454352076530483 Centerline is valid? [True, True] Translation: X:94.98, Y:-2.56, Z:-1.65 [[ 9.99725365e-01 2.02792596e-02 1.17450355e-02 9.49822668e+01] [-2.02740388e-02 9.99794302e-01 -5.63415824e-04 -2.56071912e+00] [-1.17540453e-02 3.25141784e-04 9.99930866e-01 -1.65266111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974391418 meters 0.020955201866164726 Centerline is valid? [True, True] Translation: X:95.01, Y:-2.56, Z:-1.65 [[ 9.99727780e-01 1.92763387e-02 1.31449160e-02 9.50130540e+01] [-1.92697138e-02 9.99814123e-01 -6.30470244e-04 -2.56282895e+00] [-1.31546258e-02 3.76999847e-04 9.99913403e-01 -1.65213345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004391418 meters 0.021385672771762884 Centerline is valid? [True, True] Translation: X:95.05, Y:-2.57, Z:-1.65 [[ 9.99725842e-01 1.89234823e-02 1.37892101e-02 9.50456045e+01] [-1.89161697e-02 9.99820855e-01 -6.60559120e-04 -2.56544641e+00] [-1.37992399e-02 3.99538984e-04 9.99904706e-01 -1.65291386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034391418 meters 0.02247651447267461 Centerline is valid? [True, True] Translation: X:95.08, Y:-2.57, Z:-1.65 [[ 9.99729673e-01 1.93336120e-02 1.29147888e-02 9.50768851e+01] [-1.93271871e-02 9.99813019e-01 -6.22120502e-04 -2.56700085e+00] [-1.29244019e-02 3.72345785e-04 9.99916407e-01 -1.65364846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064391418 meters 0.021514227057402583 Centerline is valid? [True, True] Translation: X:95.11, Y:-2.56, Z:-1.65 [[ 9.99719549e-01 2.04043911e-02 1.20201984e-02 9.51082705e+01] [-2.03988528e-02 9.99791752e-01 -5.83186074e-04 -2.56397567e+00] [-1.20295948e-02 3.37824261e-04 9.99927585e-01 -1.65328036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094391418 meters 0.02076675178205796 Centerline is valid? [True, True] Translation: X:95.14, Y:-2.56, Z:-1.65 [[ 9.99670067e-01 2.30488790e-02 1.13360634e-02 9.51387649e+01] [-2.30441155e-02 9.99734297e-01 -5.50664591e-04 -2.55670877e+00] [-1.13457436e-02 2.89253353e-04 9.99935593e-01 -1.65230720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters 0.020110665270856396 Centerline is valid? [True, True] Translation: X:95.17, Y:-2.56, Z:-1.65 [[ 9.99635403e-01 2.45327977e-02 1.12784170e-02 9.51685247e+01] [-2.45281740e-02 9.99698989e-01 -5.48125450e-04 -2.55565009e+00] [-1.12884691e-02 2.71286630e-04 9.99936246e-01 -1.65283811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15439141799999 meters 0.018910125009498853 Centerline is valid? [True, True] Translation: X:95.20, Y:-2.55, Z:-1.65 [[ 9.99603460e-01 2.57348796e-02 1.14297208e-02 9.51987167e+01] [-2.57302161e-02 9.99668769e-01 -5.54902726e-04 -2.55480080e+00] [-1.14402153e-02 2.60593499e-04 9.99934525e-01 -1.65340686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799999 meters 0.018274602075516684 Centerline is valid? [True, True] Translation: X:95.23, Y:-2.56, Z:-1.66 [[ 9.99533143e-01 2.81946356e-02 1.17710720e-02 9.52277465e+01] [-2.81898613e-02 9.99602424e-01 -5.71350682e-04 -2.55657480e+00] [-1.17825012e-02 2.39259054e-04 9.99930555e-01 -1.65569824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21439141799999 meters 0.017815131309483208 Centerline is valid? [True, True] Translation: X:95.26, Y:-2.56, Z:-1.66 [[ 9.99495049e-01 2.97166062e-02 1.12503282e-02 9.52577452e+01] [-2.97123461e-02 9.99558342e-01 -5.45652748e-04 -2.55660157e+00] [-1.12615743e-02 2.11103575e-04 9.99936564e-01 -1.65743084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799999 meters 0.017346588685782892 Centerline is valid? [True, True] Translation: X:95.29, Y:-2.55, Z:-1.66 [[ 9.99458003e-01 3.12141088e-02 1.04584486e-02 9.52863178e+01] [-3.12105100e-02 9.99512705e-01 -5.07178266e-04 -2.55485366e+00] [-1.04691834e-02 1.80489863e-04 9.99945180e-01 -1.65868647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274391418 meters 0.01646729704494677 Centerline is valid? [True, True] Translation: X:95.32, Y:-2.55, Z:-1.66 [[ 9.99360379e-01 3.48020552e-02 8.22491355e-03 9.53151054e+01] [-3.47999537e-02 9.99394219e-01 -3.98518266e-04 -2.54873637e+00] [-8.23380031e-03 1.12036755e-04 9.99966095e-01 -1.66010243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304391418 meters 0.01616190255674518 Centerline is valid? [True, True] Translation: X:95.34, Y:-2.55, Z:-1.66 [[ 9.99291946e-01 3.69648560e-02 7.01474738e-03 9.53439740e+01] [-3.69633827e-02 9.99316563e-01 -3.39596500e-04 -2.54561253e+00] [-7.02250637e-03 8.00672556e-05 9.99975339e-01 -1.65992388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334391418 meters 0.015755995788863077 Centerline is valid? [True, True] Translation: X:95.37, Y:-2.55, Z:-1.66 [[ 9.99238678e-01 3.83400368e-02 7.21849885e-03 9.53716419e+01] [-3.83385157e-02 9.99264748e-01 -3.49035830e-04 -2.54611133e+00] [-7.22657348e-03 7.20235703e-05 9.99973885e-01 -1.66099241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364391418 meters 0.014883012673075504 Centerline is valid? [True, True] Translation: X:95.40, Y:-2.54, Z:-1.66 [[ 9.99146744e-01 4.04914918e-02 8.13780260e-03 9.54010986e+01] [-4.04896418e-02 9.99179881e-01 -3.92026594e-04 -2.54448021e+00] [-8.14700237e-03 6.21953830e-05 9.99966811e-01 -1.65905971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394391418 meters 0.014841096830245834 Centerline is valid? [True, True] Translation: X:95.43, Y:-2.55, Z:-1.66 [[ 9.99135351e-01 4.06513351e-02 8.71891669e-03 9.54301346e+01] [-4.06492211e-02 9.99173391e-01 -4.19599294e-04 -2.54632861e+00] [-8.72876682e-03 6.48193151e-05 9.99961901e-01 -1.65903698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424391418 meters 0.014866963058512223 Centerline is valid? [True, True] Translation: X:95.46, Y:-2.55, Z:-1.66 [[ 9.99151556e-01 4.01237851e-02 9.28712688e-03 9.54578114e+01] [-4.01213701e-02 9.99194714e-01 -4.46270041e-04 -2.54845739e+00] [-9.29755413e-03 7.32791505e-05 9.99956774e-01 -1.65938504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454391418 meters 0.014866963058512223 Centerline is valid? [True, True] Translation: X:95.49, Y:-2.55, Z:-1.66 [[ 9.99154713e-01 4.00450677e-02 9.28717976e-03 9.54860885e+01] [-4.00426596e-02 9.99197872e-01 -4.45165666e-04 -2.54973379e+00] [-9.29755694e-03 7.29059953e-05 9.99956774e-01 -1.65989588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters 0.015195977291881465 Centerline is valid? [True, True] Translation: X:95.51, Y:-2.55, Z:-1.66 [[ 9.99233907e-01 3.79199494e-02 9.67868253e-03 9.55146539e+01] [-3.79172423e-02 9.99280775e-01 -4.63111207e-04 -2.55202087e+00] [-9.68928254e-03 9.57674702e-05 9.99953053e-01 -1.66027750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51439141799999 meters 0.016404193989047005 Centerline is valid? [True, True] Translation: X:95.54, Y:-2.56, Z:-1.66 [[ 9.99309774e-01 3.58935215e-02 9.57240889e-03 9.55423007e+01] [-3.58907862e-02 9.99355613e-01 -4.57442732e-04 -2.55599513e+00] [-9.58265979e-03 1.13565713e-04 9.99954079e-01 -1.66264201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters 0.017169386901619756 Centerline is valid? [True, True] Translation: X:95.57, Y:-2.56, Z:-1.66 [[ 9.99384755e-01 3.39430171e-02 8.83082350e-03 9.55706114e+01] [-3.39406216e-02 9.99423762e-01 -4.21025674e-04 -2.55866344e+00] [-8.84002573e-03 1.21043001e-04 9.99960919e-01 -1.66412309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57439141799999 meters 0.017006903752304507 Centerline is valid? [True, True] Translation: X:95.60, Y:-2.56, Z:-1.66 [[ 9.99528392e-01 2.95850618e-02 8.22904693e-03 9.55995075e+01] [-2.95828375e-02 9.99562255e-01 -3.91922095e-04 -2.56034878e+00] [-8.23703975e-03 1.48298703e-04 9.99966064e-01 -1.66333812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799999 meters 0.02034228951641217 Centerline is valid? [True, True] Translation: X:95.63, Y:-2.57, Z:-1.67 [[ 9.99592039e-01 2.72565388e-02 8.53449401e-03 9.56274467e+01] [-2.72540700e-02 9.99628457e-01 -4.05460859e-04 -2.56933495e+00] [-8.54237453e-03 1.72695750e-04 9.99963498e-01 -1.66611591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63439141799999 meters 0.01988431177227189 Centerline is valid? [True, True] Translation: X:95.66, Y:-2.57, Z:-1.67 [[ 9.99659740e-01 2.46546343e-02 8.51782833e-03 9.56572109e+01] [-2.46520857e-02 9.99696009e-01 -4.04087140e-04 -2.57192131e+00] [-8.52520161e-03 1.93967412e-04 9.99963641e-01 -1.66558381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664391418 meters 0.018946558771420832 Centerline is valid? [True, True] Translation: X:95.69, Y:-2.57, Z:-1.67 [[ 9.99713041e-01 2.21510620e-02 9.11950884e-03 9.56866658e+01] [-2.21480399e-02 9.99754609e-01 -4.32264518e-04 -2.57329654e+00] [-9.12684611e-03 2.30161231e-04 9.99958323e-01 -1.66503689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694391418 meters 0.021022396077704533 Centerline is valid? [True, True] Translation: X:95.72, Y:-2.58, Z:-1.66 [[ 9.99809202e-01 1.73561008e-02 8.96246207e-03 9.57156311e+01] [-1.73529926e-02 9.99849335e-01 -4.24458525e-04 -2.57725067e+00] [-8.96847869e-03 2.68852001e-04 9.99959746e-01 -1.66454907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724391418 meters 0.02355306407630255 Centerline is valid? [True, True] Translation: X:95.75, Y:-2.58, Z:-1.66 [[ 9.99840486e-01 1.54407297e-02 8.97702535e-03 9.57452957e+01] [-1.54375392e-02 9.99880744e-01 -4.24589384e-04 -2.58032228e+00] [-8.98251076e-03 2.85938475e-04 9.99959616e-01 -1.66498415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754391418 meters 0.02219931466109116 Centerline is valid? [True, True] Translation: X:95.78, Y:-2.58, Z:-1.66 [[ 9.99861977e-01 1.38810850e-02 9.12923164e-03 9.57757995e+01] [-1.38777239e-02 9.99903607e-01 -4.31415895e-04 -2.57812749e+00] [-9.13434017e-03 3.04663394e-04 9.99958235e-01 -1.66413189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784391418 meters 0.024511308059020197 Centerline is valid? [True, True] Translation: X:95.81, Y:-2.58, Z:-1.67 [[ 9.99891942e-01 1.10164520e-02 9.73353555e-03 9.58064329e+01] [-1.10125073e-02 9.99939255e-01 -4.58780134e-04 -2.58277016e+00] [-9.73799842e-03 3.51539928e-04 9.99952523e-01 -1.66514053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814391418 meters 0.02537154966859289 Centerline is valid? [True, True] Translation: X:95.84, Y:-2.59, Z:-1.67 [[ 9.99904185e-01 9.53580709e-03 1.00343832e-02 9.58385015e+01] [-9.53153600e-03 9.99954462e-01 -4.73382957e-04 -2.58657535e+00] [-1.00384404e-02 3.77694515e-04 9.99949542e-01 -1.66670465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844391418 meters 0.028340904265816046 Centerline is valid? [True, True] Translation: X:95.87, Y:-2.59, Z:-1.67 [[ 9.99932279e-01 5.43074228e-03 1.02929344e-02 9.58680738e+01] [-5.42597733e-03 9.99985159e-01 -4.90803352e-04 -2.59341705e+00] [-1.02954471e-02 4.34920886e-04 9.99946906e-01 -1.66904032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87439141799999 meters 0.028244710922969086 Centerline is valid? [True, True] Translation: X:95.90, Y:-2.59, Z:-1.67 [[ 9.99944601e-01 3.44256889e-03 9.94699533e-03 9.58996977e+01] [-3.43804187e-03 9.99993978e-01 -4.72177197e-04 -2.59397464e+00] [-9.94856094e-03 4.37952853e-04 9.99950416e-01 -1.66928330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters 0.03097619769144466 Centerline is valid? [True, True] Translation: X:95.93, Y:-2.60, Z:-1.67 [[ 9.99949941e-01 1.38033793e-03 9.91015042e-03 9.59309602e+01] [-1.37571736e-03 9.99998942e-01 -4.73048369e-04 -2.59742897e+00] [-9.91079290e-03 4.59391122e-04 9.99950781e-01 -1.66993682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93439141799999 meters 0.03281311893894553 Centerline is valid? [True, True] Translation: X:95.96, Y:-2.60, Z:-1.67 [[ 9.99949453e-01 -2.09496547e-03 9.83379109e-03 9.59624048e+01] [ 2.09972564e-03 9.99997683e-01 -4.73763503e-04 -2.59792332e+00] [-9.83277579e-03 4.94387819e-04 9.99951535e-01 -1.66922232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799999 meters 0.03345395657710412 Centerline is valid? [True, True] Translation: X:95.99, Y:-2.60, Z:-1.67 [[ 9.99946813e-01 -3.32460472e-03 9.76314164e-03 9.59941407e+01] [ 3.32934132e-03 9.99994348e-01 -4.68938477e-04 -2.59930376e+00] [-9.76152742e-03 5.01418366e-04 9.99952229e-01 -1.66939921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99439141799999 meters 0.033895224434043345 Centerline is valid? [True, True] Translation: X:96.03, Y:-2.60, Z:-1.67 [[ 9.99944118e-01 -4.19020502e-03 9.70584093e-03 9.60267117e+01] [ 4.19496526e-03 9.99991091e-01 -4.70143867e-04 -2.60052191e+00] [-9.70378445e-03 5.10833260e-04 9.99952787e-01 -1.67037845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024391418 meters 0.03680468920852341 Centerline is valid? [True, True] Translation: X:96.06, Y:-2.60, Z:-1.67 [[ 9.99938450e-01 -5.54405687e-03 9.61038967e-03 9.60574463e+01] [ 5.54879522e-03 9.99984497e-01 -4.66451080e-04 -2.60452443e+00] [-9.60765465e-03 5.19748455e-04 9.99953710e-01 -1.67105016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054391418 meters 0.03646278930819579 Centerline is valid? [True, True] Translation: X:96.09, Y:-2.60, Z:-1.67 [[ 9.99945641e-01 -5.33414893e-03 8.95890613e-03 9.60905473e+01] [ 5.33825772e-03 9.99985657e-01 -4.34776200e-04 -2.60417635e+00] [-8.95645847e-03 4.82577515e-04 9.99959774e-01 -1.67209475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084391418 meters 0.03434584455706749 Centerline is valid? [True, True] Translation: X:96.12, Y:-2.60, Z:-1.67 [[ 9.99951659e-01 -4.84105322e-03 8.55830584e-03 9.61231693e+01] [ 4.84479551e-03 9.99988177e-01 -4.16591632e-04 -2.60133206e+00] [-8.55618791e-03 4.58034736e-04 9.99963290e-01 -1.67283962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114391418 meters 0.034603094464893784 Centerline is valid? [True, True] Translation: X:96.15, Y:-2.60, Z:-1.67 [[ 9.99956797e-01 -3.93057978e-03 8.42350414e-03 9.61546434e+01] [ 3.93418002e-03 9.99992177e-01 -4.10877201e-04 -2.60173676e+00] [-8.42182325e-03 4.43999032e-04 9.99964437e-01 -1.67425125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144391418 meters 0.03353231559141066 Centerline is valid? [True, True] Translation: X:96.19, Y:-2.60, Z:-1.67 [[ 9.99955269e-01 -8.17131810e-04 9.42292111e-03 9.61855359e+01] [ 8.21507357e-04 9.99999557e-01 -4.60490202e-04 -2.59835320e+00] [-9.42254065e-03 4.68210603e-04 9.99955497e-01 -1.67479148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174391418 meters 0.029885928306012548 Centerline is valid? [True, True] Translation: X:96.22, Y:-2.59, Z:-1.67 [[ 9.99942649e-01 1.40021028e-03 1.06178655e-02 9.62177114e+01] [-1.39477716e-03 9.99998893e-01 -5.19083619e-04 -2.59279465e+00] [-1.06185806e-02 5.04244292e-04 9.99943494e-01 -1.67341880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204391418 meters 0.029228178232670272 Centerline is valid? [True, True] Translation: X:96.25, Y:-2.59, Z:-1.67 [[ 9.99927017e-01 3.98836503e-03 1.14041345e-02 9.62483971e+01] [-3.98224897e-03 9.99991915e-01 -5.58959543e-04 -2.59074482e+00] [-1.14062716e-02 5.13504646e-04 9.99934815e-01 -1.67258798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23439141799999 meters 0.025667577126824968 Centerline is valid? [True, True] Translation: X:96.28, Y:-2.58, Z:-1.67 [[ 9.99878990e-01 9.69571600e-03 1.21654274e-02 9.62800349e+01] [-9.68917437e-03 9.99952881e-01 -5.96547225e-04 -2.58083714e+00] [-1.21706382e-02 4.78602089e-04 9.99925821e-01 -1.67020647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters 0.024428042217145292 Centerline is valid? [True, True] Translation: X:96.31, Y:-2.58, Z:-1.67 [[ 9.99844897e-01 1.28038718e-02 1.20930962e-02 9.63119379e+01] [-1.27976368e-02 9.99917931e-01 -5.92830606e-04 -2.57719509e+00] [-1.20996943e-02 4.37975603e-04 9.99926700e-01 -1.66984588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29439141799999 meters 0.022314702406569614 Centerline is valid? [True, True] Translation: X:96.34, Y:-2.57, Z:-1.67 [[ 9.99767973e-01 1.83723283e-02 1.12453657e-02 9.63433730e+01] [-1.83672747e-02 9.99831155e-01 -5.52516888e-04 -2.56966134e+00] [-1.12536180e-02 3.45841969e-04 9.99936616e-01 -1.67134246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799999 meters 0.022097906419454024 Centerline is valid? [True, True] Translation: X:96.37, Y:-2.57, Z:-1.67 [[ 9.99719697e-01 2.13052502e-02 1.03253906e-02 9.63741846e+01] [-2.13011392e-02 9.99772976e-01 -5.07969876e-04 -2.56724096e+00] [-1.03338689e-02 2.87884908e-04 9.99946563e-01 -1.67394529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35439141799999 meters 0.020530157962192177 Centerline is valid? [True, True] Translation: X:96.40, Y:-2.57, Z:-1.67 [[ 9.99676430e-01 2.29579182e-02 1.09530596e-02 9.64028555e+01] [-2.29533867e-02 9.99736391e-01 -5.39265410e-04 -2.56611220e+00] [-1.09625527e-02 2.87681107e-04 9.99939868e-01 -1.67421091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799999 meters 0.020915622660179493 Centerline is valid? [True, True] Translation: X:96.43, Y:-2.57, Z:-1.68 [[ 9.99629632e-01 2.50050074e-02 1.07400659e-02 9.64328534e+01] [-2.50007766e-02 9.99687292e-01 -5.28020532e-04 -2.56545597e+00] [-1.07499106e-02 2.59314980e-04 9.99942184e-01 -1.67664226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414391418 meters 0.01884448930590258 Centerline is valid? [True, True] Translation: X:96.46, Y:-2.56, Z:-1.68 [[ 9.99554318e-01 2.75936775e-02 1.13910122e-02 9.64613884e+01] [-2.75890905e-02 9.99619192e-01 -5.59660244e-04 -2.56400429e+00] [-1.14021175e-02 2.45143147e-04 9.99934964e-01 -1.67703766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444391418 meters 0.018457030231103934 Centerline is valid? [True, True] Translation: X:96.49, Y:-2.56, Z:-1.68 [[ 9.99512732e-01 2.89977054e-02 1.15512706e-02 9.64906012e+01] [-2.89930887e-02 9.99579451e-01 -5.66965099e-04 -2.56309995e+00] [-1.15628534e-02 2.31781823e-04 9.99933121e-01 -1.67771880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474391418 meters 0.01632600695046729 Centerline is valid? [True, True] Translation: X:96.52, Y:-2.55, Z:-1.68 [[ 9.99396071e-01 3.31567949e-02 1.03980663e-02 9.65198767e+01] [-3.31532856e-02 9.99450149e-01 -5.09731350e-04 -2.55441570e+00] [-1.04092500e-02 1.64693447e-04 9.99945809e-01 -1.67596011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504391418 meters 0.01664840708395161 Centerline is valid? [True, True] Translation: X:96.55, Y:-2.55, Z:-1.68 [[ 9.99303236e-01 3.60988896e-02 9.48219836e-03 9.65476761e+01] [-3.60961081e-02 9.99348215e-01 -4.64363733e-04 -2.55128004e+00] [-9.49278103e-03 1.21769724e-04 9.99954935e-01 -1.67706701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534391418 meters 0.014898773124910081 Centerline is valid? [True, True] Translation: X:96.58, Y:-2.55, Z:-1.68 [[ 9.99238269e-01 3.79869174e-02 8.93733470e-03 9.65763241e+01] [-3.79845303e-02 9.99278232e-01 -4.36750067e-04 -2.54813623e+00] [-8.94747481e-03 9.69369203e-05 9.99959966e-01 -1.67643623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564391418 meters 0.014719692457643518 Centerline is valid? [True, True] Translation: X:96.60, Y:-2.55, Z:-1.68 [[ 9.99172161e-01 3.97563929e-02 8.62680627e-03 9.66037063e+01] [-3.97542377e-02 9.99209399e-01 -4.21239173e-04 -2.54819729e+00] [-8.63673286e-03 7.79383477e-05 9.99962700e-01 -1.67823026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594391418 meters 0.01434623016966842 Centerline is valid? [True, True] Translation: X:96.63, Y:-2.55, Z:-1.68 [[ 9.99122790e-01 4.07595831e-02 9.60767631e-03 9.66320943e+01] [-4.07569724e-02 9.99168980e-01 -4.67452685e-04 -2.55052398e+00] [-9.61874532e-03 7.54628333e-05 9.99953736e-01 -1.68051956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters 0.014246787950705027 Centerline is valid? [True, True] Translation: X:96.66, Y:-2.55, Z:-1.68 [[ 9.99127578e-01 4.03135437e-02 1.09041356e-02 9.66607637e+01] [-4.03101661e-02 9.99187075e-01 -5.29447105e-04 -2.55283505e+00] [-1.09166153e-02 8.94376846e-05 9.99940408e-01 -1.68096552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65439141799999 meters 0.014965798468695873 Centerline is valid? [True, True] Translation: X:96.69, Y:-2.55, Z:-1.68 [[ 9.99215722e-01 3.75122447e-02 1.26796287e-02 9.66881325e+01] [-3.75074670e-02 9.99296158e-01 -6.14472337e-04 -2.55456625e+00] [-1.26937545e-02 1.38409663e-04 9.99919421e-01 -1.67938523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799999 meters 0.015480130194240525 Centerline is valid? [True, True] Translation: X:96.72, Y:-2.56, Z:-1.68 [[ 9.99281857e-01 3.56034495e-02 1.29678177e-02 9.67169135e+01] [-3.55983107e-02 9.99365983e-01 -6.26956489e-04 -2.55564127e+00] [-1.29819177e-02 1.64873841e-04 9.99915718e-01 -1.67872301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71439141799999 meters 0.015876566619922587 Centerline is valid? [True, True] Translation: X:96.75, Y:-2.56, Z:-1.68 [[ 9.99350376e-01 3.36472799e-02 1.29107060e-02 9.67458935e+01] [-3.36420362e-02 9.99433752e-01 -6.23175304e-04 -2.55752733e+00] [-1.29243635e-02 1.88428036e-04 9.99916459e-01 -1.67865475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799999 meters 0.01762499021793713 Centerline is valid? [True, True] Translation: X:96.77, Y:-2.56, Z:-1.68 [[ 9.99513858e-01 2.88752722e-02 1.17586384e-02 9.67742430e+01] [-2.88706035e-02 9.99582997e-01 -5.66638177e-04 -2.56484473e+00] [-1.17700968e-02 2.26883725e-04 9.99930704e-01 -1.68129253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774391418 meters 0.018425716397387763 Centerline is valid? [True, True] Translation: X:96.80, Y:-2.57, Z:-1.68 [[ 9.99600683e-01 2.59657717e-02 1.11469115e-02 9.68029595e+01] [-2.59614004e-02 9.99662802e-01 -5.36698908e-04 -2.57011106e+00] [-1.11570886e-02 2.47095163e-04 9.99937727e-01 -1.68331692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804391418 meters 0.018993381826629487 Centerline is valid? [True, True] Translation: X:96.83, Y:-2.57, Z:-1.68 [[ 9.99682157e-01 2.28143818e-02 1.07279213e-02 9.68323904e+01] [-2.28101631e-02 9.99739682e-01 -5.15453717e-04 -2.57410108e+00] [-1.07368883e-02 2.70584250e-04 9.99942321e-01 -1.68463983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834391418 meters 0.02011673408897644 Centerline is valid? [True, True] Translation: X:96.86, Y:-2.58, Z:-1.69 [[ 9.99746771e-01 1.97954445e-02 1.07020886e-02 9.68613078e+01] [-1.97910769e-02 9.99804005e-01 -5.13869022e-04 -2.57815378e+00] [-1.07101633e-02 3.01933037e-04 9.99942599e-01 -1.68520020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864391418 meters 0.023819135752628055 Centerline is valid? [True, True] Translation: X:96.89, Y:-2.58, Z:-1.69 [[ 9.99805824e-01 1.58243742e-02 1.17432594e-02 9.68914143e+01] [-1.58188542e-02 9.99874716e-01 -5.62801767e-04 -2.58218614e+00] [-1.17506941e-02 3.76927577e-04 9.99930887e-01 -1.68512231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894391418 meters 0.022664276571040937 Centerline is valid? [True, True] Translation: X:96.92, Y:-2.58, Z:-1.68 [[ 9.99825543e-01 1.38204407e-02 1.25649517e-02 9.69230972e+01] [-1.38139658e-02 9.99904401e-01 -6.01959938e-04 -2.58461275e+00] [-1.25720699e-02 4.28283109e-04 9.99920877e-01 -1.68319356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924391418 meters 0.02419753211225507 Centerline is valid? [True, True] Translation: X:96.95, Y:-2.59, Z:-1.68 [[ 9.99826059e-01 1.31174163e-02 1.32583649e-02 9.69538471e+01] [-1.31101515e-02 9.99913857e-01 -6.34707622e-04 -2.58945536e+00] [-1.32655485e-02 4.60778048e-04 9.99911903e-01 -1.68429750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954391418 meters 0.024253921188403346 Centerline is valid? [True, True] Translation: X:96.99, Y:-2.60, Z:-1.69 [[ 9.99828083e-01 1.26200420e-02 1.35845350e-02 9.69859950e+01] [-1.26123206e-02 9.99920248e-01 -6.53924038e-04 -2.59533717e+00] [-1.35917041e-02 4.82479107e-04 9.99907512e-01 -1.68694039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters 0.023771633188419218 Centerline is valid? [True, True] Translation: X:97.02, Y:-2.60, Z:-1.69 [[ 9.99828449e-01 1.26396547e-02 1.35392659e-02 9.70190033e+01] [-1.26319378e-02 9.99919999e-01 -6.55329023e-04 -2.59692928e+00] [-1.35464658e-02 4.84189436e-04 9.99908125e-01 -1.68804358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01439141799999 meters 0.023912941106602928 Centerline is valid? [True, True] Translation: X:97.05, Y:-2.60, Z:-1.69 [[ 9.99839413e-01 1.24799983e-02 1.28606994e-02 9.70512178e+01] [-1.24729694e-02 9.99922013e-01 -6.26607948e-04 -2.59818059e+00] [-1.28675165e-02 4.66096213e-04 9.99917101e-01 -1.68910605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters 0.024944448305030283 Centerline is valid? [True, True] Translation: X:97.08, Y:-2.60, Z:-1.69 [[ 9.99853422e-01 1.13526607e-02 1.28160799e-02 9.70825450e+01] [-1.13455397e-02 9.99935440e-01 -6.28200977e-04 -2.59823819e+00] [-1.28223842e-02 4.82703553e-04 9.99917673e-01 -1.68845700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07439141799999 meters 0.028083772692452796 Centerline is valid? [True, True] Translation: X:97.11, Y:-2.61, Z:-1.69 [[ 9.99840733e-01 1.05557936e-02 1.43904301e-02 9.71136647e+01] [-1.05466700e-02 9.99944130e-01 -7.09751678e-04 -2.60516172e+00] [-1.43971181e-02 5.57867521e-04 9.99896200e-01 -1.68828556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799999 meters 0.026134514209977967 Centerline is valid? [True, True] Translation: X:97.15, Y:-2.61, Z:-1.69 [[ 9.99837015e-01 1.02229364e-02 1.48806805e-02 9.71463017e+01] [-1.02130844e-02 9.99947573e-01 -7.37911731e-04 -2.60612371e+00] [-1.48874440e-02 5.85813817e-04 9.99889004e-01 -1.68909706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13439141799999 meters 0.026629619884308255 Centerline is valid? [True, True] Translation: X:97.18, Y:-2.61, Z:-1.69 [[ 9.99839440e-01 1.02161320e-02 1.47215860e-02 9.71793196e+01] [-1.02064304e-02 9.99947644e-01 -7.33988528e-04 -2.61055224e+00] [-1.47283138e-02 5.83615835e-04 9.99891362e-01 -1.69070318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164391418 meters 0.025875806240123186 Centerline is valid? [True, True] Translation: X:97.21, Y:-2.61, Z:-1.69 [[ 9.99843744e-01 1.05439997e-02 1.41884590e-02 9.72122791e+01] [-1.05349599e-02 9.99944252e-01 -7.11715256e-04 -2.61147978e+00] [-1.41951724e-02 5.62129200e-04 9.99899085e-01 -1.69175726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194391418 meters 0.027105509789646463 Centerline is valid? [True, True] Translation: X:97.24, Y:-2.61, Z:-1.69 [[ 9.99850049e-01 1.09209051e-02 1.34392676e-02 9.72446463e+01] [-1.09127727e-02 9.99940224e-01 -6.78305268e-04 -2.61331598e+00] [-1.34458719e-02 5.31543883e-04 9.99909459e-01 -1.69242664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224391418 meters 0.026858106878109946 Centerline is valid? [True, True] Translation: X:97.28, Y:-2.61, Z:-1.69 [[ 9.99854190e-01 1.29959974e-02 1.10771526e-02 9.72760569e+01] [-1.29905696e-02 9.99915461e-01 -5.61813932e-04 -2.60899242e+00] [-1.10835175e-02 4.17833493e-04 9.99938489e-01 -1.69357902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254391418 meters 0.025417206152659244 Centerline is valid? [True, True] Translation: X:97.31, Y:-2.61, Z:-1.69 [[ 9.99843798e-01 1.40831842e-02 1.06790896e-02 9.73073507e+01] [-1.40781574e-02 9.99900749e-01 -5.45750892e-04 -2.60743336e+00] [-1.06857156e-02 3.95323741e-04 9.99942828e-01 -1.69431772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284391418 meters 0.025073819848566367 Centerline is valid? [True, True] Translation: X:97.34, Y:-2.61, Z:-1.70 [[ 9.99823505e-01 1.55557124e-02 1.05346180e-02 9.73383304e+01] [-1.55508979e-02 9.99878932e-01 -5.38777196e-04 -2.60893465e+00] [-1.05417236e-02 3.74859336e-04 9.99944364e-01 -1.69584806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314391418 meters 0.023700807188737016 Centerline is valid? [True, True] Translation: X:97.37, Y:-2.61, Z:-1.70 [[ 9.99788066e-01 1.72710071e-02 1.12042333e-02 9.73685285e+01] [-1.72656603e-02 9.99850773e-01 -5.73773839e-04 -2.61010182e+00] [-1.12124710e-02 3.80203751e-04 9.99937066e-01 -1.69711346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344391418 meters 0.023700807188737016 Centerline is valid? [True, True] Translation: X:97.40, Y:-2.61, Z:-1.70 [[ 9.99788066e-01 1.72710071e-02 1.12042333e-02 9.73985023e+01] [-1.72656603e-02 9.99850773e-01 -5.73773839e-04 -2.61163679e+00] [-1.12124710e-02 3.80203751e-04 9.99937066e-01 -1.69765460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37439141799999 meters 0.023757822049030992 Centerline is valid? [True, True] Translation: X:97.43, Y:-2.61, Z:-1.70 [[ 9.99728040e-01 1.99586898e-02 1.20621760e-02 9.74276778e+01] [-1.99526867e-02 9.99800734e-01 -6.17826384e-04 -2.61498021e+00] [-1.20721034e-02 3.76985541e-04 9.99927058e-01 -1.69896176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters 0.023228226077641623 Centerline is valid? [True, True] Translation: X:97.46, Y:-2.61, Z:-1.70 [[ 9.99694738e-01 2.11996423e-02 1.26888283e-02 9.74580094e+01] [-2.11931038e-02 9.99775190e-01 -6.49550928e-04 -2.61473462e+00] [-1.26997459e-02 3.80436990e-04 9.99919283e-01 -1.69871965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43439141799999 meters 0.02038676621447266 Centerline is valid? [True, True] Translation: X:97.49, Y:-2.61, Z:-1.70 [[ 9.99652481e-01 2.26235183e-02 1.35312023e-02 9.74878665e+01] [-2.26162106e-02 9.99743981e-01 -6.92855844e-04 -2.60907259e+00] [-1.35434129e-02 3.86590543e-04 9.99908209e-01 -1.69652278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799999 meters 0.019321618727858487 Centerline is valid? [True, True] Translation: X:97.52, Y:-2.60, Z:-1.69 [[ 9.99540122e-01 2.59297665e-02 1.57223349e-02 9.75172332e+01] [-2.59203202e-02 9.99663688e-01 -8.04333451e-04 -2.60299268e+00] [-1.57379035e-02 3.96435601e-04 9.99876073e-01 -1.69170721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49439141799999 meters 0.018852114571087097 Centerline is valid? [True, True] Translation: X:97.55, Y:-2.60, Z:-1.69 [[ 9.99482668e-01 2.75835071e-02 1.65392578e-02 9.75470196e+01] [-2.75732979e-02 9.99619427e-01 -8.45033076e-04 -2.60283505e+00] [-1.65562724e-02 3.88554030e-04 9.99862860e-01 -1.69104764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524391418 meters 0.019805971102905735 Centerline is valid? [True, True] Translation: X:97.58, Y:-2.61, Z:-1.69 [[ 9.99425820e-01 2.92816178e-02 1.70474918e-02 9.75752668e+01] [-2.92710305e-02 9.99571133e-01 -8.70285532e-04 -2.60681407e+00] [-1.70656641e-02 3.70788179e-04 9.99854302e-01 -1.69223077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554391418 meters 0.017304802159975406 Centerline is valid? [True, True] Translation: X:97.60, Y:-2.61, Z:-1.70 [[ 9.99364535e-01 3.17349074e-02 1.62302554e-02 9.76045509e+01] [-3.17256423e-02 9.99496272e-01 -8.28075379e-04 -2.60781801e+00] [-1.62483586e-02 3.12633890e-04 9.99867938e-01 -1.69675507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584391418 meters 0.018584520736436207 Centerline is valid? [True, True] Translation: X:97.63, Y:-2.61, Z:-1.70 [[ 9.99356514e-01 3.26241235e-02 1.49071729e-02 9.76329956e+01] [-3.26164136e-02 9.99467654e-01 -7.60092285e-04 -2.60984834e+00] [-1.49240345e-02 2.73384660e-04 9.99888593e-01 -1.70002940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614391418 meters 0.01684009304346665 Centerline is valid? [True, True] Translation: X:97.66, Y:-2.61, Z:-1.70 [[ 9.99365807e-01 3.24573954e-02 1.46458731e-02 9.76621441e+01] [-3.24499469e-02 9.99473083e-01 -7.45986021e-04 -2.60892615e+00] [-1.46623687e-02 2.70255116e-04 9.99892465e-01 -1.69946902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644391418 meters 0.01731413076298589 Centerline is valid? [True, True] Translation: X:97.69, Y:-2.61, Z:-1.70 [[ 9.99383457e-01 3.21970234e-02 1.40020747e-02 9.76899798e+01] [-3.21902035e-02 9.99481507e-01 -7.12226009e-04 -2.60939815e+00] [-1.40177463e-02 2.61057258e-04 9.99901712e-01 -1.70027299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674391418 meters 0.018293253868892377 Centerline is valid? [True, True] Translation: X:97.72, Y:-2.61, Z:-1.70 [[ 9.99425809e-01 3.09844642e-02 1.37118799e-02 9.77180903e+01] [-3.09778296e-02 9.99519830e-01 -6.96033414e-04 -2.61034333e+00] [-1.37268621e-02 2.70869479e-04 9.99905746e-01 -1.70087877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704391418 meters 0.018293253868892377 Centerline is valid? [True, True] Translation: X:97.75, Y:-2.61, Z:-1.70 [[ 9.99428161e-01 3.09084650e-02 1.37119511e-02 9.77463646e+01] [-3.09018426e-02 9.99522183e-01 -6.94626686e-04 -2.61169516e+00] [-1.37268692e-02 2.70504916e-04 9.99905746e-01 -1.70138969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73439141799999 meters 0.01770304838986737 Centerline is valid? [True, True] Translation: X:97.77, Y:-2.61, Z:-1.70 [[ 9.99430469e-01 3.05927231e-02 1.42415929e-02 9.77749016e+01] [-3.05855632e-02 9.99531893e-01 -7.20331419e-04 -2.61324579e+00] [-1.42569632e-02 2.84334030e-04 9.99898324e-01 -1.70074012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters 0.01739370790572948 Centerline is valid? [True, True] Translation: X:97.80, Y:-2.61, Z:-1.70 [[ 9.99402122e-01 3.12799356e-02 1.47297027e-02 9.78035734e+01] [-3.12723690e-02 9.99510623e-01 -7.43799519e-04 -2.61454993e+00] [-1.47457603e-02 2.82722119e-04 9.99891235e-01 -1.70047367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79439141799999 meters 0.016042120837890354 Centerline is valid? [True, True] Translation: X:97.83, Y:-2.61, Z:-1.70 [[ 9.99312217e-01 3.43324508e-02 1.40133881e-02 9.78327252e+01] [-3.43259169e-02 9.99410442e-01 -7.06588264e-04 -2.61141210e+00] [-1.40293853e-02 2.25079887e-04 9.99901558e-01 -1.70023138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799999 meters 0.015454390657154158 Centerline is valid? [True, True] Translation: X:97.86, Y:-2.61, Z:-1.70 [[ 9.99230004e-01 3.65961336e-02 1.41464690e-02 9.78617077e+01] [-3.65897182e-02 9.99330118e-01 -7.12135903e-04 -2.60991486e+00] [-1.41630540e-02 1.93972246e-04 9.99899680e-01 -1.70099311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85439141799999 meters 0.015102306361923386 Centerline is valid? [True, True] Translation: X:97.89, Y:-2.61, Z:-1.70 [[ 9.99145758e-01 3.88674700e-02 1.40382939e-02 9.78898235e+01] [-3.88613913e-02 9.99244362e-01 -7.05642718e-04 -2.60961413e+00] [-1.40551126e-02 1.59492295e-04 9.99901209e-01 -1.70211460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799999 meters 0.01421616366285299 Centerline is valid? [True, True] Translation: X:97.92, Y:-2.61, Z:-1.70 [[ 9.98946308e-01 4.34229040e-02 1.48567961e-02 9.79185535e+01] [-4.34166240e-02 9.99056776e-01 -7.45126441e-04 -2.60908008e+00] [-1.48751384e-02 9.93093767e-05 9.99889354e-01 -1.70329434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914391418 meters 0.013996329311953992 Centerline is valid? [True, True] Translation: X:97.95, Y:-2.61, Z:-1.70 [[ 9.98875663e-01 4.49381849e-02 1.50986706e-02 9.79469892e+01] [-4.49318903e-02 9.98989767e-01 -7.56038528e-04 -2.61070243e+00] [-1.51173924e-02 7.67766755e-05 9.99885723e-01 -1.70406842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944391418 meters 0.013997820588803134 Centerline is valid? [True, True] Translation: X:97.98, Y:-2.61, Z:-1.70 [[ 9.98821547e-01 4.61252294e-02 1.50990311e-02 9.79760093e+01] [-4.61190885e-02 9.98935664e-01 -7.54842182e-04 -2.61247217e+00] [-1.51177779e-02 5.75990848e-05 9.99885718e-01 -1.70462125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974391418 meters 0.015270779248720005 Centerline is valid? [True, True] Translation: X:98.00, Y:-2.61, Z:-1.71 [[ 9.98757182e-01 4.75272208e-02 1.50084568e-02 9.80045561e+01] [-4.75213298e-02 9.98869943e-01 -7.49100614e-04 -2.61403264e+00] [-1.50270991e-02 3.49477918e-05 9.99887086e-01 -1.70555511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004391418 meters 0.013859753886328416 Centerline is valid? [True, True] Translation: X:98.03, Y:-2.61, Z:-1.70 [[ 9.98759990e-01 4.73769589e-02 1.52940048e-02 9.80322456e+01] [-4.73708418e-02 9.98877081e-01 -7.62188514e-04 -2.61485711e+00] [-1.53129411e-02 3.67535078e-05 9.99882749e-01 -1.70323831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034391418 meters 0.013888544981856715 Centerline is valid? [True, True] Translation: X:98.06, Y:-2.62, Z:-1.70 [[ 9.98793036e-01 4.66993780e-02 1.52196896e-02 9.80600918e+01] [-4.66932698e-02 9.98908988e-01 -7.56632435e-04 -2.61671504e+00] [-1.52384190e-02 4.50621338e-05 9.99883888e-01 -1.70352147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064391418 meters 0.013931278680261405 Centerline is valid? [True, True] Translation: X:98.09, Y:-2.62, Z:-1.70 [[ 9.98859806e-01 4.53671422e-02 1.48630486e-02 9.80889791e+01] [-4.53611976e-02 9.98970379e-01 -7.37008777e-04 -2.61967765e+00] [-1.48811813e-02 6.19627592e-05 9.99889267e-01 -1.70452427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094391418 meters 0.014521856130055948 Centerline is valid? [True, True] Translation: X:98.12, Y:-2.63, Z:-1.71 [[ 9.99038255e-01 4.14884679e-02 1.41870405e-02 9.81164326e+01] [-4.14826751e-02 9.99138976e-01 -7.02472906e-04 -2.62711477e+00] [-1.42039696e-02 1.13280915e-04 9.99899112e-01 -1.70727026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters 0.014878597327431421 Centerline is valid? [True, True] Translation: X:98.14, Y:-2.63, Z:-1.71 [[ 9.99135911e-01 3.89974100e-02 1.43747468e-02 9.81447454e+01] [-3.89912274e-02 9.99239301e-01 -7.10216560e-04 -2.63229056e+00] [-1.43915085e-02 1.49113849e-04 9.99896426e-01 -1.70890010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15439141799999 meters 0.0154318795123479 Centerline is valid? [True, True] Translation: X:98.17, Y:-2.64, Z:-1.71 [[ 9.99214583e-01 3.68474681e-02 1.45767071e-02 9.81732455e+01] [-3.68408990e-02 9.99320885e-01 -7.19013441e-04 -2.63752415e+00] [-1.45933016e-02 1.81429723e-04 9.99893496e-01 -1.71021034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799999 meters 0.01693857873957538 Centerline is valid? [True, True] Translation: X:98.20, Y:-2.65, Z:-1.71 [[ 9.99357249e-01 3.25287628e-02 1.50654477e-02 9.82000954e+01] [-3.25212722e-02 9.99470768e-01 -7.41991574e-04 -2.64543396e+00] [-1.50816107e-02 2.51567133e-04 9.99886234e-01 -1.71091417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21439141799999 meters 0.0185347718769642 Centerline is valid? [True, True] Translation: X:98.23, Y:-2.65, Z:-1.71 [[ 9.99408911e-01 3.13298929e-02 1.41515333e-02 9.82290901e+01] [-3.13231875e-02 9.99509067e-01 -6.95281350e-04 -2.64876823e+00] [-1.41663689e-02 2.51599247e-04 9.99899620e-01 -1.71265882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799999 meters 0.017556908490288875 Centerline is valid? [True, True] Translation: X:98.26, Y:-2.65, Z:-1.71 [[ 9.99461246e-01 2.97908555e-02 1.37740089e-02 9.82576870e+01] [-2.97843712e-02 9.99556119e-01 -6.75703862e-04 -2.65013801e+00] [-1.37880247e-02 2.65089628e-04 9.99904906e-01 -1.71163501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274391418 meters 0.01860346452404195 Centerline is valid? [True, True] Translation: X:98.29, Y:-2.65, Z:-1.71 [[ 9.99514532e-01 2.84463631e-02 1.27084427e-02 9.82865625e+01] [-2.84407474e-02 9.99595286e-01 -6.22431902e-04 -2.65306295e+00] [-1.27210054e-02 2.60692122e-04 9.99919051e-01 -1.71241885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304391418 meters 0.018530639146349052 Centerline is valid? [True, True] Translation: X:98.32, Y:-2.66, Z:-1.71 [[ 9.99519827e-01 2.81810655e-02 1.28818657e-02 9.83150363e+01] [-2.81752821e-02 9.99602799e-01 -6.30253769e-04 -2.65512159e+00] [-1.28945103e-02 2.67000937e-04 9.99916827e-01 -1.71297759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334391418 meters 0.018702650617580092 Centerline is valid? [True, True] Translation: X:98.34, Y:-2.66, Z:-1.71 [[ 9.99524079e-01 2.79397150e-02 1.30762172e-02 9.83439496e+01] [-2.79337499e-02 9.99609573e-01 -6.38633033e-04 -2.65828689e+00] [-1.30889551e-02 2.73061313e-04 9.99914299e-01 -1.71374721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364391418 meters 0.019188077433253046 Centerline is valid? [True, True] Translation: X:98.37, Y:-2.66, Z:-1.71 [[ 9.99522302e-01 2.76193260e-02 1.38686875e-02 9.83727611e+01] [-2.76125970e-02 9.99618471e-01 -6.76474909e-04 -2.66311725e+00] [-1.38820800e-02 2.93201278e-04 9.99903596e-01 -1.71475288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394391418 meters 0.01955015975144483 Centerline is valid? [True, True] Translation: X:98.40, Y:-2.67, Z:-1.72 [[ 9.99516052e-01 2.72839783e-02 1.49414133e-02 9.84021059e+01] [-2.72761454e-02 9.99627672e-01 -7.27809390e-04 -2.66631089e+00] [-1.49557077e-02 3.19913007e-04 9.99888106e-01 -1.71507145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424391418 meters 0.01852239441661469 Centerline is valid? [True, True] Translation: X:98.43, Y:-2.67, Z:-1.72 [[ 9.99525723e-01 2.67104170e-02 1.53258916e-02 9.84312801e+01] [-2.67021173e-02 9.99643157e-01 -7.45951399e-04 -2.66719475e+00] [-1.53403473e-02 3.36363855e-04 9.99882273e-01 -1.71510865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454391418 meters 0.01848070833404779 Centerline is valid? [True, True] Translation: X:98.46, Y:-2.67, Z:-1.72 [[ 9.99571402e-01 2.45801372e-02 1.59005945e-02 9.84611978e+01] [-2.45709445e-02 9.99697790e-01 -7.73267233e-04 -2.67027257e+00] [-1.59147962e-02 3.82243188e-04 9.99873279e-01 -1.71580120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters 0.020480852217237697 Centerline is valid? [True, True] Translation: X:98.49, Y:-2.68, Z:-1.72 [[ 9.99609420e-01 2.33149577e-02 1.54084444e-02 9.84915908e+01] [-2.33061871e-02 9.99728094e-01 -7.48556252e-04 -2.67549985e+00] [-1.54217073e-02 3.89151792e-04 9.99881003e-01 -1.71666935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51439141799999 meters 0.02009839892100628 Centerline is valid? [True, True] Translation: X:98.52, Y:-2.68, Z:-1.72 [[ 9.99659187e-01 2.15154409e-02 1.47849858e-02 9.85216981e+01] [-2.15071638e-02 9.99768436e-01 -7.18623125e-04 -2.67603568e+00] [-1.47970236e-02 4.00395097e-04 9.99890438e-01 -1.71713297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799999 meters 0.02240421559828715 Centerline is valid? [True, True] Translation: X:98.55, Y:-2.68, Z:-1.72 [[ 9.99754956e-01 1.71793374e-02 1.39606063e-02 9.85518069e+01] [-1.71715388e-02 9.99852328e-01 -6.78302815e-04 -2.68182518e+00] [-1.39701975e-02 4.38411509e-04 9.99902316e-01 -1.71859597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57439141799999 meters 0.023537217351414185 Centerline is valid? [True, True] Translation: X:98.58, Y:-2.69, Z:-1.72 [[ 9.99798906e-01 1.50149588e-02 1.32928342e-02 9.85833962e+01] [-1.50076995e-02 9.99887170e-01 -6.45694676e-04 -2.68562164e+00] [-1.33010294e-02 4.46069968e-04 9.99911438e-01 -1.71963860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799999 meters 0.024646195243139858 Centerline is valid? [True, True] Translation: X:98.62, Y:-2.69, Z:-1.72 [[ 9.99830012e-01 1.25347185e-02 1.35213606e-02 9.86151324e+01] [-1.25269251e-02 9.99921317e-01 -6.60921167e-04 -2.68913022e+00] [-1.35285811e-02 4.91427747e-04 9.99908364e-01 -1.72025350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63439141799999 meters 0.02693662617936436 Centerline is valid? [True, True] Translation: X:98.65, Y:-2.69, Z:-1.72 [[ 9.99859015e-01 1.02139572e-02 1.33276201e-02 9.86463279e+01] [-1.02061615e-02 9.99947703e-01 -6.52808632e-04 -2.69426282e+00] [-1.33335909e-02 5.16692752e-04 9.99910970e-01 -1.72121213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664391418 meters 0.030449756541692453 Centerline is valid? [True, True] Translation: X:98.68, Y:-2.70, Z:-1.72 [[ 9.99909661e-01 4.67417876e-03 1.26024638e-02 9.86771184e+01] [-4.66671502e-03 9.99988918e-01 -6.21586738e-04 -2.70081840e+00] [-1.26052295e-02 5.62718478e-04 9.99920393e-01 -1.72309642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694391418 meters 0.030497736388951202 Centerline is valid? [True, True] Translation: X:98.71, Y:-2.70, Z:-1.72 [[ 9.99921572e-01 2.56936484e-03 1.22575579e-02 9.87089502e+01] [-2.56216033e-03 9.99996536e-01 -6.03428017e-04 -2.70310723e+00] [-1.22590659e-02 5.71974863e-04 9.99924691e-01 -1.72392330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724391418 meters 0.03377679905985282 Centerline is valid? [True, True] Translation: X:98.74, Y:-2.71, Z:-1.72 [[ 9.99930349e-01 -1.77276804e-03 1.16685055e-02 9.87388384e+01] [ 1.77964342e-03 9.99998249e-01 -5.78868698e-04 -2.70927063e+00] [-1.16674589e-02 5.99594158e-04 9.99931753e-01 -1.72492445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754391418 meters 0.03418353611622438 Centerline is valid? [True, True] Translation: X:98.77, Y:-2.71, Z:-1.72 [[ 9.99926653e-01 -2.62008289e-03 1.18247233e-02 9.87709018e+01] [ 2.62718251e-03 9.99996378e-01 -5.84911355e-04 -2.71113370e+00] [-1.18231480e-02 6.15934160e-04 9.99929914e-01 -1.72473305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784391418 meters 0.031873378212328454 Centerline is valid? [True, True] Translation: X:98.80, Y:-2.71, Z:-1.72 [[ 9.99922010e-01 -3.20398722e-03 1.20709509e-02 9.88030191e+01] [ 3.21148340e-03 9.99994662e-01 -6.01676979e-04 -2.70887053e+00] [-1.20689587e-02 6.40395712e-04 9.99926962e-01 -1.72431643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814391418 meters 0.03434249168320995 Centerline is valid? [True, True] Translation: X:98.83, Y:-2.71, Z:-1.72 [[ 9.99918989e-01 -2.67642190e-03 1.24439579e-02 9.88344549e+01] [ 2.68436267e-03 9.99996204e-01 -6.21463579e-04 -2.71281108e+00] [-1.24422473e-02 6.54817330e-04 9.99922378e-01 -1.72451323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844391418 meters 0.033120478316379175 Centerline is valid? [True, True] Translation: X:98.87, Y:-2.71, Z:-1.72 [[ 9.99918386e-01 -1.47802137e-03 1.26900218e-02 9.88670684e+01] [ 1.48619204e-03 9.99998694e-01 -6.34459648e-04 -2.71188221e+00] [-1.26890675e-02 6.53267677e-04 9.99919277e-01 -1.72430319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87439141799999 meters 0.030057855337372492 Centerline is valid? [True, True] Translation: X:98.90, Y:-2.71, Z:-1.72 [[ 9.99911260e-01 2.64753873e-03 1.30561114e-02 9.88982820e+01] [-2.63922258e-03 9.99996303e-01 -6.54143447e-04 -2.70724441e+00] [-1.30577950e-02 6.19627415e-04 9.99914551e-01 -1.72469628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters 0.02928730476541035 Centerline is valid? [True, True] Translation: X:98.93, Y:-2.71, Z:-1.73 [[ 9.99896148e-01 5.57313874e-03 1.32903682e-02 9.89290648e+01] [-5.56477694e-03 9.99984295e-01 -6.66060108e-04 -2.70752861e+00] [-1.32938715e-02 5.92033002e-04 9.99911457e-01 -1.72555627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93439141799999 meters 0.02891675385260358 Centerline is valid? [True, True] Translation: X:98.96, Y:-2.71, Z:-1.73 [[ 9.99864422e-01 8.70976478e-03 1.39741523e-02 9.89600138e+01] [-8.70081766e-03 9.99961902e-01 -7.00931861e-04 -2.70810992e+00] [-1.39797249e-02 5.79250279e-04 9.99902111e-01 -1.72665586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799999 meters 0.02365608181476043 Centerline is valid? [True, True] Translation: X:98.99, Y:-2.70, Z:-1.73 [[ 9.99774341e-01 1.55265593e-02 1.44980033e-02 9.89915793e+01] [-1.55176346e-02 9.99879329e-01 -7.27877620e-04 -2.69935176e+00] [-1.45075553e-02 5.02738650e-04 9.99894633e-01 -1.72606847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99439141799999 meters 0.023015109070728623 Centerline is valid? [True, True] Translation: X:99.02, Y:-2.70, Z:-1.73 [[ 9.99706127e-01 1.91923398e-02 1.48092410e-02 9.90221762e+01] [-1.91834250e-02 9.99815704e-01 -7.43808586e-04 -2.69729068e+00] [-1.48207872e-02 4.59498037e-04 9.99890061e-01 -1.72622634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024391418 meters 0.018581159519213224 Centerline is valid? [True, True] Translation: X:99.05, Y:-2.69, Z:-1.73 [[ 9.99536829e-01 2.68232241e-02 1.43750819e-02 9.90539868e+01] [-2.68156088e-02 9.99640136e-01 -7.22282482e-04 -2.68704820e+00] [-1.43892828e-02 3.36471370e-04 9.99896412e-01 -1.72636268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054391418 meters 0.01741028702352862 Centerline is valid? [True, True] Translation: X:99.08, Y:-2.68, Z:-1.73 [[ 9.99438493e-01 3.04432466e-02 1.39966719e-02 9.90840546e+01] [-3.04363745e-02 9.99536458e-01 -7.03785165e-04 -2.68469323e+00] [-1.40116094e-02 2.77382037e-04 9.99901794e-01 -1.72760076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084391418 meters 0.015505063277154445 Centerline is valid? [True, True] Translation: X:99.11, Y:-2.68, Z:-1.73 [[ 9.99229258e-01 3.69810183e-02 1.31641517e-02 9.91117780e+01] [-3.69755091e-02 9.99315953e-01 -6.61725308e-04 -2.67961244e+00] [-1.31796180e-02 1.74464079e-04 9.99913130e-01 -1.73018519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114391418 meters 0.014664869386091307 Centerline is valid? [True, True] Translation: X:99.14, Y:-2.68, Z:-1.73 [[ 9.99122117e-01 3.99548301e-02 1.25938961e-02 9.91404122e+01] [-3.99500403e-02 9.99201479e-01 -6.31777413e-04 -2.67708996e+00] [-1.26090822e-02 1.28096129e-04 9.99920494e-01 -1.73107021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144391418 meters 0.01423632913133282 Centerline is valid? [True, True] Translation: X:99.17, Y:-2.67, Z:-1.73 [[ 9.99007554e-01 4.27158239e-02 1.26200045e-02 9.91698325e+01] [-4.27112485e-02 9.99087258e-01 -6.31967266e-04 -2.67481641e+00] [-1.26354807e-02 9.23239265e-05 9.99920165e-01 -1.73167923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174391418 meters 0.013855450812982171 Centerline is valid? [True, True] Translation: X:99.20, Y:-2.67, Z:-1.73 [[ 9.98889725e-01 4.53438616e-02 1.27769996e-02 9.91980086e+01] [-4.53393940e-02 9.98971436e-01 -6.39260766e-04 -2.67236082e+00] [-1.27928442e-02 5.92495938e-05 9.99918166e-01 -1.73191027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204391418 meters 0.013654950163879926 Centerline is valid? [True, True] Translation: X:99.23, Y:-2.67, Z:-1.73 [[ 9.98755304e-01 4.82210533e-02 1.27503941e-02 9.92274681e+01] [-4.82168569e-02 9.98836688e-01 -6.36496529e-04 -2.67015765e+00] [-1.27662540e-02 2.09203564e-05 9.99918508e-01 -1.73206758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23439141799999 meters 0.013765915275148484 Centerline is valid? [True, True] Translation: X:99.25, Y:-2.67, Z:-1.73 [[ 9.98618361e-01 5.10261489e-02 1.25578956e-02 9.92547983e+01] [-5.10223040e-02 9.98697317e-01 -6.26572418e-04 -2.66896731e+00] [-1.25735083e-02 -1.50260474e-05 9.99920950e-01 -1.73321795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters 0.013765915275148484 Centerline is valid? [True, True] Translation: X:99.28, Y:-2.67, Z:-1.73 [[ 9.98624450e-01 5.09068168e-02 1.25579899e-02 9.92822210e+01] [-5.09029863e-02 9.98703407e-01 -6.24675684e-04 -2.67021711e+00] [-1.25735076e-02 -1.54227786e-05 9.99920950e-01 -1.73371375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29439141799999 meters 0.013936928684356238 Centerline is valid? [True, True] Translation: X:99.31, Y:-2.67, Z:-1.73 [[ 9.98473463e-01 5.37903705e-02 1.25435238e-02 9.93104517e+01] [-5.37867966e-02 9.98552249e-01 -6.22342502e-04 -2.66924474e+00] [-1.25588399e-02 -5.32834888e-05 9.99921133e-01 -1.73488596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799999 meters 0.014582249337362513 Centerline is valid? [True, True] Translation: X:99.34, Y:-2.67, Z:-1.73 [[ 9.98196268e-01 5.83960170e-02 1.39325484e-02 9.93391874e+01] [-5.83920792e-02 9.98293489e-01 -6.89606939e-04 -2.66752944e+00] [-1.39490426e-02 -1.25187396e-04 9.99902700e-01 -1.73420755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35439141799999 meters 0.01499080066462848 Centerline is valid? [True, True] Translation: X:99.37, Y:-2.67, Z:-1.73 [[ 9.98071591e-01 6.03666778e-02 1.44555411e-02 9.93674882e+01] [-6.03626621e-02 9.98176256e-01 -7.14345264e-04 -2.66682544e+00] [-1.44723005e-02 -1.59607225e-04 9.99895258e-01 -1.73416884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799999 meters 0.015434634618880276 Centerline is valid? [True, True] Translation: X:99.40, Y:-2.67, Z:-1.73 [[ 9.97939596e-01 6.21938052e-02 1.57637008e-02 9.93963319e+01] [-6.21892858e-02 9.98064070e-01 -7.77207364e-04 -2.66660755e+00] [-1.57815209e-02 -2.04727293e-04 9.99875443e-01 -1.73320898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414391418 meters 0.015417201597351323 Centerline is valid? [True, True] Translation: X:99.42, Y:-2.67, Z:-1.73 [[ 9.97943883e-01 6.19455250e-02 1.64547638e-02 9.94242929e+01] [-6.19405884e-02 9.98079510e-01 -8.09973396e-04 -2.66859141e+00] [-1.64733368e-02 -2.10909755e-04 9.99864283e-01 -1.73348239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444391418 meters 0.015433078948256053 Centerline is valid? [True, True] Translation: X:99.45, Y:-2.67, Z:-1.73 [[ 9.97970751e-01 6.14063655e-02 1.68415597e-02 9.94518575e+01] [-6.14011529e-02 9.98112827e-01 -8.26904038e-04 -2.67127510e+00] [-1.68605540e-02 -2.08865139e-04 9.99857829e-01 -1.73433241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474391418 meters 0.014704026812917268 Centerline is valid? [True, True] Translation: X:99.48, Y:-2.68, Z:-1.74 [[ 9.98179556e-01 5.80354745e-02 1.64151705e-02 9.94803889e+01] [-5.80300933e-02 9.98314510e-01 -8.04348091e-04 -2.67906312e+00] [-1.64341836e-02 -1.49690056e-04 9.99864938e-01 -1.73712643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504391418 meters 0.014485717671314787 Centerline is valid? [True, True] Translation: X:99.51, Y:-2.68, Z:-1.74 [[ 9.98344651e-01 5.53692074e-02 1.55630865e-02 9.95076680e+01] [-5.53640642e-02 9.98465944e-01 -7.61455502e-04 -2.68285654e+00] [-1.55813730e-02 -1.01440692e-04 9.99878598e-01 -1.73882700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534391418 meters 0.014129887618572057 Centerline is valid? [True, True] Translation: X:99.54, Y:-2.69, Z:-1.74 [[ 9.98518296e-01 5.22019134e-02 1.53678900e-02 9.95363618e+01] [-5.21965475e-02 9.98636549e-01 -7.50331577e-04 -2.68804295e+00] [-1.53861054e-02 -5.29309945e-05 9.99881625e-01 -1.73942522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564391418 meters 0.014053758257608559 Centerline is valid? [True, True] Translation: X:99.56, Y:-2.69, Z:-1.74 [[ 9.98848274e-01 4.57012292e-02 1.46124265e-02 9.95626384e+01] [-4.56956955e-02 9.98955152e-01 -7.12524257e-04 -2.69491708e+00] [-1.46297219e-02 4.39786338e-05 9.99892979e-01 -1.73974572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59439141799999 meters 0.01433463650473328 Centerline is valid? [True, True] Translation: X:99.59, Y:-2.70, Z:-1.74 [[ 9.99005498e-01 4.22308726e-02 1.43027282e-02 9.95911336e+01] [-4.22252471e-02 9.99107875e-01 -6.95213110e-04 -2.69926167e+00] [-1.43193278e-02 9.05854877e-05 9.99897469e-01 -1.74033135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters 0.014879490199500517 Centerline is valid? [True, True] Translation: X:99.62, Y:-2.70, Z:-1.74 [[ 9.99138447e-01 3.90325161e-02 1.41005716e-02 9.96189972e+01] [-3.90267439e-02 9.99237932e-01 -6.84392750e-04 -2.70462046e+00] [-1.41165396e-02 1.33503710e-04 9.99900348e-01 -1.74122575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65439141799999 meters 0.015647016162151025 Centerline is valid? [True, True] Translation: X:99.65, Y:-2.71, Z:-1.74 [[ 9.99257093e-01 3.59030915e-02 1.40082270e-02 9.96473414e+01] [-3.58971114e-02 9.99355261e-01 -6.78188960e-04 -2.71004597e+00] [-1.40235444e-02 1.74830244e-04 9.99901650e-01 -1.74231476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799999 meters 0.016908259296538605 Centerline is valid? [True, True] Translation: X:99.68, Y:-2.72, Z:-1.74 [[ 9.99401939e-01 3.12385263e-02 1.48296920e-02 9.96761801e+01] [-3.12313306e-02 9.99511926e-01 -7.16625164e-04 -2.71918508e+00] [-1.48448403e-02 2.53045565e-04 9.99889777e-01 -1.74337142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71439141799999 meters 0.017685670287896752 Centerline is valid? [True, True] Translation: X:99.71, Y:-2.72, Z:-1.74 [[ 9.99452290e-01 2.90974302e-02 1.57625860e-02 9.97053741e+01] [-2.90890495e-02 9.99576535e-01 -7.60740087e-04 -2.72386294e+00] [-1.57780467e-02 3.01804776e-04 9.99875473e-01 -1.74356112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799999 meters 0.01766400031595534 Centerline is valid? [True, True] Translation: X:99.73, Y:-2.73, Z:-1.74 [[ 9.99484467e-01 2.75795942e-02 1.64367111e-02 9.97347598e+01] [-2.75702874e-02 9.99619553e-01 -7.92596586e-04 -2.72614208e+00] [-1.64523173e-02 3.39023128e-04 9.99864594e-01 -1.74349275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774391418 meters 0.018896563660524616 Centerline is valid? [True, True] Translation: X:99.76, Y:-2.73, Z:-1.74 [[ 9.99507045e-01 2.63666734e-02 1.70430347e-02 9.97640830e+01] [-2.63565036e-02 9.99652270e-01 -8.21087928e-04 -2.73041259e+00] [-1.70587577e-02 3.71488363e-04 9.99854420e-01 -1.74360160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804391418 meters 0.01888268321537772 Centerline is valid? [True, True] Translation: X:99.79, Y:-2.73, Z:-1.74 [[ 9.99542937e-01 2.45151098e-02 1.76897266e-02 9.97945911e+01] [-2.45038704e-02 9.99699372e-01 -8.51863660e-04 -2.73381118e+00] [-1.77052921e-02 4.18007535e-04 9.99843162e-01 -1.74406014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834391418 meters 0.01927340038517281 Centerline is valid? [True, True] Translation: X:99.83, Y:-2.74, Z:-1.75 [[ 9.99563980e-01 2.35683404e-02 1.77871491e-02 9.98259273e+01] [-2.35568273e-02 9.99722133e-01 -8.56546160e-04 -2.73778835e+00] [-1.78023940e-02 4.37163891e-04 9.99841429e-01 -1.74517430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864391418 meters 0.01997891106274351 Centerline is valid? [True, True] Translation: X:99.86, Y:-2.74, Z:-1.75 [[ 9.99595729e-01 2.24412326e-02 1.74576258e-02 9.98571155e+01] [-2.24299602e-02 9.99748063e-01 -8.41255123e-04 -2.74268022e+00] [-1.74721064e-02 4.49341176e-04 9.99847250e-01 -1.74585616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894391418 meters 0.021255461420021302 Centerline is valid? [True, True] Translation: X:99.89, Y:-2.75, Z:-1.75 [[ 9.99672637e-01 1.87196711e-02 1.74411002e-02 9.98889326e+01] [-1.87077723e-02 9.99824637e-01 -8.45142788e-04 -2.74872989e+00] [-1.74538625e-02 5.18581988e-04 9.99847535e-01 -1.74701972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924391418 meters 0.021887712639727105 Centerline is valid? [True, True] Translation: X:99.92, Y:-2.75, Z:-1.75 [[ 9.99719476e-01 1.63942937e-02 1.70937372e-02 9.99209563e+01] [-1.63825044e-02 9.99865454e-01 -8.29498103e-04 -2.75225275e+00] [-1.71050363e-02 5.49227185e-04 9.99853547e-01 -1.74746642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954391418 meters 0.02453610706483115 Centerline is valid? [True, True] Translation: X:99.95, Y:-2.76, Z:-1.75 [[ 9.99823098e-01 1.08982372e-02 1.53297491e-02 9.99513363e+01] [-1.08880409e-02 9.99940443e-01 -7.48436925e-04 -2.75891035e+00] [-1.53369928e-02 5.81393590e-04 9.99882212e-01 -1.74934350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters 0.026843845353777557 Centerline is valid? [True, True] Translation: X:99.98, Y:-2.76, Z:-1.75 [[ 9.99858321e-01 8.08256623e-03 1.47651310e-02 9.99823097e+01] [-8.07280077e-03 9.99967155e-01 -7.20869132e-04 -2.76479500e+00] [-1.47704725e-02 6.01571040e-04 9.99890730e-01 -1.75139700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01439141799999 meters 0.029079543888825523 Centerline is valid? [True, True] Translation: X:100.01, Y:-2.77, Z:-1.75 [[ 9.99887520e-01 5.39681863e-03 1.39936142e-02 1.00012872e+02] [-5.38772362e-03 9.99985250e-01 -6.87557292e-04 -2.77110460e+00] [-1.39971184e-02 6.12086230e-04 9.99901848e-01 -1.75396732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799999 meters 0.03136424308198817 Centerline is valid? [True, True] Translation: X:100.04, Y:-2.78, Z:-1.76 [[ 9.99924029e-01 5.91945671e-04 1.23120486e-02 1.00043433e+02] [-5.84535385e-04 9.99999646e-01 -6.05462603e-04 -2.77878375e+00] [-1.23124027e-02 5.98219777e-04 9.99924021e-01 -1.75684597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07439141799999 meters 0.033356693744408986 Centerline is valid? [True, True] Translation: X:100.07, Y:-2.78, Z:-1.76 [[ 9.99933391e-01 -9.68732150e-04 1.15010805e-02 1.00074694e+02] [ 9.75285856e-04 9.99999365e-01 -5.64239041e-04 -2.78299042e+00] [-1.15005266e-02 5.75418299e-04 9.99933701e-01 -1.75768315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799999 meters 0.033211956022379384 Centerline is valid? [True, True] Translation: X:100.11, Y:-2.78, Z:-1.76 [[ 9.99931734e-01 -1.47977106e-03 1.15903985e-02 1.00106445e+02] [ 1.48649625e-03 9.99998732e-01 -5.71644780e-04 -2.78336613e+00] [-1.15895379e-02 5.88834840e-04 9.99932666e-01 -1.75741204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13439141799999 meters 0.03194688516982163 Centerline is valid? [True, True] Translation: X:100.14, Y:-2.78, Z:-1.76 [[ 9.99930242e-01 -1.65409388e-03 1.16950792e-02 1.00138856e+02] [ 1.66100200e-03 9.99998452e-01 -5.80998120e-04 -2.78208945e+00] [-1.16941001e-02 6.00383141e-04 9.99931441e-01 -1.75639429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164391418 meters 0.03181746500139609 Centerline is valid? [True, True] Translation: X:100.17, Y:-2.78, Z:-1.75 [[ 9.99916676e-01 2.67480100e-04 1.29061726e-02 1.00169410e+02] [-2.59207060e-04 9.99999760e-01 -6.42682719e-04 -2.78165009e+00] [-1.29063414e-02 6.39283797e-04 9.99916505e-01 -1.75480980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194391418 meters 0.033449149902563764 Centerline is valid? [True, True] Translation: X:100.20, Y:-2.79, Z:-1.75 [[ 9.99905964e-01 2.15224704e-03 1.35437023e-02 1.00200711e+02] [-2.14330731e-03 9.99997476e-01 -6.74546196e-04 -2.78544920e+00] [-1.35451199e-02 6.45454448e-04 9.99908052e-01 -1.75468695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224391418 meters 0.03208645993430001 Centerline is valid? [True, True] Translation: X:100.23, Y:-2.79, Z:-1.76 [[ 9.99887692e-01 4.51676338e-03 1.42899644e-02 1.00232731e+02] [-4.50703918e-03 9.99989589e-01 -7.12623025e-04 -2.78503267e+00] [-1.42930344e-02 6.48137562e-04 9.99897639e-01 -1.75502202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254391418 meters 0.02930084361880426 Centerline is valid? [True, True] Translation: X:100.26, Y:-2.78, Z:-1.75 [[ 9.99865888e-01 6.70351821e-03 1.49422120e-02 1.00264725e+02] [-6.69311604e-03 9.99977323e-01 -7.46059493e-04 -2.78262936e+00] [-1.49468744e-02 6.45949478e-04 9.99888081e-01 -1.75491875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284391418 meters 0.027467608819529445 Centerline is valid? [True, True] Translation: X:100.30, Y:-2.78, Z:-1.76 [[ 9.99849560e-01 9.73062401e-03 1.43587069e-02 1.00295958e+02] [-9.72131739e-03 9.99952489e-01 -7.17807502e-04 -2.78042416e+00] [-1.43650095e-02 5.78113967e-04 9.99896651e-01 -1.75654873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314391418 meters 0.02584674248105747 Centerline is valid? [True, True] Translation: X:100.33, Y:-2.78, Z:-1.76 [[ 9.99789331e-01 1.42338349e-02 1.47882094e-02 1.00326397e+02] [-1.42244448e-02 9.99898554e-01 -7.39964964e-04 -2.77798584e+00] [-1.47972417e-02 5.29455008e-04 9.99890375e-01 -1.75612759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters 0.02498892585045255 Centerline is valid? [True, True] Translation: X:100.36, Y:-2.78, Z:-1.76 [[ 9.99749566e-01 1.70738726e-02 1.44667692e-02 1.00357509e+02] [-1.70651910e-02 9.99854117e-01 -7.23350313e-04 -2.77724664e+00] [-1.44770091e-02 4.76290983e-04 9.99895089e-01 -1.75672453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37439141799999 meters 0.023918557350706044 Centerline is valid? [True, True] Translation: X:100.39, Y:-2.78, Z:-1.76 [[ 9.99702528e-01 1.96349963e-02 1.44680107e-02 1.00389907e+02] [-1.96265294e-02 9.99807117e-01 -7.26979472e-04 -2.77628685e+00] [-1.44794943e-02 4.42806378e-04 9.99895069e-01 -1.75731315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters 0.023001738613179293 Centerline is valid? [True, True] Translation: X:100.42, Y:-2.78, Z:-1.76 [[ 9.99657644e-01 2.19540396e-02 1.42342599e-02 1.00421662e+02] [-2.19460135e-02 9.99758898e-01 -7.19835047e-04 -2.77593169e+00] [-1.42466313e-02 4.07203348e-04 9.99898429e-01 -1.75802111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43439141799999 meters 0.02120842607444194 Centerline is valid? [True, True] Translation: X:100.45, Y:-2.77, Z:-1.76 [[ 9.99548351e-01 2.63821948e-02 1.43900504e-02 1.00451667e+02] [-2.63744406e-02 9.99651869e-01 -7.28403236e-04 -2.77441512e+00] [-1.44042576e-02 3.48544724e-04 9.99896193e-01 -1.75906983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799999 meters 0.020301652383027405 Centerline is valid? [True, True] Translation: X:100.48, Y:-2.77, Z:-1.76 [[ 9.99506065e-01 2.81940897e-02 1.38823130e-02 1.00481941e+02] [-2.81870466e-02 9.99602419e-01 -7.02778878e-04 -2.77329401e+00] [-1.38966079e-02 3.11130347e-04 9.99903389e-01 -1.75966532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49439141799999 meters 0.018720463060327652 Centerline is valid? [True, True] Translation: X:100.51, Y:-2.77, Z:-1.76 [[ 9.99437023e-01 3.06381381e-02 1.36726394e-02 1.00511459e+02] [-3.06315370e-02 9.99530505e-01 -6.92003578e-04 -2.76978769e+00] [-1.36874219e-02 2.72800035e-04 9.99906286e-01 -1.75974125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524391418 meters 0.016064502932240838 Centerline is valid? [True, True] Translation: X:100.54, Y:-2.76, Z:-1.76 [[ 9.99286486e-01 3.50863181e-02 1.39810484e-02 1.00540638e+02] [-3.50798563e-02 9.99384262e-01 -7.07227787e-04 -2.76243366e+00] [-1.39972538e-02 2.16270001e-04 9.99902010e-01 -1.75823546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554391418 meters 0.01636578123916773 Centerline is valid? [True, True] Translation: X:100.57, Y:-2.76, Z:-1.76 [[ 9.99197273e-01 3.75891806e-02 1.38514425e-02 1.00568204e+02] [-3.75830930e-02 9.99293261e-01 -6.99625110e-04 -2.76392549e+00] [-1.38679515e-02 1.78483448e-04 9.99903819e-01 -1.75947851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584391418 meters 0.015086701364905352 Centerline is valid? [True, True] Translation: X:100.60, Y:-2.76, Z:-1.76 [[ 9.99121124e-01 3.97004712e-02 1.34481065e-02 1.00597675e+02] [-3.96949409e-02 9.99211615e-01 -6.78010026e-04 -2.76097259e+00] [-1.34644215e-02 1.43592347e-04 9.99909340e-01 -1.76025197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614391418 meters 0.014097309051810386 Centerline is valid? [True, True] Translation: X:100.63, Y:-2.76, Z:-1.76 [[ 9.98916468e-01 4.47242417e-02 1.28697882e-02 1.00625464e+02] [-4.47196134e-02 9.98999368e-01 -6.47325724e-04 -2.76023435e+00] [-1.28858614e-02 7.10923741e-05 9.99916971e-01 -1.76303206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644391418 meters 0.0139138745992415 Centerline is valid? [True, True] Translation: X:100.65, Y:-2.76, Z:-1.76 [[ 9.98816406e-01 4.70862614e-02 1.21930389e-02 1.00654765e+02] [-4.70822978e-02 9.98890826e-01 -6.12076138e-04 -2.75973899e+00] [-1.22083351e-02 3.72753981e-05 9.99925475e-01 -1.76415300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674391418 meters 0.014061255256860325 Centerline is valid? [True, True] Translation: X:100.68, Y:-2.76, Z:-1.76 [[ 9.98581940e-01 5.19098340e-02 1.18100905e-02 1.00682679e+02] [-5.19064607e-02 9.98651775e-01 -5.92177391e-04 -2.75645961e+00] [-1.18249076e-02 -2.16823489e-05 9.99930083e-01 -1.76417720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704391418 meters 0.014233781586983763 Centerline is valid? [True, True] Translation: X:100.71, Y:-2.76, Z:-1.76 [[ 9.98469481e-01 5.40210203e-02 1.18501212e-02 1.00710514e+02] [-5.40177917e-02 9.98539797e-01 -5.92593460e-04 -2.75518164e+00] [-1.18648301e-02 -4.84308946e-05 9.99929609e-01 -1.76379027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73439141799999 meters 0.014411491635976489 Centerline is valid? [True, True] Translation: X:100.74, Y:-2.75, Z:-1.76 [[ 9.98361546e-01 5.58218650e-02 1.25755206e-02 1.00739016e+02] [-5.58183906e-02 9.98440741e-01 -6.27374452e-04 -2.75459280e+00] [-1.25909333e-02 -7.55987908e-05 9.99920728e-01 -1.76323938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters 0.014771749142698682 Centerline is valid? [True, True] Translation: X:100.77, Y:-2.76, Z:-1.76 [[ 9.98176289e-01 5.87679247e-02 1.37995425e-02 1.00768071e+02] [-5.87640398e-02 9.98271664e-01 -6.87185794e-04 -2.75585962e+00] [-1.38160768e-02 -1.24984302e-04 9.99904546e-01 -1.76278722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79439141799999 meters 0.014960313343094955 Centerline is valid? [True, True] Translation: X:100.80, Y:-2.76, Z:-1.76 [[ 9.98153153e-01 5.91878110e-02 1.36779656e-02 1.00795337e+02] [-5.91840474e-02 9.98246856e-01 -6.80127968e-04 -2.75879151e+00] [-1.36942414e-02 -1.30645487e-04 9.99906221e-01 -1.76424037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799999 meters 0.014595128065343714 Centerline is valid? [True, True] Translation: X:100.82, Y:-2.77, Z:-1.77 [[ 9.98221126e-01 5.81647922e-02 1.30935351e-02 1.00824162e+02] [-5.81612726e-02 9.98306989e-01 -6.49757539e-04 -2.76556648e+00] [-1.31091606e-02 -1.12934958e-04 9.99914065e-01 -1.76613025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85439141799999 meters 0.01444937169542725 Centerline is valid? [True, True] Translation: X:100.85, Y:-2.77, Z:-1.77 [[ 9.98293694e-01 5.69227096e-02 1.30194117e-02 1.00852239e+02] [-5.69191367e-02 9.98378583e-01 -6.45109721e-04 -2.76876663e+00] [-1.30350232e-02 -9.70447071e-05 9.99915036e-01 -1.76738588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799999 meters 0.014328185167404668 Centerline is valid? [True, True] Translation: X:100.88, Y:-2.77, Z:-1.77 [[ 9.98422954e-01 5.47369507e-02 1.24688180e-02 1.00880678e+02] [-5.47335197e-02 9.98500807e-01 -6.16506133e-04 -2.77277206e+00] [-1.24838705e-02 -6.69284234e-05 9.99922071e-01 -1.76789591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914391418 meters 0.013908918251849249 Centerline is valid? [True, True] Translation: X:100.91, Y:-2.78, Z:-1.77 [[ 9.98554360e-01 5.21882020e-02 1.28678406e-02 1.00908801e+02] [-5.21843500e-02 9.98637267e-01 -6.35162643e-04 -2.77754803e+00] [-1.28834532e-02 -3.72554716e-05 9.99917004e-01 -1.76830094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944391418 meters 0.014288332651609505 Centerline is valid? [True, True] Translation: X:100.94, Y:-2.79, Z:-1.77 [[ 9.98895267e-01 4.51935984e-02 1.28757391e-02 1.00935341e+02] [-4.51891700e-02 9.98978246e-01 -6.34814294e-04 -2.78807899e+00] [-1.28912728e-02 5.22690312e-05 9.99916903e-01 -1.76912198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974391418 meters 0.014395455647994175 Centerline is valid? [True, True] Translation: X:100.96, Y:-2.79, Z:-1.77 [[ 9.99069615e-01 4.13084841e-02 1.23900187e-02 1.00964307e+02] [-4.13041091e-02 9.99146436e-01 -6.08895078e-04 -2.79449545e+00] [-1.24045956e-02 9.65698861e-05 9.99923055e-01 -1.76939731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004391418 meters 0.015289413151803216 Centerline is valid? [True, True] Translation: X:100.99, Y:-2.80, Z:-1.77 [[ 9.99249458e-01 3.68204004e-02 1.20324451e-02 1.00993037e+02] [-3.68159602e-02 9.99321888e-01 -5.90384874e-04 -2.80121069e+00] [-1.20460239e-02 1.46955746e-04 9.99927433e-01 -1.77022788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034391418 meters 0.017151930398094425 Centerline is valid? [True, True] Translation: X:101.02, Y:-2.81, Z:-1.77 [[ 9.99408059e-01 3.24382977e-02 1.14580982e-02 1.01021426e+02] [-3.24339947e-02 9.99473722e-01 -5.61214411e-04 -2.80906549e+00] [-1.14702728e-02 1.89250310e-04 9.99934196e-01 -1.77147452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064391418 meters 0.01766682325063692 Centerline is valid? [True, True] Translation: X:101.05, Y:-2.81, Z:-1.77 [[ 9.99540996e-01 2.80357201e-02 1.14802142e-02 1.01050976e+02] [-2.80311195e-02 9.99606893e-01 -5.61482580e-04 -2.81248068e+00] [-1.14914428e-02 2.39421602e-04 9.99933943e-01 -1.77124363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09439141799999 meters 0.02134148224225209 Centerline is valid? [True, True] Translation: X:101.08, Y:-2.82, Z:-1.77 [[ 9.99722377e-01 2.06258155e-02 1.13905943e-02 1.01080111e+02] [-2.06208125e-02 9.99787214e-01 -5.56501689e-04 -2.82391081e+00] [-1.13996488e-02 3.21463882e-04 9.99934970e-01 -1.77268459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters 0.02274605209316734 Centerline is valid? [True, True] Translation: X:101.11, Y:-2.83, Z:-1.77 [[ 9.99782718e-01 1.73565840e-02 1.15440904e-02 1.01110425e+02] [-1.73512319e-02 9.99849297e-01 -5.63630268e-04 -2.82992229e+00] [-1.15521334e-02 3.63203611e-04 9.99933206e-01 -1.77332094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15439141799999 meters 0.02274605209316734 Centerline is valid? [True, True] Translation: X:101.14, Y:-2.83, Z:-1.77 [[ 9.99782032e-01 1.73960537e-02 1.15441029e-02 1.01141243e+02] [-1.73907071e-02 9.99848612e-01 -5.63375114e-04 -2.83146621e+00] [-1.15521558e-02 3.62492204e-04 9.99933206e-01 -1.77387730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799999 meters 0.024214904135858296 Centerline is valid? [True, True] Translation: X:101.17, Y:-2.84, Z:-1.77 [[ 9.99859723e-01 1.20085375e-02 1.16759846e-02 1.01172211e+02] [-1.20026957e-02 9.99927802e-01 -5.70274272e-04 -2.83928357e+00] [-1.16819898e-02 4.30050986e-04 9.99931671e-01 -1.77460156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21439141799999 meters 0.025988683243793265 Centerline is valid? [True, True] Translation: X:101.20, Y:-2.84, Z:-1.78 [[ 9.99883946e-01 9.65812702e-03 1.17819867e-02 1.01202748e+02] [-9.65200998e-03 9.99953252e-01 -5.75937928e-04 -2.84479930e+00] [-1.17869984e-02 4.62151235e-04 9.99930424e-01 -1.77528376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799999 meters 0.02670500502586846 Centerline is valid? [True, True] Translation: X:101.24, Y:-2.85, Z:-1.78 [[ 9.99896837e-01 7.79578388e-03 1.20640541e-02 1.01235052e+02] [-7.78924607e-03 9.99969490e-01 -5.88817082e-04 -2.84839056e+00] [-1.20682763e-02 4.94786452e-04 9.99927053e-01 -1.77564558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274391418 meters 0.03148476087272571 Centerline is valid? [True, True] Translation: X:101.27, Y:-2.86, Z:-1.77 [[ 9.99900541e-01 4.80710871e-03 1.32589692e-02 1.01265996e+02] [-4.79889240e-03 9.99988273e-01 -6.51425589e-04 -2.85760610e+00] [-1.32619451e-02 5.87732432e-04 9.99911884e-01 -1.77481516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304391418 meters 0.03271384308384808 Centerline is valid? [True, True] Translation: X:101.30, Y:-2.86, Z:-1.77 [[ 9.99902532e-01 3.78406561e-03 1.34390318e-02 1.01297922e+02] [-3.77548451e-03 9.99992652e-01 -6.63833991e-04 -2.86095805e+00] [-1.34414450e-02 6.13030432e-04 9.99909472e-01 -1.77432527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334391418 meters 0.029746412554522123 Centerline is valid? [True, True] Translation: X:101.33, Y:-2.86, Z:-1.77 [[ 9.99896051e-01 3.05468567e-03 1.40909797e-02 1.01329874e+02] [-3.04512313e-03 9.99995119e-01 -7.00033989e-04 -2.85812333e+00] [-1.40930493e-02 6.57052453e-04 9.99900472e-01 -1.77326595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364391418 meters 0.031082882151742718 Centerline is valid? [True, True] Translation: X:101.36, Y:-2.86, Z:-1.77 [[ 9.99902281e-01 1.78178913e-03 1.38655671e-02 1.01361201e+02] [-1.77235814e-03 9.99998190e-01 -6.92431836e-04 -2.86082834e+00] [-1.38667758e-02 6.67789421e-04 9.99903629e-01 -1.77396947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394391418 meters 0.03181474689866482 Centerline is valid? [True, True] Translation: X:101.39, Y:-2.86, Z:-1.78 [[ 9.99911383e-01 1.50592039e-03 1.32271707e-02 1.01393106e+02] [-1.49727212e-03 9.99998659e-01 -6.63704163e-04 -2.86385705e+00] [-1.32281525e-02 6.43840674e-04 9.99912297e-01 -1.77560556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424391418 meters 0.032875119966501276 Centerline is valid? [True, True] Translation: X:101.43, Y:-2.87, Z:-1.78 [[ 9.99933252e-01 1.38790599e-03 1.14701734e-02 1.01425061e+02] [-1.38136600e-03 9.99998879e-01 -5.78076509e-04 -2.86678392e+00] [-1.14709629e-02 5.62193417e-04 9.99934048e-01 -1.77920505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454391418 meters 0.033235913282335404 Centerline is valid? [True, True] Translation: X:101.46, Y:-2.87, Z:-1.78 [[ 9.99931895e-01 6.51699486e-04 1.16525107e-02 1.01456007e+02] [-6.44851589e-04 9.99999617e-01 -5.91423249e-04 -2.87057019e+00] [-1.16528917e-02 5.83868830e-04 9.99931932e-01 -1.78041560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters 0.033635276603125534 Centerline is valid? [True, True] Translation: X:101.49, Y:-2.87, Z:-1.78 [[ 9.99940225e-01 2.82675007e-04 1.09300870e-02 1.01487665e+02] [-2.76612110e-04 9.99999807e-01 -5.56205729e-04 -2.87312784e+00] [-1.09302422e-02 5.53149087e-04 9.99940110e-01 -1.78217366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51439141799999 meters 0.03385935089091438 Centerline is valid? [True, True] Translation: X:101.52, Y:-2.87, Z:-1.78 [[ 9.99960121e-01 -2.16468017e-05 8.93061850e-03 1.01520137e+02] [ 2.57037608e-05 9.99999897e-01 -4.54160732e-04 -2.87342295e+00] [-8.93060774e-03 4.54372172e-04 9.99960018e-01 -1.78411387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799999 meters 0.03082879066123315 Centerline is valid? [True, True] Translation: X:101.55, Y:-2.87, Z:-1.78 [[ 9.99966194e-01 -8.07142782e-06 8.22254472e-03 1.01552661e+02] [ 1.15409340e-05 9.99999911e-01 -4.21903058e-04 -2.86885774e+00] [-8.22254058e-03 4.21983691e-04 9.99966105e-01 -1.78420038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57439141799999 meters 0.03472221150389881 Centerline is valid? [True, True] Translation: X:101.58, Y:-2.87, Z:-1.79 [[ 9.99971307e-01 2.87003029e-04 7.56983012e-03 1.01584271e+02] [-2.84068690e-04 9.99999884e-01 -3.88708440e-04 -2.87335057e+00] [-7.56994080e-03 3.86546935e-04 9.99971273e-01 -1.78538103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799999 meters 0.030795122634056284 Centerline is valid? [True, True] Translation: X:101.62, Y:-2.87, Z:-1.78 [[ 9.99971240e-01 2.38113709e-03 7.20071124e-03 1.01616113e+02] [-2.37852652e-03 9.99997102e-01 -3.71084655e-04 -2.86629438e+00] [-7.20157398e-03 3.53946900e-04 9.99974006e-01 -1.78474772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63439141799999 meters 0.03316785576292832 Centerline is valid? [True, True] Translation: X:101.65, Y:-2.87, Z:-1.79 [[ 9.99962997e-01 4.29594227e-03 7.45312479e-03 1.01647441e+02] [-4.29319918e-03 9.99990710e-01 -3.84005409e-04 -2.87045357e+00] [-7.45470522e-03 3.51993450e-04 9.99972151e-01 -1.78616612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664391418 meters 0.028066028213737697 Centerline is valid? [True, True] Translation: X:101.68, Y:-2.86, Z:-1.78 [[ 9.99943705e-01 6.48003662e-03 8.40212606e-03 1.01679651e+02] [-6.47661864e-03 9.99978932e-01 -4.33944477e-04 -2.86388436e+00] [-8.40476102e-03 3.79502682e-04 9.99964607e-01 -1.78469384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694391418 meters 0.025471205554908394 Centerline is valid? [True, True] Translation: X:101.71, Y:-2.86, Z:-1.78 [[ 9.99870921e-01 1.23900253e-02 1.02288594e-02 1.01710658e+02] [-1.23852559e-02 9.99923160e-01 -5.29489493e-04 -2.85742273e+00] [-1.02346338e-02 4.02734107e-04 9.99947544e-01 -1.78382381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724391418 meters 0.023994442837337284 Centerline is valid? [True, True] Translation: X:101.74, Y:-2.85, Z:-1.78 [[ 9.99814501e-01 1.61205101e-02 1.05400893e-02 1.01742431e+02] [-1.61156522e-02 9.99869986e-01 -5.45674059e-04 -2.85445413e+00] [-1.05475155e-02 3.75712424e-04 9.99944303e-01 -1.78364273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754391418 meters 0.02288207342998337 Centerline is valid? [True, True] Translation: X:101.77, Y:-2.85, Z:-1.78 [[ 9.99748734e-01 1.96448159e-02 1.07958303e-02 1.01772890e+02] [-1.96399181e-02 9.99806962e-01 -5.59522224e-04 -2.85134751e+00] [-1.08047380e-02 3.47352412e-04 9.99941567e-01 -1.78407052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784391418 meters 0.021197778391898545 Centerline is valid? [True, True] Translation: X:101.80, Y:-2.85, Z:-1.78 [[ 9.99661557e-01 2.34421769e-02 1.12799117e-02 1.01803011e+02] [-2.34370640e-02 9.99725143e-01 -5.85264916e-04 -2.84772265e+00] [-1.12905313e-02 3.20698824e-04 9.99936208e-01 -1.78378339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814391418 meters 0.01982018299489679 Centerline is valid? [True, True] Translation: X:101.83, Y:-2.84, Z:-1.78 [[ 9.99572979e-01 2.67633194e-02 1.17296536e-02 1.01832565e+02] [-2.67580250e-02 9.99641755e-01 -6.08102636e-04 -2.84425294e+00] [-1.17417263e-02 2.93980601e-04 9.99931020e-01 -1.78397888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters 0.018046528071596225 Centerline is valid? [True, True] Translation: X:101.86, Y:-2.84, Z:-1.78 [[ 9.99390866e-01 3.24637298e-02 1.28063865e-02 1.01861674e+02] [-3.24578925e-02 9.99472884e-01 -6.63446567e-04 -2.83947433e+00] [-1.28211740e-02 2.47374124e-04 9.99917775e-01 -1.78334943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87439141799999 meters 0.01692496286388867 Centerline is valid? [True, True] Translation: X:101.89, Y:-2.84, Z:-1.78 [[ 9.99321796e-01 3.45502140e-02 1.27369680e-02 1.01890779e+02] [-3.45446174e-02 9.99402939e-01 -6.59208379e-04 -2.83715497e+00] [-1.27521391e-02 2.18767615e-04 9.99918664e-01 -1.78345454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799999 meters 0.01679229542800282 Centerline is valid? [True, True] Translation: X:101.92, Y:-2.83, Z:-1.78 [[ 9.99221067e-01 3.74387079e-02 1.24740738e-02 1.01919382e+02] [-3.74335772e-02 9.99298910e-01 -6.44627783e-04 -2.83244811e+00] [-1.24894624e-02 1.77176457e-04 9.99921988e-01 -1.78393793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93439141799999 meters 0.01588186083991007 Centerline is valid? [True, True] Translation: X:101.95, Y:-2.83, Z:-1.78 [[ 9.99200121e-01 3.80595593e-02 1.22714309e-02 1.01948246e+02] [-3.80546523e-02 9.99275459e-01 -6.33207148e-04 -2.83113818e+00] [-1.22866393e-02 1.65715623e-04 9.99924503e-01 -1.78409045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799999 meters 0.015582865721684155 Centerline is valid? [True, True] Translation: X:101.98, Y:-2.83, Z:-1.79 [[ 9.99180263e-01 3.88655621e-02 1.13255985e-02 1.01975666e+02] [-3.88614417e-02 9.99244438e-01 -5.83737424e-04 -2.83092545e+00] [-1.13397286e-02 1.43129827e-04 9.99935693e-01 -1.78576532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99439141799999 meters 0.015372959776765404 Centerline is valid? [True, True] Translation: X:102.00, Y:-2.83, Z:-1.79 [[ 9.99165695e-01 3.94394746e-02 1.06038439e-02 1.02003637e+02] [-3.94359031e-02 9.99221953e-01 -5.45770547e-04 -2.83093458e+00] [-1.06171185e-02 1.27143048e-04 9.99943629e-01 -1.78767666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024391418 meters 0.015423139437928501 Centerline is valid? [True, True] Translation: X:102.03, Y:-2.83, Z:-1.79 [[ 9.99143270e-01 4.03573932e-02 9.16555512e-03 1.02031639e+02] [-4.03547727e-02 9.99185303e-01 -4.70740883e-04 -2.83248131e+00] [-9.17708585e-03 1.00463691e-04 9.99957885e-01 -1.79195416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054391418 meters 0.015129803624233175 Centerline is valid? [True, True] Translation: X:102.06, Y:-2.83, Z:-1.79 [[ 9.99128253e-01 4.08247056e-02 8.72226081e-03 1.02059206e+02] [-4.08223556e-02 9.99166320e-01 -4.47359679e-04 -2.83344972e+00] [-8.73325256e-03 9.09064619e-05 9.99961860e-01 -1.79329301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084391418 meters 0.014659629301963177 Centerline is valid? [True, True] Translation: X:102.09, Y:-2.83, Z:-1.79 [[ 9.99069240e-01 4.22944605e-02 8.47535991e-03 1.02088298e+02] [-4.22923057e-02 9.99105186e-01 -4.33389913e-04 -2.83083192e+00] [-8.48610603e-03 7.45440185e-05 9.99963990e-01 -1.79241152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114391418 meters 0.01454388683969242 Centerline is valid? [True, True] Translation: X:102.12, Y:-2.83, Z:-1.79 [[ 9.99032388e-01 4.30459742e-02 9.01840500e-03 1.02117056e+02] [-4.30435723e-02 9.99073090e-01 -4.60350594e-04 -2.82922574e+00] [-9.02986199e-03 7.17207855e-05 9.99959227e-01 -1.79159917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144391418 meters 0.014423015900858989 Centerline is valid? [True, True] Translation: X:102.15, Y:-2.83, Z:-1.79 [[ 9.98985965e-01 4.39822589e-02 9.62300694e-03 1.02145138e+02] [-4.39795745e-02 9.99032310e-01 -4.90491472e-04 -2.82865341e+00] [-9.63526777e-03 6.67783462e-05 9.99953578e-01 -1.79141352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174391418 meters 0.015059748670438784 Centerline is valid? [True, True] Translation: X:102.17, Y:-2.83, Z:-1.79 [[ 9.98866191e-01 4.63892075e-02 1.06945730e-02 1.02174261e+02] [-4.63860452e-02 9.98923440e-01 -5.43676005e-04 -2.82782469e+00] [-1.07082804e-02 4.69806310e-05 9.99942664e-01 -1.79140099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204391418 meters 0.014132398733939022 Centerline is valid? [True, True] Translation: X:102.20, Y:-2.83, Z:-1.79 [[ 9.98832579e-01 4.67717093e-02 1.20783235e-02 1.02203403e+02] [-4.67677178e-02 9.98905604e-01 -6.12854546e-04 -2.82918489e+00] [-1.20937692e-02 4.72634639e-05 9.99926867e-01 -1.79164354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23439141799999 meters 0.013917078203501264 Centerline is valid? [True, True] Translation: X:102.23, Y:-2.83, Z:-1.79 [[ 9.98806942e-01 4.72683044e-02 1.22637527e-02 1.02230486e+02] [-4.72642327e-02 9.98882228e-01 -6.21789086e-04 -2.83046130e+00] [-1.22794356e-02 4.14103936e-05 9.99924604e-01 -1.79254167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters 0.014146087720362173 Centerline is valid? [True, True] Translation: X:102.26, Y:-2.83, Z:-1.79 [[ 9.98800751e-01 4.73564213e-02 1.24269419e-02 1.02258845e+02] [-4.73522788e-02 9.98878055e-01 -6.27531619e-04 -2.83145528e+00] [-1.24427172e-02 3.83350361e-05 9.99922586e-01 -1.79417025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29439141799999 meters 0.014099084011245742 Centerline is valid? [True, True] Translation: X:102.29, Y:-2.83, Z:-1.80 [[ 9.98816911e-01 4.70436029e-02 1.23157517e-02 1.02285940e+02] [-4.70395250e-02 9.98892836e-01 -6.20736607e-04 -2.83297461e+00] [-1.23313178e-02 4.06751125e-05 9.99923966e-01 -1.79537556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799999 meters 0.014010455953924281 Centerline is valid? [True, True] Translation: X:102.31, Y:-2.84, Z:-1.80 [[ 9.98834817e-01 4.66737155e-02 1.22708120e-02 1.02314113e+02] [-4.66696688e-02 9.98910187e-01 -6.16081784e-04 -2.83506390e+00] [-1.22861940e-02 4.26892019e-05 9.99924521e-01 -1.79649949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35439141799999 meters 0.014072604367505905 Centerline is valid? [True, True] Translation: X:102.34, Y:-2.84, Z:-1.80 [[ 9.98878503e-01 4.59540761e-02 1.13999780e-02 1.02341821e+02] [-4.59505519e-02 9.98943552e-01 -5.71020925e-04 -2.83795239e+00] [-1.14141753e-02 4.65452446e-05 9.99934855e-01 -1.79823792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799999 meters 0.014308559736322245 Centerline is valid? [True, True] Translation: X:102.37, Y:-2.84, Z:-1.80 [[ 9.98934271e-01 4.47190860e-02 1.14247478e-02 1.02369961e+02] [-4.47154785e-02 9.98999599e-01 -5.71132891e-04 -2.84150211e+00] [-1.14388590e-02 5.96611559e-05 9.99934572e-01 -1.79985994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414391418 meters 0.01438540277998107 Centerline is valid? [True, True] Translation: X:102.40, Y:-2.85, Z:-1.80 [[ 9.98991141e-01 4.35135783e-02 1.11026500e-02 1.02397638e+02] [-4.35101066e-02 9.99052833e-01 -5.54163503e-04 -2.84517769e+00] [-1.11162475e-02 7.05269468e-05 9.99938210e-01 -1.80101012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444391418 meters 0.015141368999213258 Centerline is valid? [True, True] Translation: X:102.43, Y:-2.85, Z:-1.80 [[ 9.99122445e-01 4.04639270e-02 1.08171715e-02 1.02426618e+02] [-4.04604698e-02 9.99180995e-01 -5.38337700e-04 -2.84981277e+00] [-1.08300955e-02 1.00197436e-04 9.99941348e-01 -1.80234090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474391418 meters 0.015485779106088272 Centerline is valid? [True, True] Translation: X:102.46, Y:-2.85, Z:-1.80 [[ 9.99164962e-01 3.94105674e-02 1.07789895e-02 1.02455204e+02] [-3.94070822e-02 9.99223096e-01 -5.35613538e-04 -2.85205024e+00] [-1.07917241e-02 1.10397756e-04 9.99941762e-01 -1.80283689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504391418 meters 0.015628255948488063 Centerline is valid? [True, True] Translation: X:102.48, Y:-2.85, Z:-1.80 [[ 9.99202275e-01 3.84303743e-02 1.08591381e-02 1.02483539e+02] [-3.84267883e-02 9.99261273e-01 -5.38760426e-04 -2.85433648e+00] [-1.08718209e-02 1.21048843e-04 9.99940893e-01 -1.80311846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534391418 meters 0.015817782322161952 Centerline is valid? [True, True] Translation: X:102.51, Y:-2.86, Z:-1.80 [[ 9.99213837e-01 3.81585104e-02 1.07534215e-02 1.02511066e+02] [-3.81549854e-02 9.99271691e-01 -5.32844207e-04 -2.85709891e+00] [-1.07659222e-02 1.22128665e-04 9.99942038e-01 -1.80433413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564391418 meters 0.01563591693000261 Centerline is valid? [True, True] Translation: X:102.54, Y:-2.86, Z:-1.81 [[ 9.99178576e-01 3.90931436e-02 1.06723205e-02 1.02539465e+02] [-3.90897370e-02 9.99235565e-01 -5.27690217e-04 -2.85841741e+00] [-1.06847913e-02 1.10078557e-04 9.99942910e-01 -1.80552753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59439141799999 meters 0.01537361719095021 Centerline is valid? [True, True] Translation: X:102.57, Y:-2.86, Z:-1.81 [[ 9.99127170e-01 4.04234279e-02 1.05282465e-02 1.02568750e+02] [-4.04201960e-02 9.99182635e-01 -5.19663129e-04 -2.85928089e+00] [-1.05406476e-02 9.36557658e-05 9.99944441e-01 -1.80652412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters 0.01465106775997757 Centerline is valid? [True, True] Translation: X:102.60, Y:-2.86, Z:-1.81 [[ 9.98945834e-01 4.46386314e-02 1.07057630e-02 1.02596343e+02] [-4.46355353e-02 9.99003198e-01 -5.28081631e-04 -2.85617431e+00] [-1.07186644e-02 4.96674810e-05 9.99942552e-01 -1.80701292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65439141799999 meters 0.014271605651080954 Centerline is valid? [True, True] Translation: X:102.63, Y:-2.85, Z:-1.81 [[ 9.98820272e-01 4.72758051e-02 1.10933955e-02 1.02625169e+02] [-4.72726567e-02 9.98881874e-01 -5.46000948e-04 -2.85389405e+00] [-1.11068043e-02 2.09425370e-05 9.99938317e-01 -1.80641559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799999 meters 0.014423048010734772 Centerline is valid? [True, True] Translation: X:102.65, Y:-2.85, Z:-1.81 [[ 9.98712158e-01 4.94464972e-02 1.13608794e-02 1.02653221e+02] [-4.94433424e-02 9.98776774e-01 -5.58556298e-04 -2.85161016e+00] [-1.13746011e-02 -3.88288411e-06 9.99935307e-01 -1.80639489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71439141799999 meters 0.014567260006757116 Centerline is valid? [True, True] Translation: X:102.68, Y:-2.85, Z:-1.81 [[ 9.98486558e-01 5.35358891e-02 1.25897362e-02 1.02680817e+02] [-5.35323609e-02 9.98565924e-01 -6.17313294e-04 -2.84819476e+00] [-1.26047300e-02 -5.75792758e-05 9.99920556e-01 -1.80577813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799999 meters 0.014971902947821938 Centerline is valid? [True, True] Translation: X:102.71, Y:-2.85, Z:-1.81 [[ 9.98424844e-01 5.46264356e-02 1.27978153e-02 1.02709967e+02] [-5.46228954e-02 9.98506859e-01 -6.26259002e-04 -2.84868361e+00] [-1.28129166e-02 -7.37811788e-05 9.99917908e-01 -1.80661093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774391418 meters 0.015059382176793354 Centerline is valid? [True, True] Translation: X:102.74, Y:-2.85, Z:-1.81 [[ 9.98380974e-01 5.53977731e-02 1.29041722e-02 1.02737536e+02] [-5.53942489e-02 9.98464361e-01 -6.30637474e-04 -2.84976581e+00] [-1.29192919e-02 -8.52004694e-05 9.99916539e-01 -1.80757864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804391418 meters 0.01470648463481606 Centerline is valid? [True, True] Translation: X:102.77, Y:-2.85, Z:-1.81 [[ 9.98433846e-01 5.47297563e-02 1.15977711e-02 1.02765877e+02] [-5.47268751e-02 9.98501201e-01 -5.65888304e-04 -2.85362657e+00] [-1.16113593e-02 -6.97077343e-05 9.99932583e-01 -1.80913147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834391418 meters 0.015061225291319256 Centerline is valid? [True, True] Translation: X:102.79, Y:-2.85, Z:-1.81 [[ 9.98504066e-01 5.35871730e-02 1.08648806e-02 1.02792388e+02] [-5.35845806e-02 9.98563174e-01 -5.29781384e-04 -2.85459753e+00] [-1.08776592e-02 -5.32012042e-05 9.99940835e-01 -1.81206792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864391418 meters 0.014800012411184324 Centerline is valid? [True, True] Translation: X:102.82, Y:-2.86, Z:-1.81 [[ 9.98595573e-01 5.19494931e-02 1.03986297e-02 1.02820450e+02] [-5.19470457e-02 9.98649713e-01 -5.05504854e-04 -2.85778313e+00] [-1.04108493e-02 -3.53831829e-05 9.99945805e-01 -1.81365232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894391418 meters 0.014289608689592313 Centerline is valid? [True, True] Translation: X:102.85, Y:-2.86, Z:-1.81 [[ 9.98857809e-01 4.68689989e-02 9.29375087e-03 1.02848504e+02] [-4.68668310e-02 9.98901045e-01 -4.51038774e-04 -2.86403035e+00] [-9.30467719e-03 1.49549508e-05 9.99956710e-01 -1.81240223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924391418 meters 0.014347689487367555 Centerline is valid? [True, True] Translation: X:102.88, Y:-2.87, Z:-1.81 [[ 9.98996388e-01 4.37944882e-02 9.39467388e-03 1.02876743e+02] [-4.37921478e-02 9.99040560e-01 -4.54790464e-04 -2.86774308e+00] [-9.40557757e-03 4.29210843e-05 9.99955766e-01 -1.81259917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954391418 meters 0.014700193735391625 Centerline is valid? [True, True] Translation: X:102.91, Y:-2.87, Z:-1.81 [[ 9.99124617e-01 4.07340801e-02 9.52543287e-03 1.02905347e+02] [-4.07315424e-02 9.99170020e-01 -4.60331745e-04 -2.87146147e+00] [-9.53627815e-03 7.19432053e-05 9.99954526e-01 -1.81252716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters 0.015193598999496632 Centerline is valid? [True, True] Translation: X:102.93, Y:-2.88, Z:-1.81 [[ 9.99255998e-01 3.72240555e-02 1.00906414e-02 1.02933774e+02] [-3.72210380e-02 9.99306939e-01 -4.86732751e-04 -2.87542628e+00] [-1.01017661e-02 1.10786474e-04 9.99948970e-01 -1.81217186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01439141799999 meters 0.01627458917068061 Centerline is valid? [True, True] Translation: X:102.96, Y:-2.88, Z:-1.81 [[ 9.99374604e-01 3.38084512e-02 1.03628943e-02 1.02961423e+02] [-3.38050928e-02 9.99428320e-01 -4.99122805e-04 -2.88061092e+00] [-1.03738446e-02 1.48492052e-04 9.99946179e-01 -1.81301204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799999 meters 0.017889034415812594 Centerline is valid? [True, True] Translation: X:102.99, Y:-2.89, Z:-1.81 [[ 9.99576488e-01 2.71348760e-02 1.05139324e-02 1.02990562e+02] [-2.71310662e-02 9.99631757e-01 -5.04838112e-04 -2.88695844e+00] [-1.05237594e-02 2.19370111e-04 9.99944600e-01 -1.81340408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07439141799999 meters 0.017889034415812594 Centerline is valid? [True, True] Translation: X:103.02, Y:-2.89, Z:-1.81 [[ 9.99578707e-01 2.70530275e-02 1.05139383e-02 1.03018840e+02] [-2.70492146e-02 9.99633976e-01 -5.04714777e-04 -2.88823949e+00] [-1.05237440e-02 2.20108371e-04 9.99944600e-01 -1.81391470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799999 meters 0.018872920559341387 Centerline is valid? [True, True] Translation: X:103.05, Y:-2.89, Z:-1.81 [[ 9.99659835e-01 2.39552676e-02 1.03131036e-02 1.03047768e+02] [-2.39514444e-02 9.99713001e-01 -4.94081600e-04 -2.89228388e+00] [-1.03219796e-02 2.46899803e-04 9.99946696e-01 -1.81469612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13439141799999 meters 0.020039372061816964 Centerline is valid? [True, True] Translation: X:103.08, Y:-2.90, Z:-1.82 [[ 9.99725078e-01 2.09777951e-02 1.04737657e-02 1.03077135e+02] [-2.09736967e-02 9.99779902e-01 -5.00998058e-04 -2.89604487e+00] [-1.04819703e-02 2.81186737e-04 9.99945023e-01 -1.81526654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164391418 meters 0.02304586313223626 Centerline is valid? [True, True] Translation: X:103.11, Y:-2.90, Z:-1.81 [[ 9.99826076e-01 1.50357908e-02 1.10337155e-02 1.03105976e+02] [-1.50308864e-02 9.99886891e-01 -5.27291473e-04 -2.90153176e+00] [-1.10403957e-02 3.61353241e-04 9.99938988e-01 -1.81484619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194391418 meters 0.023969627637492597 Centerline is valid? [True, True] Translation: X:103.14, Y:-2.90, Z:-1.81 [[ 9.99865053e-01 1.15975593e-02 1.16349347e-02 1.03137273e+02] [-1.15918853e-02 9.99932658e-01 -5.54996039e-04 -2.90468994e+00] [-1.16405878e-02 4.20050315e-04 9.99932158e-01 -1.81439325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224391418 meters 0.027926504436936984 Centerline is valid? [True, True] Translation: X:103.17, Y:-2.91, Z:-1.81 [[ 9.99907425e-01 4.16262703e-03 1.29542931e-02 1.03167546e+02] [-4.15496013e-03 9.99991177e-01 -6.18699483e-04 -2.91293256e+00] [-1.29567542e-02 5.64817636e-04 9.99915898e-01 -1.81335893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254391418 meters 0.03078309360616514 Centerline is valid? [True, True] Translation: X:103.20, Y:-2.92, Z:-1.81 [[ 9.99912444e-01 3.40386333e-04 1.32283352e-02 1.03197628e+02] [-3.32056743e-04 9.99999745e-01 -6.31869209e-04 -2.91934826e+00] [-1.32285469e-02 6.27421327e-04 9.99912302e-01 -1.81338537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284391418 meters 0.03112069042293225 Centerline is valid? [True, True] Translation: X:103.23, Y:-2.92, Z:-1.81 [[ 9.99900118e-01 -3.17465538e-03 1.37723075e-02 1.03229094e+02] [ 3.18401958e-03 9.99994714e-01 -6.58056433e-04 -2.92228044e+00] [-1.37701456e-02 7.01842002e-04 9.99904941e-01 -1.81351648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314391418 meters 0.0357965049593043 Centerline is valid? [True, True] Translation: X:103.26, Y:-2.93, Z:-1.81 [[ 9.99863485e-01 -1.00330138e-02 1.31281902e-02 1.03258511e+02] [ 1.00421222e-02 9.99949379e-01 -6.28067748e-04 -2.93044388e+00] [-1.31212242e-02 7.59816897e-04 9.99913624e-01 -1.81439238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters 0.03691425912202929 Centerline is valid? [True, True] Translation: X:103.29, Y:-2.93, Z:-1.82 [[ 9.99841622e-01 -1.27754732e-02 1.23902329e-02 1.03289493e+02] [ 1.27837911e-02 9.99918109e-01 -5.92359182e-04 -2.93321969e+00] [-1.23816506e-02 7.50659515e-04 9.99923063e-01 -1.81602945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37439141799999 meters 0.037733080971230515 Centerline is valid? [True, True] Translation: X:103.32, Y:-2.94, Z:-1.82 [[ 9.99822108e-01 -1.49166172e-02 1.15432771e-02 1.03320655e+02] [ 1.49239798e-02 9.99888479e-01 -5.51944503e-04 -2.93578604e+00] [-1.15337567e-02 7.24117952e-04 9.99933222e-01 -1.81764707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799999 meters 0.039242752897727495 Centerline is valid? [True, True] Translation: X:103.35, Y:-2.94, Z:-1.82 [[ 9.99817960e-01 -1.61816784e-02 1.01093813e-02 1.03351264e+02] [ 1.61873849e-02 9.99868859e-01 -4.82903242e-04 -2.93967500e+00] [-1.01002413e-02 6.46459780e-04 9.99948782e-01 -1.82008007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43439141799999 meters 0.04075230466956369 Centerline is valid? [True, True] Translation: X:103.38, Y:-2.94, Z:-1.82 [[ 9.99831355e-01 -1.55673306e-02 9.74270486e-03 1.03382810e+02] [ 1.55726191e-02 9.99878630e-01 -4.67192927e-04 -2.94304804e+00] [-9.73424944e-03 6.18833569e-04 9.99952430e-01 -1.82106965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799999 meters 0.038686895257830256 Centerline is valid? [True, True] Translation: X:103.41, Y:-2.94, Z:-1.82 [[ 9.99855145e-01 -1.41122439e-02 9.51486833e-03 1.03414815e+02] [ 1.41172294e-02 9.99900243e-01 -4.56998944e-04 -2.94113115e+00] [-9.50746987e-03 5.91256324e-04 9.99954628e-01 -1.82132858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49439141799999 meters 0.037206823191396426 Centerline is valid? [True, True] Translation: X:103.45, Y:-2.94, Z:-1.82 [[ 9.99889124e-01 -1.21287364e-02 8.63901449e-03 1.03446916e+02] [ 1.21327789e-02 9.99926309e-01 -4.15680905e-04 -2.93875802e+00] [-8.63333618e-03 5.20450069e-04 9.99962597e-01 -1.82164226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524391418 meters 0.03377950157791819 Centerline is valid? [True, True] Translation: X:103.48, Y:-2.93, Z:-1.82 [[ 9.99946361e-01 -6.21075556e-03 8.28869862e-03 1.03477675e+02] [ 6.21428252e-03 9.99980611e-01 -3.99826646e-04 -2.93044265e+00] [-8.28605468e-03 4.51313514e-04 9.99965568e-01 -1.82135838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554391418 meters 0.03227498229517677 Centerline is valid? [True, True] Translation: X:103.51, Y:-2.93, Z:-1.82 [[ 9.99962918e-01 -2.88567227e-03 8.11390160e-03 1.03509349e+02] [ 2.88894037e-03 9.99995751e-01 -3.91086184e-04 -2.92718482e+00] [-8.11273858e-03 4.14512259e-04 9.99967005e-01 -1.82163335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584391418 meters 0.02970816330661965 Centerline is valid? [True, True] Translation: X:103.54, Y:-2.92, Z:-1.82 [[ 9.99965670e-01 6.80032952e-04 8.25814910e-03 1.03540926e+02] [-6.76766073e-04 9.99999692e-01 -3.98382600e-04 -2.92298989e+00] [-8.25841746e-03 3.92780089e-04 9.99965822e-01 -1.82174299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614391418 meters 0.026061635750033268 Centerline is valid? [True, True] Translation: X:103.57, Y:-2.92, Z:-1.82 [[ 9.99922074e-01 8.05666113e-03 9.53607300e-03 1.03571641e+02] [-8.05263165e-03 9.99967471e-01 -4.60872665e-04 -2.91506114e+00] [-9.53947590e-03 3.84046267e-04 9.99954424e-01 -1.82186059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644391418 meters 0.024299521426832567 Centerline is valid? [True, True] Translation: X:103.60, Y:-2.91, Z:-1.82 [[ 9.99876688e-01 1.21355009e-02 9.96684051e-03 1.03603458e+02] [-1.21313061e-02 9.99926297e-01 -4.81229409e-04 -2.91214290e+00] [-9.97194589e-03 3.60259275e-04 9.99950214e-01 -1.82182370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674391418 meters 0.023054633956146025 Centerline is valid? [True, True] Translation: X:103.63, Y:-2.91, Z:-1.82 [[ 9.99817396e-01 1.60099129e-02 1.04334441e-02 1.03633683e+02] [-1.60055164e-02 9.99871776e-01 -5.04752820e-04 -2.90923970e+00] [-1.04401873e-02 3.37667990e-04 9.99945443e-01 -1.82175685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704391418 meters 0.020838408619245557 Centerline is valid? [True, True] Translation: X:103.66, Y:-2.90, Z:-1.82 [[ 9.99737275e-01 2.00307242e-02 1.11423529e-02 1.03664143e+02] [-2.00259550e-02 9.99799315e-01 -5.39439844e-04 -2.90468056e+00] [-1.11509221e-02 3.16161862e-04 9.99937777e-01 -1.82137680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73439141799999 meters 0.01797053430560103 Centerline is valid? [True, True] Translation: X:103.69, Y:-2.90, Z:-1.82 [[ 9.99546621e-01 2.77061963e-02 1.17864031e-02 1.03694400e+02] [-2.77013916e-02 9.99616080e-01 -5.70745409e-04 -2.89666175e+00] [-1.17976912e-02 2.43986878e-04 9.99930375e-01 -1.82092474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters 0.016795415534388843 Centerline is valid? [True, True] Translation: X:103.72, Y:-2.89, Z:-1.82 [[ 9.99451824e-01 3.08758570e-02 1.19470685e-02 1.03723244e+02] [-3.08711452e-02 9.99523205e-01 -5.78649253e-04 -2.89316330e+00] [-1.19592384e-02 2.09512366e-04 9.99928464e-01 -1.82098353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79439141799999 meters 0.01586492483587612 Centerline is valid? [True, True] Translation: X:103.75, Y:-2.89, Z:-1.82 [[ 9.99356315e-01 3.40119378e-02 1.14080198e-02 1.03752492e+02] [-3.40078556e-02 9.99421413e-01 -5.51681547e-04 -2.89051059e+00] [-1.14201830e-02 1.63364149e-04 9.99934774e-01 -1.82150410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799999 meters 0.014863838126904541 Centerline is valid? [True, True] Translation: X:103.78, Y:-2.89, Z:-1.82 [[ 9.99170575e-01 3.93024794e-02 1.06525471e-02 1.03780640e+02] [-3.92992273e-02 9.99227355e-01 -5.14526479e-04 -2.88552698e+00] [-1.06645387e-02 9.54628472e-05 9.99943128e-01 -1.82307034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85439141799999 meters 0.01446799669918815 Centerline is valid? [True, True] Translation: X:103.81, Y:-2.88, Z:-1.82 [[ 9.99079059e-01 4.17576272e-02 9.86577987e-03 1.03809878e+02] [-4.17549676e-02 9.99127768e-01 -4.75497240e-04 -2.88450822e+00] [-9.87703026e-03 6.31140173e-05 9.99951219e-01 -1.82454232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799999 meters 0.014272503153940777 Centerline is valid? [True, True] Translation: X:103.84, Y:-2.88, Z:-1.83 [[ 9.99009508e-01 4.35176607e-02 9.28526933e-03 1.03837267e+02] [-4.35153854e-02 9.99052657e-01 -4.47037654e-04 -2.88419592e+00] [-9.29592703e-03 4.25427934e-05 9.99956791e-01 -1.82674096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914391418 meters 0.014227881081196431 Centerline is valid? [True, True] Translation: X:103.86, Y:-2.88, Z:-1.83 [[ 9.98935490e-01 4.53733442e-02 8.31541417e-03 1.03864975e+02] [-4.53715870e-02 9.98970099e-01 -3.99935259e-04 -2.88359552e+00] [-8.32499652e-03 2.22259864e-05 9.99965346e-01 -1.82826055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944391418 meters 0.01439081728339059 Centerline is valid? [True, True] Translation: X:103.89, Y:-2.88, Z:-1.83 [[ 9.98791408e-01 4.86290252e-02 7.13735985e-03 1.03893255e+02] [-4.86278193e-02 9.98816909e-01 -3.42503079e-04 -2.88158223e+00] [-7.14557129e-03 -4.98511279e-06 9.99974470e-01 -1.83128280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974391418 meters 0.014724444531320158 Centerline is valid? [True, True] Translation: X:103.92, Y:-2.88, Z:-1.83 [[ 9.98727851e-01 4.99239628e-02 7.09071031e-03 1.03920031e+02] [-4.99228024e-02 9.98753021e-01 -3.40668720e-04 -2.88064664e+00] [-7.09887588e-03 -1.37527910e-05 9.99974803e-01 -1.83190912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004391418 meters 0.014600925268830486 Centerline is valid? [True, True] Translation: X:103.95, Y:-2.88, Z:-1.83 [[ 9.98663765e-01 5.11377316e-02 7.45772052e-03 1.03947915e+02] [-5.11365006e-02 9.98691610e-01 -3.55789022e-04 -2.87984654e+00] [-7.46615715e-03 -2.60481249e-05 9.99972128e-01 -1.83109237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034391418 meters 0.014783311307117093 Centerline is valid? [True, True] Translation: X:103.98, Y:-2.88, Z:-1.83 [[ 9.98607368e-01 5.22059216e-02 7.60694359e-03 1.03976326e+02] [-5.22046820e-02 9.98636340e-01 -3.61562858e-04 -2.87900493e+00] [-7.61544603e-03 -3.60587374e-05 9.99971001e-01 -1.83036571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064391418 meters 0.014805685687713954 Centerline is valid? [True, True] Translation: X:104.00, Y:-2.88, Z:-1.83 [[ 9.98553638e-01 5.30314399e-02 8.84864437e-03 1.04004907e+02] [-5.30298032e-02 9.98592842e-01 -4.19651245e-04 -2.87751769e+00] [-8.85844764e-03 -5.01975917e-05 9.99960762e-01 -1.82818551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09439141799999 meters 0.01471775525966978 Centerline is valid? [True, True] Translation: X:104.03, Y:-2.88, Z:-1.83 [[ 9.98561077e-01 5.28079090e-02 9.33272051e-03 1.04033762e+02] [-5.28060862e-02 9.98604688e-01 -4.41795973e-04 -2.87869355e+00] [-9.34302878e-03 -5.16641815e-05 9.99956352e-01 -1.82821033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters 0.014385090140517304 Centerline is valid? [True, True] Translation: X:104.06, Y:-2.88, Z:-1.83 [[ 9.98699539e-01 5.00326148e-02 9.79629084e-03 1.04062770e+02] [-5.00304809e-02 9.98747584e-01 -4.62915046e-04 -2.88244925e+00] [-9.80718266e-03 -2.78000992e-05 9.99951908e-01 -1.82899621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15439141799999 meters 0.014215687811790013 Centerline is valid? [True, True] Translation: X:104.09, Y:-2.89, Z:-1.83 [[ 9.98817727e-01 4.75388965e-02 1.01588170e-02 1.04090529e+02] [-4.75364801e-02 9.98869388e-01 -4.79335088e-04 -2.88602593e+00] [-1.01701184e-02 -4.14601879e-06 9.99948283e-01 -1.83042790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799999 meters 0.014132133467949996 Centerline is valid? [True, True] Translation: X:104.12, Y:-2.89, Z:-1.83 [[ 9.98943654e-01 4.47803978e-02 1.03097737e-02 1.04118216e+02] [-4.47777714e-02 9.98996855e-01 -4.85560391e-04 -2.89041177e+00] [-1.03211751e-02 2.33987804e-05 9.99946735e-01 -1.83119016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21439141799999 meters 0.014799401012887457 Centerline is valid? [True, True] Translation: X:104.15, Y:-2.90, Z:-1.83 [[ 9.99218091e-01 3.82040761e-02 1.01810932e-02 1.04146210e+02] [-3.82011884e-02 9.99269954e-01 -4.78027083e-04 -2.89942806e+00] [-1.01919231e-02 8.87234512e-05 9.99948057e-01 -1.83293308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799999 meters 0.015433151713719895 Centerline is valid? [True, True] Translation: X:104.17, Y:-2.90, Z:-1.83 [[ 9.99337599e-01 3.49453148e-02 1.01582070e-02 1.04174823e+02] [-3.49422796e-02 9.99389219e-01 -4.76171506e-04 -2.90407932e+00] [-1.01686426e-02 1.20905179e-04 9.99948291e-01 -1.83339373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274391418 meters 0.017530750544614022 Centerline is valid? [True, True] Translation: X:104.20, Y:-2.91, Z:-1.83 [[ 9.99502852e-01 3.00922759e-02 9.40766646e-03 1.04202150e+02] [-3.00894622e-02 9.99547113e-01 -4.40510484e-04 -2.91124371e+00] [-9.41666181e-03 1.57219860e-04 9.99955650e-01 -1.83437382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304391418 meters 0.017024679272235575 Centerline is valid? [True, True] Translation: X:104.23, Y:-2.91, Z:-1.83 [[ 9.99562145e-01 2.80171824e-02 9.51612355e-03 1.04231001e+02] [-2.80142200e-02 9.99607426e-01 -4.44477565e-04 -2.91369136e+00] [-9.52484078e-03 1.77696169e-04 9.99954622e-01 -1.83344396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334391418 meters 0.017024679272235575 Centerline is valid? [True, True] Translation: X:104.26, Y:-2.91, Z:-1.83 [[ 9.99564397e-01 2.79367070e-02 9.51615928e-03 1.04259278e+02] [-2.79337483e-02 9.99609678e-01 -4.43710759e-04 -2.91493222e+00] [-9.52484073e-03 1.77695479e-04 9.99954622e-01 -1.83395478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364391418 meters 0.01780043270301302 Centerline is valid? [True, True] Translation: X:104.29, Y:-2.92, Z:-1.83 [[ 9.99596532e-01 2.67626583e-02 9.51492431e-03 1.04287077e+02] [-2.67596530e-02 9.99641798e-01 -4.43049626e-04 -2.91807103e+00] [-9.52337323e-03 1.88254797e-04 9.99954634e-01 -1.83466051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394391418 meters 0.01818507120173999 Centerline is valid? [True, True] Translation: X:104.32, Y:-2.92, Z:-1.83 [[ 9.99599388e-01 2.64127695e-02 1.01699747e-02 1.04315021e+02] [-2.64093297e-02 9.99651101e-01 -4.72399064e-04 -2.92140292e+00] [-1.01789037e-02 2.03627602e-04 9.99948173e-01 -1.83465587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424391418 meters 0.017553979936601755 Centerline is valid? [True, True] Translation: X:104.34, Y:-2.92, Z:-1.83 [[ 9.99582226e-01 2.69645292e-02 1.04061511e-02 1.04343755e+02] [-2.69609703e-02 9.99636371e-01 -4.82159446e-04 -2.92165767e+00] [-1.04153684e-02 2.01398081e-04 9.99945738e-01 -1.83471317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454391418 meters 0.01685630756684997 Centerline is valid? [True, True] Translation: X:104.37, Y:-2.92, Z:-1.84 [[ 9.99513018e-01 2.91630157e-02 1.11016317e-02 1.04371751e+02] [-2.91591102e-02 9.99574651e-01 -5.13536787e-04 -2.92315245e+00] [-1.11118859e-02 1.89573002e-04 9.99938243e-01 -1.83582497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters 0.01607109163480135 Centerline is valid? [True, True] Translation: X:104.40, Y:-2.92, Z:-1.84 [[ 9.99470397e-01 3.06510149e-02 1.09289334e-02 1.04400422e+02] [-3.06473317e-02 9.99530133e-01 -5.04368592e-04 -2.92335088e+00] [-1.09392577e-02 1.69158830e-04 9.99940150e-01 -1.83682705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51439141799999 meters 0.0158000804372542 Centerline is valid? [True, True] Translation: X:104.43, Y:-2.92, Z:-1.84 [[ 9.99405937e-01 3.24827722e-02 1.15170948e-02 1.04428275e+02] [-3.24788137e-02 9.99472283e-01 -5.30624717e-04 -2.92458759e+00] [-1.15282532e-02 1.56247916e-04 9.99933535e-01 -1.83797899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799999 meters 0.014942038367317298 Centerline is valid? [True, True] Translation: X:104.46, Y:-2.92, Z:-1.84 [[ 9.99271042e-01 3.65373264e-02 1.10638243e-02 1.04457250e+02] [-3.65339349e-02 9.99332284e-01 -5.08562109e-04 -2.92320926e+00] [-1.10750183e-02 1.03986351e-04 9.99938665e-01 -1.83909729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57439141799999 meters 0.014477919779533416 Centerline is valid? [True, True] Translation: X:104.49, Y:-2.92, Z:-1.84 [[ 9.99193773e-01 3.86697102e-02 1.07915842e-02 1.04485831e+02] [-3.86666169e-02 9.99252044e-01 -4.95217696e-04 -2.92259843e+00] [-1.08026625e-02 7.75443883e-05 9.99941647e-01 -1.83883751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799999 meters 0.014280780009853463 Centerline is valid? [True, True] Translation: X:104.51, Y:-2.92, Z:-1.84 [[ 9.99121549e-01 4.05133030e-02 1.07146406e-02 1.04514775e+02] [-4.05103688e-02 9.99178998e-01 -4.90829556e-04 -2.92224600e+00] [-1.07257290e-02 5.63443422e-05 9.99942476e-01 -1.83866055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63439141799999 meters 0.014187368484063174 Centerline is valid? [True, True] Translation: X:104.54, Y:-2.92, Z:-1.84 [[ 9.98995527e-01 4.32961800e-02 1.15489135e-02 1.04543246e+02] [-4.32929692e-02 9.99062280e-01 -5.27993927e-04 -2.92182644e+00] [-1.15609440e-02 2.74768163e-05 9.99933170e-01 -1.83738139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664391418 meters 0.014035402099137484 Centerline is valid? [True, True] Translation: X:104.57, Y:-2.92, Z:-1.84 [[ 9.98949573e-01 4.43897937e-02 1.13708413e-02 1.04570382e+02] [-4.43867576e-02 9.99014287e-01 -5.19352212e-04 -2.92352323e+00] [-1.13826868e-02 1.40918944e-05 9.99935215e-01 -1.83765120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694391418 meters 0.01413245348154693 Centerline is valid? [True, True] Translation: X:104.60, Y:-2.93, Z:-1.84 [[ 9.98933492e-01 4.47269753e-02 1.14619248e-02 1.04596980e+02] [-4.47239313e-02 9.98999248e-01 -5.21888708e-04 -2.92617124e+00] [-1.14737968e-02 8.70977116e-06 9.99934174e-01 -1.83886707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724391418 meters 0.014090030638069588 Centerline is valid? [True, True] Translation: X:104.63, Y:-2.93, Z:-1.84 [[ 9.98934555e-01 4.50324413e-02 1.00913184e-02 1.04625099e+02] [-4.50301131e-02 9.98985525e-01 -4.57923998e-04 -2.93229794e+00] [-1.01017025e-02 3.02289513e-06 9.99948976e-01 -1.84254971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754391418 meters 0.014094905485137027 Centerline is valid? [True, True] Translation: X:104.65, Y:-2.94, Z:-1.84 [[ 9.98947222e-01 4.48185601e-02 9.78485397e-03 1.04653338e+02] [-4.48163645e-02 9.98995143e-01 -4.43657056e-04 -2.93568406e+00] [-9.79490566e-03 4.66840276e-06 9.99952029e-01 -1.84392073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784391418 meters 0.014206834902224517 Centerline is valid? [True, True] Translation: X:104.68, Y:-2.94, Z:-1.85 [[ 9.98966137e-01 4.46195841e-02 8.70344503e-03 1.04680653e+02] [-4.46178482e-02 9.99004050e-01 -3.93602289e-04 -2.93877706e+00] [-8.71233921e-03 4.86636912e-06 9.99962047e-01 -1.84595846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814391418 meters 0.0142644745020333 Centerline is valid? [True, True] Translation: X:104.71, Y:-2.94, Z:-1.85 [[ 9.98999613e-01 4.38043862e-02 8.99714276e-03 1.04707396e+02] [-4.38025039e-02 9.99040127e-01 -4.06247325e-04 -2.94272182e+00] [-9.00630206e-03 1.17435399e-05 9.99959442e-01 -1.84665245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters 0.014268708479835914 Centerline is valid? [True, True] Translation: X:104.74, Y:-2.95, Z:-1.85 [[ 9.99012368e-01 4.34290052e-02 9.39201364e-03 1.04735022e+02] [-4.34269525e-02 9.99056516e-01 -4.22487348e-04 -2.94500320e+00] [-9.40150062e-03 1.42035558e-05 9.99955805e-01 -1.84609911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87439141799999 meters 0.015497489862906126 Centerline is valid? [True, True] Translation: X:104.76, Y:-2.95, Z:-1.85 [[ 9.99004680e-01 4.33590288e-02 1.04711212e-02 1.04764060e+02] [-4.33564917e-02 9.99059555e-01 -4.69276445e-04 -2.94727984e+00] [-1.04816210e-02 1.48182870e-05 9.99945066e-01 -1.84555387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799999 meters 0.01429271018399701 Centerline is valid? [True, True] Translation: X:104.79, Y:-2.95, Z:-1.84 [[ 9.99034760e-01 4.25028559e-02 1.10930145e-02 1.04791913e+02] [-4.24999635e-02 9.99096345e-01 -4.96447478e-04 -2.94968004e+00] [-1.11040907e-02 2.45155746e-05 9.99938347e-01 -1.84347549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93439141799999 meters 0.014295694486632758 Centerline is valid? [True, True] Translation: X:104.82, Y:-2.95, Z:-1.84 [[ 9.99066689e-01 4.14162173e-02 1.22656832e-02 1.04820187e+02] [-4.14126232e-02 9.99141980e-01 -5.46970959e-04 -2.95355453e+00] [-1.22778125e-02 3.85063475e-05 9.99924624e-01 -1.84191267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799999 meters 0.014295694486632758 Centerline is valid? [True, True] Translation: X:104.85, Y:-2.95, Z:-1.84 [[ 9.99071785e-01 4.12931068e-02 1.22657176e-02 1.04847617e+02] [-4.12895129e-02 9.99147075e-01 -5.46200009e-04 -2.95466414e+00] [-1.22778101e-02 3.92475132e-05 9.99924624e-01 -1.84240811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99439141799999 meters 0.014289791022837598 Centerline is valid? [True, True] Translation: X:104.88, Y:-2.96, Z:-1.84 [[ 9.99095598e-01 4.06369896e-02 1.25148516e-02 1.04875528e+02] [-4.06332182e-02 9.99173975e-01 -5.55585657e-04 -2.95703178e+00] [-1.25270914e-02 4.65644874e-05 9.99921532e-01 -1.84289365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024391418 meters 0.014203244841031965 Centerline is valid? [True, True] Translation: X:104.90, Y:-2.96, Z:-1.84 [[ 9.99125534e-01 3.97886170e-02 1.28464980e-02 1.04903233e+02] [-3.97845890e-02 9.99208118e-01 -5.69061211e-04 -2.95899071e+00] [-1.28589673e-02 5.74709429e-05 9.99917318e-01 -1.84299602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054391418 meters 0.014476708240075103 Centerline is valid? [True, True] Translation: X:104.93, Y:-2.96, Z:-1.84 [[ 9.99152056e-01 3.91223185e-02 1.28301536e-02 1.04930996e+02] [-3.91182661e-02 9.99234427e-01 -5.66749544e-04 -2.96126215e+00] [-1.28425038e-02 6.43756076e-05 9.99917530e-01 -1.84427069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084391418 meters 0.014514670609335261 Centerline is valid? [True, True] Translation: X:104.96, Y:-2.97, Z:-1.85 [[ 9.99204191e-01 3.74796596e-02 1.36476973e-02 1.04959579e+02] [-3.74749482e-02 9.99297387e-01 -6.00872672e-04 -2.96598086e+00] [-1.36606287e-02 8.89477427e-05 9.99906685e-01 -1.84578073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114391418 meters 0.014673156263645588 Centerline is valid? [True, True] Translation: X:104.99, Y:-2.97, Z:-1.85 [[ 9.99225446e-01 3.67289027e-02 1.41243125e-02 1.04988166e+02] [-3.67237985e-02 9.99325261e-01 -6.20655965e-04 -2.96927250e+00] [-1.41375783e-02 1.01476828e-04 9.99900054e-01 -1.84671732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144391418 meters 0.01473384188975959 Centerline is valid? [True, True] Translation: X:105.02, Y:-2.97, Z:-1.85 [[ 9.99253147e-01 3.58825160e-02 1.43385410e-02 1.05016002e+02] [-3.58771840e-02 9.99356009e-01 -6.29000291e-04 -2.97483816e+00] [-1.43518772e-02 1.14104046e-04 9.99897000e-01 -1.84760410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174391418 meters 0.014839053085030142 Centerline is valid? [True, True] Translation: X:105.04, Y:-2.98, Z:-1.85 [[ 9.99263849e-01 3.56912792e-02 1.40674205e-02 1.05044400e+02] [-3.56861524e-02 9.99362857e-01 -6.15380001e-04 -2.97722944e+00] [-1.40804212e-02 1.12914878e-04 9.99900860e-01 -1.84822169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204391418 meters 0.01475570385384713 Centerline is valid? [True, True] Translation: X:105.07, Y:-2.98, Z:-1.85 [[ 9.99261460e-01 3.61076691e-02 1.31442035e-02 1.05072409e+02] [-3.61032405e-02 9.99347901e-01 -5.74126284e-04 -2.97821223e+00] [-1.31563625e-02 9.91539280e-05 9.99913446e-01 -1.84849479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23439141799999 meters 0.014504876319069384 Centerline is valid? [True, True] Translation: X:105.10, Y:-2.98, Z:-1.85 [[ 9.99239217e-01 3.70004800e-02 1.23268467e-02 1.05100154e+02] [-3.69966667e-02 9.99315245e-01 -5.37315904e-04 -2.97840764e+00] [-1.23382868e-02 8.08548842e-05 9.99923877e-01 -1.84879757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799999 meters 0.014597573128853214 Centerline is valid? [True, True] Translation: X:105.13, Y:-2.98, Z:-1.85 [[ 9.99207937e-01 3.79239618e-02 1.20528858e-02 1.05128806e+02] [-3.79203991e-02 9.99280626e-01 -5.24072308e-04 -2.97842974e+00] [-1.20640902e-02 6.66069688e-05 9.99927224e-01 -1.84906634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29439141799999 meters 0.014323495394527238 Centerline is valid? [True, True] Translation: X:105.16, Y:-2.98, Z:-1.85 [[ 9.99154912e-01 3.92758906e-02 1.21188201e-02 1.05157999e+02] [-3.92723999e-02 9.99228403e-01 -5.25973981e-04 -2.97905098e+00] [-1.21301274e-02 4.95943362e-05 9.99926426e-01 -1.84941508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799999 meters 0.01416549542432043 Centerline is valid? [True, True] Translation: X:105.19, Y:-2.98, Z:-1.85 [[ 9.99015391e-01 4.25785572e-02 1.24625570e-02 1.05187229e+02] [-4.25751315e-02 9.99093122e-01 -5.40178031e-04 -2.98051800e+00] [-1.24742550e-02 9.05116393e-06 9.99922193e-01 -1.85066472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35439141799999 meters 0.014260961907757814 Centerline is valid? [True, True] Translation: X:105.21, Y:-2.98, Z:-1.85 [[ 9.98931185e-01 4.45180064e-02 1.24351851e-02 1.05214552e+02] [-4.45147690e-02 9.99008582e-01 -5.37146606e-04 -2.98216087e+00] [-1.24467694e-02 -1.69768973e-05 9.99922536e-01 -1.85247458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799999 meters 0.015388746994426026 Centerline is valid? [True, True] Translation: X:105.24, Y:-2.98, Z:-1.85 [[ 9.98828864e-01 4.69149168e-02 1.18275445e-02 1.05243751e+02] [-4.69121704e-02 9.98898888e-01 -5.09683425e-04 -2.98359821e+00] [-1.18384328e-02 -4.57692665e-05 9.99929922e-01 -1.85495218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414391418 meters 0.014429802568273723 Centerline is valid? [True, True] Translation: X:105.27, Y:-2.98, Z:-1.86 [[ 9.98794101e-01 4.79187532e-02 1.06834649e-02 1.05272377e+02] [-4.79165773e-02 9.98851235e-01 -4.59683036e-04 -2.98451079e+00] [-1.06932196e-02 -5.27863695e-05 9.99942824e-01 -1.85517374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444391418 meters 0.015522230724997784 Centerline is valid? [True, True] Translation: X:105.30, Y:-2.98, Z:-1.86 [[ 9.98698933e-01 5.01790866e-02 9.08297206e-03 1.05301678e+02] [-5.01776121e-02 9.98740234e-01 -3.90288985e-04 -2.98342310e+00] [-9.09111398e-03 -6.59806553e-05 9.99958673e-01 -1.85677255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474391418 meters 0.01496678316388661 Centerline is valid? [True, True] Translation: X:105.33, Y:-2.98, Z:-1.86 [[ 9.98697190e-01 5.01809530e-02 9.26259358e-03 1.05329640e+02] [-5.01794238e-02 9.98740140e-01 -3.97572409e-04 -2.98371544e+00] [-9.27087458e-03 -6.77371614e-05 9.99957022e-01 -1.85588742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504391418 meters 0.015004522537769106 Centerline is valid? [True, True] Translation: X:105.36, Y:-2.98, Z:-1.86 [[ 9.98704599e-01 5.00530589e-02 9.15507671e-03 1.05357911e+02] [-5.00515695e-02 9.98746558e-01 -3.91873891e-04 -2.98497700e+00] [-9.16321584e-03 -6.68597009e-05 9.99958015e-01 -1.85547254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534391418 meters 0.014918250783942929 Centerline is valid? [True, True] Translation: X:105.39, Y:-2.99, Z:-1.86 [[ 9.98756888e-01 4.88039155e-02 1.01417905e-02 1.05386162e+02] [-4.88020417e-02 9.98808377e-01 -4.32310520e-04 -2.99064157e+00] [-1.01508037e-02 -6.31669710e-05 9.99948477e-01 -1.85530269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564391418 meters 0.014657756977354183 Centerline is valid? [True, True] Translation: X:105.41, Y:-3.00, Z:-1.86 [[ 9.98829394e-01 4.72324058e-02 1.04375010e-02 1.05413713e+02] [-4.72303429e-02 9.98883926e-01 -4.44177210e-04 -2.99533787e+00] [-1.04468315e-02 -4.93094960e-05 9.99945429e-01 -1.85554705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59439141799999 meters 0.014518855339224892 Centerline is valid? [True, True] Translation: X:105.44, Y:-3.00, Z:-1.86 [[ 9.98915067e-01 4.53388366e-02 1.06338854e-02 1.05441358e+02] [-4.53365999e-02 9.98971666e-01 -4.51430973e-04 -3.00030953e+00] [-1.06434176e-02 -3.11630073e-05 9.99943357e-01 -1.85627819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters 0.01454092776670385 Centerline is valid? [True, True] Translation: X:105.47, Y:-3.01, Z:-1.86 [[ 9.99132176e-01 4.02420257e-02 1.07459338e-02 1.05470088e+02] [-4.02394598e-02 9.99189961e-01 -4.54972960e-04 -3.00785466e+00] [-1.07555383e-02 2.21675508e-05 9.99942157e-01 -1.85687852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65439141799999 meters 0.015012084743371462 Centerline is valid? [True, True] Translation: X:105.50, Y:-3.01, Z:-1.86 [[ 9.99234219e-01 3.77122435e-02 1.04288942e-02 1.05499188e+02] [-3.77096975e-02 9.99288639e-01 -4.40739365e-04 -3.01194778e+00] [-1.04380968e-02 4.71314094e-05 9.99945520e-01 -1.85811804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799999 meters 0.014619761983675173 Centerline is valid? [True, True] Translation: X:105.53, Y:-3.02, Z:-1.86 [[ 9.99343650e-01 3.46574593e-02 1.05418350e-02 1.05526510e+02] [-3.46546946e-02 9.99399247e-01 -4.44871322e-04 -3.01646766e+00] [-1.05509200e-02 7.92552589e-05 9.99944334e-01 -1.85824764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71439141799999 meters 0.015819804525736995 Centerline is valid? [True, True] Translation: X:105.55, Y:-3.03, Z:-1.86 [[ 9.99520105e-01 2.87511252e-02 1.15296250e-02 1.05554637e+02] [-2.87474449e-02 9.99586589e-01 -4.84841999e-04 -3.02714362e+00] [-1.15387982e-02 1.53162068e-04 9.99933414e-01 -1.85949437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799999 meters 0.016781682690221383 Centerline is valid? [True, True] Translation: X:105.58, Y:-3.03, Z:-1.86 [[ 9.99600025e-01 2.58360244e-02 1.15016902e-02 1.05583925e+02] [-2.58321826e-02 9.99666177e-01 -4.82487202e-04 -3.03326501e+00] [-1.15103162e-02 1.85180458e-04 9.99933737e-01 -1.86034123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774391418 meters 0.01764885460423833 Centerline is valid? [True, True] Translation: X:105.61, Y:-3.04, Z:-1.86 [[ 9.99670022e-01 2.30479070e-02 1.13419823e-02 1.05612602e+02] [-2.30439953e-02 9.99734339e-01 -4.75474581e-04 -3.03892617e+00] [-1.13499279e-02 2.13953098e-04 9.99935565e-01 -1.86095838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804391418 meters 0.019020522779122945 Centerline is valid? [True, True] Translation: X:105.64, Y:-3.04, Z:-1.86 [[ 9.99776383e-01 1.76875788e-02 1.15902685e-02 1.05643166e+02] [-1.76831465e-02 9.99843523e-01 -4.84788335e-04 -3.04371174e+00] [-1.15970296e-02 2.79727512e-04 9.99932713e-01 -1.85963250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834391418 meters 0.02089633697829647 Centerline is valid? [True, True] Translation: X:105.67, Y:-3.05, Z:-1.86 [[ 9.99820261e-01 1.51276379e-02 1.14280257e-02 1.05673022e+02] [-1.51231633e-02 9.99885524e-01 -4.77868706e-04 -3.04750171e+00] [-1.14339465e-02 3.04954917e-04 9.99934584e-01 -1.85973818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864391418 meters 0.022502267023220144 Centerline is valid? [True, True] Translation: X:105.70, Y:-3.05, Z:-1.86 [[ 9.99844197e-01 1.30737288e-02 1.18599911e-02 1.05704474e+02] [-1.30687792e-02 9.99914477e-01 -4.94744240e-04 -3.05118322e+00] [-1.18654449e-02 3.39671553e-04 9.99929545e-01 -1.86033137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894391418 meters 0.023684497810552953 Centerline is valid? [True, True] Translation: X:105.74, Y:-3.06, Z:-1.86 [[ 9.99870381e-01 1.08317891e-02 1.19119042e-02 1.05736505e+02] [-1.08266020e-02 9.99941266e-01 -4.99858115e-04 -3.05512387e+00] [-1.19166189e-02 3.70827878e-04 9.99928926e-01 -1.86122104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924391418 meters 0.026200698763577623 Centerline is valid? [True, True] Translation: X:105.77, Y:-3.06, Z:-1.86 [[ 9.99899330e-01 6.37828424e-03 1.26746979e-02 1.05766977e+02] [-6.37198932e-03 9.99979554e-01 -5.36973675e-04 -3.06467152e+00] [-1.26778637e-02 4.56156579e-04 9.99919529e-01 -1.86361622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954391418 meters 0.027700954800736286 Centerline is valid? [True, True] Translation: X:105.80, Y:-3.07, Z:-1.86 [[ 9.99902166e-01 4.38518728e-03 1.32826089e-02 1.05798457e+02] [-4.37810925e-03 9.99990258e-01 -5.61910888e-04 -3.06992917e+00] [-1.32849435e-02 5.03703202e-04 9.99911624e-01 -1.86471552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters 0.026657779692696226 Centerline is valid? [True, True] Translation: X:105.83, Y:-3.07, Z:-1.86 [[ 9.99913074e-01 1.52163875e-03 1.30968885e-02 1.05830106e+02] [-1.51447094e-03 9.99998698e-01 -5.57191645e-04 -3.07006431e+00] [-1.30977192e-02 5.37308354e-04 9.99914077e-01 -1.86483935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01439141799999 meters 0.02875435289205536 Centerline is valid? [True, True] Translation: X:105.86, Y:-3.07, Z:-1.87 [[ 9.99920192e-01 8.00523916e-04 1.26082540e-02 1.05861143e+02] [-7.93783835e-04 9.99999539e-01 -5.39572101e-04 -3.07271094e+00] [-1.26086802e-02 5.29520810e-04 9.99920367e-01 -1.86542784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799999 meters 0.03223671728334852 Centerline is valid? [True, True] Translation: X:105.89, Y:-3.08, Z:-1.87 [[ 9.99925307e-01 8.67924339e-04 1.21912641e-02 1.05893114e+02] [-8.61592918e-04 9.99999491e-01 -5.24583396e-04 -3.07687214e+00] [-1.21917132e-02 5.14040306e-04 9.99925546e-01 -1.86628829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07439141799999 meters 0.030183231940280397 Centerline is valid? [True, True] Translation: X:105.93, Y:-3.07, Z:-1.87 [[ 9.99929438e-01 1.16328485e-03 1.18222388e-02 1.05926314e+02] [-1.15731340e-03 9.99999199e-01 -5.11931565e-04 -3.07408619e+00] [-1.18228249e-02 4.98213407e-04 9.99929984e-01 -1.86591119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799999 meters 0.026297848141159163 Centerline is valid? [True, True] Translation: X:105.96, Y:-3.07, Z:-1.87 [[ 9.99924845e-01 2.33691970e-03 1.20350949e-02 1.05958903e+02] [-2.33075412e-03 9.99997145e-01 -5.26299974e-04 -3.06920766e+00] [-1.20362904e-02 4.98209573e-04 9.99927437e-01 -1.86633427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13439141799999 meters 0.028605754858734674 Centerline is valid? [True, True] Translation: X:105.99, Y:-3.07, Z:-1.87 [[ 9.99916144e-01 3.16191890e-03 1.25581302e-02 1.05990216e+02] [-3.15526934e-03 9.99994871e-01 -5.49280068e-04 -3.07432219e+00] [-1.25598025e-02 5.09609724e-04 9.99920993e-01 -1.86735708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164391418 meters 0.02695484711148815 Centerline is valid? [True, True] Translation: X:106.02, Y:-3.07, Z:-1.87 [[ 9.99907568e-01 3.93477732e-03 1.30143142e-02 1.06022988e+02] [-3.92765508e-03 9.99992123e-01 -5.72775907e-04 -3.07211257e+00] [-1.30164654e-02 5.21607227e-04 9.99915146e-01 -1.86735115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194391418 meters 0.027147243531213724 Centerline is valid? [True, True] Translation: X:106.06, Y:-3.07, Z:-1.87 [[ 9.99905412e-01 4.33373732e-03 1.30531970e-02 1.06055731e+02] [-4.32656086e-03 9.99990473e-01 -5.77974252e-04 -3.07228522e+00] [-1.30555774e-02 5.21444131e-04 9.99914636e-01 -1.86766611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224391418 meters 0.02693414924226864 Centerline is valid? [True, True] Translation: X:106.09, Y:-3.07, Z:-1.87 [[ 9.99904203e-01 4.90972930e-03 1.29414177e-02 1.06089017e+02] [-4.90267059e-03 9.99987815e-01 -5.77104982e-04 -3.07146848e+00] [-1.29440935e-02 5.13602188e-04 9.99916090e-01 -1.86832703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254391418 meters 0.025369815397956626 Centerline is valid? [True, True] Translation: X:106.12, Y:-3.07, Z:-1.87 [[ 9.99910421e-01 6.93653789e-03 1.14470465e-02 1.06121347e+02] [-6.93111077e-03 9.99975848e-01 -5.13711052e-04 -3.06745732e+00] [-1.14503334e-02 4.34324288e-04 9.99934348e-01 -1.87021750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284391418 meters 0.02473826886906532 Centerline is valid? [True, True] Translation: X:106.15, Y:-3.07, Z:-1.87 [[ 9.99901393e-01 9.01482011e-03 1.07673873e-02 1.06153552e+02] [-9.01010882e-03 9.99959290e-01 -4.85981936e-04 -3.06706604e+00] [-1.07713300e-02 3.88918684e-04 9.99941912e-01 -1.87173198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314391418 meters 0.023085831055777144 Centerline is valid? [True, True] Translation: X:106.19, Y:-3.06, Z:-1.87 [[ 9.99851902e-01 1.35201687e-02 1.06479598e-02 1.06185387e+02] [-1.35157684e-02 9.99908540e-01 -4.85101715e-04 -3.06274594e+00] [-1.06535446e-02 3.41114515e-04 9.99943191e-01 -1.87261115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters 0.023085831055777144 Centerline is valid? [True, True] Translation: X:106.22, Y:-3.06, Z:-1.87 [[ 9.99848075e-01 1.38002690e-02 1.06479949e-02 1.06217118e+02] [-1.37958928e-02 9.99904715e-01 -4.84339553e-04 -3.06429947e+00] [-1.06536643e-02 3.37367374e-04 9.99943191e-01 -1.87318360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37439141799999 meters 0.021262365287082804 Centerline is valid? [True, True] Translation: X:106.25, Y:-3.06, Z:-1.87 [[ 9.99756165e-01 1.92617749e-02 1.07979341e-02 1.06247567e+02] [-1.92575389e-02 9.99814433e-01 -4.96141783e-04 -3.05733893e+00] [-1.08054870e-02 2.88079170e-04 9.99941578e-01 -1.87163418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799999 meters 0.020133401046582313 Centerline is valid? [True, True] Translation: X:106.28, Y:-3.05, Z:-1.87 [[ 9.99693493e-01 2.19911960e-02 1.13713211e-02 1.06277872e+02] [-2.19866688e-02 9.99758127e-01 -5.23000680e-04 -3.05359277e+00] [-1.13800721e-02 2.72822907e-04 9.99935208e-01 -1.87098034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43439141799999 meters 0.01768397119002825 Centerline is valid? [True, True] Translation: X:106.31, Y:-3.05, Z:-1.87 [[ 9.99553963e-01 2.70766489e-02 1.25987859e-02 1.06307717e+02] [-2.70714974e-02 9.99633332e-01 -5.79283540e-04 -3.04554341e+00] [-1.26098514e-02 2.37957159e-04 9.99920464e-01 -1.86977145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799999 meters 0.017210681130424132 Centerline is valid? [True, True] Translation: X:106.34, Y:-3.04, Z:-1.87 [[ 9.99496581e-01 2.90962318e-02 1.26488709e-02 1.06337223e+02] [-2.90912075e-02 9.99576592e-01 -5.81068286e-04 -3.04439109e+00] [-1.26604222e-02 2.12804838e-04 9.99919831e-01 -1.87065569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49439141799999 meters 0.016688418439462747 Centerline is valid? [True, True] Translation: X:106.37, Y:-3.04, Z:-1.87 [[ 9.99431362e-01 3.10345158e-02 1.31837601e-02 1.06365784e+02] [-3.10292323e-02 9.99518294e-01 -6.05173594e-04 -3.04377175e+00] [-1.31961907e-02 1.95747514e-04 9.99912907e-01 -1.87185447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524391418 meters 0.016283935191172345 Centerline is valid? [True, True] Translation: X:106.39, Y:-3.04, Z:-1.87 [[ 9.99378830e-01 3.26407950e-02 1.32865290e-02 1.06394978e+02] [-3.26355800e-02 9.99467132e-01 -6.09183762e-04 -3.04270376e+00] [-1.32993333e-02 1.75191775e-04 9.99911545e-01 -1.87272166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554391418 meters 0.016555346152228444 Centerline is valid? [True, True] Translation: X:106.42, Y:-3.04, Z:-1.87 [[ 9.99326655e-01 3.43027785e-02 1.30213721e-02 1.06423150e+02] [-3.42979227e-02 9.99411475e-01 -5.96103754e-04 -3.04241158e+00] [-1.30341567e-02 1.49096356e-04 9.99915041e-01 -1.87452088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584391418 meters 0.015765402820164247 Centerline is valid? [True, True] Translation: X:106.45, Y:-3.04, Z:-1.88 [[ 9.99288036e-01 3.58708157e-02 1.16921365e-02 1.06451295e+02] [-3.58670196e-02 9.99356429e-01 -5.34258306e-04 -3.03952694e+00] [-1.17037760e-02 1.14515845e-04 9.99931502e-01 -1.87547198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614391418 meters 0.015742212575707504 Centerline is valid? [True, True] Translation: X:106.48, Y:-3.04, Z:-1.88 [[ 9.99288465e-01 3.60875228e-02 1.09660598e-02 1.06479878e+02] [-3.60842088e-02 9.99348628e-01 -4.99976013e-04 -3.03923135e+00] [-1.09769597e-02 1.03918670e-04 9.99939746e-01 -1.87661813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644391418 meters 0.015873713789486397 Centerline is valid? [True, True] Translation: X:106.51, Y:-3.04, Z:-1.88 [[ 9.99303855e-01 3.58094499e-02 1.04636400e-02 1.06508813e+02] [-3.58064252e-02 9.99358631e-01 -4.76320502e-04 -3.03958896e+00] [-1.04739858e-02 1.01323370e-04 9.99945141e-01 -1.87727139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674391418 meters 0.016069191685242807 Centerline is valid? [True, True] Translation: X:106.54, Y:-3.04, Z:-1.88 [[ 9.99360444e-01 3.42824903e-02 1.01692168e-02 1.06537959e+02] [-3.42795618e-02 9.99412176e-01 -4.62184442e-04 -3.04104611e+00] [-1.01790839e-02 1.13292555e-04 9.99948185e-01 -1.87766637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704391418 meters 0.0162666717295908 Centerline is valid? [True, True] Translation: X:106.57, Y:-3.04, Z:-1.88 [[ 9.99410996e-01 3.27056407e-02 1.03924392e-02 1.06566811e+02] [-3.27025055e-02 9.99465019e-01 -4.71514553e-04 -3.04286158e+00] [-1.04023006e-02 1.31378029e-04 9.99945886e-01 -1.87766354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73439141799999 meters 0.018002331984479678 Centerline is valid? [True, True] Translation: X:106.59, Y:-3.05, Z:-1.88 [[ 9.99529387e-01 2.86552085e-02 1.09491290e-02 1.06594180e+02] [-2.86514931e-02 9.99589339e-01 -4.96076432e-04 -3.04811049e+00] [-1.09588478e-02 1.82134077e-04 9.99939933e-01 -1.87879579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799999 meters 0.018628160385071174 Centerline is valid? [True, True] Translation: X:106.62, Y:-3.05, Z:-1.88 [[ 9.99592079e-01 2.64254038e-02 1.08339000e-02 1.06624024e+02] [-2.64216545e-02 9.99650768e-01 -4.89079090e-04 -3.05078439e+00] [-1.08430406e-02 2.02630021e-04 9.99941192e-01 -1.87961564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79439141799999 meters 0.01871046046808249 Centerline is valid? [True, True] Translation: X:106.65, Y:-3.05, Z:-1.88 [[ 9.99644765e-01 2.44191410e-02 1.06794090e-02 1.06652930e+02] [-2.44153845e-02 9.99701784e-01 -4.82004265e-04 -3.05237878e+00] [-1.06879944e-02 2.21091162e-04 9.99942857e-01 -1.87960949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799999 meters 0.020216122358521705 Centerline is valid? [True, True] Translation: X:106.68, Y:-3.06, Z:-1.88 [[ 9.99713133e-01 2.13701938e-02 1.08150712e-02 1.06680861e+02] [-2.13661775e-02 9.99771599e-01 -4.86779085e-04 -3.05618500e+00] [-1.08230036e-02 2.55562713e-04 9.99941397e-01 -1.88071646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85439141799999 meters 0.01969773508919168 Centerline is valid? [True, True] Translation: X:106.71, Y:-3.06, Z:-1.88 [[ 9.99728660e-01 2.08237568e-02 1.04391832e-02 1.06710667e+02] [-2.08199842e-02 9.99783130e-01 -4.69942000e-04 -3.05654492e+00] [-1.04467052e-02 2.52470857e-04 9.99945400e-01 -1.88122369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799999 meters 0.01969773508919168 Centerline is valid? [True, True] Translation: X:106.74, Y:-3.06, Z:-1.88 [[ 9.99729496e-01 2.07836184e-02 1.04392020e-02 1.06739796e+02] [-2.07798480e-02 9.99783965e-01 -4.69523580e-04 -3.05781608e+00] [-1.04467052e-02 2.52471541e-04 9.99945400e-01 -1.88174962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914391418 meters 0.02064906527815255 Centerline is valid? [True, True] Translation: X:106.77, Y:-3.06, Z:-1.88 [[ 9.99734522e-01 2.07375958e-02 1.00418238e-02 1.06768663e+02] [-2.07341082e-02 9.99784923e-01 -4.51298795e-04 -3.06035222e+00] [-1.00490229e-02 2.42970724e-04 9.99949478e-01 -1.88316586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944391418 meters 0.0188243535821348 Centerline is valid? [True, True] Translation: X:106.80, Y:-3.06, Z:-1.88 [[ 9.99700952e-01 2.28773336e-02 8.63909333e-03 1.06798140e+02] [-2.28748331e-02 9.99738261e-01 -3.88150472e-04 -3.05713599e+00] [-8.64571200e-03 1.90416578e-04 9.99962607e-01 -1.88342855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974391418 meters 0.017790822902225372 Centerline is valid? [True, True] Translation: X:106.83, Y:-3.05, Z:-1.88 [[ 9.99659681e-01 2.48148184e-02 8.04649170e-03 1.06827040e+02] [-2.48127135e-02 9.99692052e-01 -3.61332677e-04 -3.05499208e+00] [-8.05298021e-03 1.61554415e-04 9.99967561e-01 -1.88316096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004391418 meters 0.01673920698323963 Centerline is valid? [True, True] Translation: X:106.86, Y:-3.05, Z:-1.88 [[ 9.99518020e-01 2.98596863e-02 8.49272687e-03 1.06855517e+02] [-2.98575302e-02 9.99554092e-01 -3.80585815e-04 -3.05107472e+00] [-8.50030407e-03 1.26830532e-04 9.99963864e-01 -1.88291855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034391418 meters 0.01585444319279327 Centerline is valid? [True, True] Translation: X:106.88, Y:-3.05, Z:-1.88 [[ 9.99423073e-01 3.29759510e-02 8.13072349e-03 1.06884237e+02] [-3.29740827e-02 9.99456141e-01 -3.63761399e-04 -3.04863788e+00] [-8.13829690e-03 9.54483863e-05 9.99966879e-01 -1.88277873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064391418 meters 0.01574285678442275 Centerline is valid? [True, True] Translation: X:106.91, Y:-3.05, Z:-1.89 [[ 9.99316235e-01 3.60690528e-02 8.12931394e-03 1.06912560e+02] [-3.60672929e-02 9.99349298e-01 -3.63032030e-04 -3.04830566e+00] [-8.13711840e-03 6.95814541e-05 9.99966891e-01 -1.88512280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09439141799999 meters 0.014990960455785062 Centerline is valid? [True, True] Translation: X:106.94, Y:-3.05, Z:-1.89 [[ 9.99212972e-01 3.89250667e-02 7.63381813e-03 1.06942010e+02] [-3.89236039e-02 9.99242131e-01 -3.40153247e-04 -3.04585308e+00] [-7.64127319e-03 4.27498234e-05 9.99970804e-01 -1.88508321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters 0.014807811379456998 Centerline is valid? [True, True] Translation: X:106.97, Y:-3.04, Z:-1.89 [[ 9.99008220e-01 4.40466905e-02 6.51658556e-03 1.06970198e+02] [-4.40457305e-02 9.99029474e-01 -2.90827473e-04 -3.04159009e+00] [-6.52307103e-03 3.51126448e-06 9.99978725e-01 -1.88633132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15439141799999 meters 0.01490947823472716 Centerline is valid? [True, True] Translation: X:107.00, Y:-3.04, Z:-1.89 [[ 9.98918327e-01 4.60163975e-02 6.68335701e-03 1.06997783e+02] [-4.60154373e-02 9.98940684e-01 -2.97455801e-04 -3.04041615e+00] [-6.68996507e-03 -1.04035442e-05 9.99977622e-01 -1.88649346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799999 meters 0.014850032876595937 Centerline is valid? [True, True] Translation: X:107.02, Y:-3.04, Z:-1.89 [[ 9.98838181e-01 4.76812182e-02 6.98488585e-03 1.07024400e+02] [-4.76802152e-02 9.98862604e-01 -3.10148371e-04 -3.03911615e+00] [-6.99172952e-03 -2.32528259e-05 9.99975557e-01 -1.88693428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21439141799999 meters 0.015477230669509812 Centerline is valid? [True, True] Translation: X:107.05, Y:-3.04, Z:-1.89 [[ 9.98727887e-01 5.00030448e-02 6.50406530e-03 1.07052140e+02] [-5.00022322e-02 9.98749065e-01 -2.87596995e-04 -3.03591098e+00] [-6.51030986e-03 -3.79866436e-05 9.99978807e-01 -1.88765947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799999 meters 0.015372206743829787 Centerline is valid? [True, True] Translation: X:107.08, Y:-3.04, Z:-1.89 [[ 9.98687405e-01 5.08417331e-02 6.21169333e-03 1.07080564e+02] [-5.08410128e-02 9.98706722e-01 -2.73898825e-04 -3.03603059e+00] [-6.21758538e-03 -4.22694737e-05 9.99980670e-01 -1.88775290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274391418 meters 0.015196237761954001 Centerline is valid? [True, True] Translation: X:107.11, Y:-3.04, Z:-1.89 [[ 9.98687030e-01 5.08580106e-02 6.13836621e-03 1.07108444e+02] [-5.08573073e-02 9.98705893e-01 -2.70707323e-04 -3.03699835e+00] [-6.14419014e-03 -4.18288848e-05 9.99981123e-01 -1.88738762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304391418 meters 0.014948252545864993 Centerline is valid? [True, True] Translation: X:107.14, Y:-3.04, Z:-1.89 [[ 9.98723679e-01 5.01760104e-02 5.77769131e-03 1.07136292e+02] [-5.01753790e-02 9.98740390e-01 -2.54258812e-04 -3.03948291e+00] [-5.78317137e-03 -3.59635557e-05 9.99983277e-01 -1.88777293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334391418 meters 0.014655624414501143 Centerline is valid? [True, True] Translation: X:107.16, Y:-3.04, Z:-1.89 [[ 9.98792605e-01 4.87800979e-02 5.81677040e-03 1.07164697e+02] [-4.87794412e-02 9.98809542e-01 -2.54796700e-04 -3.04217107e+00] [-5.82227478e-03 -2.92497496e-05 9.99983050e-01 -1.88800140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364391418 meters 0.014278485505017853 Centerline is valid? [True, True] Translation: X:107.19, Y:-3.05, Z:-1.89 [[ 9.98961770e-01 4.52072887e-02 5.62876717e-03 1.07193748e+02] [-4.52066194e-02 9.98977628e-01 -2.46143008e-04 -3.04659455e+00] [-5.63413994e-03 -8.57008031e-06 9.99984128e-01 -1.88863458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394391418 meters 0.014236185128600618 Centerline is valid? [True, True] Translation: X:107.22, Y:-3.05, Z:-1.89 [[ 9.99153797e-01 4.08008433e-02 5.19437109e-03 1.07222636e+02] [-4.08002154e-02 9.99167299e-01 -2.26841913e-04 -3.05258910e+00] [-5.19930107e-03 1.47184990e-05 9.99986483e-01 -1.88988447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424391418 meters 0.014236185128600618 Centerline is valid? [True, True] Translation: X:107.25, Y:-3.05, Z:-1.89 [[ 9.99158697e-01 4.06806741e-02 5.19436686e-03 1.07250070e+02] [-4.06800441e-02 9.99172199e-01 -2.26941448e-04 -3.05366630e+00] [-5.19929909e-03 1.54434482e-05 9.99986483e-01 -1.89037994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454391418 meters 0.014403417987731844 Centerline is valid? [True, True] Translation: X:107.28, Y:-3.06, Z:-1.89 [[ 9.99333925e-01 3.60572769e-02 5.61957986e-03 1.07278766e+02] [-3.60564738e-02 9.99349724e-01 -2.44182844e-04 -3.06038383e+00] [-5.62473015e-03 4.13979652e-05 9.99984180e-01 -1.89100381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters 0.014727015369814854 Centerline is valid? [True, True] Translation: X:107.31, Y:-3.06, Z:-1.89 [[ 9.99409496e-01 3.38627386e-02 5.82876646e-03 1.07306654e+02] [-3.38618391e-02 9.99426491e-01 -2.52979719e-04 -3.06430506e+00] [-5.83399020e-03 5.54575814e-05 9.99982981e-01 -1.89184533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51439141799999 meters 0.015259257304467786 Centerline is valid? [True, True] Translation: X:107.33, Y:-3.07, Z:-1.89 [[ 9.99474238e-01 3.18589871e-02 6.02108269e-03 1.07334762e+02] [-3.18579950e-02 9.99492371e-01 -2.60631490e-04 -3.06799021e+00] [-6.02632967e-03 6.86748371e-05 9.99981839e-01 -1.89268269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799999 meters 0.015710694371374186 Centerline is valid? [True, True] Translation: X:107.36, Y:-3.07, Z:-1.89 [[ 9.99574414e-01 2.83656382e-02 6.81043558e-03 1.07363126e+02] [-2.83642954e-02 9.99597609e-01 -2.93687021e-04 -3.07204871e+00] [-6.81602575e-03 1.00388825e-04 9.99976766e-01 -1.89169772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57439141799999 meters 0.01609041970659626 Centerline is valid? [True, True] Translation: X:107.39, Y:-3.07, Z:-1.89 [[ 9.99623741e-01 2.64913930e-02 7.11220775e-03 1.07392210e+02] [-2.64898857e-02 9.99649035e-01 -3.06070258e-04 -3.07420227e+00] [-7.11781983e-03 1.17553526e-04 9.99974661e-01 -1.89123578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799999 meters 0.016992881626830467 Centerline is valid? [True, True] Translation: X:107.42, Y:-3.08, Z:-1.89 [[ 9.99665401e-01 2.46963633e-02 7.69252369e-03 1.07419704e+02] [-2.46945511e-02 9.99694988e-01 -3.30495070e-04 -3.07778045e+00] [-7.69833941e-03 1.40421068e-04 9.99970357e-01 -1.89167324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63439141799999 meters 0.01733411157570605 Centerline is valid? [True, True] Translation: X:107.45, Y:-3.08, Z:-1.89 [[ 9.99706282e-01 2.27679343e-02 8.30483739e-03 1.07448136e+02] [-2.27657654e-02 9.99740763e-01 -3.55617732e-04 -3.08037395e+00] [-8.31078115e-03 1.66447301e-04 9.99965451e-01 -1.89147227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664391418 meters 0.0183472652306728 Centerline is valid? [True, True] Translation: X:107.48, Y:-3.09, Z:-1.89 [[ 9.99773463e-01 1.87576227e-02 1.00584958e-02 1.07477929e+02] [-1.87542525e-02 9.99824031e-01 -4.29284285e-04 -3.08625447e+00] [-1.00647782e-02 2.40547466e-04 9.99949320e-01 -1.89170167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694391418 meters 0.01945105103712711 Centerline is valid? [True, True] Translation: X:107.51, Y:-3.09, Z:-1.89 [[ 9.99797476e-01 1.69398533e-02 1.08649877e-02 1.07507281e+02] [-1.69358232e-02 9.99856472e-01 -4.62826470e-04 -3.09034103e+00] [-1.08712685e-02 2.78725225e-04 9.99940867e-01 -1.89236130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724391418 meters 0.02098292179424247 Centerline is valid? [True, True] Translation: X:107.54, Y:-3.09, Z:-1.89 [[ 9.99861624e-01 1.28050106e-02 1.06190463e-02 1.07537621e+02] [-1.28009257e-02 9.99917962e-01 -4.52552852e-04 -3.09467675e+00] [-1.06239701e-02 3.16556607e-04 9.99943514e-01 -1.89393450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754391418 meters 0.022239445223058266 Centerline is valid? [True, True] Translation: X:107.57, Y:-3.10, Z:-1.90 [[ 9.99888399e-01 1.09648743e-02 1.01469350e-02 1.07568455e+02] [-1.09610709e-02 9.99939833e-01 -4.30371476e-04 -3.09816968e+00] [-1.01510435e-02 3.19102172e-04 9.99948426e-01 -1.89547661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784391418 meters 0.02405733980379136 Centerline is valid? [True, True] Translation: X:107.60, Y:-3.10, Z:-1.90 [[ 9.99914725e-01 8.62187870e-03 9.80848921e-03 1.07598934e+02] [-8.61817866e-03 9.99962775e-01 -4.19432726e-04 -3.10233252e+00] [-9.81174039e-03 3.34865646e-04 9.99951808e-01 -1.89725103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814391418 meters 0.026289518678770028 Centerline is valid? [True, True] Translation: X:107.63, Y:-3.11, Z:-1.90 [[ 9.99948662e-01 3.08396579e-03 9.65204612e-03 1.07629694e+02] [-3.08010288e-03 9.99995170e-01 -4.15055655e-04 -3.10718585e+00] [-9.65327952e-03 3.85305052e-04 9.99953332e-01 -1.89889089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters 0.028703159692211655 Centerline is valid? [True, True] Translation: X:107.66, Y:-3.11, Z:-1.90 [[ 9.99951105e-01 6.30925022e-04 9.86863305e-03 1.07660739e+02] [-6.26784648e-04 9.99999714e-01 -4.22636112e-04 -3.11220891e+00] [-9.86889688e-03 4.16429939e-04 9.99951215e-01 -1.89979217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87439141799999 meters 0.030356430489583287 Centerline is valid? [True, True] Translation: X:107.69, Y:-3.12, Z:-1.90 [[ 9.99947166e-01 -1.99516983e-03 1.00839100e-02 1.07692687e+02] [ 1.99966771e-03 9.99997906e-01 -4.35982833e-04 -3.11621078e+00] [-1.00830190e-02 4.56124267e-04 9.99949061e-01 -1.90027450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799999 meters 0.03222634943508431 Centerline is valid? [True, True] Translation: X:107.72, Y:-3.12, Z:-1.90 [[ 9.99935506e-01 -4.29028691e-03 1.05156128e-02 1.07724153e+02] [ 4.29530039e-03 9.99990672e-01 -4.54226988e-04 -3.11999084e+00] [-1.05135659e-02 4.99365409e-04 9.99944606e-01 -1.90081625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93439141799999 meters 0.03545508448866759 Centerline is valid? [True, True] Translation: X:107.75, Y:-3.12, Z:-1.90 [[ 9.99901616e-01 -8.38832867e-03 1.12425488e-02 1.07754319e+02] [ 8.39436928e-03 9.99964647e-01 -4.90217764e-04 -3.12447171e+00] [-1.12380392e-02 5.84543640e-04 9.99936680e-01 -1.90018993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799999 meters 0.03638817899059229 Centerline is valid? [True, True] Translation: X:107.79, Y:-3.13, Z:-1.90 [[ 9.99896917e-01 -9.63263161e-03 1.06474511e-02 1.07786729e+02] [ 9.63812171e-03 9.99953444e-01 -4.64432150e-04 -3.12613167e+00] [-1.06424817e-02 5.67005704e-04 9.99943206e-01 -1.90096403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99439141799999 meters 0.03573660565854114 Centerline is valid? [True, True] Translation: X:107.82, Y:-3.12, Z:-1.90 [[ 9.99883604e-01 -1.05656587e-02 1.10066332e-02 1.07819091e+02] [ 1.05715916e-02 9.99944003e-01 -4.80984528e-04 -3.12488821e+00] [-1.10009349e-02 5.97286174e-04 9.99939309e-01 -1.90188841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024391418 meters 0.03526124801218484 Centerline is valid? [True, True] Translation: X:107.85, Y:-3.13, Z:-1.90 [[ 9.99888613e-01 -1.01582790e-02 1.09348447e-02 1.07851518e+02] [ 1.01641198e-02 9.99948229e-01 -4.78697207e-04 -3.12509844e+00] [-1.09294159e-02 5.89786958e-04 9.99940098e-01 -1.90265123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054391418 meters 0.035958192427600434 Centerline is valid? [True, True] Translation: X:107.88, Y:-3.13, Z:-1.90 [[ 9.99897140e-01 -8.72643607e-03 1.13823970e-02 1.07882895e+02] [ 8.73268464e-03 9.99961745e-01 -4.99381815e-04 -3.12623745e+00] [-1.13776037e-02 5.98729332e-04 9.99935094e-01 -1.90373455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084391418 meters 0.03457652540247793 Centerline is valid? [True, True] Translation: X:107.92, Y:-3.12, Z:-1.90 [[ 9.99916038e-01 -6.17199249e-03 1.13939975e-02 1.07915076e+02] [ 6.17809438e-03 9.99980790e-01 -5.00414468e-04 -3.12224810e+00] [-1.13906901e-02 5.70765644e-04 9.99934961e-01 -1.90364009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114391418 meters 0.03369743295783889 Centerline is valid? [True, True] Translation: X:107.95, Y:-3.12, Z:-1.90 [[ 9.99926313e-01 -4.22811232e-03 1.13794797e-02 1.07946577e+02] [ 4.23408676e-03 9.99990911e-01 -5.00978510e-04 -3.11989805e+00] [-1.13772581e-02 5.49123298e-04 9.99935126e-01 -1.90365540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144391418 meters 0.031842165173692094 Centerline is valid? [True, True] Translation: X:107.98, Y:-3.12, Z:-1.90 [[ 9.99932495e-01 -2.17044233e-03 1.14146247e-02 1.07977835e+02] [ 2.17632498e-03 9.99997505e-01 -5.02964600e-04 -3.11630920e+00] [-1.14135046e-02 5.27772580e-04 9.99934725e-01 -1.90362781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174391418 meters 0.03162832802735156 Centerline is valid? [True, True] Translation: X:108.01, Y:-3.12, Z:-1.90 [[ 9.99934125e-01 2.11115519e-04 1.14761526e-02 1.08008885e+02] [-2.05320609e-04 9.99999851e-01 -5.06128243e-04 -3.11534411e+00] [-1.14762578e-02 5.03738611e-04 9.99934019e-01 -1.90381501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204391418 meters 0.02838273689133377 Centerline is valid? [True, True] Translation: X:108.04, Y:-3.11, Z:-1.91 [[ 9.99903295e-01 5.95244591e-03 1.25685745e-02 1.08039728e+02] [-5.94593838e-03 9.99982169e-01 -5.55066477e-04 -3.10704693e+00] [-1.25716544e-02 4.80280830e-04 9.99920858e-01 -1.90521970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23439141799999 meters 0.027414863105602243 Centerline is valid? [True, True] Translation: X:108.07, Y:-3.11, Z:-1.90 [[ 9.99877340e-01 8.65303731e-03 1.30548704e-02 1.08070978e+02] [-8.64626234e-03 9.99962455e-01 -5.75312949e-04 -3.10661476e+00] [-1.30593584e-02 4.62366547e-04 9.99914616e-01 -1.90375278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799999 meters 0.023998501254604475 Centerline is valid? [True, True] Translation: X:108.10, Y:-3.10, Z:-1.90 [[ 9.99845548e-01 1.18019542e-02 1.30228149e-02 1.08103169e+02] [-1.17954263e-02 9.99930265e-01 -5.77962370e-04 -3.10072648e+00] [-1.30287278e-02 4.24263449e-04 9.99915033e-01 -1.90395012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29439141799999 meters 0.022618563322097072 Centerline is valid? [True, True] Translation: X:108.13, Y:-3.10, Z:-1.90 [[ 9.99794629e-01 1.51490942e-02 1.34612442e-02 1.08134959e+02] [-1.51424048e-02 9.99885168e-01 -5.98726463e-04 -3.09735995e+00] [-1.34687686e-02 3.94767892e-04 9.99909214e-01 -1.90446273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799999 meters 0.022122368641301807 Centerline is valid? [True, True] Translation: X:108.17, Y:-3.10, Z:-1.91 [[ 9.99725975e-01 1.89768604e-02 1.37059893e-02 1.08165237e+02] [-1.89702819e-02 9.99819862e-01 -6.09834890e-04 -3.09561683e+00] [-1.37150930e-02 3.49661299e-04 9.99905883e-01 -1.90530885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35439141799999 meters 0.017877331921564096 Centerline is valid? [True, True] Translation: X:108.20, Y:-3.08, Z:-1.91 [[ 9.99546779e-01 2.66034058e-02 1.40888498e-02 1.08196821e+02] [-2.65971830e-02 9.99646035e-01 -6.28899612e-04 -3.08499528e+00] [-1.41005937e-02 2.53890864e-04 9.99900549e-01 -1.90545355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799999 meters 0.016560240616411755 Centerline is valid? [True, True] Translation: X:108.23, Y:-3.08, Z:-1.91 [[ 9.99439655e-01 3.03833438e-02 1.40437939e-02 1.08226371e+02] [-3.03775259e-02 9.99538300e-01 -6.27450073e-04 -3.08135325e+00] [-1.40563739e-02 2.00482771e-04 9.99901184e-01 -1.90588141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414391418 meters 0.01452552239484851 Centerline is valid? [True, True] Translation: X:108.26, Y:-3.07, Z:-1.91 [[ 9.99184453e-01 3.77121434e-02 1.44299420e-02 1.08255556e+02] [-3.77067763e-02 9.99288639e-01 -6.43929460e-04 -3.07277666e+00] [-1.44439611e-02 9.92977086e-05 9.99895676e-01 -1.90625624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444391418 meters 0.014115707345103394 Centerline is valid? [True, True] Translation: X:108.28, Y:-3.07, Z:-1.91 [[ 9.99062803e-01 4.08210822e-02 1.43928977e-02 1.08284764e+02] [-4.08160806e-02 9.99166471e-01 -6.41205988e-04 -3.06945152e+00] [-1.44070756e-02 5.31433779e-05 9.99896211e-01 -1.90646368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474391418 meters 0.013957353171237804 Centerline is valid? [True, True] Translation: X:108.31, Y:-3.07, Z:-1.91 [[ 9.98936562e-01 4.38077690e-02 1.43744625e-02 1.08313977e+02] [-4.38031043e-02 9.99039979e-01 -6.39341813e-04 -3.06632296e+00] [-1.43886708e-02 9.01583353e-06 9.99896478e-01 -1.90631619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504391418 meters 0.013957204262896202 Centerline is valid? [True, True] Translation: X:108.34, Y:-3.06, Z:-1.91 [[ 9.98820220e-01 4.63104661e-02 1.46119471e-02 1.08342106e+02] [-4.63059289e-02 9.98927094e-01 -6.48870605e-04 -3.06413107e+00] [-1.46263193e-02 -2.85147015e-05 9.99893029e-01 -1.90656987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534391418 meters 0.014600154574557038 Centerline is valid? [True, True] Translation: X:108.37, Y:-3.06, Z:-1.91 [[ 9.98575135e-01 5.12364509e-02 1.49173139e-02 1.08369823e+02] [-5.12322995e-02 9.98686545e-01 -6.60563279e-04 -3.06014130e+00] [-1.49315656e-02 -1.04626227e-04 9.99888512e-01 -1.90749889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564391418 meters 0.014820354108888 Centerline is valid? [True, True] Translation: X:108.40, Y:-3.06, Z:-1.91 [[ 9.98469490e-01 5.31399432e-02 1.53239770e-02 1.08398781e+02] [-5.31358109e-02 9.98587065e-01 -6.76977698e-04 -3.06020651e+00] [-1.53382998e-02 -1.38310368e-04 9.99882352e-01 -1.90839037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59439141799999 meters 0.015271827185693752 Centerline is valid? [True, True] Translation: X:108.43, Y:-3.06, Z:-1.91 [[ 9.98371045e-01 5.48958673e-02 1.55467035e-02 1.08427330e+02] [-5.48918461e-02 9.98492071e-01 -6.85573171e-04 -3.06013750e+00] [-1.55608953e-02 -1.68930854e-04 9.99878908e-01 -1.90919272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters 0.016008487816393857 Centerline is valid? [True, True] Translation: X:108.46, Y:-3.06, Z:-1.91 [[ 9.98213800e-01 5.75644560e-02 1.59857392e-02 1.08455971e+02] [-5.75605673e-02 9.98341768e-01 -7.03639417e-04 -3.05973576e+00] [-1.59997357e-02 -2.17765639e-04 9.99871972e-01 -1.90995491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65439141799999 meters 0.01663507479979502 Centerline is valid? [True, True] Translation: X:108.48, Y:-3.06, Z:-1.91 [[ 9.98129011e-01 5.90031074e-02 1.60346477e-02 1.08483269e+02] [-5.89993994e-02 9.98257770e-01 -7.04616335e-04 -3.05956977e+00] [-1.60482862e-02 -2.42736575e-04 9.99871188e-01 -1.91059852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799999 meters 0.017337278088994268 Centerline is valid? [True, True] Translation: X:108.51, Y:-3.06, Z:-1.91 [[ 9.98037257e-01 6.05401356e-02 1.60163873e-02 1.08510807e+02] [-6.05366641e-02 9.98165728e-01 -7.01924723e-04 -3.05956296e+00] [-1.60295035e-02 -2.69031629e-04 9.99871483e-01 -1.91112024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71439141799999 meters 0.01741040246514641 Centerline is valid? [True, True] Translation: X:108.54, Y:-3.06, Z:-1.91 [[ 9.98078653e-01 5.99675764e-02 1.55849831e-02 1.08537789e+02] [-5.99642379e-02 9.98200293e-01 -6.81846069e-04 -3.06197325e+00] [-1.55978234e-02 -2.54005629e-04 9.99878314e-01 -1.91165951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799999 meters 0.016316243102648238 Centerline is valid? [True, True] Translation: X:108.57, Y:-3.07, Z:-1.91 [[ 9.98114228e-01 5.92772070e-02 1.59436918e-02 1.08566685e+02] [-5.92736813e-02 9.98241528e-01 -6.94010394e-04 -3.06706923e+00] [-1.59567943e-02 -2.52339662e-04 9.99872650e-01 -1.91216346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774391418 meters 0.016316243102648238 Centerline is valid? [True, True] Translation: X:108.59, Y:-3.07, Z:-1.91 [[ 9.98121313e-01 5.91577678e-02 1.59437435e-02 1.08594115e+02] [-5.91542458e-02 9.98248614e-01 -6.92821659e-04 -3.06814838e+00] [-1.59568056e-02 -2.51620058e-04 9.99872650e-01 -1.91265892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804391418 meters 0.017034730594811226 Centerline is valid? [True, True] Translation: X:108.62, Y:-3.07, Z:-1.91 [[ 9.98177356e-01 5.82050903e-02 1.59415557e-02 1.08622046e+02] [-5.82014790e-02 9.98304618e-01 -6.90772594e-04 -3.06889644e+00] [-1.59547351e-02 -2.38308556e-04 9.99872687e-01 -1.91372561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834391418 meters 0.016766617532116834 Centerline is valid? [True, True] Translation: X:108.65, Y:-3.07, Z:-1.91 [[ 9.98246844e-01 5.70595466e-02 1.57304359e-02 1.08649792e+02] [-5.70559126e-02 9.98370753e-01 -6.80071028e-04 -3.07250028e+00] [-1.57436117e-02 -2.18635617e-04 9.99876038e-01 -1.91481897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864391418 meters 0.015258851536095635 Centerline is valid? [True, True] Translation: X:108.68, Y:-3.08, Z:-1.92 [[ 9.98415412e-01 5.41037583e-02 1.54740920e-02 1.08678052e+02] [-5.40999087e-02 9.98535304e-01 -6.67577726e-04 -3.08180019e+00] [-1.54875456e-02 -1.70627074e-04 9.99880046e-01 -1.91653427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894391418 meters 0.014939341539182166 Centerline is valid? [True, True] Translation: X:108.71, Y:-3.09, Z:-1.92 [[ 9.98474635e-01 5.31195033e-02 1.50572734e-02 1.08706341e+02] [-5.31157634e-02 9.98588151e-01 -6.48463446e-04 -3.08610898e+00] [-1.50704609e-02 -1.52304269e-04 9.99886423e-01 -1.91758179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924391418 meters 0.015045919754968988 Centerline is valid? [True, True] Translation: X:108.73, Y:-3.09, Z:-1.92 [[ 9.98518800e-01 5.23353486e-02 1.48733645e-02 1.08734669e+02] [-5.23316293e-02 9.98629557e-01 -6.39412466e-04 -3.09033699e+00] [-1.48864452e-02 -1.39882027e-04 9.99889181e-01 -1.91889443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954391418 meters 0.01479739246778767 Centerline is valid? [True, True] Translation: X:108.76, Y:-3.09, Z:-1.92 [[ 9.98542058e-01 5.19538013e-02 1.46479265e-02 1.08761149e+02] [-5.19501645e-02 9.98649480e-01 -6.28927627e-04 -3.09405651e+00] [-1.46608194e-02 -1.32951506e-04 9.99892516e-01 -1.91968166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters 0.015116867781199242 Centerline is valid? [True, True] Translation: X:108.79, Y:-3.10, Z:-1.92 [[ 9.98531259e-01 5.21178354e-02 1.48005085e-02 1.08787720e+02] [-5.21141787e-02 9.98640932e-01 -6.32901301e-04 -3.09928507e+00] [-1.48133791e-02 -1.39344613e-04 9.99890266e-01 -1.92016934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01439141799999 meters 0.015105082619629692 Centerline is valid? [True, True] Translation: X:108.82, Y:-3.10, Z:-1.92 [[ 9.98501885e-01 5.26089914e-02 1.50426227e-02 1.08816222e+02] [-5.26053132e-02 9.98615177e-01 -6.40368839e-04 -3.10201078e+00] [-1.50554805e-02 -1.51912389e-04 9.99886648e-01 -1.91985239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799999 meters 0.015339170872724605 Centerline is valid? [True, True] Translation: X:108.84, Y:-3.10, Z:-1.92 [[ 9.98462211e-01 5.32983122e-02 1.52480472e-02 1.08843537e+02] [-5.32946306e-02 9.98578621e-01 -6.47979393e-04 -3.10426985e+00] [-1.52609102e-02 -1.65656107e-04 9.99883532e-01 -1.91959323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07439141799999 meters 0.01554136080313875 Centerline is valid? [True, True] Translation: X:108.87, Y:-3.11, Z:-1.92 [[ 9.98414298e-01 5.40322651e-02 1.57925535e-02 1.08872531e+02] [-5.40284329e-02 9.98539173e-01 -6.69519783e-04 -3.10721753e+00] [-1.58056589e-02 -1.84788791e-04 9.99875066e-01 -1.91966096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799999 meters 0.015905990072841922 Centerline is valid? [True, True] Translation: X:108.90, Y:-3.11, Z:-1.92 [[ 9.98328715e-01 5.54544679e-02 1.62659083e-02 1.08900959e+02] [-5.54506117e-02 9.98461194e-01 -6.88330902e-04 -3.11333314e+00] [-1.62790492e-02 -2.14774059e-04 9.99867464e-01 -1.92019546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13439141799999 meters 0.015530305164390705 Centerline is valid? [True, True] Translation: X:108.93, Y:-3.12, Z:-1.92 [[ 9.98312955e-01 5.58270091e-02 1.59558432e-02 1.08929533e+02] [-5.58233650e-02 9.98440433e-01 -6.74025680e-04 -3.11821405e+00] [-1.59685878e-02 -2.17820290e-04 9.99872470e-01 -1.92117698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164391418 meters 0.015709496242568944 Centerline is valid? [True, True] Translation: X:108.96, Y:-3.12, Z:-1.92 [[ 9.98320209e-01 5.58633418e-02 1.53638256e-02 1.08957237e+02] [-5.58599849e-02 9.98438402e-01 -6.47880286e-04 -3.12164121e+00] [-1.53760263e-02 -2.11431086e-04 9.99881760e-01 -1.92249507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194391418 meters 0.015633367164499375 Centerline is valid? [True, True] Translation: X:108.99, Y:-3.13, Z:-1.92 [[ 9.98377730e-01 5.51279095e-02 1.42415608e-02 1.08985601e+02] [-5.51249698e-02 9.98479283e-01 -5.99185164e-04 -3.12892099e+00] [-1.42529352e-02 -1.86852483e-04 9.99898404e-01 -1.92484627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224391418 meters 0.015450080810775363 Centerline is valid? [True, True] Translation: X:109.01, Y:-3.13, Z:-1.93 [[ 9.98456528e-01 5.38907863e-02 1.34292245e-02 1.09014006e+02] [-5.38880739e-02 9.98546823e-01 -5.64016805e-04 -3.13340482e+00] [-1.34401047e-02 -1.60528779e-04 9.99909665e-01 -1.92616393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254391418 meters 0.01525773431130695 Centerline is valid? [True, True] Translation: X:109.04, Y:-3.14, Z:-1.93 [[ 9.98518134e-01 5.28806603e-02 1.28519112e-02 1.09042789e+02] [-5.28781048e-02 9.98600829e-01 -5.38806472e-04 -3.13792760e+00] [-1.28624216e-02 -1.41576675e-04 9.99917266e-01 -1.92737484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284391418 meters 0.014860723805444072 Centerline is valid? [True, True] Translation: X:109.07, Y:-3.15, Z:-1.93 [[ 9.98654210e-01 5.05475704e-02 1.16065276e-02 1.09071617e+02] [-5.05453378e-02 9.98721649e-01 -4.85809091e-04 -3.14595270e+00] [-1.16162469e-02 -1.01500565e-04 9.99932524e-01 -1.92832035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314391418 meters 0.014814803352009132 Centerline is valid? [True, True] Translation: X:109.10, Y:-3.15, Z:-1.93 [[ 9.98706647e-01 4.95644057e-02 1.13314917e-02 1.09097934e+02] [-4.95622167e-02 9.98770926e-01 -4.74090515e-04 -3.14944519e+00] [-1.13410625e-02 -8.81364985e-05 9.99935684e-01 -1.92897540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters 0.014657213348969661 Centerline is valid? [True, True] Translation: X:109.13, Y:-3.15, Z:-1.93 [[ 9.98756714e-01 4.86391407e-02 1.09206346e-02 1.09125450e+02] [-4.86370771e-02 9.98816414e-01 -4.54626278e-04 -3.15350238e+00] [-1.09298217e-02 -7.70866984e-05 9.99940265e-01 -1.92889741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37439141799999 meters 0.014566821666413985 Centerline is valid? [True, True] Translation: X:109.15, Y:-3.16, Z:-1.93 [[ 9.98789965e-01 4.78532951e-02 1.13431568e-02 1.09153663e+02] [-4.78510374e-02 9.98854372e-01 -4.70511160e-04 -3.15687272e+00] [-1.13526773e-02 -7.28399950e-05 9.99935554e-01 -1.92904882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799999 meters 0.014464560429650209 Centerline is valid? [True, True] Translation: X:109.18, Y:-3.16, Z:-1.93 [[ 9.98825378e-01 4.71141822e-02 1.13189406e-02 1.09180337e+02] [-4.71118924e-02 9.98889508e-01 -4.68999153e-04 -3.16122416e+00] [-1.13284675e-02 -6.48084550e-05 9.99935829e-01 -1.92907840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43439141799999 meters 0.014332129776886809 Centerline is valid? [True, True] Translation: X:109.21, Y:-3.16, Z:-1.93 [[ 9.98832705e-01 4.68400193e-02 1.18000002e-02 1.09209329e+02] [-4.68375364e-02 9.98902402e-01 -4.86822613e-04 -3.16468063e+00] [-1.18098513e-02 -6.64285928e-05 9.99930259e-01 -1.92890820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799999 meters 0.014210222351513077 Centerline is valid? [True, True] Translation: X:109.24, Y:-3.17, Z:-1.93 [[ 9.98831281e-01 4.67724739e-02 1.21822581e-02 1.09237827e+02] [-4.67698345e-02 9.98905567e-01 -5.01617830e-04 -3.16848742e+00] [-1.21923874e-02 -6.87306170e-05 9.99925668e-01 -1.92912116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49439141799999 meters 0.014203975945628519 Centerline is valid? [True, True] Translation: X:109.27, Y:-3.17, Z:-1.93 [[ 9.98855978e-01 4.61808535e-02 1.24122688e-02 1.09265281e+02] [-4.61780789e-02 9.98933093e-01 -5.10194015e-04 -3.17483517e+00] [-1.24225873e-02 -6.35643855e-05 9.99922835e-01 -1.93010950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524391418 meters 0.014055334072598034 Centerline is valid? [True, True] Translation: X:109.29, Y:-3.18, Z:-1.93 [[ 9.98867455e-01 4.58696746e-02 1.26404145e-02 1.09294307e+02] [-4.58667915e-02 9.98947431e-01 -5.18050391e-04 -3.17847442e+00] [-1.26508724e-02 -6.23115798e-05 9.99919973e-01 -1.93050298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554391418 meters 0.014107525088983473 Centerline is valid? [True, True] Translation: X:109.32, Y:-3.18, Z:-1.93 [[ 9.98903701e-01 4.49842061e-02 1.29544535e-02 1.09321823e+02] [-4.49811162e-02 9.98987697e-01 -5.29937455e-04 -3.18344212e+00] [-1.29651785e-02 -5.33492938e-05 9.99915947e-01 -1.93084092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584391418 meters 0.013975712248664177 Centerline is valid? [True, True] Translation: X:109.35, Y:-3.19, Z:-1.93 [[ 9.98949349e-01 4.39187612e-02 1.30896843e-02 1.09350426e+02] [-4.39155338e-02 9.99035105e-01 -5.34033542e-04 -3.18900122e+00] [-1.31005082e-02 -4.13680123e-05 9.99914184e-01 -1.93061677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614391418 meters 0.01392378544382721 Centerline is valid? [True, True] Translation: X:109.38, Y:-3.19, Z:-1.93 [[ 9.98979746e-01 4.32960802e-02 1.28419471e-02 1.09379041e+02] [-4.32929349e-02 9.99062285e-01 -5.22950565e-04 -3.19291109e+00] [-1.28525468e-02 -3.35485588e-05 9.99917402e-01 -1.93094740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644391418 meters 0.01392378544382721 Centerline is valid? [True, True] Translation: X:109.41, Y:-3.19, Z:-1.93 [[ 9.98983062e-01 4.32194896e-02 1.28419870e-02 1.09407326e+02] [-4.32163505e-02 9.99065601e-01 -5.21970097e-04 -3.19398088e+00] [-1.28525467e-02 -3.35445245e-05 9.99917402e-01 -1.93145812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674391418 meters 0.013766713551169053 Centerline is valid? [True, True] Translation: X:109.44, Y:-3.20, Z:-1.93 [[ 9.99040802e-01 4.18535821e-02 1.28745260e-02 1.09435871e+02] [-4.18503264e-02 9.99123755e-01 -5.22310382e-04 -3.20114250e+00] [-1.28851053e-02 -1.69937330e-05 9.99916983e-01 -1.93157551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704391418 meters 0.013785796467208759 Centerline is valid? [True, True] Translation: X:109.46, Y:-3.21, Z:-1.93 [[ 9.99075143e-01 4.10676268e-02 1.27400739e-02 1.09463181e+02] [-4.10643862e-02 9.99156369e-01 -5.15965506e-04 -3.20503765e+00] [-1.27505155e-02 -7.67500406e-06 9.99918709e-01 -1.93237258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73439141799999 meters 0.013870849099666842 Centerline is valid? [True, True] Translation: X:109.49, Y:-3.21, Z:-1.93 [[ 9.99110971e-01 4.02936802e-02 1.23970802e-02 1.09492307e+02] [-4.02905679e-02 9.99187880e-01 -5.00808701e-04 -3.20923611e+00] [-1.24071917e-02 8.78067645e-07 9.99923028e-01 -1.93347005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799999 meters 0.013656402895376585 Centerline is valid? [True, True] Translation: X:109.52, Y:-3.22, Z:-1.94 [[ 9.99190528e-01 3.85919348e-02 1.13556530e-02 1.09519876e+02] [-3.85892207e-02 9.99255054e-01 -4.58096072e-04 -3.21644560e+00] [-1.13648725e-02 1.95194561e-05 9.99935418e-01 -1.93549429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79439141799999 meters 0.013919192399542717 Centerline is valid? [True, True] Translation: X:109.55, Y:-3.22, Z:-1.94 [[ 9.99226527e-01 3.77951420e-02 1.08570531e-02 1.09548407e+02] [-3.77926263e-02 9.99285508e-01 -4.36862146e-04 -3.22040774e+00] [-1.08658071e-02 2.62076954e-05 9.99940965e-01 -1.93692981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799999 meters 0.013824687272886844 Centerline is valid? [True, True] Translation: X:109.58, Y:-3.22, Z:-1.94 [[ 9.99266049e-01 3.68697342e-02 1.03916460e-02 1.09576519e+02] [-3.68673858e-02 9.99320080e-01 -4.17530030e-04 -3.22415342e+00] [-1.03999747e-02 3.41107634e-05 9.99945918e-01 -1.93830380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85439141799999 meters 0.014093875231619372 Centerline is valid? [True, True] Translation: X:109.60, Y:-3.23, Z:-1.94 [[ 9.99342934e-01 3.49326323e-02 9.66493293e-03 1.09604931e+02] [-3.49305196e-02 9.99389668e-01 -3.87373774e-04 -3.22973678e+00] [-9.67256610e-03 4.95181148e-05 9.99953218e-01 -1.93909289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799999 meters 0.014262085724766931 Centerline is valid? [True, True] Translation: X:109.63, Y:-3.23, Z:-1.94 [[ 9.99364508e-01 3.41991921e-02 1.00496796e-02 1.09632512e+02] [-3.41968774e-02 9.99415035e-01 -4.02125939e-04 -3.23269528e+00] [-1.00575533e-02 5.82027285e-05 9.99949420e-01 -1.93937166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914391418 meters 0.014504914327868983 Centerline is valid? [True, True] Translation: X:109.66, Y:-3.24, Z:-1.94 [[ 9.99392591e-01 3.33641931e-02 1.00638120e-02 1.09661091e+02] [-3.33618406e-02 9.99443258e-01 -4.01593961e-04 -3.23535824e+00] [-1.00716079e-02 6.56027368e-05 9.99949278e-01 -1.93943546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944391418 meters 0.01424419844303989 Centerline is valid? [True, True] Translation: X:109.69, Y:-3.24, Z:-1.94 [[ 9.99380723e-01 3.35145207e-02 1.07213112e-02 1.09689714e+02] [-3.35118685e-02 9.99438228e-01 -4.26984288e-04 -3.23835231e+00] [-1.07295985e-02 6.74286949e-05 9.99942434e-01 -1.93810357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974391418 meters 0.014556061998008867 Centerline is valid? [True, True] Translation: X:109.72, Y:-3.24, Z:-1.94 [[ 9.99366353e-01 3.39750509e-02 1.06107241e-02 1.09717979e+02] [-3.39724895e-02 9.99422679e-01 -4.21593128e-04 -3.24125109e+00] [-1.06189219e-02 6.08532739e-05 9.99943616e-01 -1.93927739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004391418 meters 0.01420378006265243 Centerline is valid? [True, True] Translation: X:109.75, Y:-3.24, Z:-1.94 [[ 9.99356783e-01 3.41740542e-02 1.08698474e-02 1.09745907e+02] [-3.41713825e-02 9.99415895e-01 -4.31468398e-04 -3.24353349e+00] [-1.08782433e-02 5.97531555e-05 9.99940828e-01 -1.93984292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034391418 meters 0.013903943962756338 Centerline is valid? [True, True] Translation: X:109.77, Y:-3.25, Z:-1.94 [[ 9.99299257e-01 3.58576274e-02 1.07342885e-02 1.09774313e+02] [-3.58551312e-02 9.99356908e-01 -4.24966779e-04 -3.24594088e+00] [-1.07426237e-02 3.97896637e-05 9.99942296e-01 -1.94018017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064391418 meters 0.013835169360607767 Centerline is valid? [True, True] Translation: X:109.80, Y:-3.25, Z:-1.94 [[ 9.99268328e-01 3.66526990e-02 1.09264857e-02 1.09802559e+02] [-3.66501682e-02 9.99328064e-01 -4.31834127e-04 -3.24756683e+00] [-1.09349717e-02 3.10606275e-05 9.99940211e-01 -1.94084147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09439141799999 meters 0.013786144471447853 Centerline is valid? [True, True] Translation: X:109.83, Y:-3.25, Z:-1.94 [[ 9.99220125e-01 3.78524833e-02 1.12397232e-02 1.09830342e+02] [-3.78498939e-02 9.99283338e-01 -4.43076347e-04 -3.25024817e+00] [-1.12484397e-02 1.73084720e-05 9.99936734e-01 -1.94073515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799999 meters 0.013670376686152185 Centerline is valid? [True, True] Translation: X:109.86, Y:-3.25, Z:-1.94 [[ 9.99201992e-01 3.83239043e-02 1.12542139e-02 1.09859272e+02] [-3.83213517e-02 9.99265369e-01 -4.42442812e-04 -3.25273034e+00] [-1.12629024e-02 1.08130494e-05 9.99936571e-01 -1.94065815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15439141799999 meters 0.01376688827703205 Centerline is valid? [True, True] Translation: X:109.89, Y:-3.26, Z:-1.94 [[ 9.99201240e-01 3.83216982e-02 1.13282754e-02 1.09886939e+02] [-3.83191203e-02 9.99265454e-01 -4.44603961e-04 -3.25575202e+00] [-1.13369922e-02 1.01592830e-05 9.99935734e-01 -1.94119693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799999 meters 0.013646382280928956 Centerline is valid? [True, True] Translation: X:109.91, Y:-3.26, Z:-1.94 [[ 9.99207976e-01 3.81301394e-02 1.13803552e-02 1.09914856e+02] [-3.81275379e-02 9.99272782e-01 -4.45547057e-04 -3.25892971e+00] [-1.13890680e-02 1.12892483e-05 9.99935142e-01 -1.94152077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21439141799999 meters 0.013956999337247443 Centerline is valid? [True, True] Translation: X:109.94, Y:-3.26, Z:-1.94 [[ 9.99244331e-01 3.72709685e-02 1.10291519e-02 1.09943431e+02] [-3.72684877e-02 9.99305196e-01 -4.30448341e-04 -3.26447457e+00] [-1.10375320e-02 1.90832527e-05 9.99939084e-01 -1.94343739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799999 meters 0.013967126223838557 Centerline is valid? [True, True] Translation: X:109.97, Y:-3.27, Z:-1.94 [[ 9.99276602e-01 3.66824613e-02 1.00333922e-02 1.09972357e+02] [-3.66803784e-02 9.99326972e-01 -3.91601657e-04 -3.26727557e+00] [-1.00410043e-02 2.32897521e-05 9.99949588e-01 -1.94391312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274391418 meters 0.014041556304427645 Centerline is valid? [True, True] Translation: X:110.00, Y:-3.27, Z:-1.95 [[ 9.99297543e-01 3.62860821e-02 9.36705245e-03 1.10001212e+02] [-3.62842555e-02 9.99341443e-01 -3.64924387e-04 -3.27012186e+00] [-9.37412538e-03 2.47915186e-05 9.99956062e-01 -1.94519134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304391418 meters 0.014374240884976637 Centerline is valid? [True, True] Translation: X:110.03, Y:-3.28, Z:-1.95 [[ 9.99324820e-01 3.56488010e-02 8.89191578e-03 1.10028926e+02] [-3.56471341e-02 9.99364379e-01 -3.45937935e-04 -3.27526382e+00] [-8.89859616e-03 2.87330506e-05 9.99960406e-01 -1.94724430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334391418 meters 0.014531143380099653 Centerline is valid? [True, True] Translation: X:110.06, Y:-3.28, Z:-1.95 [[ 9.99340329e-01 3.52255693e-02 8.83555310e-03 1.10057724e+02] [-3.52239167e-02 9.99379387e-01 -3.42635547e-04 -3.27863913e+00] [-8.84213917e-03 3.11867333e-05 9.99960907e-01 -1.94816019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364391418 meters 0.014090871198396386 Centerline is valid? [True, True] Translation: X:110.09, Y:-3.28, Z:-1.95 [[ 9.99356024e-01 3.48403035e-02 8.58434622e-03 1.10086756e+02] [-3.48387339e-02 9.99392892e-01 -3.32364177e-04 -3.28149616e+00] [-8.59071427e-03 3.30823888e-05 9.99963099e-01 -1.94674384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394391418 meters 0.01428459485037284 Centerline is valid? [True, True] Translation: X:110.11, Y:-3.28, Z:-1.95 [[ 9.99362374e-01 3.46414271e-02 8.64968089e-03 1.10114626e+02] [-3.46398310e-02 9.99399805e-01 -3.34318579e-04 -3.28481224e+00] [-8.65607067e-03 3.44819249e-05 9.99962535e-01 -1.94784957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424391418 meters 0.01437070548761522 Centerline is valid? [True, True] Translation: X:110.14, Y:-3.29, Z:-1.95 [[ 9.99400124e-01 3.37428909e-02 7.79801207e-03 1.10142664e+02] [-3.37415714e-02 9.99430546e-01 -3.00735515e-04 -3.28954963e+00] [-7.80371915e-03 3.74379301e-05 9.99969550e-01 -1.94854538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454391418 meters 0.014513603977454676 Centerline is valid? [True, True] Translation: X:110.17, Y:-3.29, Z:-1.95 [[ 9.99417106e-01 3.33243371e-02 7.41191292e-03 1.10169980e+02] [-3.33231388e-02 9.99444589e-01 -2.85134308e-04 -3.29198009e+00] [-7.41729818e-03 3.79799019e-05 9.99972491e-01 -1.94920560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters 0.014517090055387831 Centerline is valid? [True, True] Translation: X:110.20, Y:-3.29, Z:-1.95 [[ 9.99439198e-01 3.26283890e-02 7.52845282e-03 1.10199118e+02] [-3.26271404e-02 9.99467551e-01 -2.88633182e-04 -3.29401314e+00] [-7.53386194e-03 4.28394287e-05 9.99971619e-01 -1.94847113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51439141799999 meters 0.014853436267268316 Centerline is valid? [True, True] Translation: X:110.23, Y:-3.30, Z:-1.95 [[ 9.99469225e-01 3.17391519e-02 7.34125646e-03 1.10227062e+02] [-3.17379435e-02 9.99496185e-01 -2.81072995e-04 -3.29885218e+00] [-7.34647885e-03 4.79274256e-05 9.99973013e-01 -1.94968834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799999 meters 0.015266982012311659 Centerline is valid? [True, True] Translation: X:110.26, Y:-3.30, Z:-1.95 [[ 9.99500950e-01 3.08265847e-02 6.89725843e-03 1.10255652e+02] [-3.08255053e-02 9.99524747e-01 -2.62761290e-04 -3.30255044e+00] [-6.90208051e-03 5.00186829e-05 9.99976179e-01 -1.95125331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57439141799999 meters 0.014895798953542322 Centerline is valid? [True, True] Translation: X:110.28, Y:-3.31, Z:-1.95 [[ 9.99517651e-01 3.02012314e-02 7.23543455e-03 1.10284824e+02] [-3.02000267e-02 9.99543837e-01 -2.75715151e-04 -3.30511160e+00] [-7.24046095e-03 5.70718437e-05 9.99973786e-01 -1.95020737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799999 meters 0.015469111158826558 Centerline is valid? [True, True] Translation: X:110.31, Y:-3.31, Z:-1.95 [[ 9.99565190e-01 2.83217977e-02 8.20409236e-03 1.10313048e+02] [-2.83201948e-02 9.99598854e-01 -3.11515195e-04 -3.31182533e+00] [-8.20962400e-03 7.90382508e-05 9.99966297e-01 -1.95030403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63439141799999 meters 0.016252266897382413 Centerline is valid? [True, True] Translation: X:110.34, Y:-3.32, Z:-1.95 [[ 9.99588746e-01 2.73616639e-02 8.58364598e-03 1.10341546e+02] [-2.73598803e-02 9.99625596e-01 -3.25165841e-04 -3.31684941e+00] [-8.58932930e-03 9.01845887e-05 9.99963107e-01 -1.95143590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664391418 meters 0.01592885236165434 Centerline is valid? [True, True] Translation: X:110.37, Y:-3.32, Z:-1.95 [[ 9.99612732e-01 2.63563584e-02 8.92902842e-03 1.10371568e+02] [-2.63543925e-02 9.99652606e-01 -3.37779993e-04 -3.31920797e+00] [-8.93482918e-03 1.02330062e-04 9.99960078e-01 -1.95068884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694391418 meters 0.01592885236165434 Centerline is valid? [True, True] Translation: X:110.40, Y:-3.32, Z:-1.95 [[ 9.99613815e-01 2.63152756e-02 8.92904231e-03 1.10400704e+02] [-2.63133113e-02 9.99653688e-01 -3.37412318e-04 -3.32026043e+00] [-8.93482917e-03 1.02329344e-04 9.99960078e-01 -1.95121466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724391418 meters 0.016369192401997985 Centerline is valid? [True, True] Translation: X:110.43, Y:-3.32, Z:-1.95 [[ 9.99662933e-01 2.43423394e-02 9.02609512e-03 1.10431427e+02] [-2.43402586e-02 9.99703674e-01 -3.40330342e-04 -3.32456754e+00] [-9.03170489e-03 1.20518139e-04 9.99959206e-01 -1.95025509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754391418 meters 0.017222058385441944 Centerline is valid? [True, True] Translation: X:110.46, Y:-3.33, Z:-1.95 [[ 9.99680810e-01 2.36280909e-02 8.94374640e-03 1.10460396e+02] [-2.36260175e-02 9.99720810e-01 -3.37416936e-04 -3.32845854e+00] [-8.94922191e-03 1.26004126e-04 9.99959947e-01 -1.95115653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784391418 meters 0.01770387751594155 Centerline is valid? [True, True] Translation: X:110.49, Y:-3.33, Z:-1.95 [[ 9.99699748e-01 2.27274687e-02 9.15837039e-03 1.10490440e+02] [-2.27252604e-02 9.99741688e-01 -3.45124373e-04 -3.33127573e+00] [-9.16384848e-03 1.36894396e-04 9.99958002e-01 -1.95146211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814391418 meters 0.020359615741764595 Centerline is valid? [True, True] Translation: X:110.52, Y:-3.33, Z:-1.95 [[ 9.99718708e-01 2.23521312e-02 7.93007879e-03 1.10520222e+02] [-2.23504654e-02 9.99750153e-01 -2.98637161e-04 -3.33476361e+00] [-7.93477266e-03 1.21312206e-04 9.99968512e-01 -1.95426497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters 0.020357674473921658 Centerline is valid? [True, True] Translation: X:110.55, Y:-3.34, Z:-1.95 [[ 9.99750891e-01 2.10827386e-02 7.32621996e-03 1.10550869e+02] [-2.10812803e-02 9.99777727e-01 -2.76227020e-04 -3.33728744e+00] [-7.33041516e-03 1.21712113e-04 9.99973125e-01 -1.95463474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87439141799999 meters 0.01754300362507466 Centerline is valid? [True, True] Translation: X:110.58, Y:-3.34, Z:-1.95 [[ 9.99764996e-01 2.00905179e-02 8.14400127e-03 1.10581184e+02] [-2.00886830e-02 9.99798155e-01 -3.07060560e-04 -3.33826090e+00] [-8.14852645e-03 1.43386140e-04 9.99966790e-01 -1.95297559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799999 meters 0.01809646876953489 Centerline is valid? [True, True] Translation: X:110.61, Y:-3.34, Z:-1.95 [[ 9.99773128e-01 1.97427087e-02 7.99492021e-03 1.10611457e+02] [-1.97409310e-02 9.99805083e-01 -3.01220294e-04 -3.34111795e+00] [-7.99930877e-03 1.43324788e-04 9.99967995e-01 -1.95444143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93439141799999 meters 0.017590037234048377 Centerline is valid? [True, True] Translation: X:110.64, Y:-3.34, Z:-1.96 [[ 9.99773461e-01 2.00149868e-02 7.24060211e-03 1.10641896e+02] [-2.00135333e-02 9.99799672e-01 -2.73157404e-04 -3.34224750e+00] [-7.24461886e-03 1.28185492e-04 9.99973749e-01 -1.95523236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799999 meters 0.017859946335672682 Centerline is valid? [True, True] Translation: X:110.67, Y:-3.34, Z:-1.96 [[ 9.99753419e-01 2.09154378e-02 7.45957077e-03 1.10671824e+02] [-2.09139218e-02 9.99781240e-01 -2.81187655e-04 -3.34357480e+00] [-7.46382008e-03 1.25109440e-04 9.99972137e-01 -1.95614755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99439141799999 meters 0.016821911496285983 Centerline is valid? [True, True] Translation: X:110.70, Y:-3.34, Z:-1.96 [[ 9.99721655e-01 2.22584800e-02 7.82125456e-03 1.10702513e+02] [-2.22568513e-02 9.99752242e-01 -2.95233802e-04 -3.34282346e+00] [-7.82588823e-03 1.21075126e-04 9.99969370e-01 -1.95575045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024391418 meters 0.015506084270443192 Centerline is valid? [True, True] Translation: X:110.73, Y:-3.34, Z:-1.96 [[ 9.99614574e-01 2.64395262e-02 8.46488423e-03 1.10732857e+02] [-2.64377682e-02 9.99650410e-01 -3.19529295e-04 -3.34065912e+00] [-8.47037319e-03 9.56134929e-05 9.99964121e-01 -1.95532647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054391418 meters 0.01478834686045598 Centerline is valid? [True, True] Translation: X:110.76, Y:-3.34, Z:-1.96 [[ 9.99548277e-01 2.87793698e-02 8.65967262e-03 1.10762151e+02] [-2.87776142e-02 9.99585785e-01 -3.27292381e-04 -3.33970168e+00] [-8.66550493e-03 7.79398176e-05 9.99962451e-01 -1.95518696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084391418 meters 0.014111209692718008 Centerline is valid? [True, True] Translation: X:110.79, Y:-3.34, Z:-1.95 [[ 9.99463470e-01 3.15637653e-02 8.74647895e-03 1.10791615e+02] [-3.15620843e-02 9.99501739e-01 -3.30189779e-04 -3.33797506e+00] [-8.75254295e-03 5.39555163e-05 9.99961694e-01 -1.95485487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114391418 meters 0.013945025770826206 Centerline is valid? [True, True] Translation: X:110.82, Y:-3.33, Z:-1.96 [[ 9.99279455e-01 3.68534368e-02 9.07713323e-03 1.10819988e+02] [-3.68518467e-02 9.99320681e-01 -3.42429322e-04 -3.33399535e+00] [-9.08358667e-03 7.67346322e-06 9.99958743e-01 -1.95536018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144391418 meters 0.013938529116264758 Centerline is valid? [True, True] Translation: X:110.85, Y:-3.33, Z:-1.96 [[ 9.99188046e-01 3.92485017e-02 9.09961106e-03 1.10848868e+02] [-3.92470067e-02 9.99229481e-01 -3.42871037e-04 -3.33278182e+00] [-9.10605681e-03 -1.45398542e-05 9.99958539e-01 -1.95514951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174391418 meters 0.014130900720900919 Centerline is valid? [True, True] Translation: X:110.88, Y:-3.33, Z:-1.96 [[ 9.99104453e-01 4.12985240e-02 9.20454005e-03 1.10877484e+02] [-4.12970891e-02 9.99146851e-01 -3.45980435e-04 -3.33191490e+00] [-9.21097569e-03 -3.44501177e-05 9.99957577e-01 -1.95583590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204391418 meters 0.014437861716795638 Centerline is valid? [True, True] Translation: X:110.91, Y:-3.33, Z:-1.96 [[ 9.99011870e-01 4.34091873e-02 9.53552625e-03 1.10905920e+02] [-4.34077521e-02 9.99057375e-01 -3.57527059e-04 -3.33128271e+00] [-9.54205779e-03 -5.67419831e-05 9.99954472e-01 -1.95640426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23439141799999 meters 0.014339320491316023 Centerline is valid? [True, True] Translation: X:110.94, Y:-3.33, Z:-1.96 [[ 9.99016201e-01 4.32235940e-02 9.91721899e-03 1.10935142e+02] [-4.32220416e-02 9.99065422e-01 -3.70911430e-04 -3.33292377e+00] [-9.92398270e-03 -5.80959238e-05 9.99950754e-01 -1.95664310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799999 meters 0.014024612622298697 Centerline is valid? [True, True] Translation: X:110.96, Y:-3.34, Z:-1.96 [[ 9.99128058e-01 4.06982672e-02 9.31531835e-03 1.10963562e+02] [-4.06967946e-02 9.99171482e-01 -3.47657778e-04 -3.33724477e+00] [-9.32174951e-03 -3.17489565e-05 9.99956551e-01 -1.95808016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29439141799999 meters 0.014008751419487877 Centerline is valid? [True, True] Translation: X:110.99, Y:-3.34, Z:-1.96 [[ 9.99230387e-01 3.81934439e-02 8.93838240e-03 1.10991485e+02] [-3.81919927e-02 9.99270364e-01 -3.33046869e-04 -3.34048928e+00] [-8.94458085e-03 -8.58408390e-06 9.99959996e-01 -1.95976926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799999 meters 0.013666986928949413 Centerline is valid? [True, True] Translation: X:111.02, Y:-3.34, Z:-1.96 [[ 9.99321137e-01 3.58113292e-02 8.64952669e-03 1.11020315e+02] [-3.58098907e-02 9.99358569e-01 -3.21176229e-04 -3.34395269e+00] [-8.65548036e-03 1.12195890e-05 9.99962541e-01 -1.95928473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35439141799999 meters 0.01439751628614666 Centerline is valid? [True, True] Translation: X:111.05, Y:-3.35, Z:-1.96 [[ 9.99501106e-01 3.03857356e-02 8.61661824e-03 1.11049984e+02] [-3.03841165e-02 9.99538245e-01 -3.18781723e-04 -3.34912710e+00] [-8.62232589e-03 5.68143528e-05 9.99962825e-01 -1.95927486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799999 meters 0.017987687535752823 Centerline is valid? [True, True] Translation: X:111.08, Y:-3.35, Z:-1.96 [[ 9.99569351e-01 2.82635055e-02 7.89214429e-03 1.11079700e+02] [-2.82620833e-02 9.99600505e-01 -2.91701993e-04 -3.35186496e+00] [-7.89723594e-03 6.85279330e-05 9.99968814e-01 -1.96162718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414391418 meters 0.016908320881984552 Centerline is valid? [True, True] Translation: X:111.11, Y:-3.36, Z:-1.96 [[ 9.99683401e-01 2.34389674e-02 9.14946894e-03 1.11109291e+02] [-2.34368605e-02 9.99725262e-01 -3.37442076e-04 -3.35833402e+00] [-9.15486453e-03 1.22900415e-04 9.99958086e-01 -1.96066830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444391418 meters 0.017650071003079915 Centerline is valid? [True, True] Translation: X:111.14, Y:-3.36, Z:-1.96 [[ 9.99761829e-01 1.94894367e-02 9.82071055e-03 1.11139449e+02] [-1.94868229e-02 9.99810048e-01 -3.61775296e-04 -3.36186399e+00] [-9.82589589e-03 1.70314685e-04 9.99951710e-01 -1.96056068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474391418 meters 0.017650071003079915 Centerline is valid? [True, True] Translation: X:111.17, Y:-3.36, Z:-1.96 [[ 9.99760977e-01 1.95330989e-02 9.82072375e-03 1.11170270e+02] [-1.95304908e-02 9.99809196e-01 -3.61417351e-04 -3.36304492e+00] [-9.82590952e-03 1.69527409e-04 9.99951710e-01 -1.96111679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504391418 meters 0.01891125644150304 Centerline is valid? [True, True] Translation: X:111.20, Y:-3.37, Z:-1.96 [[ 9.99793798e-01 1.76038978e-02 1.01224366e-02 1.11201598e+02] [-1.76010233e-02 9.99845020e-01 -3.72989033e-04 -3.36639617e+00] [-1.01274339e-02 1.94746879e-04 9.99948697e-01 -1.96227013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534391418 meters 0.019840683869936992 Centerline is valid? [True, True] Translation: X:111.23, Y:-3.37, Z:-1.96 [[ 9.99823239e-01 1.55348494e-02 1.05905327e-02 1.11233095e+02] [-1.55315910e-02 9.99879302e-01 -3.89849887e-04 -3.37012173e+00] [-1.05953107e-02 2.25293154e-04 9.99943843e-01 -1.96260973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564391418 meters 0.02141047851570066 Centerline is valid? [True, True] Translation: X:111.27, Y:-3.37, Z:-1.96 [[ 9.99881824e-01 1.10180389e-02 1.07210031e-02 1.11265125e+02] [-1.10144152e-02 9.99939261e-01 -3.96982624e-04 -3.37392604e+00] [-1.07247258e-02 2.78850131e-04 9.99942450e-01 -1.96303018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59439141799999 meters 0.022611872322834337 Centerline is valid? [True, True] Translation: X:111.30, Y:-3.38, Z:-1.96 [[ 9.99901219e-01 9.04885655e-03 1.07550183e-02 1.11296998e+02] [-9.04510271e-03 9.99959013e-01 -3.97622440e-04 -3.37655334e+00] [-1.07581755e-02 3.00302917e-04 9.99942084e-01 -1.96353910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799999 meters 0.02451815099807924 Centerline is valid? [True, True] Translation: X:111.33, Y:-3.38, Z:-1.96 [[ 9.99916646e-01 6.93553178e-03 1.08903090e-02 1.11328211e+02] [-6.93150962e-03 9.99975894e-01 -4.07035109e-04 -3.38006695e+00] [-1.08928694e-02 3.31514900e-04 9.99940616e-01 -1.96410548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65439141799999 meters 0.026860617724141965 Centerline is valid? [True, True] Translation: X:111.36, Y:-3.38, Z:-1.96 [[ 9.99928527e-01 2.50560336e-03 1.16902557e-02 1.11359130e+02] [-2.50063477e-03 9.99996777e-01 -4.39617417e-04 -3.38433888e+00] [-1.16913195e-02 4.10352936e-04 9.99931570e-01 -1.96403404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799999 meters 0.027951277486806935 Centerline is valid? [True, True] Translation: X:111.39, Y:-3.39, Z:-1.96 [[ 9.99932071e-01 3.24712330e-04 1.16511047e-02 1.11390755e+02] [-3.19636849e-04 9.99999853e-01 -4.37481809e-04 -3.38681395e+00] [-1.16512450e-02 4.33727968e-04 9.99932028e-01 -1.96451860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71439141799999 meters 0.02985078037982218 Centerline is valid? [True, True] Translation: X:111.42, Y:-3.39, Z:-1.97 [[ 9.99930322e-01 -1.61526485e-03 1.16936380e-02 1.11421694e+02] [ 1.62054817e-03 9.99998589e-01 -4.42350728e-04 -3.38986976e+00] [-1.16929070e-02 4.61270009e-04 9.99931529e-01 -1.96532010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799999 meters 0.033007266020133944 Centerline is valid? [True, True] Translation: X:111.45, Y:-3.39, Z:-1.97 [[ 9.99912840e-01 -5.21595123e-03 1.21287264e-02 1.11452053e+02] [ 5.22195995e-03 9.99986258e-01 -4.63796519e-04 -3.39291566e+00] [-1.21261406e-02 5.27091818e-04 9.99926337e-01 -1.96647994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774391418 meters 0.02823745962101372 Centerline is valid? [True, True] Translation: X:111.48, Y:-3.39, Z:-1.97 [[ 9.99903032e-01 -6.35550025e-03 1.23909270e-02 1.11484055e+02] [ 6.36185912e-03 9.99979651e-01 -4.73838357e-04 -3.38576429e+00] [-1.23876634e-02 5.52621742e-04 9.99923117e-01 -1.96634807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804391418 meters 0.02879523554592279 Centerline is valid? [True, True] Translation: X:111.52, Y:-3.39, Z:-1.97 [[ 9.99898691e-01 -6.86364264e-03 1.24699163e-02 1.11515762e+02] [ 6.87013281e-03 9.99976286e-01 -4.77703668e-04 -3.38567579e+00] [-1.24663418e-02 5.63325253e-04 9.99922133e-01 -1.96708241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834391418 meters 0.030842866422618662 Centerline is valid? [True, True] Translation: X:111.55, Y:-3.38, Z:-1.97 [[ 9.99918202e-01 -5.87729414e-03 1.13598358e-02 1.11547327e+02] [ 5.88262343e-03 9.99982602e-01 -4.35777107e-04 -3.38374593e+00] [-1.13570770e-02 5.02567098e-04 9.99935380e-01 -1.97003835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864391418 meters 0.028810434638661682 Centerline is valid? [True, True] Translation: X:111.58, Y:-3.38, Z:-1.97 [[ 9.99913833e-01 -4.84894363e-03 1.21989370e-02 1.11579988e+02] [ 4.85502164e-03 9.99988104e-01 -4.68675921e-04 -3.38182148e+00] [-1.21965193e-02 5.27861640e-04 9.99925480e-01 -1.96884823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894391418 meters 0.028038676305351114 Centerline is valid? [True, True] Translation: X:111.61, Y:-3.38, Z:-1.97 [[ 9.99915887e-01 -3.21855282e-03 1.25642274e-02 1.11612777e+02] [ 3.22488362e-03 9.99994683e-01 -4.83647124e-04 -3.37950052e+00] [-1.25626039e-02 5.24124614e-04 9.99920950e-01 -1.96916956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924391418 meters 0.026617395284518577 Centerline is valid? [True, True] Translation: X:111.64, Y:-3.37, Z:-1.97 [[ 9.99915312e-01 1.30612751e-03 1.29484464e-02 1.11642602e+02] [-1.29975717e-03 9.99999030e-01 -5.00380724e-04 -3.37177063e+00] [-1.29490874e-02 4.83508512e-04 9.99916040e-01 -1.96872633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954391418 meters 0.02566706011016498 Centerline is valid? [True, True] Translation: X:111.68, Y:-3.37, Z:-1.97 [[ 9.99908454e-01 3.68637125e-03 1.30189980e-02 1.11675059e+02] [-3.68014246e-03 9.99993102e-01 -5.02363446e-04 -3.36754621e+00] [-1.30207601e-02 4.54405689e-04 9.99915123e-01 -1.96904980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters 0.024304158334885514 Centerline is valid? [True, True] Translation: X:111.71, Y:-3.36, Z:-1.97 [[ 9.99895122e-01 6.41602096e-03 1.29838193e-02 1.11706302e+02] [-6.41004006e-03 9.99979329e-01 -5.02206111e-04 -3.36310524e+00] [-1.29867730e-02 4.18926639e-04 9.99915581e-01 -1.96921687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01439141799999 meters 0.02327136589118949 Centerline is valid? [True, True] Translation: X:111.74, Y:-3.36, Z:-1.97 [[ 9.99878358e-01 8.90955471e-03 1.28019537e-02 1.11738483e+02] [-8.90395345e-03 9.99960237e-01 -4.94463020e-04 -3.35929299e+00] [-1.28058501e-02 3.80414873e-04 9.99917929e-01 -1.96986433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799999 meters 0.02253897127771258 Centerline is valid? [True, True] Translation: X:111.77, Y:-3.36, Z:-1.97 [[ 9.99856486e-01 1.13194089e-02 1.26046854e-02 1.11769894e+02] [-1.13141273e-02 9.99935873e-01 -4.90256463e-04 -3.35620530e+00] [-1.26094265e-02 3.47575089e-04 9.99920438e-01 -1.97065660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07439141799999 meters 0.021223712639027885 Centerline is valid? [True, True] Translation: X:111.80, Y:-3.35, Z:-1.97 [[ 9.99813401e-01 1.45197159e-02 1.27413262e-02 1.11800988e+02] [-1.45145379e-02 9.99894534e-01 -4.98775840e-04 -3.35040025e+00] [-1.27472245e-02 3.13748307e-04 9.99918702e-01 -1.97224904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799999 meters 0.019055633752529003 Centerline is valid? [True, True] Translation: X:111.83, Y:-3.34, Z:-1.97 [[ 9.99782720e-01 1.59223179e-02 1.34533294e-02 1.11833156e+02] [-1.59166269e-02 9.99873182e-01 -5.29989083e-04 -3.34267876e+00] [-1.34600619e-02 3.15742303e-04 9.99909359e-01 -1.97253431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13439141799999 meters 0.019959609398391184 Centerline is valid? [True, True] Translation: X:111.86, Y:-3.34, Z:-1.97 [[ 9.99779227e-01 1.57682770e-02 1.38873831e-02 1.11864972e+02] [-1.57621408e-02 9.99875618e-01 -5.51197817e-04 -3.34414873e+00] [-1.38943472e-02 3.32181239e-04 9.99903414e-01 -1.97272637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164391418 meters 0.021554585480388546 Centerline is valid? [True, True] Translation: X:111.90, Y:-3.35, Z:-1.97 [[ 9.99787900e-01 1.52128913e-02 1.38824657e-02 1.11895655e+02] [-1.52066412e-02 9.99884218e-01 -5.55669560e-04 -3.34544438e+00] [-1.38893117e-02 3.44446027e-04 9.99903480e-01 -1.97335290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194391418 meters 0.020698765182141504 Centerline is valid? [True, True] Translation: X:111.93, Y:-3.34, Z:-1.97 [[ 9.99824993e-01 1.27916913e-02 1.36512297e-02 1.11928390e+02] [-1.27853878e-02 9.99918113e-01 -5.48928106e-04 -3.34101326e+00] [-1.36571336e-02 3.74295774e-04 9.99906667e-01 -1.97345474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224391418 meters 0.02131550718118058 Centerline is valid? [True, True] Translation: X:111.96, Y:-3.34, Z:-1.97 [[ 9.99843834e-01 1.14410408e-02 1.34688705e-02 1.11961036e+02] [-1.14347321e-02 9.99934473e-01 -5.45316621e-04 -3.34166508e+00] [-1.34742269e-02 3.91218535e-04 9.99909142e-01 -1.97414723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254391418 meters 0.022537062462639666 Centerline is valid? [True, True] Translation: X:111.99, Y:-3.34, Z:-1.97 [[ 9.99868146e-01 9.65808579e-03 1.30542024e-02 1.11993155e+02] [-9.65196150e-03 9.99953277e-01 -5.32065375e-04 -3.34319800e+00] [-1.30587312e-02 4.05996561e-04 9.99914649e-01 -1.97486091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284391418 meters 0.023832733687231683 Centerline is valid? [True, True] Translation: X:112.02, Y:-3.34, Z:-1.98 [[ 9.99898277e-01 5.68334763e-03 1.30819002e-02 1.12024869e+02] [-5.67680852e-03 9.99983743e-01 -5.36939142e-04 -3.34280069e+00] [-1.30847391e-02 4.62621081e-04 9.99914284e-01 -1.97515227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314391418 meters 0.026496491070545112 Centerline is valid? [True, True] Translation: X:112.06, Y:-3.35, Z:-1.98 [[ 9.99900384e-01 4.25800461e-03 1.34570443e-02 1.12056265e+02] [-4.25090624e-03 9.99990810e-01 -5.56042763e-04 -3.34626507e+00] [-1.34592883e-02 4.98782738e-04 9.99909295e-01 -1.97584713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters 0.03148345092832954 Centerline is valid? [True, True] Translation: X:112.09, Y:-3.35, Z:-1.98 [[ 9.99901345e-01 2.82085687e-03 1.37601970e-02 1.12087008e+02] [-2.81324701e-03 9.99995879e-01 -5.72359155e-04 -3.35243414e+00] [-1.37617548e-02 5.33591856e-04 9.99905160e-01 -1.97668876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37439141799999 meters 0.028296644621417757 Centerline is valid? [True, True] Translation: X:112.12, Y:-3.35, Z:-1.98 [[ 9.99902768e-01 5.24349403e-04 1.39348180e-02 1.12119684e+02] [-5.16263112e-04 9.99999696e-01 -5.83884884e-04 -3.34567129e+00] [-1.39351199e-02 5.76634080e-04 9.99902735e-01 -1.97668383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799999 meters 0.02759111193250623 Centerline is valid? [True, True] Translation: X:112.15, Y:-3.34, Z:-1.98 [[ 9.99894227e-01 -6.93106438e-05 1.45440660e-02 1.12152066e+02] [ 7.81895641e-05 9.99999811e-01 -6.09916306e-04 -3.34437755e+00] [-1.45440209e-02 6.10988988e-04 9.99894043e-01 -1.97697674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43439141799999 meters 0.028499527457736505 Centerline is valid? [True, True] Translation: X:112.18, Y:-3.34, Z:-1.98 [[ 9.99883921e-01 -1.15735570e-03 1.51922968e-02 1.12184670e+02] [ 1.16723785e-03 9.99999113e-01 -6.41620543e-04 -3.34348477e+00] [-1.51915407e-02 6.59279088e-04 9.99884385e-01 -1.97752440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799999 meters 0.028526566903972463 Centerline is valid? [True, True] Translation: X:112.22, Y:-3.34, Z:-1.98 [[ 9.99886114e-01 -1.86708158e-03 1.49757263e-02 1.12217144e+02] [ 1.87683455e-03 9.99998036e-01 -6.37223997e-04 -3.34279240e+00] [-1.49745072e-02 6.65258387e-04 9.99887654e-01 -1.97760487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49439141799999 meters 0.02886413815658452 Centerline is valid? [True, True] Translation: X:112.25, Y:-3.34, Z:-1.98 [[ 9.99882991e-01 -2.09039375e-03 1.51537110e-02 1.12249001e+02] [ 2.10042446e-03 9.99997585e-01 -6.46045524e-04 -3.34221124e+00] [-1.51523239e-02 6.77799156e-04 9.99884967e-01 -1.97759494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524391418 meters 0.030131121266133234 Centerline is valid? [True, True] Translation: X:112.28, Y:-3.34, Z:-1.98 [[ 9.99886042e-01 -2.13972649e-03 1.49440720e-02 1.12280422e+02] [ 2.14949662e-03 9.99997486e-01 -6.37748775e-04 -3.34253751e+00] [-1.49426698e-02 6.69798331e-04 9.99888128e-01 -1.97795527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554391418 meters 0.030411451443737785 Centerline is valid? [True, True] Translation: X:112.31, Y:-3.34, Z:-1.98 [[ 9.99896099e-01 -2.65720625e-03 1.41679360e-02 1.12313204e+02] [ 2.66609822e-03 9.99996261e-01 -6.08761446e-04 -3.33958383e+00] [-1.41662655e-02 6.46471304e-04 9.99899444e-01 -1.97817113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584391418 meters 0.030411451443737785 Centerline is valid? [True, True] Translation: X:112.35, Y:-3.34, Z:-1.98 [[ 9.99896410e-01 -2.53776409e-03 1.41678944e-02 1.12345732e+02] [ 2.54665779e-03 9.99996571e-01 -6.09730121e-04 -3.34110368e+00] [-1.41662984e-02 6.45747737e-04 9.99899444e-01 -1.97875792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614391418 meters 0.030515729582769626 Centerline is valid? [True, True] Translation: X:112.38, Y:-3.34, Z:-1.98 [[ 9.99897026e-01 -2.57962511e-03 1.41167425e-02 1.12378058e+02] [ 2.58848482e-03 9.99996464e-01 -6.09367051e-04 -3.34082700e+00] [-1.41151206e-02 6.45845275e-04 9.99900168e-01 -1.97948897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644391418 meters 0.028709439165632778 Centerline is valid? [True, True] Translation: X:112.41, Y:-3.34, Z:-1.98 [[ 9.99896350e-01 -2.76277147e-03 1.41299663e-02 1.12410600e+02] [ 2.77168175e-03 9.99995972e-01 -6.11051096e-04 -3.33816999e+00] [-1.41282212e-02 6.50151530e-04 9.99899980e-01 -1.98007909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674391418 meters 0.032546474622924836 Centerline is valid? [True, True] Translation: X:112.44, Y:-3.34, Z:-1.98 [[ 9.99906507e-01 -2.64253248e-03 1.34161721e-02 1.12442645e+02] [ 2.65055444e-03 9.99996319e-01 -5.80186323e-04 -3.34363431e+00] [-1.34145895e-02 6.15692374e-04 9.99909831e-01 -1.98161042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704391418 meters 0.03350093275512013 Centerline is valid? [True, True] Translation: X:112.47, Y:-3.34, Z:-1.98 [[ 9.99914054e-01 -3.01091584e-03 1.27600647e-02 1.12473586e+02] [ 3.01826516e-03 9.99995290e-01 -5.56744191e-04 -3.34263622e+00] [-1.27583283e-02 5.95209600e-04 9.99918432e-01 -1.98292897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73439141799999 meters 0.03046216719972349 Centerline is valid? [True, True] Translation: X:112.51, Y:-3.34, Z:-1.98 [[ 9.99921722e-01 -3.03087478e-03 1.21393517e-02 1.12506372e+02] [ 3.03753408e-03 9.99995246e-01 -5.30171408e-04 -3.33760777e+00] [-1.21376871e-02 5.67003601e-04 9.99926175e-01 -1.98320899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799999 meters 0.029899679206134348 Centerline is valid? [True, True] Translation: X:112.54, Y:-3.34, Z:-1.98 [[ 9.99923780e-01 -2.94432634e-03 1.19902211e-02 1.12539773e+02] [ 2.95082509e-03 9.99995509e-01 -5.24349407e-04 -3.33596620e+00] [-1.19886233e-02 5.59690486e-04 9.99927977e-01 -1.98358208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79439141799999 meters 0.030557564590495884 Centerline is valid? [True, True] Translation: X:112.57, Y:-3.33, Z:-1.98 [[ 9.99934720e-01 -1.84557087e-03 1.12760483e-02 1.12571605e+02] [ 1.85126593e-03 9.99998164e-01 -4.94640764e-04 -3.33421598e+00] [-1.12751147e-02 5.15483438e-04 9.99936301e-01 -1.98474427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799999 meters 0.027921931617441772 Centerline is valid? [True, True] Translation: X:112.60, Y:-3.33, Z:-1.99 [[ 9.99945537e-01 -8.84659671e-04 1.03990305e-02 1.12604294e+02] [ 8.89458712e-04 9.99999500e-01 -4.56873431e-04 -3.33070280e+00] [-1.03986211e-02 4.66098057e-04 9.99945824e-01 -1.98503004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85439141799999 meters 0.0317258998564807 Centerline is valid? [True, True] Translation: X:112.64, Y:-3.34, Z:-1.99 [[ 9.99951258e-01 6.36480918e-05 9.87307699e-03 1.12635063e+02] [-5.93593853e-05 9.99999904e-01 -4.34676407e-04 -3.33513980e+00] [-9.87310371e-03 4.34069160e-04 9.99951166e-01 -1.98670442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799999 meters 0.02626815683735829 Centerline is valid? [True, True] Translation: X:112.67, Y:-3.32, Z:-1.99 [[ 9.99952371e-01 3.45071143e-03 9.12950235e-03 1.12667497e+02] [-3.44718097e-03 9.99993977e-01 -4.02415833e-04 -3.32447265e+00] [-9.13083599e-03 3.70925620e-04 9.99958244e-01 -1.98533600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914391418 meters 0.02643676645873859 Centerline is valid? [True, True] Translation: X:112.70, Y:-3.32, Z:-1.99 [[ 9.99943330e-01 5.58618971e-03 9.06264832e-03 1.12698762e+02] [-5.58280152e-03 9.99984336e-01 -3.99117549e-04 -3.32338028e+00] [-9.06473591e-03 3.48499965e-04 9.99958854e-01 -1.98568884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944391418 meters 0.024367424341796534 Centerline is valid? [True, True] Translation: X:112.73, Y:-3.32, Z:-1.99 [[ 9.99891061e-01 1.11370504e-02 9.68665579e-03 1.12728476e+02] [-1.11334079e-02 9.99937929e-01 -4.29870979e-04 -3.31687880e+00] [-9.69084202e-03 3.21978659e-04 9.99952991e-01 -1.98528243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974391418 meters 0.02324222634670848 Centerline is valid? [True, True] Translation: X:112.76, Y:-3.31, Z:-1.99 [[ 9.99847600e-01 1.45305921e-02 9.67672441e-03 1.12758678e+02] [-1.45271208e-02 9.99894384e-01 -4.28915373e-04 -3.31474474e+00] [-9.68193479e-03 2.88275061e-04 9.99953087e-01 -1.98559531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004391418 meters 0.021681172207966264 Centerline is valid? [True, True] Translation: X:112.79, Y:-3.31, Z:-1.99 [[ 9.99792498e-01 1.79750642e-02 9.58430303e-03 1.12789703e+02] [-1.79718154e-02 9.99838404e-01 -4.25003368e-04 -3.31210093e+00] [-9.59039370e-03 2.52667854e-04 9.99953979e-01 -1.98662393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034391418 meters 0.017352178427501218 Centerline is valid? [True, True] Translation: X:112.82, Y:-3.30, Z:-1.99 [[ 9.99650017e-01 2.48852792e-02 8.97583546e-03 1.12819540e+02] [-2.48827019e-02 9.99690298e-01 -3.98704885e-04 -3.30239000e+00] [-8.98297751e-03 1.75222306e-04 9.99959637e-01 -1.98682692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064391418 meters 0.016453764799797984 Centerline is valid? [True, True] Translation: X:112.85, Y:-3.30, Z:-1.99 [[ 9.99570182e-01 2.78625719e-02 9.11745225e-03 1.12848124e+02] [-2.78600366e-02 9.99611752e-01 -4.04978601e-04 -3.29881046e+00] [-9.12519616e-03 1.50791980e-04 9.99958353e-01 -1.98675322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09439141799999 meters 0.0156894836202813 Centerline is valid? [True, True] Translation: X:112.88, Y:-3.30, Z:-1.99 [[ 9.99482162e-01 3.06729801e-02 9.72507098e-03 1.12876744e+02] [-3.06702374e-02 9.99529465e-01 -4.31077065e-04 -3.29590514e+00] [-9.73371741e-03 1.32583602e-04 9.99952617e-01 -1.98620165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799999 meters 0.01518115440446755 Centerline is valid? [True, True] Translation: X:112.90, Y:-3.29, Z:-1.99 [[ 9.99395312e-01 3.31667072e-02 1.04392995e-02 1.12904516e+02] [-3.31636910e-02 9.99449827e-01 -4.61953578e-04 -3.29376738e+00] [-1.04488776e-02 1.15468537e-04 9.99945402e-01 -1.98603295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15439141799999 meters 0.0143245974553055 Centerline is valid? [True, True] Translation: X:112.93, Y:-3.29, Z:-1.99 [[ 9.99254714e-01 3.69229953e-02 1.12564879e-02 1.12934104e+02] [-3.69197443e-02 9.99318110e-01 -4.96548258e-04 -3.28918635e+00] [-1.12671463e-02 8.05915330e-05 9.99936520e-01 -1.98561308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799999 meters 0.014294257170443274 Centerline is valid? [True, True] Translation: X:112.96, Y:-3.29, Z:-1.99 [[ 9.99212943e-01 3.81247969e-02 1.09542217e-02 1.12962338e+02] [-3.81217943e-02 9.99272984e-01 -4.82849607e-04 -3.28947808e+00] [-1.09646664e-02 6.48749897e-05 9.99939884e-01 -1.98710571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21439141799999 meters 0.014299234878362646 Centerline is valid? [True, True] Translation: X:112.99, Y:-3.29, Z:-1.99 [[ 9.99189829e-01 3.88067965e-02 1.06638880e-02 1.12990674e+02] [-3.88039996e-02 9.99246731e-01 -4.69133896e-04 -3.28972154e+00] [-1.06740608e-02 5.49523096e-05 9.99943029e-01 -1.98797221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799999 meters 0.014336093331451001 Centerline is valid? [True, True] Translation: X:113.02, Y:-3.29, Z:-1.99 [[ 9.99184602e-01 3.89653540e-02 1.05750516e-02 1.13018219e+02] [-3.89626271e-02 9.99240561e-01 -4.63841351e-04 -3.29065440e+00] [-1.05850942e-02 5.14313440e-05 9.99943975e-01 -1.98919953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274391418 meters 0.014546942639379062 Centerline is valid? [True, True] Translation: X:113.05, Y:-3.29, Z:-1.99 [[ 9.99239569e-01 3.77259105e-02 9.85089425e-03 1.13045832e+02] [-3.77234923e-02 9.99288123e-01 -4.31232912e-04 -3.29218670e+00] [-9.86015027e-03 5.92948554e-05 9.99951386e-01 -1.99034282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304391418 meters 0.01444934056131007 Centerline is valid? [True, True] Translation: X:113.07, Y:-3.29, Z:-1.99 [[ 9.99272955e-01 3.68985364e-02 9.59475661e-03 1.13074894e+02] [-3.68962141e-02 9.99319015e-01 -4.18995430e-04 -3.29354630e+00] [-9.60368304e-03 6.46806078e-05 9.99953881e-01 -1.99074410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334391418 meters 0.014843075545890278 Centerline is valid? [True, True] Translation: X:113.10, Y:-3.30, Z:-1.99 [[ 9.99330613e-01 3.54565233e-02 9.00891584e-03 1.13103062e+02] [-3.54544214e-02 9.99371217e-01 -3.92956537e-04 -3.29601955e+00] [-9.01718406e-03 7.32875985e-05 9.99959342e-01 -1.99210548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364391418 meters 0.015388419235758823 Centerline is valid? [True, True] Translation: X:113.13, Y:-3.30, Z:-1.99 [[ 9.99445235e-01 3.23796419e-02 7.79628019e-03 1.13130524e+02] [-3.23779784e-02 9.99475638e-01 -3.39521154e-04 -3.30097328e+00] [-7.80318569e-03 8.69050077e-05 9.99969551e-01 -1.99387266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394391418 meters 0.015845122670550216 Centerline is valid? [True, True] Translation: X:113.16, Y:-3.30, Z:-1.99 [[ 9.99501483e-01 3.06327310e-02 7.64332514e-03 1.13159693e+02] [-3.06310880e-02 9.99530703e-01 -3.31956237e-04 -3.30368459e+00] [-7.64990688e-03 9.76673860e-05 9.99970734e-01 -1.99449941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424391418 meters 0.016627630818444483 Centerline is valid? [True, True] Translation: X:113.19, Y:-3.31, Z:-2.00 [[ 9.99591092e-01 2.75854438e-02 7.52943181e-03 1.13188138e+02] [-2.75837673e-02 9.99619442e-01 -3.26446648e-04 -3.30780953e+00] [-7.53557160e-03 1.18623067e-04 9.99971600e-01 -1.99513622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454391418 meters 0.017317489333263294 Centerline is valid? [True, True] Translation: X:113.22, Y:-3.31, Z:-2.00 [[ 9.99638965e-01 2.58998670e-02 7.15096963e-03 1.13216239e+02] [-2.58983130e-02 9.99664534e-01 -3.09846554e-04 -3.31125274e+00] [-7.15659572e-03 1.24536638e-04 9.99974383e-01 -1.99601151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799999 meters 0.017621699397032845 Centerline is valid? [True, True] Translation: X:113.24, Y:-3.31, Z:-2.00 [[ 9.99682062e-01 2.42621869e-02 6.86445053e-03 1.13244548e+02] [-2.42607231e-02 9.99705621e-01 -2.96447878e-04 -3.31365169e+00] [-6.86962225e-03 1.29817093e-04 9.99976395e-01 -1.99633657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51439141799999 meters 0.01804156995106321 Centerline is valid? [True, True] Translation: X:113.27, Y:-3.32, Z:-2.00 [[ 9.99754015e-01 2.12378976e-02 6.39222051e-03 1.13273217e+02] [-2.12365689e-02 9.99774441e-01 -2.75677844e-04 -3.31722558e+00] [-6.39663350e-03 1.39861200e-04 9.99979532e-01 -1.99668161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799999 meters 0.018599284164078075 Centerline is valid? [True, True] Translation: X:113.30, Y:-3.32, Z:-2.00 [[ 9.99787490e-01 1.96685309e-02 6.17443682e-03 1.13302084e+02] [-1.96672640e-02 9.99806545e-01 -2.65835723e-04 -3.32014143e+00] [-6.17847095e-03 1.44344951e-04 9.99980903e-01 -1.99775000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57439141799999 meters 0.02055799399588439 Centerline is valid? [True, True] Translation: X:113.33, Y:-3.33, Z:-2.00 [[ 9.99814965e-01 1.81329649e-02 6.42121922e-03 1.13330863e+02] [-1.81315693e-02 9.99835572e-01 -2.75495374e-04 -3.32553596e+00] [-6.42515893e-03 1.59017616e-04 9.99979346e-01 -1.99937608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799999 meters 0.02113364146903996 Centerline is valid? [True, True] Translation: X:113.36, Y:-3.33, Z:-2.00 [[ 9.99837111e-01 1.68606053e-02 6.43978456e-03 1.13360527e+02] [-1.68591780e-02 9.99857836e-01 -2.75858093e-04 -3.32828620e+00] [-6.44352019e-03 1.67243684e-04 9.99979226e-01 -1.99949998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63439141799999 meters 0.02056189496350907 Centerline is valid? [True, True] Translation: X:113.39, Y:-3.33, Z:-2.00 [[ 9.99869330e-01 1.47881246e-02 6.52955766e-03 1.13389893e+02] [-1.47866146e-02 9.99890633e-01 -2.79468597e-04 -3.32895796e+00] [-6.53297636e-03 1.82882026e-04 9.99978643e-01 -1.99821770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664391418 meters 0.02223312515116785 Centerline is valid? [True, True] Translation: X:113.42, Y:-3.33, Z:-2.00 [[ 9.99903885e-01 1.18161434e-02 7.25254015e-03 1.13418649e+02] [-1.18142036e-02 9.99930162e-01 -3.10247871e-04 -3.33312348e+00] [-7.25569957e-03 2.24535066e-04 9.99973652e-01 -1.99817666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694391418 meters 0.022716974793784175 Centerline is valid? [True, True] Translation: X:113.45, Y:-3.34, Z:-2.00 [[ 9.99921182e-01 1.05160883e-02 6.85866841e-03 1.13449400e+02] [-1.05143364e-02 9.99944680e-01 -2.91429282e-04 -3.33578646e+00] [-6.86135369e-03 2.19291965e-04 9.99976437e-01 -1.99885042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724391418 meters 0.023945757227829316 Centerline is valid? [True, True] Translation: X:113.48, Y:-3.34, Z:-2.00 [[ 9.99939673e-01 8.52404162e-03 6.92755090e-03 1.13479641e+02] [-8.52219604e-03 9.99963642e-01 -2.95887623e-04 -3.33916502e+00] [-6.92982119e-03 2.36831827e-04 9.99975960e-01 -1.99958686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754391418 meters 0.025257105869591 Centerline is valid? [True, True] Translation: X:113.51, Y:-3.34, Z:-2.00 [[ 9.99954365e-01 6.58563264e-03 6.92082623e-03 1.13510293e+02] [-6.58375490e-03 9.99978284e-01 -2.94064611e-04 -3.34309994e+00] [-6.92261253e-03 2.48486168e-04 9.99976008e-01 -2.00063988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784391418 meters 0.027509471084726404 Centerline is valid? [True, True] Translation: X:113.54, Y:-3.35, Z:-2.00 [[ 9.99968026e-01 4.47250812e-03 6.62897440e-03 1.13541460e+02] [-4.47074239e-03 9.99989967e-01 -2.81159921e-04 -3.34839389e+00] [-6.63016538e-03 2.51514495e-04 9.99977989e-01 -2.00220815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814391418 meters 0.027706146642677135 Centerline is valid? [True, True] Translation: X:113.57, Y:-3.35, Z:-2.00 [[ 9.99979360e-01 -5.65892995e-04 6.39999062e-03 1.13571971e+02] [ 5.67668642e-04 9.99999801e-01 -2.75632061e-04 -3.35073088e+00] [-6.39983337e-03 2.79259446e-04 9.99979482e-01 -2.00221798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters 0.03159889761118753 Centerline is valid? [True, True] Translation: X:113.60, Y:-3.36, Z:-2.00 [[ 9.99977103e-01 -2.92945327e-03 6.10011180e-03 1.13602979e+02] [ 2.93109339e-03 9.99995671e-01 -2.59944461e-04 -3.35723275e+00] [-6.09932390e-03 2.77818506e-04 9.99981360e-01 -2.00358910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87439141799999 meters 0.03220564763470977 Centerline is valid? [True, True] Translation: X:113.63, Y:-3.36, Z:-2.00 [[ 9.99951484e-01 -7.72082679e-03 6.11701553e-03 1.13633870e+02] [ 7.72259294e-03 9.99970145e-01 -2.65159177e-04 -3.35893170e+00] [-6.11478566e-03 3.12385533e-04 9.99981256e-01 -2.00373258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799999 meters 0.033371533158380325 Centerline is valid? [True, True] Translation: X:113.67, Y:-3.36, Z:-2.00 [[ 9.99933141e-01 -9.90570116e-03 5.96582016e-03 1.13666151e+02] [ 9.90741616e-03 9.99950887e-01 -2.57985178e-04 -3.36202485e+00] [-5.96297164e-03 3.17073793e-04 9.99982171e-01 -2.00426813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93439141799999 meters 0.03525821272883355 Centerline is valid? [True, True] Translation: X:113.70, Y:-3.37, Z:-2.01 [[ 9.99915173e-01 -1.17177915e-02 5.68678463e-03 1.13696601e+02] [ 1.17193841e-02 9.99931295e-01 -2.46809329e-04 -3.36588016e+00] [-5.68350186e-03 3.13434007e-04 9.99983800e-01 -2.00528371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799999 meters 0.0371058718708629 Centerline is valid? [True, True] Translation: X:113.73, Y:-3.37, Z:-2.01 [[ 9.99876052e-01 -1.45447817e-02 6.02750908e-03 1.13727558e+02] [ 1.45466229e-02 9.99894158e-01 -2.61721887e-04 -3.36868166e+00] [-6.02306442e-03 3.49369348e-04 9.99981800e-01 -2.00528441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99439141799999 meters 0.039707038319861374 Centerline is valid? [True, True] Translation: X:113.76, Y:-3.37, Z:-2.01 [[ 9.99864012e-01 -1.53364131e-02 6.06239636e-03 1.13758581e+02] [ 1.53382861e-02 9.99882327e-01 -2.62577155e-04 -3.37275669e+00] [-6.05765599e-03 3.55528218e-04 9.99981589e-01 -2.00616143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024391418 meters 0.037805098680217954 Centerline is valid? [True, True] Translation: X:113.79, Y:-3.37, Z:-2.01 [[ 9.99851267e-01 -1.61024265e-02 6.17699299e-03 1.13790674e+02] [ 1.61043952e-02 9.99870280e-01 -2.69100418e-04 -3.37085381e+00] [-6.17185854e-03 3.68537131e-04 9.99980886e-01 -2.00580676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054391418 meters 0.039576529625576146 Centerline is valid? [True, True] Translation: X:113.82, Y:-3.37, Z:-2.01 [[ 9.99846424e-01 -1.64830189e-02 5.95294736e-03 1.13822026e+02] [ 1.64848516e-02 9.99864082e-01 -2.58918702e-04 -3.37319644e+00] [-5.94787049e-03 3.57012393e-04 9.99982248e-01 -2.00663456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084391418 meters 0.037903703673437934 Centerline is valid? [True, True] Translation: X:113.85, Y:-3.37, Z:-2.01 [[ 9.99853953e-01 -1.61989555e-02 5.44666096e-03 1.13853969e+02] [ 1.62004935e-02 9.99868735e-01 -2.38365695e-04 -3.36981738e+00] [-5.44208473e-03 3.26569478e-04 9.99985138e-01 -2.00724796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114391418 meters 0.03798643973664433 Centerline is valid? [True, True] Translation: X:113.89, Y:-3.37, Z:-2.01 [[ 9.99864530e-01 -1.54410647e-02 5.70042474e-03 1.13886311e+02] [ 1.54427401e-02 9.99880723e-01 -2.50000637e-04 -3.37038749e+00] [-5.69588453e-03 3.37996947e-04 9.99983721e-01 -2.00828444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144391418 meters 0.03861843870698106 Centerline is valid? [True, True] Translation: X:113.92, Y:-3.37, Z:-2.01 [[ 9.99906016e-01 -1.23763072e-02 5.89796941e-03 1.13917363e+02] [ 1.23780535e-02 9.99923355e-01 -2.59676208e-04 -3.37041537e+00] [-5.89430353e-03 3.32657184e-04 9.99982573e-01 -2.00914613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174391418 meters 0.03564369861387963 Centerline is valid? [True, True] Translation: X:113.95, Y:-3.37, Z:-2.01 [[ 9.99927357e-01 -1.01161812e-02 6.55317920e-03 1.13948957e+02] [ 1.01182909e-02 9.99948767e-01 -2.88848459e-04 -3.36583876e+00] [-6.54992142e-03 3.55134450e-04 9.99978486e-01 -2.00806516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters 0.034313965710466014 Centerline is valid? [True, True] Translation: X:113.98, Y:-3.36, Z:-2.01 [[ 9.99949835e-01 -6.99454578e-03 7.16959368e-03 1.13980307e+02] [ 6.99699347e-03 9.99975471e-01 -3.16372040e-04 -3.36300725e+00] [-7.16720493e-03 3.66521770e-04 9.99974248e-01 -2.00718654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23439141799999 meters 0.030824041595095397 Centerline is valid? [True, True] Translation: X:114.01, Y:-3.35, Z:-2.00 [[ 9.99961659e-01 2.17151461e-04 8.75401485e-03 1.14009993e+02] [-2.13768913e-04 9.99999902e-01 -3.87333390e-04 -3.35434539e+00] [-8.75409810e-03 3.85447203e-04 9.99961608e-01 -2.00481802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799999 meters 0.026365739168856716 Centerline is valid? [True, True] Translation: X:114.04, Y:-3.35, Z:-2.00 [[ 9.99947654e-01 4.08652895e-03 9.38026584e-03 1.14042233e+02] [-4.08282356e-03 9.99991579e-01 -4.14135191e-04 -3.34721126e+00] [-9.38187923e-03 3.75815542e-04 9.99955919e-01 -2.00404759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29439141799999 meters 0.025930937261229837 Centerline is valid? [True, True] Translation: X:114.07, Y:-3.35, Z:-2.01 [[ 9.99925475e-01 8.47891540e-03 8.78367382e-03 1.14072576e+02] [-8.47583632e-03 9.99964004e-01 -3.87713142e-04 -3.34520255e+00] [-8.78664503e-03 3.13235266e-04 9.99961348e-01 -2.00595021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799999 meters 0.02327409616103154 Centerline is valid? [True, True] Translation: X:114.10, Y:-3.34, Z:-2.00 [[ 9.99884599e-01 1.12469211e-02 1.02125588e-02 1.14104139e+02] [-1.12428806e-02 9.99936694e-01 -4.52974565e-04 -3.34278639e+00] [-1.02170069e-02 3.38103712e-04 9.99947748e-01 -2.00498609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35439141799999 meters 0.022294446551941096 Centerline is valid? [True, True] Translation: X:114.13, Y:-3.34, Z:-2.01 [[ 9.99797968e-01 1.76409619e-02 9.63434725e-03 1.14133964e+02] [-1.76376560e-02 9.99844353e-01 -4.28005661e-04 -3.34126472e+00] [-9.64039812e-03 2.57991888e-04 9.99953497e-01 -2.00772704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799999 meters 0.020643548016632082 Centerline is valid? [True, True] Translation: X:114.16, Y:-3.34, Z:-2.01 [[ 9.99739725e-01 2.07165561e-02 9.55539997e-03 1.14164145e+02] [-2.07134430e-02 9.99785363e-01 -4.24653804e-04 -3.33930121e+00] [-9.56214639e-03 2.26618045e-04 9.99954256e-01 -2.00908597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414391418 meters 0.017157674070426596 Centerline is valid? [True, True] Translation: X:114.19, Y:-3.33, Z:-2.01 [[ 9.99678747e-01 2.36085040e-02 9.22173218e-03 1.14193510e+02] [-2.36057238e-02 9.99721262e-01 -4.10219722e-04 -3.33367508e+00] [-9.22884641e-03 1.92402275e-04 9.99957395e-01 -2.00864285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444391418 meters 0.01573110824300071 Centerline is valid? [True, True] Translation: X:114.22, Y:-3.33, Z:-2.01 [[ 9.99520348e-01 2.99256260e-02 7.97063241e-03 1.14221185e+02] [-2.99237525e-02 9.99552121e-01 -3.54231464e-04 -3.32894343e+00] [-7.97766313e-03 1.15550325e-04 9.99968171e-01 -2.01018808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474391418 meters 0.014707598187444252 Centerline is valid? [True, True] Translation: X:114.25, Y:-3.33, Z:-2.01 [[ 9.99423653e-01 3.30555259e-02 7.72613373e-03 1.14249964e+02] [-3.30538653e-02 9.99453513e-01 -3.42564310e-04 -3.32664790e+00] [-7.73323514e-03 8.69882913e-05 9.99970094e-01 -2.01056033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504391418 meters 0.014707598187444252 Centerline is valid? [True, True] Translation: X:114.28, Y:-3.33, Z:-2.01 [[ 9.99427572e-01 3.29368325e-02 7.72614292e-03 1.14277396e+02] [-3.29351699e-02 9.99457431e-01 -3.42357710e-04 -3.32774416e+00] [-7.73322714e-03 8.76999050e-05 9.99970094e-01 -2.01105580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534391418 meters 0.014209499297625714 Centerline is valid? [True, True] Translation: X:114.31, Y:-3.33, Z:-2.01 [[ 9.99319706e-01 3.60993151e-02 7.54748947e-03 1.14306273e+02] [-3.60978283e-02 9.99348205e-01 -3.33174302e-04 -3.32617849e+00] [-7.55459743e-03 6.04996670e-05 9.99971462e-01 -2.01171050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564391418 meters 0.01366254116961332 Centerline is valid? [True, True] Translation: X:114.33, Y:-3.32, Z:-2.01 [[ 9.99083852e-01 4.21152346e-02 7.60022122e-03 1.14334588e+02] [-4.21139040e-02 9.99112760e-01 -3.35088015e-04 -3.32270702e+00] [-7.60759031e-03 1.47060378e-05 9.99971062e-01 -2.01245732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59439141799999 meters 0.013738683701714226 Centerline is valid? [True, True] Translation: X:114.36, Y:-3.32, Z:-2.01 [[ 9.98973042e-01 4.46888280e-02 7.46789880e-03 1.14361144e+02] [-4.46876176e-02 9.99000955e-01 -3.28950945e-04 -3.32171817e+00] [-7.47513847e-03 -5.10947965e-06 9.99972061e-01 -2.01296027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799999 meters 0.0137719023363951 Centerline is valid? [True, True] Translation: X:114.39, Y:-3.32, Z:-2.01 [[ 9.98878151e-01 4.66460187e-02 8.16022587e-03 1.14389533e+02] [-4.66446512e-02 9.98911482e-01 -3.57917234e-04 -3.32116902e+00] [-8.16803873e-03 -2.31151851e-05 9.99966641e-01 -2.01309271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65439141799999 meters 0.014151700045166868 Centerline is valid? [True, True] Translation: X:114.42, Y:-3.32, Z:-2.01 [[ 9.98725312e-01 4.96239568e-02 9.23112715e-03 1.14416967e+02] [-4.96223481e-02 9.98767971e-01 -4.03372617e-04 -3.31996916e+00] [-9.23977108e-03 -5.52117620e-05 9.99957311e-01 -2.01292500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799999 meters 0.01443098519893003 Centerline is valid? [True, True] Translation: X:114.44, Y:-3.32, Z:-2.01 [[ 9.98666414e-01 5.06687404e-02 9.90314518e-03 1.14444859e+02] [-5.06669495e-02 9.98715512e-01 -4.31813701e-04 -3.32066247e+00] [-9.91230417e-03 -7.05243164e-05 9.99950869e-01 -2.01351240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71439141799999 meters 0.014518081381825537 Centerline is valid? [True, True] Translation: X:114.47, Y:-3.32, Z:-2.01 [[ 9.98642793e-01 5.11114402e-02 1.00096173e-02 1.14471768e+02] [-5.11096382e-02 9.98692953e-01 -4.35918877e-04 -3.32166999e+00] [-1.00188147e-02 -7.62606748e-05 9.99949808e-01 -2.01397226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799999 meters 0.014265494065016756 Centerline is valid? [True, True] Translation: X:114.50, Y:-3.32, Z:-2.01 [[ 9.98622378e-01 5.15099896e-02 1.00033379e-02 1.14500485e+02] [-5.15082378e-02 9.98672476e-01 -4.32845145e-04 -3.32443524e+00] [-1.00123541e-02 -8.30054601e-05 9.99949872e-01 -2.01376426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774391418 meters 0.014330017200678028 Centerline is valid? [True, True] Translation: X:114.53, Y:-3.33, Z:-2.01 [[ 9.98660666e-01 5.08484380e-02 9.55570481e-03 1.14527918e+02] [-5.08468124e-02 9.98706379e-01 -4.13134217e-04 -3.32844025e+00] [-9.56435058e-03 -7.32962387e-05 9.99954258e-01 -2.01485533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804391418 meters 0.014249481404090898 Centerline is valid? [True, True] Translation: X:114.56, Y:-3.33, Z:-2.02 [[ 9.98732327e-01 4.94724888e-02 9.28505494e-03 1.14556153e+02] [-4.94709077e-02 9.98775485e-01 -4.00026531e-04 -3.33120158e+00] [-9.29347556e-03 -5.98206672e-05 9.99956813e-01 -2.01526592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834391418 meters 0.013795401081134383 Centerline is valid? [True, True] Translation: X:114.58, Y:-3.34, Z:-2.02 [[ 9.98902627e-01 4.60189708e-02 8.70606031e-03 1.14583283e+02] [-4.60174496e-02 9.98940566e-01 -3.75072733e-04 -3.33708618e+00] [-8.71409727e-03 -2.59695531e-05 9.99962031e-01 -2.01576513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864391418 meters 0.0138326036285701 Centerline is valid? [True, True] Translation: X:114.61, Y:-3.34, Z:-2.02 [[ 9.99018045e-01 4.34419622e-02 8.70297436e-03 1.14611088e+02] [-4.34403591e-02 9.99055952e-01 -3.73231416e-04 -3.34171063e+00] [-8.71097224e-03 -5.19541233e-06 9.99962059e-01 -2.01808147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894391418 meters 0.013943893214377057 Centerline is valid? [True, True] Translation: X:114.64, Y:-3.35, Z:-2.02 [[ 9.99130881e-01 4.08457925e-02 8.31282613e-03 1.14638816e+02] [-4.08442471e-02 9.99165462e-01 -3.55661144e-04 -3.34743464e+00] [-8.32041602e-03 1.58209074e-05 9.99965385e-01 -2.01930583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924391418 meters 0.014259447273065105 Centerline is valid? [True, True] Translation: X:114.67, Y:-3.35, Z:-2.02 [[ 9.99236159e-01 3.81821444e-02 8.31997197e-03 1.14667459e+02] [-3.81805117e-02 9.99270795e-01 -3.55039072e-04 -3.35337905e+00] [-8.32746116e-03 3.71070915e-05 9.99965325e-01 -2.02057238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95439141799999 meters 0.015134629018166338 Centerline is valid? [True, True] Translation: X:114.69, Y:-3.36, Z:-2.02 [[ 9.99390471e-01 3.37250566e-02 9.01702475e-03 1.14694895e+02] [-3.37229628e-02 9.99431145e-01 -3.84189992e-04 -3.36337478e+00] [-9.02485220e-03 7.98750269e-05 9.99959272e-01 -2.02155837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799999 meters 0.015551385661980568 Centerline is valid? [True, True] Translation: X:114.72, Y:-3.37, Z:-2.02 [[ 9.99437175e-01 3.22422952e-02 9.26111956e-03 1.14723543e+02] [-3.22400324e-02 9.99480078e-01 -3.93565429e-04 -3.36776174e+00] [-9.26899395e-03 9.47651262e-05 9.99957037e-01 -2.02169578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01439141799999 meters 0.015017251471845076 Centerline is valid? [True, True] Translation: X:114.75, Y:-3.37, Z:-2.02 [[ 9.99450609e-01 3.17327841e-02 9.56614960e-03 1.14752271e+02] [-3.17303525e-02 9.99496383e-01 -4.05889302e-04 -3.36905847e+00] [-9.57421193e-03 1.02129011e-04 9.99954161e-01 -2.02032022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799999 meters 0.014382388621232676 Centerline is valid? [True, True] Translation: X:114.78, Y:-3.37, Z:-2.02 [[ 9.99390334e-01 3.34458381e-02 1.00168420e-02 1.14781413e+02] [-3.34432665e-02 9.99440528e-01 -4.24166324e-04 -3.37195527e+00] [-1.00254245e-02 8.89118068e-05 9.99949740e-01 -2.02053360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07439141799999 meters 0.014285832765997764 Centerline is valid? [True, True] Translation: X:114.81, Y:-3.37, Z:-2.02 [[ 9.99330005e-01 3.52366548e-02 9.89545170e-03 1.14810295e+02] [-3.52342406e-02 9.99378994e-01 -4.18245223e-04 -3.37341976e+00] [-9.90404412e-03 6.93062741e-05 9.99950951e-01 -2.02138472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799999 meters 0.014098596957560345 Centerline is valid? [True, True] Translation: X:114.84, Y:-3.37, Z:-2.02 [[ 9.99259694e-01 3.71837643e-02 9.87076884e-03 1.14838748e+02] [-3.71814650e-02 9.99308444e-01 -4.16414326e-04 -3.37461263e+00] [-9.87942650e-03 4.90964057e-05 9.99951196e-01 -2.02214885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13439141799999 meters 0.013818702651439009 Centerline is valid? [True, True] Translation: X:114.87, Y:-3.38, Z:-2.02 [[ 9.99176587e-01 3.93718478e-02 9.79819766e-03 1.14866967e+02] [-3.93696933e-02 9.99224628e-01 -4.12745806e-04 -3.37578112e+00] [-9.80685097e-03 2.66539101e-05 9.99951911e-01 -2.02280472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164391418 meters 0.013851173987034778 Centerline is valid? [True, True] Translation: X:114.89, Y:-3.38, Z:-2.02 [[ 9.99018038e-01 4.31823585e-02 9.91178673e-03 1.14894349e+02] [-4.31803499e-02 9.99067207e-01 -4.16659635e-04 -3.37739937e+00] [-9.92053343e-03 -1.17439280e-05 9.99950790e-01 -2.02378989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194391418 meters 0.013813562789699 Centerline is valid? [True, True] Translation: X:114.92, Y:-3.38, Z:-2.02 [[ 9.98967364e-01 4.43732889e-02 9.75794801e-03 1.14921877e+02] [-4.43714085e-02 9.99015020e-01 -4.09225946e-04 -3.37943246e+00] [-9.76649533e-03 -2.41705324e-05 9.99952306e-01 -2.02453246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224391418 meters 0.013876872344633022 Centerline is valid? [True, True] Translation: X:114.95, Y:-3.38, Z:-2.03 [[ 9.98939672e-01 4.50246193e-02 9.60809286e-03 1.14950131e+02] [-4.50228415e-02 9.98985877e-01 -4.01350866e-04 -3.38200977e+00] [-9.61641974e-03 -3.16583394e-05 9.99953761e-01 -2.02540667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254391418 meters 0.013984212032244312 Centerline is valid? [True, True] Translation: X:114.98, Y:-3.39, Z:-2.03 [[ 9.98952810e-01 4.48710497e-02 8.93715624e-03 1.14977231e+02] [-4.48695092e-02 9.98992787e-01 -3.72905123e-04 -3.38734571e+00] [-8.94488726e-03 -2.84911936e-05 9.99959993e-01 -2.02742989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284391418 meters 0.013981759226919063 Centerline is valid? [True, True] Translation: X:115.01, Y:-3.39, Z:-2.03 [[ 9.98989993e-01 4.40498102e-02 8.86616120e-03 1.15005340e+02] [-4.40482675e-02 9.99029336e-01 -3.69284928e-04 -3.39134929e+00] [-8.87382206e-03 -2.16270931e-05 9.99960627e-01 -2.02876774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314391418 meters 0.01390377854256343 Centerline is valid? [True, True] Translation: X:115.03, Y:-3.40, Z:-2.03 [[ 9.99115621e-01 4.10658462e-02 9.03170514e-03 1.15033780e+02] [-4.10641360e-02 9.99156442e-01 -3.74791383e-04 -3.39946331e+00] [-9.03947750e-03 3.58075741e-06 9.99959143e-01 -2.03027840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters 0.01388378238651397 Centerline is valid? [True, True] Translation: X:115.06, Y:-3.40, Z:-2.03 [[ 9.99202006e-01 3.89238519e-02 8.96024092e-03 1.15062853e+02] [-3.89220880e-02 9.99242179e-01 -3.71220709e-04 -3.40404718e+00] [-8.96790000e-03 2.21731912e-05 9.99959787e-01 -2.02993104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37439141799999 meters 0.013882991458624287 Centerline is valid? [True, True] Translation: X:115.09, Y:-3.41, Z:-2.03 [[ 9.99286302e-01 3.67645122e-02 8.67505342e-03 1.15091466e+02] [-3.67627831e-02 9.99323956e-01 -3.58758377e-04 -3.40864557e+00] [-8.68237828e-03 3.95832253e-05 9.99962307e-01 -2.03026655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799999 meters 0.014316424040870954 Centerline is valid? [True, True] Translation: X:115.12, Y:-3.41, Z:-2.03 [[ 9.99379538e-01 3.40302002e-02 9.08206122e-03 1.15118685e+02] [-3.40281967e-02 9.99420803e-01 -3.75083736e-04 -3.41353126e+00] [-9.08956509e-03 6.58048456e-05 9.99958687e-01 -2.03100498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43439141799999 meters 0.015486199501982009 Centerline is valid? [True, True] Translation: X:115.15, Y:-3.42, Z:-2.03 [[ 9.99563368e-01 2.79952623e-02 9.45195337e-03 1.15147024e+02] [-2.79928360e-02 9.99608048e-01 -3.88922187e-04 -3.42271747e+00] [-9.45913663e-03 1.24165390e-04 9.99955254e-01 -2.03063523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799999 meters 0.016512344242560137 Centerline is valid? [True, True] Translation: X:115.18, Y:-3.43, Z:-2.03 [[ 9.99646789e-01 2.47791933e-02 9.60673129e-03 1.15175846e+02] [-2.47765476e-02 9.99692936e-01 -3.94332537e-04 -3.42855025e+00] [-9.61355265e-03 1.56171619e-04 9.99953777e-01 -2.03074190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49439141799999 meters 0.018933148492164483 Centerline is valid? [True, True] Translation: X:115.21, Y:-3.44, Z:-2.03 [[ 9.99777833e-01 1.79081458e-02 1.11167933e-02 1.15205359e+02] [-1.79041891e-02 9.99839603e-01 -4.55350948e-04 -3.43938170e+00] [-1.11231647e-02 2.56212614e-04 9.99938103e-01 -2.02994017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524391418 meters 0.02045278992467114 Centerline is valid? [True, True] Translation: X:115.24, Y:-3.45, Z:-2.03 [[ 9.99825000e-01 1.44365236e-02 1.18977074e-02 1.15235957e+02] [-1.44317603e-02 9.99895739e-01 -4.86115751e-04 -3.44528560e+00] [-1.19034847e-02 3.14325820e-04 9.99929102e-01 -2.02979811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554391418 meters 0.020444429759208942 Centerline is valid? [True, True] Translation: X:115.27, Y:-3.45, Z:-2.03 [[ 9.99847867e-01 1.19210139e-02 1.27331258e-02 1.15268333e+02] [-1.19153550e-02 9.99928874e-01 -5.20196607e-04 -3.44858601e+00] [-1.27384214e-02 3.68397753e-04 9.99918795e-01 -2.02942922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584391418 meters 0.02176394260059519 Centerline is valid? [True, True] Translation: X:115.30, Y:-3.45, Z:-2.03 [[ 9.99865990e-01 9.69440842e-03 1.31917135e-02 1.15300004e+02] [-9.68808691e-03 9.99952922e-01 -5.43024086e-04 -3.45378787e+00] [-1.31963567e-02 4.15148848e-04 9.99912838e-01 -2.03021078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614391418 meters 0.023592787701673217 Centerline is valid? [True, True] Translation: X:115.33, Y:-3.46, Z:-2.03 [[ 9.99896486e-01 5.95444498e-03 1.30981683e-02 1.15331287e+02] [-5.94784721e-03 9.99982164e-01 -5.42613938e-04 -3.46111059e+00] [-1.31011656e-02 4.64651866e-04 9.99914068e-01 -2.03183941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644391418 meters 0.024572596628768473 Centerline is valid? [True, True] Translation: X:115.36, Y:-3.47, Z:-2.03 [[ 9.99906057e-01 4.83340496e-03 1.28263283e-02 1.15363474e+02] [-4.82694491e-03 9.99988207e-01 -5.34564995e-04 -3.46544674e+00] [-1.28287608e-02 4.72602797e-04 9.99917596e-01 -2.03295843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674391418 meters 0.025663892541208374 Centerline is valid? [True, True] Translation: X:115.40, Y:-3.47, Z:-2.03 [[ 9.99916803e-01 3.45099271e-03 1.24289196e-02 1.15395848e+02] [-3.44477810e-03 9.99993931e-01 -5.21385642e-04 -3.46996484e+00] [-1.24306435e-02 4.78527394e-04 9.99922622e-01 -2.03350867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters 0.026609719432148043 Centerline is valid? [True, True] Translation: X:115.43, Y:-3.47, Z:-2.03 [[ 9.99918113e-01 3.52261625e-03 1.23028229e-02 1.15427367e+02] [-3.51649166e-03 9.99993682e-01 -5.19416600e-04 -3.47341080e+00] [-1.23045749e-02 4.76111293e-04 9.99924183e-01 -2.03411399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73439141799999 meters 0.024511037760827088 Centerline is valid? [True, True] Translation: X:115.46, Y:-3.47, Z:-2.03 [[ 9.99916829e-01 3.65868602e-03 1.23672677e-02 1.15460157e+02] [-3.65246336e-03 9.99993192e-01 -5.25704686e-04 -3.47220978e+00] [-1.23691069e-02 4.80489970e-04 9.99923384e-01 -2.03409378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799999 meters 0.027010198387323235 Centerline is valid? [True, True] Translation: X:115.49, Y:-3.48, Z:-2.03 [[ 9.99913089e-01 4.25734946e-03 1.24775869e-02 1.15491249e+02] [-4.25099763e-03 9.99990821e-01 -5.35537265e-04 -3.47756126e+00] [-1.24797524e-02 4.82448528e-04 9.99922008e-01 -2.03464119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79439141799999 meters 0.02535896236429154 Centerline is valid? [True, True] Translation: X:115.52, Y:-3.48, Z:-2.04 [[ 9.99916160e-01 5.00209873e-03 1.19437281e-02 1.15523094e+02] [-4.99631858e-03 9.99987386e-01 -5.13738905e-04 -3.47657977e+00] [-1.19461472e-02 4.54021163e-04 9.99928539e-01 -2.03511069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799999 meters 0.02492567528880567 Centerline is valid? [True, True] Translation: X:115.55, Y:-3.48, Z:-2.04 [[ 9.99915449e-01 5.84338257e-03 1.16167888e-02 1.15554955e+02] [-5.83793492e-03 9.99982833e-01 -5.02801181e-04 -3.47735198e+00] [-1.16195275e-02 4.34940611e-04 9.99932396e-01 -2.03636300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85439141799999 meters 0.025146436563610278 Centerline is valid? [True, True] Translation: X:115.59, Y:-3.48, Z:-2.04 [[ 9.99916794e-01 6.32388831e-03 1.12433909e-02 1.15587400e+02] [-6.31878293e-03 9.99979916e-01 -4.89543512e-04 -3.47942989e+00] [-1.12462609e-02 4.18458233e-04 9.99936671e-01 -2.03803632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799999 meters 0.02477464737968237 Centerline is valid? [True, True] Translation: X:115.62, Y:-3.48, Z:-2.04 [[ 9.99916064e-01 7.20328752e-03 1.07692872e-02 1.15619446e+02] [-7.19862043e-03 9.99973978e-01 -4.72071320e-04 -3.48088282e+00] [-1.07724074e-02 3.94507686e-04 9.99941898e-01 -2.03976517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914391418 meters 0.02491092376222266 Centerline is valid? [True, True] Translation: X:115.65, Y:-3.48, Z:-2.04 [[ 9.99913381e-01 7.90278589e-03 1.05250223e-02 1.15650431e+02] [-7.89832709e-03 9.99968700e-01 -4.65136844e-04 -3.48250173e+00] [-1.05283688e-02 3.81966486e-04 9.99944502e-01 -2.04063115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944391418 meters 0.023213545618852208 Centerline is valid? [True, True] Translation: X:115.68, Y:-3.48, Z:-2.04 [[ 9.99905617e-01 9.82875356e-03 9.59962504e-03 1.15682752e+02] [-9.82513091e-03 9.99951642e-01 -4.24462711e-04 -3.48079046e+00] [-9.60333276e-03 3.30105076e-04 9.99953832e-01 -2.04127617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974391418 meters 0.02222764092518774 Centerline is valid? [True, True] Translation: X:115.72, Y:-3.48, Z:-2.04 [[ 9.99891013e-01 1.12845372e-02 9.51949097e-03 1.15715506e+02] [-1.12810156e-02 9.99936278e-01 -4.23549963e-04 -3.47965581e+00] [-9.52366393e-03 3.16114276e-04 9.99954599e-01 -2.04151705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004391418 meters 0.02176524670520913 Centerline is valid? [True, True] Translation: X:115.75, Y:-3.48, Z:-2.04 [[ 9.99870486e-01 1.30801401e-02 9.37661316e-03 1.15747852e+02] [-1.30767774e-02 9.99914407e-01 -4.19848705e-04 -3.47951247e+00] [-9.38130227e-03 2.97178446e-04 9.99955950e-01 -2.04146415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034391418 meters 0.021037988194887586 Centerline is valid? [True, True] Translation: X:115.78, Y:-3.48, Z:-2.04 [[ 9.99847151e-01 1.47364694e-02 9.40808417e-03 1.15779027e+02] [-1.47331116e-02 9.99891371e-01 -4.26109953e-04 -3.47884173e+00] [-9.41334154e-03 2.87434468e-04 9.99955652e-01 -2.04118056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064391418 meters 0.021686847786206002 Centerline is valid? [True, True] Translation: X:115.81, Y:-3.48, Z:-2.04 [[ 9.99777535e-01 1.80393526e-02 1.09298375e-02 1.15809658e+02] [-1.80350117e-02 9.99837233e-01 -4.95602811e-04 -3.48012219e+00] [-1.09369989e-02 2.98372809e-04 9.99940145e-01 -2.04099095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09439141799999 meters 0.020768624500585867 Centerline is valid? [True, True] Translation: X:115.84, Y:-3.48, Z:-2.04 [[ 9.99745426e-01 1.93385190e-02 1.16234427e-02 1.15840995e+02] [-1.93336911e-02 9.99812948e-01 -5.27592203e-04 -3.47966175e+00] [-1.16314713e-02 3.02733842e-04 9.99932306e-01 -2.04030271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799999 meters 0.019374676541843435 Centerline is valid? [True, True] Translation: X:115.87, Y:-3.48, Z:-2.04 [[ 9.99720000e-01 2.03608886e-02 1.20563919e-02 1.15872744e+02] [-2.03557627e-02 9.99792650e-01 -5.47728023e-04 -3.47847426e+00] [-1.20650442e-02 3.02157606e-04 9.99927169e-01 -2.03990071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15439141799999 meters 0.01880806617205594 Centerline is valid? [True, True] Translation: X:115.90, Y:-3.48, Z:-2.04 [[ 9.99699845e-01 2.09635108e-02 1.26787319e-02 1.15903107e+02] [-2.09578808e-02 9.99780193e-01 -5.76764074e-04 -3.47852132e+00] [-1.26880360e-02 3.10871604e-04 9.99919455e-01 -2.03996022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799999 meters 0.01893434462654906 Centerline is valid? [True, True] Translation: X:115.93, Y:-3.48, Z:-2.04 [[ 9.99695683e-01 2.12751891e-02 1.24863184e-02 1.15933109e+02] [-2.12697544e-02 9.99773612e-01 -5.67899407e-04 -3.47962304e+00] [-1.24955738e-02 3.02145661e-04 9.99921882e-01 -2.04082917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21439141799999 meters 0.018367032989576513 Centerline is valid? [True, True] Translation: X:115.96, Y:-3.48, Z:-2.04 [[ 9.99690877e-01 2.16705810e-02 1.21875636e-02 1.15963480e+02] [-2.16654284e-02 9.99765123e-01 -5.54666903e-04 -3.48007791e+00] [-1.21967209e-02 2.90446658e-04 9.99925575e-01 -2.04184873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799999 meters 0.018063062537680016 Centerline is valid? [True, True] Translation: X:115.99, Y:-3.48, Z:-2.04 [[ 9.99681010e-01 2.23117251e-02 1.18349156e-02 1.15993877e+02] [-2.23069112e-02 9.99751025e-01 -5.38617579e-04 -3.48094418e+00] [-1.18439865e-02 2.74445354e-04 9.99929820e-01 -2.04281139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274391418 meters 0.017724924901329615 Centerline is valid? [True, True] Translation: X:116.02, Y:-3.48, Z:-2.04 [[ 9.99638314e-01 2.45780255e-02 1.09161537e-02 1.16023312e+02] [-2.45740635e-02 9.99697889e-01 -4.96948436e-04 -3.48138649e+00] [-1.09250698e-02 2.28514442e-04 9.99940294e-01 -2.04441863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304391418 meters 0.017180306440133294 Centerline is valid? [True, True] Translation: X:116.05, Y:-3.48, Z:-2.04 [[ 9.99606158e-01 2.59899845e-02 1.05853797e-02 1.16052948e+02] [-2.59863387e-02 9.99662182e-01 -4.81835760e-04 -3.48138862e+00] [-1.05943267e-02 2.06570730e-04 9.99943857e-01 -2.04495000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334391418 meters 0.016014731883913735 Centerline is valid? [True, True] Translation: X:116.08, Y:-3.48, Z:-2.04 [[ 9.99520898e-01 2.90078754e-02 1.07943618e-02 1.16082574e+02] [-2.90042650e-02 9.99579167e-01 -4.90900759e-04 -3.47942583e+00] [-1.08040592e-02 1.77583038e-04 9.99941619e-01 -2.04419518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364391418 meters 0.015795141041514825 Centerline is valid? [True, True] Translation: X:116.11, Y:-3.48, Z:-2.04 [[ 9.99475049e-01 3.03748170e-02 1.12692655e-02 1.16111442e+02] [-3.03709729e-02 9.99538564e-01 -5.12133372e-04 -3.48032323e+00] [-1.12796215e-02 1.69605969e-04 9.99936369e-01 -2.04423884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394391418 meters 0.015795141041514825 Centerline is valid? [True, True] Translation: X:116.14, Y:-3.48, Z:-2.04 [[ 9.99477462e-01 3.02953220e-02 1.12692911e-02 1.16139725e+02] [-3.02914792e-02 9.99540977e-01 -5.11571331e-04 -3.48152932e+00] [-1.12796164e-02 1.69940520e-04 9.99936369e-01 -2.04474953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424391418 meters 0.01532448896142355 Centerline is valid? [True, True] Translation: X:116.17, Y:-3.48, Z:-2.04 [[ 9.99437274e-01 3.13308139e-02 1.19797731e-02 1.16168373e+02] [-3.13265579e-02 9.99509056e-01 -5.42794276e-04 -3.48165463e+00] [-1.19908979e-02 1.67203776e-04 9.99928093e-01 -2.04454104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45439141799999 meters 0.015117264072849634 Centerline is valid? [True, True] Translation: X:116.20, Y:-3.48, Z:-2.05 [[ 9.99386397e-01 3.28114980e-02 1.22570780e-02 1.16197274e+02] [-3.28071684e-02 9.99461546e-01 -5.54194196e-04 -3.48354598e+00] [-1.22686621e-02 1.51734119e-04 9.99924726e-01 -2.04544819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799999 meters 0.014945784610864855 Centerline is valid? [True, True] Translation: X:116.23, Y:-3.49, Z:-2.05 [[ 9.99407316e-01 3.27039791e-02 1.07455255e-02 1.16225568e+02] [-3.27006492e-02 9.99465073e-01 -4.85483874e-04 -3.48557092e+00] [-1.07556547e-02 1.33810474e-04 9.99942147e-01 -2.04764431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51439141799999 meters 0.015451147570764165 Centerline is valid? [True, True] Translation: X:116.25, Y:-3.49, Z:-2.05 [[ 9.99439271e-01 3.19254462e-02 1.00950477e-02 1.16253326e+02] [-3.19224730e-02 9.99490244e-01 -4.55559787e-04 -3.48812807e+00] [-1.01044456e-02 1.33045456e-04 9.99948940e-01 -2.04966362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799999 meters 0.015451147570764165 Centerline is valid? [True, True] Translation: X:116.28, Y:-3.49, Z:-2.05 [[ 9.99441808e-01 3.18459112e-02 1.00951074e-02 1.16281609e+02] [-3.18429473e-02 9.99492782e-01 -4.54231115e-04 -3.48932270e+00] [-1.01044524e-02 1.32519594e-04 9.99948940e-01 -2.05017452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57439141799999 meters 0.016121353102410637 Centerline is valid? [True, True] Translation: X:116.31, Y:-3.49, Z:-2.05 [[ 9.99536799e-01 2.92216668e-02 8.50183344e-03 1.16309909e+02] [-2.92194736e-02 9.99572947e-01 -3.82087672e-04 -3.49334636e+00] [-8.50936795e-03 1.33491591e-04 9.99963786e-01 -2.05229210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799999 meters 0.016618622529703746 Centerline is valid? [True, True] Translation: X:116.34, Y:-3.50, Z:-2.05 [[ 9.99604038e-01 2.69393785e-02 8.12633214e-03 1.16338307e+02] [-2.69373040e-02 9.99637058e-01 -3.64642776e-04 -3.49639728e+00] [-8.13320601e-03 1.45596912e-04 9.99966914e-01 -2.05305436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63439141799999 meters 0.017394611061412872 Centerline is valid? [True, True] Translation: X:116.37, Y:-3.50, Z:-2.05 [[ 9.99667342e-01 2.44698868e-02 8.15047522e-03 1.16368059e+02] [-2.44677266e-02 9.99700554e-01 -3.64662038e-04 -3.50061343e+00] [-8.15695783e-03 1.65117131e-04 9.99966718e-01 -2.05370981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664391418 meters 0.0198928095808848 Centerline is valid? [True, True] Translation: X:116.40, Y:-3.51, Z:-2.05 [[ 9.99793691e-01 1.88100520e-02 7.66537877e-03 1.16396433e+02] [-1.88079755e-02 9.99823056e-01 -3.42895035e-04 -3.50737061e+00] [-7.67047230e-03 1.98654036e-04 9.99970562e-01 -2.05453774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694391418 meters 0.020590753265460175 Centerline is valid? [True, True] Translation: X:116.43, Y:-3.51, Z:-2.05 [[ 9.99845827e-01 1.60637810e-02 7.09067691e-03 1.16426483e+02] [-1.60619406e-02 9.99870949e-01 -3.16415083e-04 -3.50997631e+00] [-7.09484467e-03 2.02476268e-04 9.99974811e-01 -2.05474758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724391418 meters 0.0230429175558702 Centerline is valid? [True, True] Translation: X:116.46, Y:-3.51, Z:-2.06 [[ 9.99889578e-01 1.31455945e-02 6.93002675e-03 1.16456259e+02] [-1.31437691e-02 9.99913569e-01 -3.08891045e-04 -3.51456292e+00] [-6.93348834e-03 2.17770265e-04 9.99975939e-01 -2.05599842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754391418 meters 0.025691811217809293 Centerline is valid? [True, True] Translation: X:116.49, Y:-3.52, Z:-2.06 [[ 9.99937128e-01 8.85641735e-03 6.87772289e-03 1.16486786e+02] [-8.85452271e-03 9.99960751e-01 -3.05876462e-04 -3.51873146e+00] [-6.88016191e-03 2.44958278e-04 9.99976301e-01 -2.05634833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784391418 meters 0.026751276602231193 Centerline is valid? [True, True] Translation: X:116.52, Y:-3.52, Z:-2.06 [[ 9.99950272e-01 6.71367432e-03 7.37427391e-03 1.16517298e+02] [-6.71143236e-03 9.99977424e-01 -3.28729319e-04 -3.52183906e+00] [-7.37631441e-03 2.79221031e-04 9.99972756e-01 -2.05639292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814391418 meters 0.02845385612426025 Centerline is valid? [True, True] Translation: X:116.55, Y:-3.53, Z:-2.06 [[ 9.99961486e-01 3.89361140e-03 7.86551355e-03 1.16549293e+02] [-3.89097396e-03 9.99992369e-01 -3.50592463e-04 -3.52643285e+00] [-7.86681859e-03 3.19974451e-04 9.99969005e-01 -2.05760564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799999 meters 0.030528690813735222 Centerline is valid? [True, True] Translation: X:116.58, Y:-3.53, Z:-2.06 [[ 9.99959983e-01 2.00654943e-03 8.71817024e-03 1.16579985e+02] [-2.00322719e-03 9.99997918e-01 -3.89786556e-04 -3.52972995e+00] [-8.71893421e-03 3.72306482e-04 9.99961920e-01 -2.05813256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87439141799999 meters 0.028411877343373793 Centerline is valid? [True, True] Translation: X:116.61, Y:-3.53, Z:-2.06 [[ 9.99957874e-01 2.08521075e-03 8.93876361e-03 1.16612831e+02] [-2.08174078e-03 9.99997754e-01 -3.97480357e-04 -3.52721846e+00] [-8.93957237e-03 3.78855424e-04 9.99959969e-01 -2.05755590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799999 meters 0.028411877343373793 Centerline is valid? [True, True] Translation: X:116.65, Y:-3.53, Z:-2.06 [[ 9.99957164e-01 2.40235521e-03 8.93863620e-03 1.16645410e+02] [-2.39887259e-03 9.99997043e-01 -4.00315183e-04 -3.52883502e+00] [-8.93957146e-03 3.78855385e-04 9.99959969e-01 -2.05814268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93439141799999 meters 0.028935838816040393 Centerline is valid? [True, True] Translation: X:116.68, Y:-3.53, Z:-2.06 [[ 9.99954641e-01 2.59370154e-03 9.16456629e-03 1.16678297e+02] [-2.59002047e-03 9.99996560e-01 -4.13508205e-04 -3.52957768e+00] [-9.16560729e-03 3.89753034e-04 9.99957919e-01 -2.05870993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799999 meters 0.03173743288844143 Centerline is valid? [True, True] Translation: X:116.71, Y:-3.53, Z:-2.06 [[ 9.99956549e-01 3.04277604e-03 8.81146533e-03 1.16710389e+02] [-3.03936622e-03 9.99995301e-01 -4.00341104e-04 -3.53362541e+00] [-8.81264207e-03 3.73542439e-04 9.99961098e-01 -2.05983522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99439141799999 meters 0.02628240998045116 Centerline is valid? [True, True] Translation: X:116.74, Y:-3.53, Z:-2.06 [[ 9.99948480e-01 4.17871596e-03 9.25072376e-03 1.16742736e+02] [-4.17496147e-03 9.99991194e-01 -4.25132820e-04 -3.52501428e+00] [-9.25241881e-03 3.86489502e-04 9.99957121e-01 -2.05811494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024391418 meters 0.031372420597304586 Centerline is valid? [True, True] Translation: X:116.77, Y:-3.53, Z:-2.06 [[ 9.99942034e-01 5.43662211e-03 9.29365253e-03 1.16773610e+02] [-5.43289453e-03 9.99985151e-01 -4.26288620e-04 -3.53290736e+00] [-9.29583209e-03 3.75772476e-04 9.99956722e-01 -2.06030046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054391418 meters 0.0275655164950546 Centerline is valid? [True, True] Translation: X:116.81, Y:-3.53, Z:-2.06 [[ 9.99932972e-01 6.74658040e-03 9.40931678e-03 1.16805784e+02] [-6.74279404e-03 9.99977173e-01 -4.34070716e-04 -3.52834488e+00] [-9.41203049e-03 3.70596536e-04 9.99955637e-01 -2.05983921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084391418 meters 0.02568991643661218 Centerline is valid? [True, True] Translation: X:116.84, Y:-3.53, Z:-2.06 [[ 9.99924637e-01 7.96856907e-03 9.33933220e-03 1.16838130e+02] [-7.96486912e-03 9.99968186e-01 -4.33295477e-04 -3.52592863e+00] [-9.34248782e-03 3.58876264e-04 9.99956294e-01 -2.05981453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114391418 meters 0.02346146288701098 Centerline is valid? [True, True] Translation: X:116.87, Y:-3.52, Z:-2.06 [[ 9.99913338e-01 1.04763607e-02 7.97257660e-03 1.16870299e+02] [-1.04737329e-02 9.99945080e-01 -3.71298068e-04 -3.52022248e+00] [-7.97602860e-03 2.87763253e-04 9.99968150e-01 -2.06029074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144391418 meters 0.024100779144698128 Centerline is valid? [True, True] Translation: X:116.90, Y:-3.52, Z:-2.06 [[ 9.99903714e-01 1.19030376e-02 7.13310225e-03 1.16901191e+02] [-1.19009577e-02 9.99929125e-01 -3.33973888e-04 -3.52063199e+00] [-7.13657200e-03 2.49050983e-04 9.99974503e-01 -2.06207323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174391418 meters 0.022217068380059095 Centerline is valid? [True, True] Translation: X:116.93, Y:-3.52, Z:-2.06 [[ 9.99876598e-01 1.47087509e-02 5.51729054e-03 1.16931603e+02] [-1.47075286e-02 9.99891804e-01 -2.62053036e-04 -3.51617208e+00] [-5.52054806e-03 1.80874990e-04 9.99984745e-01 -2.06385895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters 0.022053080269975392 Centerline is valid? [True, True] Translation: X:116.96, Y:-3.52, Z:-2.07 [[ 9.99863794e-01 1.57445003e-02 4.95024308e-03 1.16961580e+02] [-1.57435264e-02 9.99876035e-01 -2.35651231e-04 -3.51586582e+00] [-4.95333964e-03 1.57684851e-04 9.99987720e-01 -2.06517679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23439141799999 meters 0.021733964210968893 Centerline is valid? [True, True] Translation: X:116.99, Y:-3.52, Z:-2.07 [[ 9.99847503e-01 1.68168791e-02 4.70770966e-03 1.16990795e+02] [-1.68160084e-02 9.99858576e-01 -2.24483229e-04 -3.51568923e+00] [-4.71081898e-03 1.45284111e-04 9.99988893e-01 -2.06591423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799999 meters 0.02104092054930153 Centerline is valid? [True, True] Translation: X:117.02, Y:-3.51, Z:-2.07 [[ 9.99808615e-01 1.88926017e-02 5.07973409e-03 1.17020212e+02] [-1.88916187e-02 9.99821508e-01 -2.41432205e-04 -3.51244217e+00] [-5.08338868e-03 1.45421598e-04 9.99987069e-01 -2.06513177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29439141799999 meters 0.02123723451389946 Centerline is valid? [True, True] Translation: X:117.05, Y:-3.51, Z:-2.06 [[ 9.99786891e-01 1.99171156e-02 5.42962483e-03 1.17048568e+02] [-1.99160085e-02 9.99801623e-01 -2.57903116e-04 -3.51177480e+00] [-5.43368441e-03 1.49711701e-04 9.99985226e-01 -2.06472672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799999 meters 0.020061679542360288 Centerline is valid? [True, True] Translation: X:117.08, Y:-3.51, Z:-2.06 [[ 9.99735583e-01 2.21065552e-02 6.32956870e-03 1.17077908e+02] [-2.21050993e-02 9.99755607e-01 -2.99902853e-04 -3.50729467e+00] [-6.33465162e-03 1.59907810e-04 9.99979923e-01 -2.06286669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35439141799999 meters 0.01967664778576476 Centerline is valid? [True, True] Translation: X:117.11, Y:-3.51, Z:-2.06 [[ 9.99710931e-01 2.30941415e-02 6.68693799e-03 1.17106560e+02] [-2.30925426e-02 9.99733282e-01 -3.16222612e-04 -3.50686870e+00] [-6.69245735e-03 1.61712801e-04 9.99977592e-01 -2.06297048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799999 meters 0.01955212097804723 Centerline is valid? [True, True] Translation: X:117.14, Y:-3.51, Z:-2.06 [[ 9.99692625e-01 2.38403696e-02 6.80389369e-03 1.17135580e+02] [-2.38387354e-02 9.99715765e-01 -3.21190688e-04 -3.50685352e+00] [-6.80961710e-03 1.58895741e-04 9.99976802e-01 -2.06334650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414391418 meters 0.019464889990807876 Centerline is valid? [True, True] Translation: X:117.16, Y:-3.51, Z:-2.06 [[ 9.99665963e-01 2.48335678e-02 7.15940512e-03 1.17163460e+02] [-2.48317870e-02 9.99691587e-01 -3.37540644e-04 -3.50645492e+00] [-7.16557940e-03 1.59647070e-04 9.99974314e-01 -2.06367533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444391418 meters 0.019464889990807876 Centerline is valid? [True, True] Translation: X:117.19, Y:-3.51, Z:-2.06 [[ 9.99667861e-01 2.47569998e-02 7.15944804e-03 1.17191745e+02] [-2.47552235e-02 9.99693486e-01 -3.36626231e-04 -3.50770210e+00] [-7.16558742e-03 1.59280688e-04 9.99974314e-01 -2.06418629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474391418 meters 0.019778757212600008 Centerline is valid? [True, True] Translation: X:117.22, Y:-3.51, Z:-2.06 [[ 9.99676189e-01 2.46015434e-02 6.50240294e-03 1.17219269e+02] [-2.46000760e-02 9.99697326e-01 -3.05572442e-04 -3.50759182e+00] [-6.50795238e-03 1.45513888e-04 9.99978812e-01 -2.06459020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504391418 meters 0.019979074097368786 Centerline is valid? [True, True] Translation: X:117.25, Y:-3.51, Z:-2.07 [[ 9.99697142e-01 2.39148066e-02 5.80568683e-03 1.17247958e+02] [-2.39136287e-02 9.99713991e-01 -2.72225546e-04 -3.50867222e+00] [-5.81053658e-03 1.33308061e-04 9.99983110e-01 -2.06542184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534391418 meters 0.020946124340845255 Centerline is valid? [True, True] Translation: X:117.28, Y:-3.51, Z:-2.07 [[ 9.99736107e-01 2.24010683e-02 5.09004157e-03 1.17276002e+02] [-2.24001432e-02 9.99749057e-01 -2.38687137e-04 -3.51056449e+00] [-5.09411111e-03 1.24606489e-04 9.99987017e-01 -2.06658921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564391418 meters 0.02093414738540585 Centerline is valid? [True, True] Translation: X:117.30, Y:-3.51, Z:-2.07 [[ 9.99742297e-01 2.21711680e-02 4.87630322e-03 1.17304695e+02] [-2.21703194e-02 9.99754182e-01 -2.28020164e-04 -3.51210144e+00] [-4.88016001e-03 1.19852203e-04 9.99988085e-01 -2.06734120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59439141799999 meters 0.02146814456299324 Centerline is valid? [True, True] Translation: X:117.33, Y:-3.51, Z:-2.07 [[ 9.99736261e-01 2.25270858e-02 4.46520304e-03 1.17331959e+02] [-2.25263777e-02 9.99746227e-01 -2.08819906e-04 -3.51336479e+00] [-4.46877399e-03 1.08179982e-04 9.99990009e-01 -2.06877436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799999 meters 0.021148144665456472 Centerline is valid? [True, True] Translation: X:117.36, Y:-3.51, Z:-2.07 [[ 9.99716034e-01 2.34397678e-02 4.29295914e-03 1.17360571e+02] [-2.34391242e-02 9.99725246e-01 -2.00162138e-04 -3.51333695e+00] [-4.29647139e-03 9.94820961e-05 9.99990765e-01 -2.06928880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65439141799999 meters 0.018735958747479527 Centerline is valid? [True, True] Translation: X:117.39, Y:-3.51, Z:-2.07 [[ 9.99683805e-01 2.48462991e-02 3.86676111e-03 1.17389452e+02] [-2.48457876e-02 9.99691280e-01 -1.80250529e-04 -3.50851718e+00] [-3.87004592e-03 8.41208090e-05 9.99992508e-01 -2.06722356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799999 meters 0.01978899520324358 Centerline is valid? [True, True] Translation: X:117.42, Y:-3.51, Z:-2.07 [[ 9.99643939e-01 2.63275986e-02 4.34194783e-03 1.17417565e+02] [-2.63269700e-02 9.99653365e-01 -2.01864829e-04 -3.51162461e+00] [-4.34575738e-03 8.74826226e-05 9.99990553e-01 -2.07015764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71439141799999 meters 0.019226491776598624 Centerline is valid? [True, True] Translation: X:117.45, Y:-3.51, Z:-2.07 [[ 9.99597090e-01 2.80561315e-02 4.30255583e-03 1.17445899e+02] [-2.80555323e-02 9.99606346e-01 -1.99584546e-04 -3.51068053e+00] [-4.30646169e-03 7.87936369e-05 9.99990724e-01 -2.07082198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799999 meters 0.01609286767852717 Centerline is valid? [True, True] Translation: X:117.48, Y:-3.51, Z:-2.07 [[ 9.99489395e-01 3.16079933e-02 4.67808329e-03 1.17475287e+02] [-3.16073253e-02 9.99500340e-01 -2.16675760e-04 -3.50527027e+00] [-4.68259453e-03 6.87034237e-05 9.99989034e-01 -2.06916455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774391418 meters 0.015488165343443702 Centerline is valid? [True, True] Translation: X:117.50, Y:-3.51, Z:-2.07 [[ 9.99454530e-01 3.26740566e-02 4.80093244e-03 1.17503720e+02] [-3.26733672e-02 9.99466058e-01 -2.21973329e-04 -3.50500614e+00] [-4.80562179e-03 6.49896208e-05 9.99988451e-01 -2.06916223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804391418 meters 0.015371037044153987 Centerline is valid? [True, True] Translation: X:117.53, Y:-3.51, Z:-2.07 [[ 9.99429583e-01 3.33896192e-02 5.06370936e-03 1.17531327e+02] [-3.33888627e-02 9.99442409e-01 -2.33881093e-04 -3.50634463e+00] [-5.06869509e-03 6.46761862e-05 9.99987152e-01 -2.06992243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834391418 meters 0.01545789144633673 Centerline is valid? [True, True] Translation: X:117.56, Y:-3.51, Z:-2.07 [[ 9.99443683e-01 3.29518558e-02 5.14776333e-03 1.17560563e+02] [-3.29510723e-02 9.99456938e-01 -2.36959211e-04 -3.50810059e+00] [-5.15277602e-03 6.72030648e-05 9.99986722e-01 -2.07009825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864391418 meters 0.01607633464897682 Centerline is valid? [True, True] Translation: X:117.59, Y:-3.51, Z:-2.07 [[ 9.99474927e-01 3.20237612e-02 4.93443845e-03 1.17587737e+02] [-3.20230306e-02 9.99487105e-01 -2.27030030e-04 -3.51094900e+00] [-4.93917796e-03 6.88951492e-05 9.99987800e-01 -2.07141760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894391418 meters 0.016358025743841185 Centerline is valid? [True, True] Translation: X:117.62, Y:-3.51, Z:-2.07 [[ 9.99567824e-01 2.90348411e-02 4.59807557e-03 1.17616300e+02] [-2.90341777e-02 9.99578397e-01 -2.10978815e-04 -3.51361216e+00] [-4.60226275e-03 7.73862917e-05 9.99989407e-01 -2.07075758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924391418 meters 0.01684718846574863 Centerline is valid? [True, True] Translation: X:117.65, Y:-3.52, Z:-2.07 [[ 9.99619398e-01 2.72042556e-02 4.58130295e-03 1.17645106e+02] [-2.72035795e-02 9.99629892e-01 -2.09838932e-04 -3.51638707e+00] [-4.58531589e-03 8.51312280e-05 9.99989484e-01 -2.07103919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95439141799999 meters 0.018154464034797452 Centerline is valid? [True, True] Translation: X:117.67, Y:-3.52, Z:-2.07 [[ 9.99679146e-01 2.48587577e-02 4.86291240e-03 1.17672181e+02] [-2.48579699e-02 9.99690968e-01 -2.22389107e-04 -3.52054150e+00] [-4.86693793e-03 1.01435623e-04 9.99988151e-01 -2.07202131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799999 meters 0.01869488114017297 Centerline is valid? [True, True] Translation: X:117.70, Y:-3.52, Z:-2.07 [[ 9.99739027e-01 2.22340104e-02 5.24666841e-03 1.17700773e+02] [-2.22330612e-02 9.99752786e-01 -2.39173846e-04 -3.52348461e+00] [-5.25068916e-03 1.22461928e-04 9.99986208e-01 -2.07206360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01439141799999 meters 0.02092132435913127 Centerline is valid? [True, True] Translation: X:117.73, Y:-3.53, Z:-2.07 [[ 9.99842631e-01 1.70356033e-02 4.94981610e-03 1.17729658e+02] [-1.70346977e-02 9.99854874e-01 -2.25057451e-04 -3.52951385e+00] [-4.95293174e-03 1.40703413e-04 9.99987724e-01 -2.07372720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799999 meters 0.022916700802123328 Centerline is valid? [True, True] Translation: X:117.76, Y:-3.53, Z:-2.08 [[ 9.99879721e-01 1.48014563e-02 4.63253758e-03 1.17757793e+02] [-1.48006402e-02 9.99890442e-01 -2.10414446e-04 -3.53427335e+00] [-4.63514449e-03 1.41824616e-04 9.99989248e-01 -2.07528417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07439141799999 meters 0.023286666455810782 Centerline is valid? [True, True] Translation: X:117.79, Y:-3.54, Z:-2.08 [[ 9.99913003e-01 1.22600922e-02 4.86587094e-03 1.17786827e+02] [-1.22591634e-02 9.99924829e-01 -2.20667103e-04 -3.53586048e+00] [-4.86821057e-03 1.60996399e-04 9.99988137e-01 -2.07551170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799999 meters 0.024409099297978566 Centerline is valid? [True, True] Translation: X:117.82, Y:-3.54, Z:-2.08 [[ 9.99930949e-01 1.06274434e-02 5.01546029e-03 1.17815703e+02] [-1.06264383e-02 9.99943512e-01 -2.26998453e-04 -3.53910220e+00] [-5.01758939e-03 1.73686299e-04 9.99987397e-01 -2.07586618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13439141799999 meters 0.02591124694669156 Centerline is valid? [True, True] Translation: X:117.85, Y:-3.54, Z:-2.08 [[ 9.99954689e-01 7.38019029e-03 6.01274719e-03 1.17845698e+02] [-7.37869232e-03 9.99972740e-01 -2.71278627e-04 -3.54206683e+00] [-6.01458537e-03 2.26900123e-04 9.99981886e-01 -2.07565404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164391418 meters 0.026230929383369028 Centerline is valid? [True, True] Translation: X:117.88, Y:-3.54, Z:-2.08 [[ 9.99956135e-01 6.73207938e-03 6.51203651e-03 1.17877200e+02] [-6.73031405e-03 9.99977308e-01 -2.92964301e-04 -3.54382177e+00] [-6.51386100e-03 2.49123400e-04 9.99978754e-01 -2.07577238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194391418 meters 0.026486032983595375 Centerline is valid? [True, True] Translation: X:117.91, Y:-3.55, Z:-2.08 [[ 9.99958319e-01 6.42618891e-03 6.48574935e-03 1.17908674e+02] [-6.42442972e-03 9.99979320e-01 -2.92036226e-04 -3.54525305e+00] [-6.48749191e-03 2.50356813e-04 9.99978925e-01 -2.07613058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224391418 meters 0.026530928545538988 Centerline is valid? [True, True] Translation: X:117.94, Y:-3.55, Z:-2.08 [[ 9.99944702e-01 7.48363391e-03 7.38839352e-03 1.17939477e+02] [-7.48137689e-03 9.99971959e-01 -3.33074080e-04 -3.54500674e+00] [-7.39067895e-03 2.77780305e-04 9.99972650e-01 -2.07614189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254391418 meters 0.0262700824856729 Centerline is valid? [True, True] Translation: X:117.97, Y:-3.54, Z:-2.08 [[ 9.99928042e-01 9.12787313e-03 7.78407987e-03 1.17971066e+02] [-9.12543188e-03 9.99958301e-01 -3.49081652e-04 -3.54473221e+00] [-7.78694166e-03 2.78023442e-04 9.99969643e-01 -2.07628730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284391418 meters 0.025433750300349122 Centerline is valid? [True, True] Translation: X:118.00, Y:-3.54, Z:-2.08 [[ 9.99906465e-01 1.10197081e-02 8.10108906e-03 1.18002392e+02] [-1.10170908e-02 9.99939242e-01 -3.67633368e-04 -3.54350598e+00] [-8.10464807e-03 2.78348548e-04 9.99967118e-01 -2.07619045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314391418 meters 0.025433750300349122 Centerline is valid? [True, True] Translation: X:118.03, Y:-3.54, Z:-2.08 [[ 9.99906042e-01 1.10580206e-02 8.10107492e-03 1.18033219e+02] [-1.10554021e-02 9.99938819e-01 -3.67944458e-04 -3.54494776e+00] [-8.10464803e-03 2.78349246e-04 9.99967118e-01 -2.07674668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799999 meters 0.02210905014432399 Centerline is valid? [True, True] Translation: X:118.06, Y:-3.54, Z:-2.08 [[ 9.99834665e-01 1.58530577e-02 8.90640827e-03 1.18064433e+02] [-1.58500775e-02 9.99874298e-01 -4.05102947e-04 -3.53928078e+00] [-8.91171084e-03 2.63868707e-04 9.99960255e-01 -2.07596993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37439141799999 meters 0.02145396793599832 Centerline is valid? [True, True] Translation: X:118.09, Y:-3.54, Z:-2.08 [[ 9.99778225e-01 1.87907158e-02 9.50843506e-03 1.18094330e+02] [-1.87874482e-02 9.99823407e-01 -4.32864416e-04 -3.53913089e+00] [-9.51488976e-03 2.54129186e-04 9.99954700e-01 -2.07659746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799999 meters 0.018139851207724635 Centerline is valid? [True, True] Translation: X:118.12, Y:-3.53, Z:-2.08 [[ 9.99645901e-01 2.48507422e-02 9.51380964e-03 1.18124286e+02] [-2.48477419e-02 9.99691153e-01 -4.33444990e-04 -3.53264340e+00] [-9.52164276e-03 1.96894821e-04 9.99954649e-01 -2.07718961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43439141799999 meters 0.017083959843420045 Centerline is valid? [True, True] Translation: X:118.15, Y:-3.53, Z:-2.08 [[ 9.99573064e-01 2.76788546e-02 9.35789879e-03 1.18153441e+02] [-2.76760759e-02 9.99616853e-01 -4.26322706e-04 -3.53079429e+00] [-9.36611347e-03 1.67150776e-04 9.99956123e-01 -2.07831267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799999 meters 0.016255277269813212 Centerline is valid? [True, True] Translation: X:118.18, Y:-3.53, Z:-2.08 [[ 9.99503728e-01 3.01284905e-02 9.19633992e-03 1.18182035e+02] [-3.01259170e-02 9.99546024e-01 -4.18264719e-04 -3.52851565e+00] [-9.20476669e-03 1.41008972e-04 9.99957625e-01 -2.07924283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49439141799999 meters 0.01581462546955152 Centerline is valid? [True, True] Translation: X:118.21, Y:-3.53, Z:-2.08 [[ 9.99438288e-01 3.22825204e-02 8.99703109e-03 1.18210341e+02] [-3.22801491e-02 9.99478777e-01 -4.08688934e-04 -3.52708361e+00] [-9.00553514e-03 1.18033864e-04 9.99959442e-01 -2.08017672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524391418 meters 0.015274535895731233 Centerline is valid? [True, True] Translation: X:118.24, Y:-3.52, Z:-2.08 [[ 9.99352131e-01 3.50306232e-02 8.25670949e-03 1.18238211e+02] [-3.50287251e-02 9.99386236e-01 -3.74440137e-04 -3.52383864e+00] [-8.26475869e-03 8.49755417e-05 9.99965843e-01 -2.08162798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554391418 meters 0.01515461632248131 Centerline is valid? [True, True] Translation: X:118.27, Y:-3.52, Z:-2.08 [[ 9.99335906e-01 3.55986742e-02 7.77701719e-03 1.18266127e+02] [-3.55970133e-02 9.99366164e-01 -3.51925434e-04 -3.52378930e+00] [-7.78461591e-03 7.48531381e-05 9.99969697e-01 -2.08248637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584391418 meters 0.015205564004147479 Centerline is valid? [True, True] Translation: X:118.29, Y:-3.52, Z:-2.08 [[ 9.99338090e-01 3.54775141e-02 8.04538712e-03 1.18293903e+02] [-3.54757394e-02 9.99370472e-01 -3.63237798e-04 -3.52364508e+00] [-8.05320910e-03 7.75813108e-05 9.99967569e-01 -2.08270474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614391418 meters 0.015008834878132824 Centerline is valid? [True, True] Translation: X:118.32, Y:-3.52, Z:-2.08 [[ 9.99358240e-01 3.48373947e-02 8.33448066e-03 1.18321471e+02] [-3.48354728e-02 9.99392990e-01 -3.75700972e-04 -3.52323946e+00] [-8.34251000e-03 8.51242881e-05 9.99965197e-01 -2.08184433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644391418 meters 0.015173404518317777 Centerline is valid? [True, True] Translation: X:118.35, Y:-3.52, Z:-2.08 [[ 9.99380620e-01 3.40343315e-02 8.94651402e-03 1.18349214e+02] [-3.40320958e-02 9.99420660e-01 -4.02060147e-04 -3.52363394e+00] [-8.95501479e-03 9.73424965e-05 9.99959898e-01 -2.08186463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674391418 meters 0.015264192600722188 Centerline is valid? [True, True] Translation: X:118.38, Y:-3.52, Z:-2.08 [[ 9.99395965e-01 3.34557036e-02 9.40328436e-03 1.18377034e+02] [-3.34532211e-02 9.99440196e-01 -4.21213774e-04 -3.52462763e+00] [-9.41211237e-03 1.06389195e-04 9.99955699e-01 -2.08201689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters 0.015382898884997998 Centerline is valid? [True, True] Translation: X:118.41, Y:-3.53, Z:-2.08 [[ 9.99411385e-01 3.29162223e-02 9.66466998e-03 1.18405890e+02] [-3.29135876e-02 9.99458108e-01 -4.31574211e-04 -3.52546843e+00] [-9.67363857e-03 1.13221218e-04 9.99953203e-01 -2.08200992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73439141799999 meters 0.015217326480077713 Centerline is valid? [True, True] Translation: X:118.43, Y:-3.53, Z:-2.08 [[ 9.99440531e-01 3.17797941e-02 1.04244573e-02 1.18434323e+02] [-3.17766766e-02 9.99494886e-01 -4.64590162e-04 -3.52567682e+00] [-1.04339563e-02 1.33075631e-04 9.99945556e-01 -2.08155114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799999 meters 0.015358316594956374 Centerline is valid? [True, True] Translation: X:118.46, Y:-3.53, Z:-2.08 [[ 9.99454733e-01 3.11220332e-02 1.10297472e-02 1.18461888e+02] [-3.11185127e-02 9.99515581e-01 -4.90697593e-04 -3.52769901e+00] [-1.10396757e-02 1.47200705e-04 9.99939050e-01 -2.08237232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79439141799999 meters 0.01650017631530559 Centerline is valid? [True, True] Translation: X:118.49, Y:-3.53, Z:-2.08 [[ 9.99514843e-01 2.91009128e-02 1.11002455e-02 1.18489271e+02] [-2.90972356e-02 9.99576464e-01 -4.92663963e-04 -3.53274964e+00] [-1.11098812e-02 1.69438485e-04 9.99938269e-01 -2.08380447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799999 meters 0.0166419961117943 Centerline is valid? [True, True] Translation: X:118.52, Y:-3.53, Z:-2.08 [[ 9.99548831e-01 2.75788805e-02 1.18970575e-02 1.18517486e+02] [-2.75745648e-02 9.99619611e-01 -5.26667330e-04 -3.53492811e+00] [-1.19070569e-02 1.98373531e-04 9.99929089e-01 -2.08380466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85439141799999 meters 0.016990557069663972 Centerline is valid? [True, True] Translation: X:118.55, Y:-3.54, Z:-2.08 [[ 9.99600224e-01 2.55034375e-02 1.22052219e-02 1.18546532e+02] [-2.54987574e-02 9.99674709e-01 -5.38939301e-04 -3.53742877e+00] [-1.22149964e-02 2.27505854e-04 9.99925368e-01 -2.08358636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799999 meters 0.018369859979989717 Centerline is valid? [True, True] Translation: X:118.57, Y:-3.54, Z:-2.08 [[ 9.99676785e-01 2.20383614e-02 1.26742681e-02 1.18574398e+02] [-2.20330548e-02 9.99757087e-01 -5.58191730e-04 -3.54292481e+00] [-1.26834910e-02 2.78758470e-04 9.99919522e-01 -2.08347268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914391418 meters 0.01886175986682269 Centerline is valid? [True, True] Translation: X:118.60, Y:-3.55, Z:-2.08 [[ 9.99716092e-01 2.04707072e-02 1.21936779e-02 1.18604200e+02] [-2.04656787e-02 9.99790412e-01 -5.37034509e-04 -3.54633069e+00] [-1.22021157e-02 2.87330146e-04 9.99925510e-01 -2.08403634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944391418 meters 0.019479249731912136 Centerline is valid? [True, True] Translation: X:118.63, Y:-3.55, Z:-2.09 [[ 9.99739679e-01 1.94362929e-02 1.19500950e-02 1.18634106e+02] [-1.94313965e-02 9.99811054e-01 -5.25720432e-04 -3.54954771e+00] [-1.19580552e-02 2.93376541e-04 9.99928457e-01 -2.08513869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974391418 meters 0.01912061801091287 Centerline is valid? [True, True] Translation: X:118.66, Y:-3.55, Z:-2.09 [[ 9.99755851e-01 1.86191068e-02 1.18982311e-02 1.18664683e+02] [-1.86141992e-02 9.99826604e-01 -5.23081893e-04 -3.55099217e+00] [-1.19059073e-02 3.01478139e-04 9.99929077e-01 -2.08586057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004391418 meters 0.019613487873606485 Centerline is valid? [True, True] Translation: X:118.69, Y:-3.55, Z:-2.09 [[ 9.99759007e-01 1.89222268e-02 1.11300125e-02 1.18693621e+02] [-1.89179497e-02 9.99820920e-01 -4.89448880e-04 -3.55461071e+00] [-1.11372808e-02 2.78773910e-04 9.99937940e-01 -2.08745551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034391418 meters 0.019227220824830183 Centerline is valid? [True, True] Translation: X:118.72, Y:-3.56, Z:-2.09 [[ 9.99742721e-01 1.97186958e-02 1.12100707e-02 1.18723593e+02] [-1.97144081e-02 9.99805531e-01 -4.92872582e-04 -3.55611099e+00] [-1.12176095e-02 2.71745867e-04 9.99937044e-01 -2.08839006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064391418 meters 0.019051089200726422 Centerline is valid? [True, True] Translation: X:118.75, Y:-3.56, Z:-2.09 [[ 9.99718148e-01 2.11007693e-02 1.08803442e-02 1.18752805e+02] [-2.10968217e-02 9.99777323e-01 -4.77472332e-04 -3.55775992e+00] [-1.08879965e-02 2.47797072e-04 9.99940693e-01 -2.08931084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09439141799999 meters 0.017433569829319394 Centerline is valid? [True, True] Translation: X:118.78, Y:-3.56, Z:-2.09 [[ 9.99635533e-01 2.47872134e-02 1.06955620e-02 1.18782797e+02] [-2.47836012e-02 9.99692729e-01 -4.70159378e-04 -3.55652009e+00] [-1.07039295e-02 2.04913477e-04 9.99942690e-01 -2.08965003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799999 meters 0.01633024793488074 Centerline is valid? [True, True] Translation: X:118.81, Y:-3.56, Z:-2.09 [[ 9.99580879e-01 2.70720280e-02 1.02552783e-02 1.18811406e+02] [-2.70688278e-02 9.99633471e-01 -4.50748484e-04 -3.55573545e+00] [-1.02637221e-02 1.72961202e-04 9.99947312e-01 -2.08983169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15439141799999 meters 0.015241513788745107 Centerline is valid? [True, True] Translation: X:118.84, Y:-3.55, Z:-2.09 [[ 9.99423862e-01 3.20783178e-02 1.10871609e-02 1.18839828e+02] [-3.20748968e-02 9.99485350e-01 -4.86274908e-04 -3.55449877e+00] [-1.10970537e-02 1.30375207e-04 9.99938417e-01 -2.08978647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799999 meters 0.014826187706777776 Centerline is valid? [True, True] Translation: X:118.87, Y:-3.55, Z:-2.09 [[ 9.99359327e-01 3.40570277e-02 1.10024400e-02 1.18868311e+02] [-3.40537886e-02 9.99419885e-01 -4.81668886e-04 -3.55429525e+00] [-1.10124615e-02 1.06685530e-04 9.99939355e-01 -2.08984961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21439141799999 meters 0.0159311642652811 Centerline is valid? [True, True] Translation: X:118.90, Y:-3.55, Z:-2.09 [[ 9.99266167e-01 3.64417307e-02 1.17952825e-02 1.18896480e+02] [-3.64381850e-02 9.99335776e-01 -5.15441883e-04 -3.55462376e+00] [-1.18062314e-02 8.52649480e-05 9.99930300e-01 -2.09105881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799999 meters 0.014160900709878277 Centerline is valid? [True, True] Translation: X:118.92, Y:-3.56, Z:-2.09 [[ 9.99198023e-01 3.82416038e-02 1.18697048e-02 1.18924992e+02] [-3.82381558e-02 9.99268520e-01 -5.17378211e-04 -3.55504502e+00] [-1.18808078e-02 6.30876624e-05 9.99929419e-01 -2.08997038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274391418 meters 0.014029769377841958 Centerline is valid? [True, True] Translation: X:118.95, Y:-3.56, Z:-2.09 [[ 9.99195477e-01 3.84327536e-02 1.14595471e-02 1.18952728e+02] [-3.84295592e-02 9.99261187e-01 -4.98902010e-04 -3.55678099e+00] [-1.14702548e-02 5.81152900e-05 9.99934213e-01 -2.09024828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304391418 meters 0.014068075786477162 Centerline is valid? [True, True] Translation: X:118.98, Y:-3.56, Z:-2.09 [[ 9.99204386e-01 3.80128100e-02 1.20673582e-02 1.18980825e+02] [-3.80092563e-02 9.99277250e-01 -5.23776020e-04 -3.55907512e+00] [-1.20785467e-02 6.46879870e-05 9.99927050e-01 -2.09081108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334391418 meters 0.014295027172967618 Centerline is valid? [True, True] Translation: X:119.01, Y:-3.56, Z:-2.09 [[ 9.99277466e-01 3.59061579e-02 1.24617061e-02 1.19007912e+02] [-3.59022243e-02 9.99355162e-01 -5.39300338e-04 -3.56454820e+00] [-1.24730345e-02 9.15077081e-05 9.99922204e-01 -2.09141119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364391418 meters 0.014409379629365253 Centerline is valid? [True, True] Translation: X:119.04, Y:-3.57, Z:-2.09 [[ 9.99332208e-01 3.42780411e-02 1.26552144e-02 1.19036852e+02] [-3.42738762e-02 9.99412329e-01 -5.45905571e-04 -3.56835675e+00] [-1.26664898e-02 1.11797770e-04 9.99919771e-01 -2.09177939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394391418 meters 0.014655364028023098 Centerline is valid? [True, True] Translation: X:119.07, Y:-3.57, Z:-2.09 [[ 9.99393889e-01 3.23798241e-02 1.27828632e-02 1.19065179e+02] [-3.23754329e-02 9.99475627e-01 -5.50358316e-04 -3.57253220e+00] [-1.27939807e-02 1.36174009e-04 9.99918144e-01 -2.09234586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424391418 meters 0.014762410071347511 Centerline is valid? [True, True] Translation: X:119.09, Y:-3.58, Z:-2.09 [[ 9.99454434e-01 3.04199180e-02 1.28632431e-02 1.19093802e+02] [-3.04153226e-02 9.99537194e-01 -5.52775927e-04 -3.57638571e+00] [-1.28741053e-02 1.61234664e-04 9.99917112e-01 -2.09248674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45439141799999 meters 0.016155823084070344 Centerline is valid? [True, True] Translation: X:119.12, Y:-3.58, Z:-2.09 [[ 9.99571199e-01 2.61689094e-02 1.31379346e-02 1.19121975e+02] [-2.61637645e-02 9.99657511e-01 -5.63358623e-04 -3.58442018e+00] [-1.31481775e-02 2.19379226e-04 9.99913535e-01 -2.09351601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799999 meters 0.016700158490698988 Centerline is valid? [True, True] Translation: X:119.15, Y:-3.59, Z:-2.09 [[ 9.99623953e-01 2.40914287e-02 1.30979573e-02 1.19151252e+02] [-2.40861487e-02 9.99709729e-01 -5.60740559e-04 -3.58888825e+00] [-1.31076644e-02 2.45050348e-04 9.99914061e-01 -2.09392585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51439141799999 meters 0.018548498035300943 Centerline is valid? [True, True] Translation: X:119.18, Y:-3.60, Z:-2.10 [[ 9.99670393e-01 2.21596665e-02 1.29635709e-02 1.19180277e+02] [-2.21543400e-02 9.99754409e-01 -5.54365465e-04 -3.59559871e+00] [-1.29726717e-02 2.66983384e-04 9.99915816e-01 -2.09541374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799999 meters 0.020181445625064045 Centerline is valid? [True, True] Translation: X:119.21, Y:-3.60, Z:-2.10 [[ 9.99727307e-01 1.93810021e-02 1.30264820e-02 1.19209740e+02] [-1.93753927e-02 9.99812124e-01 -5.56691719e-04 -3.60350777e+00] [-1.30348239e-02 3.04146708e-04 9.99914997e-01 -2.09676090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57439141799999 meters 0.018830720791942212 Centerline is valid? [True, True] Translation: X:119.24, Y:-3.60, Z:-2.10 [[ 9.99746122e-01 1.84952926e-02 1.28691381e-02 1.19240890e+02] [-1.84897472e-02 9.99828899e-01 -5.49759777e-04 -3.60431900e+00] [-1.28771041e-02 3.11673095e-04 9.99917038e-01 -2.09713462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799999 meters 0.0192519161005944 Centerline is valid? [True, True] Translation: X:119.27, Y:-3.61, Z:-2.10 [[ 9.99755937e-01 1.84183623e-02 1.21995809e-02 1.19271970e+02] [-1.84133834e-02 9.99830324e-01 -5.20332447e-04 -3.60948806e+00] [-1.22070946e-02 2.95569893e-04 9.99925447e-01 -2.09899919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63439141799999 meters 0.019644075993519666 Centerline is valid? [True, True] Translation: X:119.30, Y:-3.61, Z:-2.10 [[ 9.99750654e-01 1.89853223e-02 1.17552765e-02 1.19302561e+02] [-1.89806868e-02 9.99819723e-01 -5.05781431e-04 -3.61252645e+00] [-1.17627597e-02 2.82532096e-04 9.99930776e-01 -2.10019151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664391418 meters 0.018153264411373552 Centerline is valid? [True, True] Translation: X:119.33, Y:-3.61, Z:-2.10 [[ 9.99700355e-01 2.13900401e-02 1.19023976e-02 1.19333072e+02] [-2.13854539e-02 9.99771174e-01 -5.12471191e-04 -3.61224154e+00] [-1.19106358e-02 2.57779456e-04 9.99929033e-01 -2.10045795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694391418 meters 0.017477764572137164 Centerline is valid? [True, True] Translation: X:119.36, Y:-3.61, Z:-2.10 [[ 9.99660296e-01 2.29379426e-02 1.23750799e-02 1.19363714e+02] [-2.29331034e-02 9.99736860e-01 -5.32823059e-04 -3.61345166e+00] [-1.23840453e-02 2.48843071e-04 9.99923284e-01 -2.10054331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724391418 meters 0.016664458430754862 Centerline is valid? [True, True] Translation: X:119.39, Y:-3.61, Z:-2.10 [[ 9.99610593e-01 2.47797350e-02 1.28306938e-02 1.19394486e+02] [-2.47746846e-02 9.99692908e-01 -5.52440033e-04 -3.61397501e+00] [-1.28404429e-02 2.34348518e-04 9.99917531e-01 -2.10046011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754391418 meters 0.01629892745958402 Centerline is valid? [True, True] Translation: X:119.42, Y:-3.62, Z:-2.10 [[ 9.99556833e-01 2.67541325e-02 1.30519775e-02 1.19424069e+02] [-2.67490733e-02 9.99642022e-01 -5.62067794e-04 -3.61525121e+00] [-1.30623428e-02 2.12690401e-04 9.99914661e-01 -2.10071983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784391418 meters 0.015711057114562298 Centerline is valid? [True, True] Translation: X:119.45, Y:-3.62, Z:-2.10 [[ 9.99501382e-01 2.86798563e-02 1.32080514e-02 1.19454147e+02] [-2.86748457e-02 9.99588630e-01 -5.68612732e-04 -3.61584324e+00] [-1.32189258e-02 1.89590374e-04 9.99912608e-01 -2.10137232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814391418 meters 0.014956658623889648 Centerline is valid? [True, True] Translation: X:119.48, Y:-3.62, Z:-2.10 [[ 9.99431433e-01 3.11117402e-02 1.29950513e-02 1.19483843e+02] [-3.11071021e-02 9.99515901e-01 -5.58937806e-04 -3.61636266e+00] [-1.30061499e-02 1.54381625e-04 9.99915405e-01 -2.10206840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799999 meters 0.015044480835887284 Centerline is valid? [True, True] Translation: X:119.51, Y:-3.62, Z:-2.10 [[ 9.99423238e-01 3.14595640e-02 1.27861773e-02 1.19512283e+02] [-3.14551060e-02 9.99505015e-01 -5.49657704e-04 -3.61775785e+00] [-1.27971403e-02 1.47150121e-04 9.99918102e-01 -2.10295883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87439141799999 meters 0.014919325760223354 Centerline is valid? [True, True] Translation: X:119.54, Y:-3.62, Z:-2.10 [[ 9.99424630e-01 3.15428741e-02 1.24682166e-02 1.19541289e+02] [-3.15386551e-02 9.99502390e-01 -5.34906284e-04 -3.61989128e+00] [-1.24788848e-02 1.41367732e-04 9.99922126e-01 -2.10364529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799999 meters 0.015351090841954459 Centerline is valid? [True, True] Translation: X:119.57, Y:-3.62, Z:-2.11 [[ 9.99490409e-01 2.97715775e-02 1.15141069e-02 1.19569908e+02] [-2.97678676e-02 9.99556717e-01 -4.93493735e-04 -3.62422955e+00] [-1.15236950e-02 1.50491846e-04 9.99933589e-01 -2.10538728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93439141799999 meters 0.015874290895431745 Centerline is valid? [True, True] Translation: X:119.60, Y:-3.63, Z:-2.11 [[ 9.99531118e-01 2.82998046e-02 1.16903511e-02 1.19598195e+02] [-2.82958907e-02 9.99599466e-01 -5.00095016e-04 -3.62796929e+00] [-1.16998213e-02 1.69071633e-04 9.99931540e-01 -2.10615435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799999 meters 0.01630266068766634 Centerline is valid? [True, True] Translation: X:119.63, Y:-3.63, Z:-2.11 [[ 9.99575353e-01 2.65671355e-02 1.19708242e-02 1.19627886e+02] [-2.65629218e-02 9.99647013e-01 -5.10879883e-04 -3.63164177e+00] [-1.19801713e-02 1.92682872e-04 9.99928217e-01 -2.10661733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99439141799999 meters 0.016661025195471715 Centerline is valid? [True, True] Translation: X:119.66, Y:-3.63, Z:-2.11 [[ 9.99622490e-01 2.46438085e-02 1.21474289e-02 1.19657190e+02] [-2.46393336e-02 9.99696271e-01 -5.17930805e-04 -3.63492814e+00] [-1.21565032e-02 2.18430728e-04 9.99926083e-01 -2.10700968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024391418 meters 0.01758380407680571 Centerline is valid? [True, True] Translation: X:119.69, Y:-3.64, Z:-2.11 [[ 9.99662908e-01 2.26953863e-02 1.26091380e-02 1.19686908e+02] [-2.26904180e-02 9.99742395e-01 -5.36966853e-04 -3.63947558e+00] [-1.26180765e-02 2.50679235e-04 9.99920357e-01 -2.10777660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054391418 meters 0.01935476211847375 Centerline is valid? [True, True] Translation: X:119.72, Y:-3.65, Z:-2.11 [[ 9.99722813e-01 1.91711349e-02 1.36661952e-02 1.19717358e+02] [-1.91649759e-02 9.99816166e-01 -5.81503350e-04 -3.64690919e+00] [-1.36748310e-02 3.19429863e-04 9.99906444e-01 -2.10760310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084391418 meters 0.020586226691519518 Centerline is valid? [True, True] Translation: X:119.75, Y:-3.65, Z:-2.11 [[ 9.99741077e-01 1.77034061e-02 1.42957514e-02 1.19748546e+02] [-1.76965246e-02 9.99843220e-01 -6.07734331e-04 -3.65138891e+00] [-1.43042691e-02 3.54591859e-04 9.99897626e-01 -2.10783102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114391418 meters 0.020070719017445136 Centerline is valid? [True, True] Translation: X:119.78, Y:-3.65, Z:-2.11 [[ 9.99754382e-01 1.64444286e-02 1.48578857e-02 1.19780777e+02] [-1.64367997e-02 9.99864705e-01 -6.35430418e-04 -3.65293047e+00] [-1.48663248e-02 3.91058254e-04 9.99889414e-01 -2.10746798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144391418 meters 0.021413803227203574 Centerline is valid? [True, True] Translation: X:119.81, Y:-3.66, Z:-2.11 [[ 9.99774294e-01 1.41427183e-02 1.58538425e-02 1.19812749e+02] [-1.41336674e-02 9.99899882e-01 -6.82798115e-04 -3.65810924e+00] [-1.58619118e-02 4.58571067e-04 9.99874087e-01 -2.10847688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174391418 meters 0.021924942598247097 Centerline is valid? [True, True] Translation: X:119.85, Y:-3.66, Z:-2.11 [[ 9.99791305e-01 1.28882265e-02 1.58505459e-02 1.19845118e+02] [-1.28789511e-02 9.99916827e-01 -6.87121511e-04 -3.66179991e+00] [-1.58580833e-02 4.82839708e-04 9.99874136e-01 -2.10906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799999 meters 0.021924942598247097 Centerline is valid? [True, True] Translation: X:119.88, Y:-3.66, Z:-2.11 [[ 9.99787113e-01 1.32096223e-02 1.58503555e-02 1.19877686e+02] [-1.32003181e-02 9.99912633e-01 -6.91483902e-04 -3.66336206e+00] [-1.58581049e-02 4.82106960e-04 9.99874136e-01 -2.10965149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23439141799999 meters 0.022429314509422697 Centerline is valid? [True, True] Translation: X:119.91, Y:-3.67, Z:-2.11 [[ 9.99785688e-01 1.28317448e-02 1.62457336e-02 1.19909964e+02] [-1.28218321e-02 9.99917542e-01 -7.14183984e-04 -3.66685135e+00] [-1.62535582e-02 5.05730858e-04 9.99867774e-01 -2.11068948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799999 meters 0.023342951857654816 Centerline is valid? [True, True] Translation: X:119.94, Y:-3.67, Z:-2.11 [[ 9.99797946e-01 1.20911869e-02 1.60583526e-02 1.19941340e+02] [-1.20813343e-02 9.99926766e-01 -7.10423363e-04 -3.67153465e+00] [-1.60657664e-02 5.16273493e-04 9.99870804e-01 -2.11231085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29439141799999 meters 0.022357898079957344 Centerline is valid? [True, True] Translation: X:119.97, Y:-3.67, Z:-2.11 [[ 9.99793894e-01 1.22300986e-02 1.62047835e-02 1.19974225e+02] [-1.22200173e-02 9.99925073e-01 -7.20996764e-04 -3.67192998e+00] [-1.62123871e-02 5.22825428e-04 9.99868434e-01 -2.11301840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799999 meters 0.022258786591847487 Centerline is valid? [True, True] Translation: X:120.01, Y:-3.67, Z:-2.11 [[ 9.99788045e-01 1.27095254e-02 1.61966957e-02 1.20007318e+02] [-1.26994312e-02 9.99919095e-01 -7.25931781e-04 -3.67379831e+00] [-1.62046115e-02 5.20089095e-04 9.99868561e-01 -2.11344432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35439141799999 meters 0.02307330131286087 Centerline is valid? [True, True] Translation: X:120.04, Y:-3.68, Z:-2.11 [[ 9.99780047e-01 1.36770317e-02 1.58995471e-02 1.20037962e+02] [-1.36673435e-02 9.99906340e-01 -7.17843655e-04 -3.67717249e+00] [-1.59078760e-02 5.00381191e-04 9.99873337e-01 -2.11425836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799999 meters 0.022762044390634326 Centerline is valid? [True, True] Translation: X:120.07, Y:-3.68, Z:-2.11 [[ 9.99768529e-01 1.44224944e-02 1.59649696e-02 1.20070591e+02] [-1.44127485e-02 9.99895868e-01 -7.25348622e-04 -3.67889160e+00] [-1.59737685e-02 4.95081632e-04 9.99872289e-01 -2.11478566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414391418 meters 0.02277898906169697 Centerline is valid? [True, True] Translation: X:120.10, Y:-3.68, Z:-2.12 [[ 9.99755145e-01 1.53251744e-02 1.59621100e-02 1.20102900e+02] [-1.53155275e-02 9.99882447e-01 -7.26439241e-04 -3.68099573e+00] [-1.59713664e-02 4.81793235e-04 9.99872334e-01 -2.11530977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444391418 meters 0.022827484470748456 Centerline is valid? [True, True] Translation: X:120.13, Y:-3.68, Z:-2.12 [[ 9.99740051e-01 1.61763252e-02 1.60672348e-02 1.20133869e+02] [-1.61665883e-02 9.99869041e-01 -7.35722088e-04 -3.68256163e+00] [-1.60770319e-02 4.75778469e-04 9.99870643e-01 -2.11585795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474391418 meters 0.0220717565944905 Centerline is valid? [True, True] Translation: X:120.17, Y:-3.68, Z:-2.12 [[ 9.99699378e-01 1.85071882e-02 1.60821943e-02 1.20166103e+02] [-1.84976689e-02 9.99828629e-01 -7.40477475e-04 -3.68271495e+00] [-1.60931424e-02 4.42771766e-04 9.99870399e-01 -2.11679693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504391418 meters 0.02066094938753213 Centerline is valid? [True, True] Translation: X:120.20, Y:-3.68, Z:-2.12 [[ 9.99671706e-01 1.99390547e-02 1.60908303e-02 1.20198801e+02] [-1.99296406e-02 9.99801107e-01 -7.45216981e-04 -3.68204646e+00] [-1.61024889e-02 4.24287865e-04 9.99870256e-01 -2.11706762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534391418 meters 0.01948471623535805 Centerline is valid? [True, True] Translation: X:120.23, Y:-3.68, Z:-2.12 [[ 9.99632532e-01 2.23445076e-02 1.53468064e-02 1.20230944e+02] [-2.23361657e-02 9.99750261e-01 -7.14767377e-04 -3.68097242e+00] [-1.53589449e-02 3.71715912e-04 9.99881975e-01 -2.11864206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564391418 meters 0.019596714433944156 Centerline is valid? [True, True] Translation: X:120.26, Y:-3.68, Z:-2.12 [[ 9.99600475e-01 2.37770219e-02 1.52821016e-02 1.20262213e+02] [-2.37688510e-02 9.99717224e-01 -7.16101190e-04 -3.68311087e+00] [-1.52948069e-02 3.52577095e-04 9.99882965e-01 -2.11956362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59439141799999 meters 0.01968922038865325 Centerline is valid? [True, True] Translation: X:120.29, Y:-3.68, Z:-2.12 [[ 9.99578514e-01 2.45931381e-02 1.54263663e-02 1.20293534e+02] [-2.45848426e-02 9.99697483e-01 -7.27181409e-04 -3.68456976e+00] [-1.54395832e-02 3.47620126e-04 9.99880742e-01 -2.12019677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799999 meters 0.01891652686301402 Centerline is valid? [True, True] Translation: X:120.32, Y:-3.68, Z:-2.12 [[ 9.99532277e-01 2.61438010e-02 1.58659724e-02 1.20324647e+02] [-2.61351773e-02 9.99658136e-01 -7.50670755e-04 -3.68436079e+00] [-1.58801738e-02 3.35659647e-04 9.99873846e-01 -2.11998308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65439141799999 meters 0.01821573018586239 Centerline is valid? [True, True] Translation: X:120.36, Y:-3.68, Z:-2.12 [[ 9.99503846e-01 2.68982172e-02 1.63873964e-02 1.20356175e+02] [-2.68891078e-02 9.99638121e-01 -7.75997166e-04 -3.68439371e+00] [-1.64023391e-02 3.34969682e-04 9.99865416e-01 -2.11982976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799999 meters 0.01775072584034396 Centerline is valid? [True, True] Translation: X:120.39, Y:-3.68, Z:-2.12 [[ 9.99484473e-01 2.74401301e-02 1.66681737e-02 1.20387184e+02] [-2.74307700e-02 9.99623393e-01 -7.89963353e-04 -3.68461992e+00] [-1.66835730e-02 3.32335268e-04 9.99860764e-01 -2.11976867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71439141799999 meters 0.01784657003603947 Centerline is valid? [True, True] Translation: X:120.42, Y:-3.69, Z:-2.12 [[ 9.99469016e-01 2.78655645e-02 1.68877461e-02 1.20417246e+02] [-2.78560048e-02 9.99611625e-01 -8.01083078e-04 -3.68614290e+00] [-1.69035099e-02 3.30232581e-04 9.99857071e-01 -2.11956296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799999 meters 0.018016422382262337 Centerline is valid? [True, True] Translation: X:120.45, Y:-3.69, Z:-2.12 [[ 9.99438242e-01 2.87074320e-02 1.72940207e-02 1.20447842e+02] [-2.86975276e-02 9.99587804e-01 -8.20649592e-04 -3.68749514e+00] [-1.73104509e-02 3.23892950e-04 9.99850110e-01 -2.11988172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774391418 meters 0.01778012171632285 Centerline is valid? [True, True] Translation: X:120.48, Y:-3.69, Z:-2.12 [[ 9.99429762e-01 2.92149093e-02 1.69304554e-02 1.20479567e+02] [-2.92054595e-02 9.99573105e-01 -8.05187325e-04 -3.68705592e+00] [-1.69467514e-02 3.10266446e-04 9.99856345e-01 -2.12163846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804391418 meters 0.017476271762281927 Centerline is valid? [True, True] Translation: X:120.51, Y:-3.69, Z:-2.12 [[ 9.99442938e-01 2.90163243e-02 1.64883567e-02 1.20510035e+02] [-2.90073233e-02 9.99578891e-01 -7.84845321e-04 -3.68918227e+00] [-1.65041866e-02 3.06125020e-04 9.99863750e-01 -2.12217149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834391418 meters 0.017625489764080765 Centerline is valid? [True, True] Translation: X:120.54, Y:-3.69, Z:-2.12 [[ 9.99449520e-01 2.89173975e-02 1.62616479e-02 1.20540187e+02] [-2.89086234e-02 9.99581758e-01 -7.74412390e-04 -3.69034936e+00] [-1.62772406e-02 3.03884237e-04 9.99867471e-01 -2.12378274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864391418 meters 0.01753641028741053 Centerline is valid? [True, True] Translation: X:120.57, Y:-3.69, Z:-2.12 [[ 9.99457324e-01 2.86906884e-02 1.61834054e-02 1.20570475e+02] [-2.86819689e-02 9.99588291e-01 -7.70686328e-04 -3.69111025e+00] [-1.61988541e-02 3.06096164e-04 9.99868743e-01 -2.12449080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894391418 meters 0.018393937761771874 Centerline is valid? [True, True] Translation: X:120.60, Y:-3.69, Z:-2.13 [[ 9.99463142e-01 2.85144997e-02 1.61353832e-02 1.20601135e+02] [-2.85058095e-02 9.99593332e-01 -7.68361470e-04 -3.69419508e+00] [-1.61507309e-02 3.07996809e-04 9.99869521e-01 -2.12507972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924391418 meters 0.01811146964943718 Centerline is valid? [True, True] Translation: X:120.63, Y:-3.70, Z:-2.12 [[ 9.99465498e-01 2.82219933e-02 1.64996287e-02 1.20631533e+02] [-2.82128602e-02 9.99601629e-01 -7.86080043e-04 -3.69534712e+00] [-1.65152405e-02 3.20158163e-04 9.99863563e-01 -2.12488366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95439141799999 meters 0.01784845223796862 Centerline is valid? [True, True] Translation: X:120.66, Y:-3.70, Z:-2.12 [[ 9.99451451e-01 2.86362056e-02 1.66362253e-02 1.20662546e+02] [-2.86269790e-02 9.99589850e-01 -7.92532942e-04 -3.69652200e+00] [-1.66520971e-02 3.15853326e-04 9.99861294e-01 -2.12497125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799999 meters 0.0178287903543714 Centerline is valid? [True, True] Translation: X:120.69, Y:-3.70, Z:-2.13 [[ 9.99412723e-01 2.98784296e-02 1.67776158e-02 1.20694326e+02] [-2.98692090e-02 9.99553496e-01 -7.99945905e-04 -3.69715133e+00] [-1.67940257e-02 2.98342001e-04 9.99858926e-01 -2.12569248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01439141799999 meters 0.016955052928178192 Centerline is valid? [True, True] Translation: X:120.73, Y:-3.70, Z:-2.13 [[ 9.99384623e-01 3.08054834e-02 1.67748810e-02 1.20725245e+02] [-3.07963842e-02 9.99525358e-01 -8.00545260e-04 -3.69760734e+00] [-1.67915801e-02 2.83446945e-04 9.99858971e-01 -2.12527788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799999 meters 0.015926776542119887 Centerline is valid? [True, True] Translation: X:120.76, Y:-3.70, Z:-2.13 [[ 9.99250034e-01 3.49703074e-02 1.66266828e-02 1.20756184e+02] [-3.49619445e-02 9.99388329e-01 -7.93472820e-04 -3.69605004e+00] [-1.66442607e-02 2.11576582e-04 9.99861452e-01 -2.12578596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07439141799999 meters 0.015420356351743408 Centerline is valid? [True, True] Translation: X:120.79, Y:-3.70, Z:-2.13 [[ 9.99175937e-01 3.71985275e-02 1.62393486e-02 1.20785982e+02] [-3.71908428e-02 9.99307881e-01 -7.75059110e-04 -3.69532611e+00] [-1.62569401e-02 1.70465352e-04 9.99867833e-01 -2.12632366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799999 meters 0.0151594714980961 Centerline is valid? [True, True] Translation: X:120.81, Y:-3.70, Z:-2.13 [[ 9.99091925e-01 3.93894099e-02 1.62418882e-02 1.20814224e+02] [-3.93820223e-02 9.99223927e-01 -7.74562158e-04 -3.69518997e+00] [-1.62597929e-02 1.34220394e-04 9.99867792e-01 -2.12703478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13439141799999 meters 0.014726515056723382 Centerline is valid? [True, True] Translation: X:120.84, Y:-3.70, Z:-2.13 [[ 9.99026104e-01 4.11394434e-02 1.59496011e-02 1.20842573e+02] [-4.11325565e-02 9.99153409e-01 -7.59735583e-04 -3.69519982e+00] [-1.59673534e-02 1.02947810e-04 9.99872508e-01 -2.12801177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164391418 meters 0.01460851802826249 Centerline is valid? [True, True] Translation: X:120.87, Y:-3.70, Z:-2.13 [[ 9.98950926e-01 4.32194443e-02 1.51369396e-02 1.20870461e+02] [-4.32134966e-02 9.99065601e-01 -7.19934770e-04 -3.69642938e+00] [-1.51539109e-02 6.50594156e-05 9.99885171e-01 -2.13007633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194391418 meters 0.014499528080761107 Centerline is valid? [True, True] Translation: X:120.90, Y:-3.70, Z:-2.13 [[ 9.98962251e-01 4.31578970e-02 1.45539458e-02 1.20899416e+02] [-4.31524134e-02 9.99068262e-01 -6.90750308e-04 -3.69836591e+00] [-1.45701967e-02 6.19955949e-05 9.99893847e-01 -2.13113009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224391418 meters 0.014811997378651801 Centerline is valid? [True, True] Translation: X:120.93, Y:-3.70, Z:-2.13 [[ 9.99035919e-01 4.16872575e-02 1.37624789e-02 1.20927486e+02] [-4.16822269e-02 9.99130705e-01 -6.52296143e-04 -3.70194071e+00] [-1.37777076e-02 7.80165101e-05 9.99905080e-01 -2.13270456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254391418 meters 0.01493160207716537 Centerline is valid? [True, True] Translation: X:120.96, Y:-3.70, Z:-2.13 [[ 9.99092846e-01 4.03928574e-02 1.34871264e-02 1.20956683e+02] [-4.03879288e-02 9.99183871e-01 -6.37712265e-04 -3.70436026e+00] [-1.35018782e-02 9.24166609e-05 9.99908841e-01 -2.13338215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284391418 meters 0.015068051367224852 Centerline is valid? [True, True] Translation: X:120.99, Y:-3.71, Z:-2.13 [[ 9.99147706e-01 3.90270390e-02 1.34443845e-02 1.20985102e+02] [-3.90220317e-02 9.99238149e-01 -6.34667430e-04 -3.70637326e+00] [-1.34589111e-02 1.09499308e-04 9.99909419e-01 -2.13327641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314391418 meters 0.015470465289931378 Centerline is valid? [True, True] Translation: X:121.01, Y:-3.71, Z:-2.13 [[ 9.99204761e-01 3.75146432e-02 1.35091256e-02 1.21012279e+02] [-3.75094650e-02 9.99296070e-01 -6.36569053e-04 -3.70998624e+00] [-1.35234967e-02 1.29342756e-04 9.99908545e-01 -2.13364980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799999 meters 0.01566817436274523 Centerline is valid? [True, True] Translation: X:121.04, Y:-3.71, Z:-2.13 [[ 9.99314578e-01 3.44849876e-02 1.34595867e-02 1.21041331e+02] [-3.44795865e-02 9.99405202e-01 -6.33201052e-04 -3.71461964e+00] [-1.34734169e-02 1.68686059e-04 9.99909215e-01 -2.13343379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37439141799999 meters 0.016096839775247177 Centerline is valid? [True, True] Translation: X:121.07, Y:-3.72, Z:-2.13 [[ 9.99366920e-01 3.29245855e-02 1.34807749e-02 1.21070920e+02] [-3.29190327e-02 9.99457821e-01 -6.33651335e-04 -3.71798515e+00] [-1.34943286e-02 1.89476113e-04 9.99908929e-01 -2.13427972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799999 meters 0.01655289812826562 Centerline is valid? [True, True] Translation: X:121.10, Y:-3.72, Z:-2.13 [[ 9.99414342e-01 3.14058934e-02 1.35883609e-02 1.21100278e+02] [-3.14001189e-02 9.99506691e-01 -6.38151492e-04 -3.72117641e+00] [-1.36016994e-02 2.11101603e-04 9.99907470e-01 -2.13478941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43439141799999 meters 0.017411538604854147 Centerline is valid? [True, True] Translation: X:121.13, Y:-3.73, Z:-2.14 [[ 9.99488674e-01 2.86886484e-02 1.41191759e-02 1.21129201e+02] [-2.86821503e-02 9.99588363e-01 -6.62554183e-04 -3.72642134e+00] [-1.41323717e-02 2.57247077e-04 9.99900100e-01 -2.13530450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799999 meters 0.018277655143206246 Centerline is valid? [True, True] Translation: X:121.16, Y:-3.73, Z:-2.14 [[ 9.99527689e-01 2.71417936e-02 1.44125468e-02 1.21158537e+02] [-2.71348769e-02 9.99631553e-01 -6.75278122e-04 -3.73084011e+00] [-1.44255648e-02 2.83876497e-04 9.99895906e-01 -2.13591624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49439141799999 meters 0.018642549926164514 Centerline is valid? [True, True] Translation: X:121.19, Y:-3.73, Z:-2.14 [[ 9.99569541e-01 2.55420939e-02 1.44337750e-02 1.21188614e+02] [-2.55349953e-02 9.99673700e-01 -6.75911519e-04 -3.73387859e+00] [-1.44463294e-02 3.07054190e-04 9.99895599e-01 -2.13619634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524391418 meters 0.019802001843451114 Centerline is valid? [True, True] Translation: X:121.22, Y:-3.74, Z:-2.14 [[ 9.99643803e-01 2.22611265e-02 1.47210808e-02 1.21219483e+02] [-2.22533889e-02 9.99752125e-01 -6.89233216e-04 -3.73993109e+00] [-1.47327749e-02 3.61393777e-04 9.99891401e-01 -2.13709888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554391418 meters 0.020447887520623344 Centerline is valid? [True, True] Translation: X:121.25, Y:-3.74, Z:-2.14 [[ 9.99682015e-01 2.08243585e-02 1.42202011e-02 1.21251941e+02] [-2.08169985e-02 9.99783081e-01 -6.65415747e-04 -3.74398914e+00] [-1.42309733e-02 3.69182251e-04 9.99898666e-01 -2.13790512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584391418 meters 0.021048299434686252 Centerline is valid? [True, True] Translation: X:121.28, Y:-3.75, Z:-2.14 [[ 9.99714445e-01 1.94988399e-02 1.38139039e-02 1.21283730e+02] [-1.94917162e-02 9.99809807e-01 -6.50150439e-04 -3.74758435e+00] [-1.38239538e-02 3.80708091e-04 9.99904372e-01 -2.13876705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614391418 meters 0.021096978488821114 Centerline is valid? [True, True] Translation: X:121.32, Y:-3.75, Z:-2.14 [[ 9.99747718e-01 1.74158270e-02 1.41841475e-02 1.21315809e+02] [-1.74080485e-02 9.99848243e-01 -6.71679200e-04 -3.75043259e+00] [-1.41936928e-02 4.24591419e-04 9.99899174e-01 -2.13894790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644391418 meters 0.022830879687640877 Centerline is valid? [True, True] Translation: X:121.35, Y:-3.76, Z:-2.14 [[ 9.99756820e-01 1.69862906e-02 1.40629416e-02 1.21347058e+02] [-1.69785439e-02 9.99855630e-01 -6.70080781e-04 -3.75535508e+00] [-1.40722935e-02 4.31149560e-04 9.99900887e-01 -2.13979848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674391418 meters 0.02228850682054696 Centerline is valid? [True, True] Translation: X:121.38, Y:-3.76, Z:-2.14 [[ 9.99758812e-01 1.67598435e-02 1.41924369e-02 1.21379138e+02] [-1.67518770e-02 9.99859446e-01 -6.80028081e-04 -3.75628329e+00] [-1.42018392e-02 4.42114110e-04 9.99899051e-01 -2.14014668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799999 meters 0.02355435329754039 Centerline is valid? [True, True] Translation: X:121.41, Y:-3.76, Z:-2.14 [[ 9.99742181e-01 1.74910505e-02 1.44787652e-02 1.21410005e+02] [-1.74827731e-02 9.99846921e-01 -6.98073118e-04 -3.76063567e+00] [-1.44887589e-02 4.44764174e-04 9.99894934e-01 -2.14083551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73439141799999 meters 0.0237634962090685 Centerline is valid? [True, True] Translation: X:121.44, Y:-3.76, Z:-2.14 [[ 9.99721919e-01 1.83363219e-02 1.48277876e-02 1.21441662e+02] [-1.83276741e-02 9.99831776e-01 -7.18900228e-04 -3.76250933e+00] [-1.48384752e-02 4.46941456e-04 9.99889804e-01 -2.14124524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799999 meters 0.021494520229346725 Centerline is valid? [True, True] Translation: X:121.47, Y:-3.76, Z:-2.14 [[ 9.99706593e-01 1.93883930e-02 1.45195937e-02 1.21474172e+02] [-1.93801565e-02 9.99811937e-01 -7.07769285e-04 -3.76007998e+00] [-1.45305856e-02 4.26169622e-04 9.99894335e-01 -2.14179017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79439141799999 meters 0.02114109239868335 Centerline is valid? [True, True] Translation: X:121.51, Y:-3.76, Z:-2.14 [[ 9.99691380e-01 2.04795318e-02 1.40617697e-02 1.21506622e+02] [-2.04718597e-02 9.99790192e-01 -6.89344546e-04 -3.76071423e+00] [-1.40729369e-02 4.01261224e-04 9.99900891e-01 -2.14252418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799999 meters 0.02107750207116587 Centerline is valid? [True, True] Translation: X:121.54, Y:-3.76, Z:-2.14 [[ 9.99663733e-01 2.24691246e-02 1.29444672e-02 1.21537566e+02] [-2.24627456e-02 9.99747477e-01 -6.37992545e-04 -3.76111220e+00] [-1.29555336e-02 3.47009735e-04 9.99916013e-01 -2.14384175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85439141799999 meters 0.020114453693385864 Centerline is valid? [True, True] Translation: X:121.57, Y:-3.76, Z:-2.14 [[ 9.99639339e-01 2.35964323e-02 1.28219049e-02 1.21569356e+02] [-2.35902084e-02 9.99721510e-01 -6.36454305e-04 -3.76059133e+00] [-1.28333522e-02 3.33753352e-04 9.99917593e-01 -2.14446996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799999 meters 0.020103223082930298 Centerline is valid? [True, True] Translation: X:121.60, Y:-3.76, Z:-2.15 [[ 9.99610834e-01 2.48318136e-02 1.27107096e-02 1.21600092e+02] [-2.48257891e-02 9.99691593e-01 -6.31554157e-04 -3.76055390e+00] [-1.27224722e-02 3.15754981e-04 9.99919016e-01 -2.14536573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914391418 meters 0.01988647286527181 Centerline is valid? [True, True] Translation: X:121.63, Y:-3.76, Z:-2.15 [[ 9.99602443e-01 2.53763126e-02 1.22881750e-02 1.21630609e+02] [-2.53707189e-02 9.99677925e-01 -6.10909844e-04 -3.76126995e+00] [-1.22997199e-02 2.98907140e-04 9.99924311e-01 -2.14547099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944391418 meters 0.020295891426859024 Centerline is valid? [True, True] Translation: X:121.66, Y:-3.76, Z:-2.15 [[ 9.99592776e-01 2.56513255e-02 1.25016956e-02 1.21660450e+02] [-2.56455586e-02 9.99670905e-01 -6.21407008e-04 -3.76286149e+00] [-1.25135213e-02 3.00540988e-04 9.99921658e-01 -2.14599666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974391418 meters 0.019929298602240582 Centerline is valid? [True, True] Translation: X:121.69, Y:-3.76, Z:-2.15 [[ 9.99590447e-01 2.58624769e-02 1.22503487e-02 1.21690837e+02] [-2.58569508e-02 9.99665467e-01 -6.09292135e-04 -3.76308756e+00] [-1.22620083e-02 2.92285934e-04 9.99924776e-01 -2.14663911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004391418 meters 0.020333386092530985 Centerline is valid? [True, True] Translation: X:121.72, Y:-3.76, Z:-2.15 [[ 9.99594208e-01 2.59753657e-02 1.16918328e-02 1.21720345e+02] [-2.59703383e-02 9.99662545e-01 -5.81637580e-04 -3.76438190e+00] [-1.17029956e-02 2.77760703e-04 9.99931479e-01 -2.14749258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034391418 meters 0.020685040760146642 Centerline is valid? [True, True] Translation: X:121.75, Y:-3.77, Z:-2.15 [[ 9.99608375e-01 2.54146597e-02 1.17128626e-02 1.21749635e+02] [-2.54095770e-02 9.99676955e-01 -5.82573905e-04 -3.76544111e+00] [-1.17238847e-02 2.84726871e-04 9.99931232e-01 -2.14784501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064391418 meters 0.021156898989093988 Centerline is valid? [True, True] Translation: X:121.78, Y:-3.77, Z:-2.15 [[ 9.99615222e-01 2.50992626e-02 1.18082680e-02 1.21779213e+02] [-2.50940817e-02 9.99684922e-01 -5.86731932e-04 -3.76767381e+00] [-1.18192741e-02 2.90188527e-04 9.99930108e-01 -2.14806557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09439141799999 meters 0.020725663116674644 Centerline is valid? [True, True] Translation: X:121.81, Y:-3.77, Z:-2.15 [[ 9.99631114e-01 2.41802290e-02 1.23674090e-02 1.21809629e+02] [-2.41744801e-02 9.99707566e-01 -6.14150939e-04 -3.76694903e+00] [-1.23786426e-02 3.14948705e-04 9.99923332e-01 -2.14766839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799999 meters 0.020725663116674644 Centerline is valid? [True, True] Translation: X:121.84, Y:-3.77, Z:-2.15 [[ 9.99631114e-01 2.41802290e-02 1.23674090e-02 1.21839597e+02] [-2.41744801e-02 9.99707566e-01 -6.14150939e-04 -3.76843722e+00] [-1.23786426e-02 3.14948705e-04 9.99923332e-01 -2.14820939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15439141799999 meters 0.020053034022647753 Centerline is valid? [True, True] Translation: X:121.87, Y:-3.77, Z:-2.15 [[ 9.99649117e-01 2.31678082e-02 1.28411811e-02 1.21870295e+02] [-2.31615268e-02 9.99731532e-01 -6.37677904e-04 -3.76945621e+00] [-1.28525073e-02 3.40032793e-04 9.99917345e-01 -2.14764953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799999 meters 0.02033692362407911 Centerline is valid? [True, True] Translation: X:121.90, Y:-3.77, Z:-2.15 [[ 9.99663680e-01 2.25591187e-02 1.27911633e-02 1.21901218e+02] [-2.25528391e-02 9.99745451e-01 -6.34978826e-04 -3.77126968e+00] [-1.28022319e-02 3.46288221e-04 9.99917988e-01 -2.14799610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21439141799999 meters 0.021244162147673648 Centerline is valid? [True, True] Translation: X:121.93, Y:-3.77, Z:-2.15 [[ 9.99708452e-01 2.11061618e-02 1.17277642e-02 1.21931599e+02] [-2.11007766e-02 9.99777184e-01 -5.82742850e-04 -3.77314544e+00] [-1.17374505e-02 3.35108019e-04 9.99931058e-01 -2.14901809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799999 meters 0.02178187887655659 Centerline is valid? [True, True] Translation: X:121.96, Y:-3.78, Z:-2.15 [[ 9.99719346e-01 2.07105024e-02 1.15023268e-02 1.21961937e+02] [-2.07052935e-02 9.99785459e-01 -5.71770559e-04 -3.77511666e+00] [-1.15117007e-02 3.33451039e-04 9.99933683e-01 -2.15004048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274391418 meters 0.022154615682384717 Centerline is valid? [True, True] Translation: X:121.99, Y:-3.78, Z:-2.15 [[ 9.99735513e-01 2.01244305e-02 1.11315881e-02 1.21993220e+02] [-2.01195148e-02 9.99797429e-01 -5.53418409e-04 -3.77667278e+00] [-1.11404704e-02 3.29309885e-04 9.99937889e-01 -2.15067191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304391418 meters 0.021820516020711143 Centerline is valid? [True, True] Translation: X:122.02, Y:-3.78, Z:-2.15 [[ 9.99734343e-01 2.01640040e-02 1.11649825e-02 1.22023510e+02] [-2.01590531e-02 9.99796631e-01 -5.55801486e-04 -3.77631582e+00] [-1.11739191e-02 3.30578358e-04 9.99937515e-01 -2.15096259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334391418 meters 0.021487113380089552 Centerline is valid? [True, True] Translation: X:122.05, Y:-3.78, Z:-2.15 [[ 9.99718765e-01 2.08172766e-02 1.13592430e-02 1.22054273e+02] [-2.08121941e-02 9.99783243e-01 -5.65471921e-04 -3.77663805e+00] [-1.13685523e-02 3.28902122e-04 9.99935322e-01 -2.15144952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364391418 meters 0.021525029050561303 Centerline is valid? [True, True] Translation: X:122.08, Y:-3.78, Z:-2.15 [[ 9.99698910e-01 2.16991849e-02 1.14557666e-02 1.22084285e+02] [-2.16940735e-02 9.99764493e-01 -5.70276945e-04 -3.77746074e+00] [-1.14654433e-02 3.21582997e-04 9.99934218e-01 -2.15207188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394391418 meters 0.02068630339872903 Centerline is valid? [True, True] Translation: X:122.12, Y:-3.78, Z:-2.15 [[ 9.99654291e-01 2.35231238e-02 1.17456782e-02 1.22115014e+02] [-2.35178762e-02 9.99723246e-01 -5.84708969e-04 -3.77715495e+00] [-1.17561817e-02 3.08273424e-04 9.99930846e-01 -2.15209686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424391418 meters 0.018614313345679204 Centerline is valid? [True, True] Translation: X:122.15, Y:-3.77, Z:-2.15 [[ 9.99539075e-01 2.79275955e-02 1.19032083e-02 1.22145974e+02] [-2.79225182e-02 9.99609915e-01 -5.92550936e-04 -3.77339696e+00] [-1.19151135e-02 2.59910265e-04 9.99928979e-01 -2.15193188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45439141799999 meters 0.016954885074438694 Centerline is valid? [True, True] Translation: X:122.18, Y:-3.77, Z:-2.15 [[ 9.99381458e-01 3.34642326e-02 1.08095870e-02 1.22175681e+02] [-3.34603660e-02 9.99439900e-01 -5.38402193e-04 -3.76963893e+00] [-1.08215497e-02 1.76376433e-04 9.99941430e-01 -2.15280463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799999 meters 0.01617327605434104 Centerline is valid? [True, True] Translation: X:122.21, Y:-3.77, Z:-2.15 [[ 9.99285302e-01 3.63803888e-02 1.02641483e-02 1.22205021e+02] [-3.63770543e-02 9.99338005e-01 -5.11439783e-04 -3.76864516e+00] [-1.02759599e-02 1.37694777e-04 9.99947191e-01 -2.15327614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51439141799999 meters 0.016098909158181147 Centerline is valid? [True, True] Translation: X:122.23, Y:-3.77, Z:-2.15 [[ 9.99197209e-01 3.89005540e-02 9.57516400e-03 1.22232656e+02] [-3.88977785e-02 9.99243082e-01 -4.76002141e-04 -3.76889820e+00] [-9.58643313e-03 1.03167403e-04 9.99954044e-01 -2.15463821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799999 meters 0.015190601622615667 Centerline is valid? [True, True] Translation: X:122.26, Y:-3.77, Z:-2.15 [[ 9.99108167e-01 4.12093836e-02 9.20089801e-03 1.22261533e+02] [-4.12069282e-02 9.99150530e-01 -4.56361089e-04 -3.76809072e+00] [-9.21188848e-03 7.68133476e-05 9.99957567e-01 -2.15434497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57439141799999 meters 0.014974416973843248 Centerline is valid? [True, True] Translation: X:122.29, Y:-3.77, Z:-2.15 [[ 9.99031716e-01 4.30235512e-02 9.19808873e-03 1.22289360e+02] [-4.30211794e-02 9.99074057e-01 -4.55657057e-04 -3.76855001e+00] [-9.20917581e-03 5.95032262e-05 9.99957593e-01 -2.15481339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799999 meters 0.014837848911773623 Centerline is valid? [True, True] Translation: X:122.32, Y:-3.77, Z:-2.16 [[ 9.98962663e-01 4.46794329e-02 8.79462553e-03 1.22318295e+02] [-4.46773373e-02 9.99001375e-01 -4.34702853e-04 -3.76909854e+00] [-8.80526527e-03 4.13314684e-05 9.99961232e-01 -2.15505587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63439141799999 meters 0.014869040459615762 Centerline is valid? [True, True] Translation: X:122.35, Y:-3.77, Z:-2.16 [[ 9.98960663e-01 4.47749139e-02 8.53234593e-03 1.22346399e+02] [-4.47729484e-02 9.98997100e-01 -4.21321891e-04 -3.77100756e+00] [-8.54265349e-03 3.88657111e-05 9.99963510e-01 -2.15614156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664391418 meters 0.014860674300670756 Centerline is valid? [True, True] Translation: X:122.38, Y:-3.77, Z:-2.16 [[ 9.98981270e-01 4.43464933e-02 8.35532514e-03 1.22375611e+02] [-4.43446023e-02 9.99016210e-01 -4.11533852e-04 -3.77336462e+00] [-8.36535534e-03 4.06010392e-05 9.99965009e-01 -2.15688951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694391418 meters 0.015018715387528707 Centerline is valid? [True, True] Translation: X:122.40, Y:-3.78, Z:-2.16 [[ 9.99027129e-01 4.34154401e-02 7.73919055e-03 1.22404004e+02] [-4.34137934e-02 9.99057104e-01 -3.80723031e-04 -3.77586476e+00] [-7.74842256e-03 4.43650169e-05 9.99969980e-01 -2.15746132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724391418 meters 0.016376232857770005 Centerline is valid? [True, True] Translation: X:122.43, Y:-3.78, Z:-2.16 [[ 9.99084985e-01 4.22624682e-02 6.56320187e-03 1.22432750e+02] [-4.22612610e-02 9.99106542e-01 -3.22570218e-04 -3.77914810e+00] [-6.57097054e-03 4.49058737e-05 9.99978410e-01 -2.15902392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754391418 meters 0.015554247765388883 Centerline is valid? [True, True] Translation: X:122.46, Y:-3.79, Z:-2.16 [[ 9.99241771e-01 3.84117353e-02 6.35779008e-03 1.22460938e+02] [-3.84105275e-02 9.99261995e-01 -3.12009176e-04 -3.78515822e+00] [-6.36508281e-03 6.75665309e-05 9.99979740e-01 -2.15929880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784391418 meters 0.01613875862919021 Centerline is valid? [True, True] Translation: X:122.49, Y:-3.79, Z:-2.16 [[ 9.99330509e-01 3.60460845e-02 6.26215056e-03 1.22489387e+02] [-3.60448694e-02 9.99350125e-01 -3.06829156e-04 -3.78923253e+00] [-6.26914093e-03 8.09053373e-05 9.99980345e-01 -2.16007944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814391418 meters 0.016654006319703915 Centerline is valid? [True, True] Translation: X:122.52, Y:-3.79, Z:-2.16 [[ 9.99430372e-01 3.32196644e-02 5.94853889e-03 1.22518252e+02] [-3.32185202e-02 9.99448070e-01 -2.91066353e-04 -3.79351498e+00] [-5.95492484e-03 9.32988946e-05 9.99982265e-01 -2.16018796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799999 meters 0.018290366716237575 Centerline is valid? [True, True] Translation: X:122.55, Y:-3.80, Z:-2.16 [[ 9.99609367e-01 2.71887552e-02 6.47189777e-03 1.22547256e+02] [-2.71872801e-02 9.99630308e-01 -3.15801915e-04 -3.80068259e+00] [-6.47809142e-03 1.39725255e-04 9.99979007e-01 -2.15961488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87439141799999 meters 0.020266197435054038 Centerline is valid? [True, True] Translation: X:122.58, Y:-3.81, Z:-2.16 [[ 9.99689765e-01 2.38965350e-02 7.02348743e-03 1.22575470e+02] [-2.38947206e-02 9.99714422e-01 -3.42150873e-04 -3.80674094e+00] [-7.02965789e-03 1.74220456e-04 9.99975276e-01 -2.16034021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799999 meters 0.02102173714970773 Centerline is valid? [True, True] Translation: X:122.60, Y:-3.81, Z:-2.16 [[ 9.99768120e-01 2.01879763e-02 7.49347506e-03 1.22604377e+02] [-2.01858104e-02 9.99796179e-01 -3.64572958e-04 -3.81070904e+00] [-7.49930772e-03 2.13226554e-04 9.99971857e-01 -2.15981134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93439141799999 meters 0.024506780260978175 Centerline is valid? [True, True] Translation: X:122.63, Y:-3.82, Z:-2.16 [[ 9.99893015e-01 1.23986320e-02 7.76093106e-03 1.22634421e+02] [-1.23960830e-02 9.99923095e-01 -3.76459382e-04 -3.82137035e+00] [-7.76500178e-03 2.80213961e-04 9.99969813e-01 -2.16000767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799999 meters 0.02704128679020418 Centerline is valid? [True, True] Translation: X:122.66, Y:-3.83, Z:-2.16 [[ 9.99942775e-01 7.95240569e-03 7.15587944e-03 1.22664785e+02] [-7.95012653e-03 9.99968337e-01 -3.46891751e-04 -3.82788440e+00] [-7.15841149e-03 2.89981753e-04 9.99974336e-01 -2.16118272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99439141799999 meters 0.029404574687513813 Centerline is valid? [True, True] Translation: X:122.70, Y:-3.83, Z:-2.16 [[ 9.99965567e-01 3.66572977e-03 7.44489917e-03 1.22695024e+02] [-3.66314295e-03 9.99993225e-01 -3.61068111e-04 -3.83444784e+00] [-7.44617231e-03 3.33783949e-04 9.99972221e-01 -2.16179819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024391418 meters 0.033308698973609635 Centerline is valid? [True, True] Translation: X:122.73, Y:-3.84, Z:-2.16 [[ 9.99957085e-01 -5.17126299e-03 7.68671746e-03 1.22726088e+02] [ 5.17428105e-03 9.99986544e-01 -3.72797428e-04 -3.84360969e+00] [-7.68468619e-03 4.12554666e-04 9.99970387e-01 -2.16243619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054391418 meters 0.03828194082987883 Centerline is valid? [True, True] Translation: X:122.76, Y:-3.85, Z:-2.16 [[ 9.99926682e-01 -9.49560751e-03 7.51425555e-03 1.22755807e+02] [ 9.49861812e-03 9.99954820e-01 -3.65065522e-04 -3.85248111e+00] [-7.51044954e-03 4.36413800e-04 9.99971701e-01 -2.16357740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084391418 meters 0.04417692709892657 Centerline is valid? [True, True] Translation: X:122.78, Y:-3.86, Z:-2.16 [[ 9.99837744e-01 -1.67385476e-02 6.65636949e-03 1.22784938e+02] [ 1.67410703e-02 9.99859806e-01 -3.23453078e-04 -3.86208119e+00] [-6.65002217e-03 4.34835345e-04 9.99977794e-01 -2.16477557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114391418 meters 0.04346472351993933 Centerline is valid? [True, True] Translation: X:122.82, Y:-3.86, Z:-2.16 [[ 9.99793221e-01 -1.92664355e-02 6.50534779e-03 1.22816229e+02] [ 1.92688947e-02 9.99814288e-01 -3.15557426e-04 -3.86271261e+00] [-6.49806000e-03 4.40843037e-04 9.99978790e-01 -2.16482313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144391418 meters 0.040245462694580146 Centerline is valid? [True, True] Translation: X:122.85, Y:-3.86, Z:-2.16 [[ 9.99759792e-01 -2.09667197e-02 6.38398214e-03 1.22848294e+02] [ 2.09691223e-02 9.99780076e-01 -3.09639737e-04 -3.86003148e+00] [-6.37608601e-03 4.43431861e-04 9.99979574e-01 -2.16476236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174391418 meters 0.04602533502150664 Centerline is valid? [True, True] Translation: X:122.88, Y:-3.87, Z:-2.17 [[ 9.99737448e-01 -2.20483738e-02 6.23731647e-03 1.22879253e+02] [ 2.20506905e-02 9.99756808e-01 -3.02897358e-04 -3.86860857e+00] [-6.22912121e-03 4.40354967e-04 9.99980502e-01 -2.16655104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799999 meters 0.044451032750447095 Centerline is valid? [True, True] Translation: X:122.91, Y:-3.87, Z:-2.17 [[ 9.99733799e-01 -2.22131959e-02 6.23739390e-03 1.22912050e+02] [ 2.22155170e-02 9.99753159e-01 -3.03075870e-04 -3.86566461e+00] [-6.22912197e-03 4.41562121e-04 9.99980501e-01 -2.16664766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23439141799999 meters 0.04177800200900451 Centerline is valid? [True, True] Translation: X:122.94, Y:-3.86, Z:-2.17 [[ 9.99752719e-01 -2.12545981e-02 6.53787991e-03 1.22944535e+02] [ 2.12571316e-02 9.99773991e-01 -3.18246509e-04 -3.86239346e+00] [-6.52963809e-03 4.57144386e-04 9.99978577e-01 -2.16689179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799999 meters 0.04272109893477077 Centerline is valid? [True, True] Translation: X:122.98, Y:-3.86, Z:-2.17 [[ 9.99779451e-01 -1.99234791e-02 6.64104318e-03 1.22975925e+02] [ 1.99260692e-02 9.99801404e-01 -3.24079402e-04 -3.86363421e+00] [-6.63326750e-03 4.56337813e-04 9.99977896e-01 -2.16777140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29439141799999 meters 0.03879586011438142 Centerline is valid? [True, True] Translation: X:123.01, Y:-3.86, Z:-2.17 [[ 9.99837934e-01 -1.73524207e-02 4.79575232e-03 1.23008029e+02] [ 1.73537417e-02 9.99849385e-01 -2.33987861e-04 -3.85753292e+00] [-4.79096975e-03 3.17174187e-04 9.99988473e-01 -2.16935200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799999 meters 0.036803573476862875 Centerline is valid? [True, True] Translation: X:123.04, Y:-3.85, Z:-2.17 [[ 9.99877835e-01 -1.40109458e-02 6.92888304e-03 1.23038268e+02] [ 1.40136350e-02 9.99901746e-01 -3.39716122e-04 -3.85444028e+00] [-6.92344251e-03 4.36773458e-04 9.99975937e-01 -2.16909385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35439141799999 meters 0.0419551644473384 Centerline is valid? [True, True] Translation: X:123.07, Y:-3.86, Z:-2.17 [[ 9.99910390e-01 -1.15577232e-02 6.75502051e-03 1.23068956e+02] [ 1.15602202e-02 9.99933124e-01 -3.30725535e-04 -3.86088629e+00] [-6.75074632e-03 4.08785424e-04 9.99977130e-01 -2.17149107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799999 meters 0.03512803323225539 Centerline is valid? [True, True] Translation: X:123.10, Y:-3.85, Z:-2.17 [[ 9.99936006e-01 -8.73875565e-03 7.18451384e-03 1.23100920e+02] [ 8.74151030e-03 9.99961730e-01 -3.52101138e-04 -3.85169742e+00] [-7.18116197e-03 4.14882107e-04 9.99974129e-01 -2.17050184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414391418 meters 0.03238924774827457 Centerline is valid? [True, True] Translation: X:123.13, Y:-3.84, Z:-2.17 [[ 9.99962428e-01 -3.17732753e-03 8.06523442e-03 1.23131757e+02] [ 3.18062486e-03 9.99994863e-01 -3.96039527e-04 -3.84484790e+00] [-8.06393465e-03 4.21677132e-04 9.99967397e-01 -2.17043928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444391418 meters 0.029927668006170763 Centerline is valid? [True, True] Translation: X:123.16, Y:-3.84, Z:-2.17 [[ 9.99961054e-01 3.75113436e-04 8.81759514e-03 1.23163928e+02] [-3.71313962e-04 9.99999838e-01 -4.32529991e-04 -3.84117969e+00] [-8.81775596e-03 4.29239049e-04 9.99961031e-01 -2.17066768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474391418 meters 0.027784801496116833 Centerline is valid? [True, True] Translation: X:123.19, Y:-3.84, Z:-2.17 [[ 9.99929985e-01 7.47325817e-03 9.17467290e-03 1.23193787e+02] [-7.46943075e-03 9.99972002e-01 -4.51367542e-04 -3.83508758e+00] [-9.17778921e-03 3.82806355e-04 9.99957810e-01 -2.17150719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504391418 meters 0.025398043669651194 Centerline is valid? [True, True] Translation: X:123.23, Y:-3.83, Z:-2.17 [[ 9.99892619e-01 1.11178156e-02 9.54693950e-03 1.23225249e+02] [-1.11138437e-02 9.99938129e-01 -4.68987758e-04 -3.83094585e+00] [-9.55156294e-03 3.62834204e-04 9.99954317e-01 -2.17198420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534391418 meters 0.024325068386930458 Centerline is valid? [True, True] Translation: X:123.26, Y:-3.83, Z:-2.17 [[ 9.99833453e-01 1.51273743e-02 1.02092726e-02 1.23256022e+02] [-1.51230361e-02 9.99885514e-01 -5.01997354e-04 -3.82930095e+00] [-1.02156977e-02 3.47518550e-04 9.99947758e-01 -2.17260712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564391418 meters 0.021285705508296598 Centerline is valid? [True, True] Translation: X:123.29, Y:-3.82, Z:-2.17 [[ 9.99677286e-01 2.25875865e-02 1.16242801e-02 1.23287137e+02] [-2.25824579e-02 9.99744820e-01 -5.72280148e-04 -3.82188659e+00] [-1.16342403e-02 3.09590649e-04 9.99932272e-01 -2.17269995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59439141799999 meters 0.019094001115324197 Centerline is valid? [True, True] Translation: X:123.32, Y:-3.82, Z:-2.17 [[ 9.99589087e-01 2.60960238e-02 1.18598078e-02 1.23318010e+02] [-2.60909277e-02 9.99659403e-01 -5.84236544e-04 -3.81792269e+00] [-1.18710146e-02 2.74563086e-04 9.99929499e-01 -2.17282469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799999 meters 0.018020202215942485 Centerline is valid? [True, True] Translation: X:123.35, Y:-3.82, Z:-2.17 [[ 9.99492751e-01 2.94791994e-02 1.20505833e-02 1.23348129e+02] [-2.94741809e-02 9.99565366e-01 -5.93875252e-04 -3.81592336e+00] [-1.20628526e-02 2.38392938e-04 9.99927213e-01 -2.17390149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65439141799999 meters 0.01662153211458885 Centerline is valid? [True, True] Translation: X:123.38, Y:-3.81, Z:-2.18 [[ 9.99323329e-01 3.45321846e-02 1.26654382e-02 1.23376935e+02] [-3.45270508e-02 9.99403569e-01 -6.23839853e-04 -3.81264335e+00] [-1.26794267e-02 1.86117489e-04 9.99919596e-01 -2.17536180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799999 meters 0.016393056043942176 Centerline is valid? [True, True] Translation: X:123.41, Y:-3.81, Z:-2.18 [[ 9.99268609e-01 3.60657599e-02 1.27085458e-02 1.23405269e+02] [-3.60607281e-02 9.99349405e-01 -6.24934342e-04 -3.81251570e+00] [-1.27228164e-02 1.66197856e-04 9.99919048e-01 -2.17638290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71439141799999 meters 0.01612030408492022 Centerline is valid? [True, True] Translation: X:123.43, Y:-3.81, Z:-2.18 [[ 9.99224659e-01 3.70553813e-02 1.33033447e-02 1.23434116e+02] [-3.70499703e-02 9.99313201e-01 -6.53055512e-04 -3.81253506e+00] [-1.33184072e-02 1.59660646e-04 9.99911293e-01 -2.17687411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799999 meters 0.015954222496377197 Centerline is valid? [True, True] Translation: X:123.46, Y:-3.81, Z:-2.18 [[ 9.99198534e-01 3.76557702e-02 1.35768920e-02 1.23463424e+02] [-3.76502047e-02 9.99290758e-01 -6.65384317e-04 -3.81272594e+00] [-1.35923183e-02 1.53678271e-04 9.99907608e-01 -2.17723387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774391418 meters 0.015897971246432958 Centerline is valid? [True, True] Translation: X:123.49, Y:-3.81, Z:-2.18 [[ 9.99181527e-01 3.78009749e-02 1.44001156e-02 1.23492349e+02] [-3.77947465e-02 9.99285275e-01 -7.04513642e-04 -3.81265441e+00] [-1.44164548e-02 1.59688298e-04 9.99896065e-01 -2.17722924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804391418 meters 0.01617031601676184 Centerline is valid? [True, True] Translation: X:123.52, Y:-3.81, Z:-2.18 [[ 9.99193419e-01 3.71742113e-02 1.51851911e-02 1.23519934e+02] [-3.71672314e-02 9.99308785e-01 -7.41702002e-04 -3.81447330e+00] [-1.52022670e-02 1.76712249e-04 9.99884423e-01 -2.17750735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834391418 meters 0.016486506978229783 Centerline is valid? [True, True] Translation: X:123.55, Y:-3.82, Z:-2.18 [[ 9.99221135e-01 3.64116277e-02 1.52091006e-02 1.23547333e+02] [-3.64045602e-02 9.99336859e-01 -7.41375685e-04 -3.81659626e+00] [-1.52260095e-02 1.87117634e-04 9.99884060e-01 -2.17829621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864391418 meters 0.016562763558755057 Centerline is valid? [True, True] Translation: X:123.58, Y:-3.82, Z:-2.18 [[ 9.99286794e-01 3.41693236e-02 1.60736034e-02 1.23575922e+02] [-3.41611664e-02 9.99416031e-01 -7.81860810e-04 -3.81825114e+00] [-1.60909326e-02 2.32210143e-04 9.99870506e-01 -2.17860473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894391418 meters 0.016788530367378453 Centerline is valid? [True, True] Translation: X:123.61, Y:-3.82, Z:-2.18 [[ 9.99308777e-01 3.31147392e-02 1.68932384e-02 1.23605639e+02] [-3.31056035e-02 9.99451523e-01 -8.20233794e-04 -3.82087309e+00] [-1.69111347e-02 2.60405977e-04 9.99856963e-01 -2.17918644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924391418 meters 0.01751252182420551 Centerline is valid? [True, True] Translation: X:123.63, Y:-3.82, Z:-2.18 [[ 9.99345058e-01 3.18288812e-02 1.72156272e-02 1.23634110e+02] [-3.18192149e-02 9.99493292e-01 -8.35179856e-04 -3.82407278e+00] [-1.72334867e-02 2.86845121e-04 9.99851451e-01 -2.17951220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95439141799999 meters 0.01809804093595975 Centerline is valid? [True, True] Translation: X:123.66, Y:-3.83, Z:-2.18 [[ 9.99360246e-01 3.07836468e-02 1.82062206e-02 1.23663194e+02] [-3.07726793e-02 9.99526020e-01 -8.82315028e-04 -3.82703019e+00] [-1.82247521e-02 3.21496375e-04 9.99833864e-01 -2.17968251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799999 meters 0.019338151600326845 Centerline is valid? [True, True] Translation: X:123.69, Y:-3.83, Z:-2.18 [[ 9.99399637e-01 2.87068317e-02 1.93980132e-02 1.23693543e+02] [-2.86939973e-02 9.99587801e-01 -9.39694996e-04 -3.82930128e+00] [-1.94169930e-02 3.82524300e-04 9.99811399e-01 -2.18018151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01439141799999 meters 0.019338151600326845 Centerline is valid? [True, True] Translation: X:123.72, Y:-3.83, Z:-2.18 [[ 9.99398469e-01 2.87474745e-02 1.93980104e-02 1.23724352e+02] [-2.87346467e-02 9.99586633e-01 -9.39751606e-04 -3.83083153e+00] [-1.94170074e-02 3.81791339e-04 9.99811399e-01 -2.18073769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799999 meters 0.01914573440129085 Centerline is valid? [True, True] Translation: X:123.76, Y:-3.83, Z:-2.18 [[ 9.99437842e-01 2.76058835e-02 1.90240593e-02 1.23755118e+02] [-2.75933201e-02 9.99618806e-01 -9.22622644e-04 -3.83468336e+00] [-1.90422773e-02 3.97167026e-04 9.99818601e-01 -2.18044305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07439141799999 meters 0.019989466992544704 Centerline is valid? [True, True] Translation: X:123.79, Y:-3.84, Z:-2.18 [[ 9.99478660e-01 2.61564293e-02 1.89274903e-02 1.23786703e+02] [-2.61436414e-02 9.99657771e-01 -9.22790508e-04 -3.83915110e+00] [-1.89451497e-02 4.27475900e-04 9.99820433e-01 -2.18183932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799999 meters 0.019415505677677032 Centerline is valid? [True, True] Translation: X:123.82, Y:-3.84, Z:-2.18 [[ 9.99480664e-01 2.64293221e-02 1.84362105e-02 1.23818532e+02] [-2.64171830e-02 9.99650599e-01 -9.01703686e-04 -3.84071708e+00] [-1.84536003e-02 4.14202652e-04 9.99829632e-01 -2.18313820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13439141799999 meters 0.01919968766921482 Centerline is valid? [True, True] Translation: X:123.85, Y:-3.84, Z:-2.18 [[ 9.99468709e-01 2.67348000e-02 1.86426733e-02 1.23850421e+02] [-2.67223411e-02 9.99642474e-01 -9.17133670e-04 -3.84275812e+00] [-1.86605274e-02 4.18470531e-04 9.99825790e-01 -2.18397615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164391418 meters 0.019785478662417033 Centerline is valid? [True, True] Translation: X:123.88, Y:-3.85, Z:-2.19 [[ 9.99440002e-01 2.81718318e-02 1.80563185e-02 1.23881081e+02] [-2.81602881e-02 9.99603021e-01 -8.93302702e-04 -3.84651630e+00] [-1.80743165e-02 3.84331323e-04 9.99836572e-01 -2.18500860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194391418 meters 0.01854135287298525 Centerline is valid? [True, True] Translation: X:123.91, Y:-3.85, Z:-2.19 [[ 9.99400143e-01 2.94557112e-02 1.82130468e-02 1.23912203e+02] [-2.94440914e-02 9.99566018e-01 -9.05879587e-04 -3.84602641e+00] [-1.82318260e-02 3.69069573e-04 9.99833718e-01 -2.18582023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224391418 meters 0.017909185006684137 Centerline is valid? [True, True] Translation: X:123.94, Y:-3.85, Z:-2.19 [[ 9.99343581e-01 3.13165661e-02 1.82120786e-02 1.23943498e+02] [-3.13052428e-02 9.99509460e-01 -9.06570579e-04 -3.84695286e+00] [-1.82315355e-02 3.35841946e-04 9.99833735e-01 -2.18690752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254391418 meters 0.017241919780143965 Centerline is valid? [True, True] Translation: X:123.97, Y:-3.85, Z:-2.19 [[ 9.99296275e-01 3.31024149e-02 1.76404602e-02 1.23973950e+02] [-3.30920571e-02 9.99451922e-01 -8.78822200e-04 -3.84748086e+00] [-1.76598830e-02 2.94444634e-04 9.99844009e-01 -2.18784687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284391418 meters 0.0163159586602646 Centerline is valid? [True, True] Translation: X:124.00, Y:-3.85, Z:-2.19 [[ 9.99171092e-01 3.69246391e-02 1.71376629e-02 1.24004607e+02] [-3.69154253e-02 9.99318029e-01 -8.53773565e-04 -3.84718728e+00] [-1.71575008e-02 2.20421750e-04 9.99852775e-01 -2.18983140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314391418 meters 0.015988814332466416 Centerline is valid? [True, True] Translation: X:124.03, Y:-3.85, Z:-2.19 [[ 9.99103769e-01 3.88688776e-02 1.67591787e-02 1.24033525e+02] [-3.88603385e-02 9.99244303e-01 -8.34994543e-04 -3.84777870e+00] [-1.67789692e-02 1.82978837e-04 9.99859206e-01 -2.19053776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799999 meters 0.016939700077848757 Centerline is valid? [True, True] Translation: X:124.06, Y:-3.85, Z:-2.19 [[ 9.99005032e-01 4.14051305e-02 1.65698856e-02 1.24061846e+02] [-4.13971483e-02 9.99142430e-01 -8.24584959e-04 -3.84790687e+00] [-1.65898179e-02 1.37818511e-04 9.99862370e-01 -2.19185467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37439141799999 meters 0.01524114467981407 Centerline is valid? [True, True] Translation: X:124.09, Y:-3.85, Z:-2.19 [[ 9.98913929e-01 4.34579883e-02 1.68037361e-02 1.24090870e+02] [-4.34500925e-02 9.99055250e-01 -8.34859868e-04 -3.84697148e+00] [-1.68241421e-02 1.03829262e-04 9.99858459e-01 -2.19136581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799999 meters 0.01576025082797042 Centerline is valid? [True, True] Translation: X:124.12, Y:-3.85, Z:-2.19 [[ 9.98666581e-01 4.89357875e-02 1.64423085e-02 1.24120279e+02] [-4.89289924e-02 9.98801927e-01 -8.15534565e-04 -3.84547806e+00] [-1.64625182e-02 9.94152924e-06 9.99864484e-01 -2.19250472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43439141799999 meters 0.014794511745363573 Centerline is valid? [True, True] Translation: X:124.15, Y:-3.85, Z:-2.19 [[ 9.98585373e-01 5.07370339e-02 1.59061479e-02 1.24147780e+02] [-5.07309171e-02 9.98712047e-01 -7.88074970e-04 -3.84584880e+00] [-1.59256461e-02 -1.99733314e-05 9.99873179e-01 -2.19246088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799999 meters 0.015183722225809233 Centerline is valid? [True, True] Translation: X:124.18, Y:-3.85, Z:-2.19 [[ 9.98396226e-01 5.43128380e-02 1.59715844e-02 1.24175124e+02] [-5.43071545e-02 9.98523965e-01 -7.89668318e-04 -3.84655466e+00] [-1.59908989e-02 -7.89694329e-05 9.99872134e-01 -2.19303766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49439141799999 meters 0.015129802628749741 Centerline is valid? [True, True] Translation: X:124.20, Y:-3.85, Z:-2.19 [[ 9.98344922e-01 5.51365427e-02 1.63517383e-02 1.24203960e+02] [-5.51307241e-02 9.98478819e-01 -8.06741945e-04 -3.84901113e+00] [-1.63713453e-02 -9.60764494e-05 9.99865976e-01 -2.19340564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524391418 meters 0.015104879391132944 Centerline is valid? [True, True] Translation: X:124.23, Y:-3.85, Z:-2.19 [[ 9.98316903e-01 5.55583876e-02 1.66321083e-02 1.24231977e+02] [-5.55524489e-02 9.98455434e-01 -8.19218887e-04 -3.85147846e+00] [-1.66519334e-02 -1.06114287e-04 9.99861341e-01 -2.19394533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554391418 meters 0.015027723334498052 Centerline is valid? [True, True] Translation: X:124.26, Y:-3.86, Z:-2.19 [[ 9.98409716e-01 5.39603592e-02 1.63192679e-02 1.24260938e+02] [-5.39544552e-02 9.98543075e-01 -8.02162569e-04 -3.85665294e+00] [-1.63387769e-02 -7.96103061e-05 9.99866510e-01 -2.19447734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584391418 meters 0.01479275865554969 Centerline is valid? [True, True] Translation: X:124.29, Y:-3.86, Z:-2.20 [[ 9.98503506e-01 5.22977187e-02 1.59905147e-02 1.24289382e+02] [-5.22918572e-02 9.98631537e-01 -7.84740846e-04 -3.86070266e+00] [-1.60096724e-02 -5.26072267e-05 9.99871836e-01 -2.19532027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614391418 meters 0.01482903931583197 Centerline is valid? [True, True] Translation: X:124.32, Y:-3.87, Z:-2.20 [[ 9.98736643e-01 4.78144749e-02 1.54562230e-02 1.24316867e+02] [-4.78084793e-02 9.98856234e-01 -7.57376013e-04 -3.86960917e+00] [-1.54747583e-02 1.74806570e-05 9.99880259e-01 -2.19666207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644391418 meters 0.014849613847185942 Centerline is valid? [True, True] Translation: X:124.35, Y:-3.88, Z:-2.20 [[ 9.98854944e-01 4.53280087e-02 1.53027037e-02 1.24345620e+02] [-4.53218637e-02 9.98972156e-01 -7.48296906e-04 -3.87531110e+00] [-1.53208937e-02 5.38930122e-05 9.99882627e-01 -2.19738377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674391418 meters 0.015160443000797165 Centerline is valid? [True, True] Translation: X:124.37, Y:-3.88, Z:-2.20 [[ 9.98966208e-01 4.27974799e-02 1.53261441e-02 1.24373001e+02] [-4.27910365e-02 9.99083764e-01 -7.48255806e-04 -3.88161542e+00] [-1.53441252e-02 9.16606767e-05 9.99882268e-01 -2.19822702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799999 meters 0.015463450297775202 Centerline is valid? [True, True] Translation: X:124.40, Y:-3.89, Z:-2.20 [[ 9.99063478e-01 4.03297442e-02 1.56741468e-02 1.24402793e+02] [-4.03227286e-02 9.99186416e-01 -7.63493081e-04 -3.88710813e+00] [-1.56921860e-02 1.30753686e-04 9.99876862e-01 -2.19840278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73439141799999 meters 0.016398962692813875 Centerline is valid? [True, True] Translation: X:124.43, Y:-3.90, Z:-2.20 [[ 9.99240871e-01 3.52368658e-02 1.66145994e-02 1.24431305e+02] [-3.52282904e-02 9.99378964e-01 -8.08615166e-04 -3.89659216e+00] [-1.66327742e-02 2.22697390e-04 9.99861641e-01 -2.19757229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799999 meters 0.017185534511274397 Centerline is valid? [True, True] Translation: X:124.46, Y:-3.90, Z:-2.20 [[ 9.99335589e-01 3.27340317e-02 1.60269917e-02 1.24461904e+02] [-3.27257472e-02 9.99464066e-01 -7.78972547e-04 -3.90178058e+00] [-1.60439012e-02 2.53959711e-04 9.99871256e-01 -2.19791994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79439141799999 meters 0.01788723981713086 Centerline is valid? [True, True] Translation: X:124.49, Y:-3.91, Z:-2.20 [[ 9.99417590e-01 3.01027580e-02 1.60718906e-02 1.24491877e+02] [-3.00940868e-02 9.99546765e-01 -7.81154805e-04 -3.90664069e+00] [-1.60881212e-02 2.97030981e-04 9.99870534e-01 -2.19835601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799999 meters 0.020309291983136517 Centerline is valid? [True, True] Translation: X:124.52, Y:-3.92, Z:-2.20 [[ 9.99559074e-01 2.54667363e-02 1.52676844e-02 1.24522073e+02] [-2.54583723e-02 9.99675608e-01 -7.41957392e-04 -3.91776932e+00] [-1.52816270e-02 3.52939848e-04 9.99883167e-01 -2.19965878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85439141799999 meters 0.020887693545875198 Centerline is valid? [True, True] Translation: X:124.55, Y:-3.92, Z:-2.20 [[ 9.99608003e-01 2.36544805e-02 1.49768729e-02 1.24554217e+02] [-2.36462308e-02 9.99720124e-01 -7.27700399e-04 -3.92322949e+00] [-1.49898947e-02 3.73268548e-04 9.99887576e-01 -2.20038962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799999 meters 0.022145098425027362 Centerline is valid? [True, True] Translation: X:124.59, Y:-3.93, Z:-2.20 [[ 9.99684371e-01 2.01066367e-02 1.50626176e-02 1.24585731e+02] [-2.00978262e-02 9.99797747e-01 -7.36087154e-04 -3.93117925e+00] [-1.50743714e-02 4.33128953e-04 9.99886281e-01 -2.20060037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914391418 meters 0.021681811921774135 Centerline is valid? [True, True] Translation: X:124.62, Y:-3.93, Z:-2.20 [[ 9.99712412e-01 1.86797790e-02 1.50386029e-02 1.24618136e+02] [-1.86707780e-02 9.99825413e-01 -7.38715370e-04 -3.93356712e+00] [-1.50497764e-02 4.57720508e-04 9.99886641e-01 -2.20073472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944391418 meters 0.022708543092329433 Centerline is valid? [True, True] Translation: X:124.65, Y:-3.94, Z:-2.20 [[ 9.99732088e-01 1.75583964e-02 1.50815851e-02 1.24649267e+02] [-1.75491439e-02 9.99845724e-01 -7.45633152e-04 -3.93813341e+00] [-1.50923505e-02 4.80764481e-04 9.99885988e-01 -2.20128276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974391418 meters 0.02251718597049262 Centerline is valid? [True, True] Translation: X:124.68, Y:-3.94, Z:-2.20 [[ 9.99752250e-01 1.66860434e-02 1.47314086e-02 1.24681771e+02] [-1.66770948e-02 9.99860661e-01 -7.30100945e-04 -3.94059853e+00] [-1.47415384e-02 4.84242965e-04 9.99891220e-01 -2.20171383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004391418 meters 0.023718179689623028 Centerline is valid? [True, True] Translation: X:124.71, Y:-3.95, Z:-2.20 [[ 9.99792042e-01 1.47490125e-02 1.40833213e-02 1.24713608e+02] [-1.47405874e-02 9.99891105e-01 -7.01853265e-04 -3.94583714e+00] [-1.40921394e-02 4.94110879e-04 9.99900579e-01 -2.20281329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034391418 meters 0.02481986364342537 Centerline is valid? [True, True] Translation: X:124.74, Y:-3.95, Z:-2.20 [[ 9.99812225e-01 1.40006982e-02 1.33975667e-02 1.24744832e+02] [-1.39929497e-02 9.99901868e-01 -6.71918083e-04 -3.95004230e+00] [-1.34056593e-02 4.84320436e-04 9.99910023e-01 -2.20398214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064391418 meters 0.025342864759531094 Centerline is valid? [True, True] Translation: X:124.78, Y:-3.95, Z:-2.21 [[ 9.99829286e-01 1.33753365e-02 1.27474991e-02 1.24776989e+02] [-1.33682560e-02 9.99910436e-01 -6.40498745e-04 -3.95321883e+00] [-1.27549243e-02 4.69977572e-04 9.99918542e-01 -2.20520009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09439141799999 meters 0.027346373808711855 Centerline is valid? [True, True] Translation: X:124.81, Y:-3.96, Z:-2.21 [[ 9.99867977e-01 1.26361091e-02 1.02155616e-02 1.24808582e+02] [-1.26315027e-02 9.99920087e-01 -5.15311461e-04 -3.95664219e+00] [-1.02212568e-02 3.86205533e-04 9.99947687e-01 -2.20857758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799999 meters 0.026723764306289723 Centerline is valid? [True, True] Translation: X:124.84, Y:-3.96, Z:-2.21 [[ 9.99872561e-01 1.18964717e-02 1.06459530e-02 1.24839470e+02] [-1.18913950e-02 9.99929149e-01 -5.40039660e-04 -3.95961941e+00] [-1.06516233e-02 4.13375605e-04 9.99943184e-01 -2.20752024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15439141799999 meters 0.027257682442226816 Centerline is valid? [True, True] Translation: X:124.87, Y:-3.96, Z:-2.21 [[ 9.99875307e-01 1.15662785e-02 1.07513724e-02 1.24871927e+02] [-1.15610525e-02 9.99933019e-01 -5.48104181e-04 -3.96186310e+00] [-1.07569917e-02 4.23738655e-04 9.99942052e-01 -2.20826511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799999 meters 0.032482650456855396 Centerline is valid? [True, True] Translation: X:124.90, Y:-3.97, Z:-2.21 [[ 9.99876935e-01 1.17661633e-02 1.03764887e-02 1.24903807e+02] [-1.17612793e-02 9.99930692e-01 -5.31580339e-04 -3.97085217e+00] [-1.03820242e-02 4.09474139e-04 9.99946021e-01 -2.21009145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21439141799999 meters 0.02684637643292865 Centerline is valid? [True, True] Translation: X:124.94, Y:-3.96, Z:-2.21 [[ 9.99865317e-01 1.26051112e-02 1.05099943e-02 1.24936766e+02] [-1.26001121e-02 9.99920469e-01 -5.41730338e-04 -3.96335822e+00] [-1.05159870e-02 4.09230270e-04 9.99944622e-01 -2.20854991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799999 meters 0.027331378436632723 Centerline is valid? [True, True] Translation: X:124.97, Y:-3.96, Z:-2.21 [[ 9.99842028e-01 1.38424091e-02 1.11493028e-02 1.24967937e+02] [-1.38368202e-02 9.99904099e-01 -5.78261607e-04 -3.96483859e+00] [-1.11562381e-02 4.23899360e-04 9.99937677e-01 -2.20883205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274391418 meters 0.0262724560433894 Centerline is valid? [True, True] Translation: X:125.00, Y:-3.96, Z:-2.21 [[ 9.99824163e-01 1.50273166e-02 1.12170742e-02 1.25000016e+02] [-1.50217028e-02 9.99886997e-01 -5.84558186e-04 -3.96379272e+00] [-1.12245910e-02 4.15955844e-04 9.99936916e-01 -2.20901548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304391418 meters 0.026196567167774007 Centerline is valid? [True, True] Translation: X:125.03, Y:-3.96, Z:-2.21 [[ 9.99795852e-01 1.66769876e-02 1.14075780e-02 1.25030831e+02] [-1.66712500e-02 9.99860846e-01 -5.97882233e-04 -3.96439403e+00] [-1.14159615e-02 4.07581591e-04 9.99934753e-01 -2.20974217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334391418 meters 0.025551731335666197 Centerline is valid? [True, True] Translation: X:125.06, Y:-3.96, Z:-2.21 [[ 9.99740174e-01 2.01974813e-02 1.05662626e-02 1.25061447e+02] [-2.01927116e-02 9.99795951e-01 -5.57904151e-04 -3.96212864e+00] [-1.05753748e-02 3.44397699e-04 9.99944020e-01 -2.21132346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364391418 meters 0.024063822193639627 Centerline is valid? [True, True] Translation: X:125.09, Y:-3.96, Z:-2.21 [[ 9.99703903e-01 2.21297607e-02 1.01183105e-02 1.25093202e+02] [-2.21254854e-02 9.99755059e-01 -5.34288013e-04 -3.95971068e+00] [-1.01276558e-02 3.10257281e-04 9.99948666e-01 -2.21205391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394391418 meters 0.01993283264369004 Centerline is valid? [True, True] Translation: X:125.12, Y:-3.95, Z:-2.21 [[ 9.99588601e-01 2.66548102e-02 1.05900410e-02 1.25124106e+02] [-2.66503730e-02 9.99644659e-01 -5.59918690e-04 -3.95156074e+00] [-1.06012024e-02 2.77459798e-04 9.99943767e-01 -2.21128178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424391418 meters 0.019305155838949924 Centerline is valid? [True, True] Translation: X:125.15, Y:-3.95, Z:-2.21 [[ 9.99531524e-01 2.86633489e-02 1.07305411e-02 1.25153491e+02] [-2.86589056e-02 9.99589088e-01 -5.67644849e-04 -3.95056766e+00] [-1.07424024e-02 2.59853357e-04 9.99942265e-01 -2.21162525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45439141799999 meters 0.018826066139378695 Centerline is valid? [True, True] Translation: X:125.18, Y:-3.95, Z:-2.21 [[ 9.99476558e-01 3.04197805e-02 1.10111952e-02 1.25183346e+02] [-3.04152135e-02 9.99537181e-01 -5.82019563e-04 -3.94975194e+00] [-1.10238040e-02 2.46807055e-04 9.99939206e-01 -2.21174374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799999 meters 0.01804751600670301 Centerline is valid? [True, True] Translation: X:125.21, Y:-3.95, Z:-2.21 [[ 9.99373296e-01 3.31843403e-02 1.23212821e-02 1.25212450e+02] [-3.31788377e-02 9.99449219e-01 -6.50791551e-04 -3.94770027e+00] [-1.23360919e-02 2.41577878e-04 9.99923878e-01 -2.21140530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51439141799999 meters 0.017988071625115842 Centerline is valid? [True, True] Translation: X:125.24, Y:-3.95, Z:-2.21 [[ 9.99352182e-01 3.37965351e-02 1.23697240e-02 1.25242021e+02] [-3.37910468e-02 9.99428707e-01 -6.52480678e-04 -3.94797417e+00] [-1.23847089e-02 2.34072067e-04 9.99923279e-01 -2.21209879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799999 meters 0.01803134365607572 Centerline is valid? [True, True] Translation: X:125.27, Y:-3.95, Z:-2.21 [[ 9.99336727e-01 3.42653668e-02 1.23284150e-02 1.25271821e+02] [-3.42599568e-02 9.99412744e-01 -6.49812518e-04 -3.94871062e+00] [-1.23434411e-02 2.27010551e-04 9.99923791e-01 -2.21292568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57439141799999 meters 0.017908066383337088 Centerline is valid? [True, True] Translation: X:125.30, Y:-3.95, Z:-2.21 [[ 9.99313941e-01 3.48681996e-02 1.24842529e-02 1.25300548e+02] [-3.48627039e-02 9.99391895e-01 -6.57631908e-04 -3.94872624e+00] [-1.24995916e-02 2.21945921e-04 9.99921852e-01 -2.21372928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799999 meters 0.018009544674253048 Centerline is valid? [True, True] Translation: X:125.33, Y:-3.95, Z:-2.21 [[ 9.99307457e-01 3.51359414e-02 1.22504060e-02 1.25330201e+02] [-3.51306798e-02 9.99382519e-01 -6.44501525e-04 -3.95007772e+00] [-1.22654868e-02 2.13690089e-04 9.99924753e-01 -2.21490956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63439141799999 meters 0.01796271971186843 Centerline is valid? [True, True] Translation: X:125.36, Y:-3.95, Z:-2.22 [[ 9.99302426e-01 3.55244901e-02 1.15183293e-02 1.25360007e+02] [-3.55198690e-02 9.99368787e-01 -6.05583896e-04 -3.95139995e+00] [-1.15325718e-02 1.96031908e-04 9.99933478e-01 -2.21635893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664391418 meters 0.01748905960934425 Centerline is valid? [True, True] Translation: X:125.39, Y:-3.95, Z:-2.22 [[ 9.99268445e-01 3.66191257e-02 1.10278746e-02 1.25388802e+02] [-3.66149578e-02 9.99329279e-01 -5.79671890e-04 -3.95162370e+00] [-1.10417051e-02 1.75462664e-04 9.99939023e-01 -2.21728457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694391418 meters 0.01710966688695529 Centerline is valid? [True, True] Translation: X:125.42, Y:-3.95, Z:-2.22 [[ 9.99247952e-01 3.71169059e-02 1.12190144e-02 1.25417303e+02] [-3.71126335e-02 9.99310915e-01 -5.88841439e-04 -3.95174776e+00] [-1.12331395e-02 1.72031432e-04 9.99936891e-01 -2.21737657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724391418 meters 0.01787819256880203 Centerline is valid? [True, True] Translation: X:125.45, Y:-3.95, Z:-2.22 [[ 9.99210527e-01 3.80923223e-02 1.12826088e-02 1.25445428e+02] [-3.80880722e-02 9.99274211e-01 -5.91407996e-04 -3.95342197e+00] [-1.12969481e-02 1.61208276e-04 9.99936174e-01 -2.21846378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754391418 meters 0.01644824041663754 Centerline is valid? [True, True] Translation: X:125.47, Y:-3.95, Z:-2.22 [[ 9.99147859e-01 3.93717847e-02 1.23861794e-02 1.25474012e+02] [-3.93667792e-02 9.99224618e-01 -6.47767999e-04 -3.95296531e+00] [-1.24020791e-02 1.59612022e-04 9.99923079e-01 -2.21719534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784391418 meters 0.016751768820348425 Centerline is valid? [True, True] Translation: X:125.50, Y:-3.95, Z:-2.22 [[ 9.99127703e-01 3.96903666e-02 1.29810596e-02 1.25501642e+02] [-3.96849083e-02 9.99212014e-01 -6.77900246e-04 -3.95490591e+00] [-1.29977368e-02 1.62156754e-04 9.99915513e-01 -2.21791650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814391418 meters 0.016516315857489323 Centerline is valid? [True, True] Translation: X:125.53, Y:-3.96, Z:-2.22 [[ 9.99127388e-01 3.97134817e-02 1.29345339e-02 1.25530042e+02] [-3.97080816e-02 9.99211096e-01 -6.74140805e-04 -3.95623919e+00] [-1.29511022e-02 1.59947014e-04 9.99916118e-01 -2.21825768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799999 meters 0.016048219930548616 Centerline is valid? [True, True] Translation: X:125.56, Y:-3.96, Z:-2.22 [[ 9.99136794e-01 3.92924606e-02 1.34821779e-02 1.25558553e+02] [-3.92865694e-02 9.99227738e-01 -7.01630660e-04 -3.95818417e+00] [-1.34993349e-02 1.71356491e-04 9.99908865e-01 -2.21862790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87439141799999 meters 0.01638706261121579 Centerline is valid? [True, True] Translation: X:125.59, Y:-3.96, Z:-2.22 [[ 9.99153604e-01 3.87692702e-02 1.37483954e-02 1.25587079e+02] [-3.87631124e-02 9.99248173e-01 -7.14187310e-04 -3.96126586e+00] [-1.37657475e-02 1.80652228e-04 9.99905231e-01 -2.21940316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799999 meters 0.016475014211752292 Centerline is valid? [True, True] Translation: X:125.62, Y:-3.96, Z:-2.22 [[ 9.99173964e-01 3.81184184e-02 1.40845954e-02 1.25615985e+02] [-3.81118980e-02 9.99273210e-01 -7.31158378e-04 -3.96363426e+00] [-1.41022295e-02 1.93763751e-04 9.99900540e-01 -2.21970669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93439141799999 meters 0.016475014211752292 Centerline is valid? [True, True] Translation: X:125.65, Y:-3.97, Z:-2.22 [[ 9.99175463e-01 3.80790856e-02 1.40846608e-02 1.25645102e+02] [-3.80725791e-02 9.99274710e-01 -7.29895865e-04 -3.96510453e+00] [-1.41022391e-02 1.93054675e-04 9.99900540e-01 -2.22023266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799999 meters 0.0166416468465739 Centerline is valid? [True, True] Translation: X:125.67, Y:-3.97, Z:-2.22 [[ 9.99185397e-01 3.78051041e-02 1.41179757e-02 1.25674803e+02] [-3.77985474e-02 9.99285112e-01 -7.31062771e-04 -3.96730422e+00] [-1.41355208e-02 1.96828272e-04 9.99900069e-01 -2.22110234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99439141799999 meters 0.01690289554243009 Centerline is valid? [True, True] Translation: X:125.70, Y:-3.97, Z:-2.22 [[ 9.99188759e-01 3.78379651e-02 1.37881135e-02 1.25704686e+02] [-3.78317216e-02 9.99283869e-01 -7.13456222e-04 -3.96927716e+00] [-1.38052351e-02 1.91249366e-04 9.99904685e-01 -2.22189550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024391418 meters 0.01630312824883497 Centerline is valid? [True, True] Translation: X:125.73, Y:-3.97, Z:-2.22 [[ 9.99160817e-01 3.84083553e-02 1.42288324e-02 1.25734806e+02] [-3.84017723e-02 9.99262109e-01 -7.35689188e-04 -3.97015433e+00] [-1.42465897e-02 1.88659429e-04 9.99898494e-01 -2.22206932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054391418 meters 0.015969402989115488 Centerline is valid? [True, True] Translation: X:125.76, Y:-3.97, Z:-2.22 [[ 9.99105298e-01 3.99874749e-02 1.37697073e-02 1.25763200e+02] [-3.99814660e-02 9.99200168e-01 -7.11499881e-04 -3.97212161e+00] [-1.37871450e-02 1.60330217e-04 9.99904940e-01 -2.22280735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084391418 meters 0.015665652700735493 Centerline is valid? [True, True] Translation: X:125.79, Y:-3.97, Z:-2.22 [[ 9.99058757e-01 4.11156419e-02 1.38240575e-02 1.25792451e+02] [-4.11097050e-02 9.99154384e-01 -7.13469282e-04 -3.97375883e+00] [-1.38417024e-02 1.44494809e-04 9.99904189e-01 -2.22346793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114391418 meters 0.01566925435304767 Centerline is valid? [True, True] Translation: X:125.82, Y:-3.98, Z:-2.22 [[ 9.99010027e-01 4.24238748e-02 1.33858702e-02 1.25820664e+02] [-4.24184336e-02 9.99099695e-01 -6.90270999e-04 -3.97555761e+00] [-1.34031028e-02 1.21780004e-04 9.99910167e-01 -2.22455701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144391418 meters 0.015265149036278819 Centerline is valid? [True, True] Translation: X:125.85, Y:-3.98, Z:-2.23 [[ 9.98911371e-01 4.48519325e-02 1.28209569e-02 1.25848341e+02] [-4.48471563e-02 9.98993642e-01 -6.59937969e-04 -3.97660734e+00] [-1.28376539e-02 8.42360836e-05 9.99917590e-01 -2.22563568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174391418 meters 0.015071359956879471 Centerline is valid? [True, True] Translation: X:125.88, Y:-3.98, Z:-2.23 [[ 9.98877867e-01 4.57057444e-02 1.24093022e-02 1.25877085e+02] [-4.57013512e-02 9.98954944e-01 -6.37511897e-04 -3.97800999e+00] [-1.24254718e-02 6.96746454e-05 9.99922798e-01 -2.22648654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799999 meters 0.01501778721553638 Centerline is valid? [True, True] Translation: X:125.91, Y:-3.98, Z:-2.23 [[ 9.98846062e-01 4.65151001e-02 1.19536823e-02 1.25906233e+02] [-4.65110918e-02 9.98917585e-01 -6.13244847e-04 -3.97984362e+00] [-1.19692686e-02 5.65583849e-05 9.99928364e-01 -2.22772057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23439141799999 meters 0.014865368581709408 Centerline is valid? [True, True] Translation: X:125.94, Y:-3.98, Z:-2.23 [[ 9.98816794e-01 4.71631874e-02 1.18593918e-02 1.25935357e+02] [-4.71592982e-02 9.98887197e-01 -6.07532952e-04 -3.98184912e+00] [-1.18748478e-02 4.75335217e-05 9.99929490e-01 -2.22857258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799999 meters 0.01476463656301455 Centerline is valid? [True, True] Translation: X:125.96, Y:-3.98, Z:-2.23 [[ 9.98786677e-01 4.79496764e-02 1.12250770e-02 1.25963831e+02] [-4.79462501e-02 9.98849752e-01 -5.74297329e-04 -3.98482220e+00] [-1.12397028e-02 3.54001704e-05 9.99936832e-01 -2.22938188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29439141799999 meters 0.014768468643228033 Centerline is valid? [True, True] Translation: X:125.99, Y:-3.99, Z:-2.23 [[ 9.98787773e-01 4.78881739e-02 1.13888868e-02 1.25991598e+02] [-4.78846519e-02 9.98852703e-01 -5.81893971e-04 -3.98731470e+00] [-1.14036862e-02 3.58357024e-05 9.99934975e-01 -2.23030568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799999 meters 0.014653175661130845 Centerline is valid? [True, True] Translation: X:126.02, Y:-3.99, Z:-2.23 [[ 9.98812202e-01 4.72802548e-02 1.17797155e-02 1.26020087e+02] [-4.72764599e-02 9.98881662e-01 -6.00570038e-04 -3.99051032e+00] [-1.17949369e-02 4.29534360e-05 9.99930436e-01 -2.22915474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35439141799999 meters 0.014592232972096938 Centerline is valid? [True, True] Translation: X:126.05, Y:-3.99, Z:-2.23 [[ 9.98856468e-01 4.63448456e-02 1.17435776e-02 1.26048292e+02] [-4.63410182e-02 9.98925499e-01 -5.97968433e-04 -3.99329357e+00] [-1.17586718e-02 5.30752952e-05 9.99930863e-01 -2.22940578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799999 meters 0.014675074351652617 Centerline is valid? [True, True] Translation: X:126.08, Y:-4.00, Z:-2.23 [[ 9.98922940e-01 4.48580187e-02 1.18624631e-02 1.26076265e+02] [-4.48540249e-02 9.98993370e-01 -6.02646437e-04 -3.99701650e+00] [-1.18775555e-02 6.99181339e-05 9.99929457e-01 -2.22970991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414391418 meters 0.01546166500335436 Centerline is valid? [True, True] Translation: X:126.10, Y:-4.00, Z:-2.23 [[ 9.99099781e-01 4.05004518e-02 1.26230049e-02 1.26104416e+02] [-4.04956004e-02 9.99179512e-01 -6.39794608e-04 -4.00485913e+00] [-1.26385598e-02 1.28042490e-04 9.99920122e-01 -2.22998084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444391418 meters 0.01595534334588534 Centerline is valid? [True, True] Translation: X:126.13, Y:-4.01, Z:-2.23 [[ 9.99202617e-01 3.78212111e-02 1.27940132e-02 1.26134265e+02] [-3.78160237e-02 9.99284509e-01 -6.47213549e-04 -4.01031668e+00] [-1.28093376e-02 1.62878766e-04 9.99917944e-01 -2.23038266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474391418 meters 0.016804935109640304 Centerline is valid? [True, True] Translation: X:126.16, Y:-4.02, Z:-2.23 [[ 9.99313414e-01 3.45817340e-02 1.32967468e-02 1.26163461e+02] [-3.45758529e-02 9.99401851e-01 -6.71989225e-04 -4.01618630e+00] [-1.33120319e-02 2.11781486e-04 9.99911369e-01 -2.23031247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504391418 meters 0.01818084756071725 Centerline is valid? [True, True] Translation: X:126.19, Y:-4.02, Z:-2.23 [[ 9.99417054e-01 3.12098912e-02 1.38381516e-02 1.26192376e+02] [-3.12032024e-02 9.99512817e-01 -6.99060372e-04 -4.02189865e+00] [-1.38532275e-02 2.66858212e-04 9.99904004e-01 -2.23067673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534391418 meters 0.020503267447234328 Centerline is valid? [True, True] Translation: X:126.22, Y:-4.03, Z:-2.23 [[ 9.99614687e-01 2.43762776e-02 1.32768756e-02 1.26223054e+02] [-2.43695236e-02 9.99702794e-01 -6.70273033e-04 -4.03018227e+00] [-1.32892684e-02 3.46463635e-04 9.99911634e-01 -2.23167813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564391418 meters 0.022373849120488922 Centerline is valid? [True, True] Translation: X:126.25, Y:-4.04, Z:-2.23 [[ 9.99689932e-01 2.12972817e-02 1.29021662e-02 1.26254281e+02] [-2.12906526e-02 9.99773116e-01 -6.50949443e-04 -4.03649402e+00] [-1.29131023e-02 3.76052067e-04 9.99916552e-01 -2.23317777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59439141799999 meters 0.02339822622578775 Centerline is valid? [True, True] Translation: X:126.29, Y:-4.04, Z:-2.23 [[ 9.99758506e-01 1.81517348e-02 1.23872379e-02 1.26286266e+02] [-1.81453569e-02 9.99835163e-01 -6.27083066e-04 -4.04119025e+00] [-1.23965786e-02 4.02160777e-04 9.99923079e-01 -2.23416490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799999 meters 0.027171793455968343 Centerline is valid? [True, True] Translation: X:126.32, Y:-4.05, Z:-2.24 [[ 9.99846320e-01 1.29659878e-02 1.17991081e-02 1.26316241e+02] [-1.29598257e-02 9.99915839e-01 -5.98561716e-04 -4.05017740e+00] [-1.18058760e-02 4.45555345e-04 9.99930209e-01 -2.23543266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65439141799999 meters 0.027719872197778914 Centerline is valid? [True, True] Translation: X:126.35, Y:-4.05, Z:-2.24 [[ 9.99864349e-01 1.17774793e-02 1.15141279e-02 1.26348540e+02] [-1.17715491e-02 9.99930543e-01 -5.82674969e-04 -4.05357543e+00] [-1.15201906e-02 4.47056807e-04 9.99933540e-01 -2.23614342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799999 meters 0.027131842307048393 Centerline is valid? [True, True] Translation: X:126.38, Y:-4.05, Z:-2.24 [[ 9.99868880e-01 1.02782933e-02 1.25131869e-02 1.26380658e+02] [-1.02711243e-02 9.99947048e-01 -6.37041335e-04 -4.05495782e+00] [-1.25190720e-02 5.08433308e-04 9.99921504e-01 -2.23527566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71439141799999 meters 0.029409448298184433 Centerline is valid? [True, True] Translation: X:126.41, Y:-4.06, Z:-2.24 [[ 9.99861249e-01 1.07622132e-02 1.27144386e-02 1.26411875e+02] [-1.07547958e-02 9.99941953e-01 -6.51614040e-04 -4.05991751e+00] [-1.27207134e-02 5.14782437e-04 9.99918956e-01 -2.23572302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799999 meters 0.026795264044119166 Centerline is valid? [True, True] Translation: X:126.44, Y:-4.06, Z:-2.24 [[ 9.99833947e-01 1.23930943e-02 1.33599899e-02 1.26444512e+02] [-1.23850269e-02 9.99923067e-01 -6.86412758e-04 -4.05749069e+00] [-1.33674689e-02 5.20834942e-04 9.99910516e-01 -2.23536543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774391418 meters 0.024807724013954195 Centerline is valid? [True, True] Translation: X:126.48, Y:-4.06, Z:-2.24 [[ 9.99812342e-01 1.38409679e-02 1.35538836e-02 1.26477298e+02] [-1.38327347e-02 9.99904077e-01 -7.01005421e-04 -4.05640556e+00] [-1.35622861e-02 5.13386596e-04 9.99907896e-01 -2.23573634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804391418 meters 0.023950181937183592 Centerline is valid? [True, True] Translation: X:126.51, Y:-4.06, Z:-2.24 [[ 9.99793727e-01 1.53031377e-02 1.33535353e-02 1.26509244e+02] [-1.52952699e-02 9.99882782e-01 -6.91123809e-04 -4.05637981e+00] [-1.33625463e-02 4.86735323e-04 9.99910599e-01 -2.23629399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834391418 meters 0.02285496992800885 Centerline is valid? [True, True] Translation: X:126.54, Y:-4.05, Z:-2.24 [[ 9.99753852e-01 1.77205785e-02 1.33497983e-02 1.26542085e+02] [-1.77128673e-02 9.99842873e-01 -6.95649808e-04 -4.05461417e+00] [-1.33600280e-02 4.59015368e-04 9.99910645e-01 -2.23771431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864391418 meters 0.02285496992800885 Centerline is valid? [True, True] Translation: X:126.57, Y:-4.06, Z:-2.24 [[ 9.99747910e-01 1.80526876e-02 1.33497817e-02 1.26574626e+02] [-1.80450017e-02 9.99836933e-01 -6.95972629e-04 -4.05644937e+00] [-1.33601690e-02 4.54900348e-04 9.99910645e-01 -2.23830162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894391418 meters 0.0239829762104977 Centerline is valid? [True, True] Translation: X:126.61, Y:-4.06, Z:-2.24 [[ 9.99730704e-01 1.97170183e-02 1.22376301e-02 1.26605429e+02] [-1.97106358e-02 9.99805520e-01 -6.41946231e-04 -4.05829538e+00] [-1.22479074e-02 4.00561887e-04 9.99924911e-01 -2.24021039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924391418 meters 0.023157889972036667 Centerline is valid? [True, True] Translation: X:126.64, Y:-4.06, Z:-2.24 [[ 9.99726651e-01 2.03770349e-02 1.14629706e-02 1.26637907e+02] [-2.03714475e-02 9.99792298e-01 -6.03993446e-04 -4.05803184e+00] [-1.14728973e-02 3.70311040e-04 9.99934116e-01 -2.24133050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95439141799999 meters 0.022625656555048584 Centerline is valid? [True, True] Translation: X:126.67, Y:-4.06, Z:-2.24 [[ 9.99728577e-01 2.05281212e-02 1.10167827e-02 1.26669865e+02] [-2.05229380e-02 9.99789212e-01 -5.83338219e-04 -4.05772914e+00] [-1.10264353e-02 3.57083140e-04 9.99939143e-01 -2.24213839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799999 meters 0.022472135386000083 Centerline is valid? [True, True] Translation: X:126.70, Y:-4.06, Z:-2.24 [[ 9.99752443e-01 1.94636430e-02 1.07804647e-02 1.26701223e+02] [-1.94585670e-02 9.99810499e-01 -5.75555489e-04 -4.05732104e+00] [-1.07896242e-02 3.65640613e-04 9.99941723e-01 -2.24227716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014391418 meters 0.02406018876374793 Centerline is valid? [True, True] Translation: X:126.73, Y:-4.06, Z:-2.24 [[ 9.99783553e-01 1.77023776e-02 1.09303961e-02 1.26732374e+02] [-1.76970577e-02 9.99843225e-01 -5.83244480e-04 -4.05918533e+00] [-1.09390073e-02 3.89682388e-04 9.99940091e-01 -2.24262364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters 0.02375936874753268 Centerline is valid? [True, True] Translation: X:126.76, Y:-4.06, Z:-2.24 [[ 9.99798172e-01 1.69192236e-02 1.08330786e-02 1.26764368e+02] [-1.69139453e-02 9.99856782e-01 -5.78677458e-04 -4.05930083e+00] [-1.08413178e-02 3.95330567e-04 9.99941153e-01 -2.24262425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.074391418 meters 0.026264800452214573 Centerline is valid? [True, True] Translation: X:126.80, Y:-4.06, Z:-2.24 [[ 9.99804932e-01 1.62734334e-02 1.11925200e-02 1.26795364e+02] [-1.62677186e-02 9.99867491e-01 -6.01448714e-04 -4.06356664e+00] [-1.12008246e-02 4.19254624e-04 9.99937181e-01 -2.24347506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters 0.025870692951066553 Centerline is valid? [True, True] Translation: X:126.83, Y:-4.06, Z:-2.24 [[ 9.99812495e-01 1.55266679e-02 1.15714291e-02 1.26827995e+02] [-1.55204732e-02 9.99879355e-01 -6.24962375e-04 -4.06181353e+00] [-1.15797366e-02 4.45251136e-04 9.99932853e-01 -2.24373270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.134391418 meters 0.025683541379347655 Centerline is valid? [True, True] Translation: X:126.86, Y:-4.06, Z:-2.24 [[ 9.99798151e-01 1.60181634e-02 1.21274545e-02 1.26859827e+02] [-1.60113505e-02 9.99871593e-01 -6.58662981e-04 -4.06232032e+00] [-1.21364479e-02 4.64353106e-04 9.99926243e-01 -2.24427726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164391418 meters 0.025985713275978206 Centerline is valid? [True, True] Translation: X:126.89, Y:-4.06, Z:-2.24 [[ 9.99777850e-01 1.68101244e-02 1.27149880e-02 1.26891116e+02] [-1.68026423e-02 9.99858584e-01 -6.95052522e-04 -4.06299899e+00] [-1.27248738e-02 4.81252721e-04 9.99918920e-01 -2.24477159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194391418 meters 0.02523528822021519 Centerline is valid? [True, True] Translation: X:126.92, Y:-4.06, Z:-2.25 [[ 9.99751957e-01 1.80077903e-02 1.31051277e-02 1.26923279e+02] [-1.79999238e-02 9.99837730e-01 -7.17974519e-04 -4.06207699e+00] [-1.31159303e-02 4.81905129e-04 9.99913866e-01 -2.24525124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224391418 meters 0.02390524828763638 Centerline is valid? [True, True] Translation: X:126.96, Y:-4.06, Z:-2.25 [[ 9.99697281e-01 2.07825137e-02 1.31694053e-02 1.26955484e+02] [-2.07747612e-02 9.99783918e-01 -7.25213575e-04 -4.05797402e+00] [-1.31816314e-02 4.51402789e-04 9.99913017e-01 -2.24606005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254391418 meters 0.02365956592944605 Centerline is valid? [True, True] Translation: X:126.99, Y:-4.06, Z:-2.25 [[ 9.99665331e-01 2.23873100e-02 1.29628164e-02 1.26986976e+02] [-2.23798795e-02 9.99749281e-01 -7.18013583e-04 -4.05744784e+00] [-1.29756408e-02 4.27667017e-04 9.99915721e-01 -2.24706821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284391418 meters 0.02333282314373004 Centerline is valid? [True, True] Translation: X:127.02, Y:-4.06, Z:-2.25 [[ 9.99598115e-01 2.52431291e-02 1.28993711e-02 1.27018444e+02] [-2.52359821e-02 9.99681265e-01 -7.16555751e-04 -4.05536474e+00] [-1.29133477e-02 3.90739480e-04 9.99916543e-01 -2.24850403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314391418 meters 0.021362219637717117 Centerline is valid? [True, True] Translation: X:127.05, Y:-4.05, Z:-2.25 [[ 9.99563309e-01 2.66006875e-02 1.28683475e-02 1.27050295e+02] [-2.65936532e-02 9.99646069e-01 -7.17471966e-04 -4.05238297e+00] [-1.28828782e-02 3.74942283e-04 9.99916942e-01 -2.24892162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34439141800001 meters 0.021009448175350425 Centerline is valid? [True, True] Translation: X:127.08, Y:-4.05, Z:-2.25 [[ 9.99529684e-01 2.78542363e-02 1.28277988e-02 1.27080787e+02] [-2.78473402e-02 9.99611931e-01 -7.15932788e-04 -4.05188765e+00] [-1.28427625e-02 3.58375995e-04 9.99917464e-01 -2.24978451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37439141800002 meters 0.02074319271929863 Centerline is valid? [True, True] Translation: X:127.11, Y:-4.05, Z:-2.25 [[ 9.99436097e-01 3.13119094e-02 1.21265071e-02 1.27111778e+02] [-3.13060010e-02 9.99509618e-01 -6.76792971e-04 -4.04752413e+00] [-1.21417522e-02 2.96778880e-04 9.99926242e-01 -2.25102715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40439141800002 meters 0.01851269484471408 Centerline is valid? [True, True] Translation: X:127.14, Y:-4.05, Z:-2.25 [[ 9.99389936e-01 3.22882506e-02 1.33125767e-02 1.27141386e+02] [-3.22812138e-02 9.99478550e-01 -7.43181433e-04 -4.04671550e+00] [-1.33296309e-02 3.12981911e-04 9.99911108e-01 -2.25018331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43439141800002 meters 0.01791637411684797 Centerline is valid? [True, True] Translation: X:127.17, Y:-4.04, Z:-2.25 [[ 9.99343056e-01 3.38019514e-02 1.30722434e-02 1.27171284e+02] [-3.37953027e-02 9.99428510e-01 -7.29242932e-04 -4.04494016e+00] [-1.30894226e-02 2.86983438e-04 9.99914289e-01 -2.25089273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46439141800002 meters 0.01736874019006698 Centerline is valid? [True, True] Translation: X:127.20, Y:-4.04, Z:-2.25 [[ 9.99293317e-01 3.55312016e-02 1.22638071e-02 1.27200707e+02] [-3.55254857e-02 9.99368537e-01 -6.83678180e-04 -4.04406904e+00] [-1.22803549e-02 2.47517332e-04 9.99924563e-01 -2.25202908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49439141800002 meters 0.01662083309612948 Centerline is valid? [True, True] Translation: X:127.23, Y:-4.04, Z:-2.25 [[ 9.99201566e-01 3.82713374e-02 1.14689009e-02 1.27229875e+02] [-3.82665207e-02 9.99267364e-01 -6.39204267e-04 -4.04127036e+00] [-1.14849615e-02 1.99818971e-04 9.99934026e-01 -2.25374733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters 0.016414964129233788 Centerline is valid? [True, True] Translation: X:127.26, Y:-4.04, Z:-2.25 [[ 9.99163883e-01 3.93654917e-02 1.10405514e-02 1.27258555e+02] [-3.93611043e-02 9.99224863e-01 -6.14480661e-04 -4.04099500e+00] [-1.10561828e-02 1.79398587e-04 9.99938862e-01 -2.25439411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554391418 meters 0.01611666449743897 Centerline is valid? [True, True] Translation: X:127.29, Y:-4.04, Z:-2.25 [[ 9.99101323e-01 4.07980069e-02 1.14921496e-02 1.27286070e+02] [-4.07933581e-02 9.99167400e-01 -6.38742548e-04 -4.03928547e+00] [-1.15086407e-02 1.69365151e-04 9.99933759e-01 -2.25449164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters 0.015867424276805167 Centerline is valid? [True, True] Translation: X:127.31, Y:-4.04, Z:-2.25 [[ 9.99089492e-01 4.10106076e-02 1.17608490e-02 1.27314565e+02] [-4.10057696e-02 9.99158697e-01 -6.52314208e-04 -4.03947593e+00] [-1.17777064e-02 1.69457607e-04 9.99930626e-01 -2.25464438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614391418 meters 0.01595750464483383 Centerline is valid? [True, True] Translation: X:127.34, Y:-4.04, Z:-2.25 [[ 9.99102475e-01 4.06484820e-02 1.19140509e-02 1.27343302e+02] [-4.06435031e-02 9.99173494e-01 -6.59827689e-04 -4.04003765e+00] [-1.19310249e-02 1.75006712e-04 9.99928807e-01 -2.25494556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters 0.0160728721281253 Centerline is valid? [True, True] Translation: X:127.37, Y:-4.04, Z:-2.26 [[ 9.99118011e-01 4.02456155e-02 1.19787774e-02 1.27372158e+02] [-4.02405649e-02 9.99189801e-01 -6.62451420e-04 -4.04082955e+00] [-1.19957330e-02 1.79834375e-04 9.99928032e-01 -2.25524942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674391418 meters 0.0166908326610065 Centerline is valid? [True, True] Translation: X:127.40, Y:-4.04, Z:-2.26 [[ 9.99191599e-01 3.80931417e-02 1.28476056e-02 1.27400304e+02] [-3.80871675e-02 9.99274169e-01 -7.09452901e-04 -4.04383089e+00] [-1.28653057e-02 2.19550474e-04 9.99917214e-01 -2.25547616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters 0.01725360153702895 Centerline is valid? [True, True] Translation: X:127.43, Y:-4.05, Z:-2.26 [[ 9.99243915e-01 3.65248000e-02 1.33243298e-02 1.27427906e+02] [-3.65182536e-02 9.99332716e-01 -7.34367957e-04 -4.04683626e+00] [-1.33422614e-02 2.47231457e-04 9.99910958e-01 -2.25567338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734391418 meters 0.01877586957867687 Centerline is valid? [True, True] Translation: X:127.46, Y:-4.05, Z:-2.26 [[ 9.99353437e-01 3.35092703e-02 1.30321452e-02 1.27455792e+02] [-3.35027737e-02 9.99438368e-01 -7.16564266e-04 -4.05163209e+00] [-1.30488375e-02 2.79487949e-04 9.99914821e-01 -2.25611782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters 0.02109629662758589 Centerline is valid? [True, True] Translation: X:127.49, Y:-4.05, Z:-2.26 [[ 9.99386083e-01 3.30110882e-02 1.17356765e-02 1.27485294e+02] [-3.30057850e-02 9.99454952e-01 -6.45335981e-04 -4.05390723e+00] [-1.17505832e-02 2.57594583e-04 9.99930926e-01 -2.25795537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.794391418 meters 0.019654101197015557 Centerline is valid? [True, True] Translation: X:127.52, Y:-4.06, Z:-2.26 [[ 9.99419164e-01 3.15595927e-02 1.28579461e-02 1.27515275e+02] [-3.15531139e-02 9.99501827e-01 -7.06477940e-04 -4.05639136e+00] [-1.28738368e-02 3.00359354e-04 9.99917084e-01 -2.25721738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters 0.020000262247848857 Centerline is valid? [True, True] Translation: X:127.54, Y:-4.06, Z:-2.26 [[ 9.99445045e-01 3.07712301e-02 1.27567256e-02 1.27544629e+02] [-3.07647950e-02 9.99526406e-01 -7.00426100e-04 -4.05859898e+00] [-1.27722371e-02 3.07579346e-04 9.99918384e-01 -2.25746217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.854391418 meters 0.020000262247848857 Centerline is valid? [True, True] Translation: X:127.57, Y:-4.06, Z:-2.26 [[ 9.99446225e-01 3.07328452e-02 1.27567526e-02 1.27573747e+02] [-3.07264132e-02 9.99527587e-01 -6.99934872e-04 -4.06015637e+00] [-1.27722371e-02 3.07578015e-04 9.99918384e-01 -2.25798809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.884391418 meters 0.020448556599795196 Centerline is valid? [True, True] Translation: X:127.60, Y:-4.06, Z:-2.26 [[ 9.99455348e-01 3.05879521e-02 1.23848369e-02 1.27602444e+02] [-3.05818829e-02 9.99532034e-01 -6.79177333e-04 -4.06292908e+00] [-1.23998159e-02 3.00055785e-04 9.99923074e-01 -2.25877039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914391418 meters 0.020275008479535242 Centerline is valid? [True, True] Translation: X:127.63, Y:-4.06, Z:-2.26 [[ 9.99428980e-01 3.13223673e-02 1.26737059e-02 1.27631785e+02] [-3.13160816e-02 9.99509290e-01 -6.94164731e-04 -4.06458406e+00] [-1.26892297e-02 2.96877541e-04 9.99919444e-01 -2.25952064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944391418 meters 0.019855441612928303 Centerline is valid? [True, True] Translation: X:127.66, Y:-4.07, Z:-2.26 [[ 9.99398209e-01 3.23713136e-02 1.24626508e-02 1.27660283e+02] [-3.23653215e-02 9.99475873e-01 -6.82246545e-04 -4.06636156e+00] [-1.24782040e-02 2.78478275e-04 9.99922105e-01 -2.26030918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974391418 meters 0.018473069348883094 Centerline is valid? [True, True] Translation: X:127.69, Y:-4.07, Z:-2.26 [[ 9.99293569e-01 3.57414913e-02 1.16150521e-02 1.27689550e+02] [-3.57365223e-02 9.99361045e-01 -6.35139518e-04 -4.06563779e+00] [-1.16303314e-02 2.19609268e-04 9.99932341e-01 -2.26128155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004391418 meters 0.0174967386244568 Centerline is valid? [True, True] Translation: X:127.72, Y:-4.06, Z:-2.26 [[ 9.99208098e-01 3.81153069e-02 1.14193001e-02 1.27718320e+02] [-3.81106609e-02 9.99273330e-01 -6.24265983e-04 -4.06484713e+00] [-1.14347962e-02 1.88574551e-04 9.99934603e-01 -2.26214654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034391418 meters 0.015390936735248372 Centerline is valid? [True, True] Translation: X:127.75, Y:-4.06, Z:-2.26 [[ 9.99106162e-01 4.07420207e-02 1.12678791e-02 1.27747806e+02] [-4.07376743e-02 9.99169687e-01 -6.15084426e-04 -4.06155304e+00] [-1.12835830e-02 1.55507453e-04 9.99936326e-01 -2.26158513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064391418 meters 0.014771152757839143 Centerline is valid? [True, True] Translation: X:127.78, Y:-4.06, Z:-2.26 [[ 9.98862561e-01 4.64282285e-02 1.08630027e-02 1.27775473e+02] [-4.64245286e-02 9.98921625e-01 -5.92643521e-04 -4.06030924e+00] [-1.08788037e-02 8.76596436e-05 9.99940820e-01 -2.26365675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09439141800001 meters 0.013906138572664838 Centerline is valid? [True, True] Translation: X:127.80, Y:-4.06, Z:-2.26 [[ 9.98730425e-01 4.91588427e-02 1.09975535e-02 1.27804169e+02] [-4.91552302e-02 9.98790972e-01 -5.98714638e-04 -4.05872109e+00] [-1.10136893e-02 5.73672504e-05 9.99939346e-01 -2.26305609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12439141800002 meters 0.013714598968681126 Centerline is valid? [True, True] Translation: X:127.83, Y:-4.06, Z:-2.26 [[ 9.98495645e-01 5.36892806e-02 1.11313837e-02 1.27832066e+02] [-5.36858697e-02 9.98557690e-01 -6.05216018e-04 -4.05725913e+00] [-1.11478224e-02 6.70754413e-06 9.99937861e-01 -2.26333372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15439141800002 meters 0.01370826178354659 Centerline is valid? [True, True] Translation: X:127.86, Y:-4.06, Z:-2.26 [[ 9.98387835e-01 5.56534387e-02 1.11546069e-02 1.27859735e+02] [-5.56501472e-02 9.98450146e-01 -6.05491290e-04 -4.05719157e+00] [-1.11710165e-02 -1.62403755e-05 9.99937602e-01 -2.26371320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18439141800002 meters 0.013795988121250635 Centerline is valid? [True, True] Translation: X:127.89, Y:-4.06, Z:-2.26 [[ 9.98312833e-01 5.71089804e-02 1.04905969e-02 1.27888927e+02] [-5.71061644e-02 9.98367950e-01 -5.68025564e-04 -4.05776631e+00] [-1.05059151e-02 -3.20105417e-05 9.99944811e-01 -2.26424152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21439141800002 meters 0.014042041028842107 Centerline is valid? [True, True] Translation: X:127.92, Y:-4.06, Z:-2.26 [[ 9.98193716e-01 5.91777439e-02 1.03586168e-02 1.27917740e+02] [-5.91751181e-02 9.98247460e-01 -5.60072159e-04 -4.05895864e+00] [-1.03736067e-02 -5.39118615e-05 9.99946191e-01 -2.26484978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24439141800002 meters 0.014221428760705972 Centerline is valid? [True, True] Translation: X:127.95, Y:-4.06, Z:-2.27 [[ 9.98164958e-01 5.96619713e-02 1.03521000e-02 1.27945530e+02] [-5.96593818e-02 9.98218636e-01 -5.59047728e-04 -4.06067056e+00] [-1.03670130e-02 -5.95780349e-05 9.99946259e-01 -2.26542464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274391418 meters 0.013879458373969006 Centerline is valid? [True, True] Translation: X:127.97, Y:-4.06, Z:-2.27 [[ 9.98154648e-01 5.97525021e-02 1.08137576e-02 1.27973210e+02] [-5.97496923e-02 9.98213221e-01 -5.83012703e-04 -4.06484113e+00] [-1.08292723e-02 -6.41818502e-05 9.99941360e-01 -2.26517292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters 0.014058102501584022 Centerline is valid? [True, True] Translation: X:128.00, Y:-4.07, Z:-2.27 [[ 9.98177263e-01 5.93449228e-02 1.09696063e-02 1.28000711e+02] [-5.93420217e-02 9.98237535e-01 -5.90058785e-04 -4.06834301e+00] [-1.09852898e-02 -6.19753537e-05 9.99939658e-01 -2.26615317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334391418 meters 0.014073279757951775 Centerline is valid? [True, True] Translation: X:128.03, Y:-4.07, Z:-2.27 [[ 9.98256396e-01 5.80689747e-02 1.05906404e-02 1.28027738e+02] [-5.80662099e-02 9.98312572e-01 -5.68620231e-04 -4.07378674e+00] [-1.06057886e-02 -4.73295649e-05 9.99943756e-01 -2.26749912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters 0.013920305726013592 Centerline is valid? [True, True] Translation: X:128.06, Y:-4.08, Z:-2.27 [[ 9.98319097e-01 5.70650023e-02 1.01275253e-02 1.28055556e+02] [-5.70624371e-02 9.98370464e-01 -5.42303007e-04 -4.07708468e+00] [-1.01419687e-02 -3.65098272e-05 9.99948568e-01 -2.26824941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394391418 meters 0.013783349403188304 Centerline is valid? [True, True] Translation: X:128.08, Y:-4.08, Z:-2.27 [[ 9.98383356e-01 5.60158705e-02 9.63830816e-03 1.28083322e+02] [-5.60135082e-02 9.98429878e-01 -5.15072520e-04 -4.08075119e+00] [-9.65202708e-03 -2.56356226e-05 9.99953418e-01 -2.26891931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters 0.013735657514223927 Centerline is valid? [True, True] Translation: X:128.11, Y:-4.08, Z:-2.27 [[ 9.98455367e-01 5.47899093e-02 9.21665733e-03 1.28111077e+02] [-5.47877059e-02 9.98497905e-01 -4.91572303e-04 -4.08475545e+00] [-9.22974624e-03 -1.41465068e-05 9.99957405e-01 -2.26939086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454391418 meters 0.013701531699415587 Centerline is valid? [True, True] Translation: X:128.14, Y:-4.09, Z:-2.27 [[ 9.98529511e-01 5.34410133e-02 9.10346844e-03 1.28137933e+02] [-5.34388139e-02 9.98571008e-01 -4.84845865e-04 -4.08883385e+00] [-9.11637031e-03 -2.34565194e-06 9.99958445e-01 -2.27024328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters 0.013736336875995734 Centerline is valid? [True, True] Translation: X:128.17, Y:-4.10, Z:-2.27 [[ 9.98623731e-01 5.14787383e-02 1.00291598e-02 1.28166325e+02] [-5.14759913e-02 9.98674091e-01 -5.32023100e-04 -4.09604518e+00] [-1.00432500e-02 1.50299488e-05 9.99949565e-01 -2.27116794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514391418 meters 0.013816145899860606 Centerline is valid? [True, True] Translation: X:128.19, Y:-4.10, Z:-2.27 [[ 9.98678550e-01 5.03301579e-02 1.03937304e-02 1.28194298e+02] [-5.03271655e-02 9.98732634e-01 -5.49418719e-04 -4.10082968e+00] [-1.04082100e-02 2.56057009e-05 9.99945833e-01 -2.27195248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters 0.013912452625307147 Centerline is valid? [True, True] Translation: X:128.22, Y:-4.11, Z:-2.27 [[ 9.98728015e-01 4.92195128e-02 1.09449499e-02 1.28223184e+02] [-4.92161458e-02 9.98787985e-01 -5.76924367e-04 -4.10507225e+00] [-1.09600803e-02 3.75222800e-05 9.99939936e-01 -2.27151029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.574391418 meters 0.014155125870099957 Centerline is valid? [True, True] Translation: X:128.25, Y:-4.11, Z:-2.27 [[ 9.98818892e-01 4.70232769e-02 1.22324567e-02 1.28250582e+02] [-4.70189201e-02 9.98893792e-01 -6.43668704e-04 -4.11261575e+00] [-1.22491925e-02 6.77515564e-05 9.99924974e-01 -2.27079705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters 0.0145010539564414 Centerline is valid? [True, True] Translation: X:128.28, Y:-4.12, Z:-2.27 [[ 9.98892891e-01 4.53463674e-02 1.25179805e-02 1.28278851e+02] [-4.53416923e-02 9.98971320e-01 -6.57167993e-04 -4.11747893e+00] [-1.25349037e-02 8.88540175e-05 9.99921431e-01 -2.27125295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.634391418 meters 0.01510732780470959 Centerline is valid? [True, True] Translation: X:128.31, Y:-4.13, Z:-2.27 [[ 9.99061519e-01 4.14758897e-02 1.24832294e-02 1.28307687e+02] [-4.14709506e-02 9.99139496e-01 -6.54369804e-04 -4.12596681e+00] [-1.24996281e-02 1.36064300e-04 9.99921867e-01 -2.27121952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664391418 meters 0.01584640151966504 Centerline is valid? [True, True] Translation: X:128.34, Y:-4.13, Z:-2.27 [[ 9.99160838e-01 3.91994394e-02 1.18753009e-02 1.28337464e+02] [-3.91948237e-02 9.99231395e-01 -6.21261144e-04 -4.13198179e+00] [-1.18905266e-02 1.55289480e-04 9.99929293e-01 -2.27270344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694391418 meters 0.01588352117640538 Centerline is valid? [True, True] Translation: X:128.37, Y:-4.14, Z:-2.27 [[ 9.99271288e-01 3.63965288e-02 1.14971822e-02 1.28366243e+02] [-3.63920208e-02 9.99337410e-01 -6.01135793e-04 -4.13673721e+00] [-1.15114435e-02 1.82292044e-04 9.99933725e-01 -2.27327351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724391418 meters 0.02098196321885572 Centerline is valid? [True, True] Translation: X:128.39, Y:-4.15, Z:-2.28 [[ 9.99500596e-01 2.99806693e-02 9.98584907e-03 1.28394765e+02] [-2.99769571e-02 9.99550454e-01 -5.21245096e-04 -4.15249990e+00] [-9.99698725e-03 2.21639414e-04 9.99950004e-01 -2.27692704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754391418 meters 0.021133332883703806 Centerline is valid? [True, True] Translation: X:128.42, Y:-4.16, Z:-2.28 [[ 9.99591198e-01 2.68862734e-02 9.72447697e-03 1.28424921e+02] [-2.68826084e-02 9.99638469e-01 -5.07420230e-04 -4.15657023e+00] [-9.73460391e-03 2.45793489e-04 9.99952587e-01 -2.27693892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784391418 meters 0.021508705525652 Centerline is valid? [True, True] Translation: X:128.46, Y:-4.16, Z:-2.28 [[ 9.99731950e-01 2.09554692e-02 9.84355106e-03 1.28455337e+02] [-2.09514303e-02 9.99780363e-01 -5.13259260e-04 -4.16296654e+00] [-9.85214464e-03 3.06885207e-04 9.99951419e-01 -2.27622323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814391418 meters 0.023419305934983616 Centerline is valid? [True, True] Translation: X:128.49, Y:-4.17, Z:-2.28 [[ 9.99772937e-01 1.87173304e-02 1.01851358e-02 1.28486176e+02] [-1.87129112e-02 9.99824758e-01 -5.29013662e-04 -4.16982263e+00] [-1.01932526e-02 3.38300001e-04 9.99947990e-01 -2.27641761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84439141800001 meters 0.024019855652318182 Centerline is valid? [True, True] Translation: X:128.52, Y:-4.17, Z:-2.28 [[ 9.99797131e-01 1.70684470e-02 1.06941690e-02 1.28517870e+02] [-1.70634498e-02 9.99854253e-01 -5.58357647e-04 -4.17450541e+00] [-1.07021407e-02 3.75764957e-04 9.99942660e-01 -2.27637360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87439141800002 meters 0.025161317683218703 Centerline is valid? [True, True] Translation: X:128.55, Y:-4.18, Z:-2.28 [[ 9.99816875e-01 1.56199533e-02 1.10559302e-02 1.28549848e+02] [-1.56144872e-02 9.99877918e-01 -5.80558385e-04 -4.18001745e+00] [-1.10636488e-02 4.07819389e-04 9.99938713e-01 -2.27661941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90439141800002 meters 0.030032337913435635 Centerline is valid? [True, True] Translation: X:128.58, Y:-4.19, Z:-2.28 [[ 9.99862409e-01 1.25061220e-02 1.08977165e-02 1.28579819e+02] [-1.25005835e-02 9.99921699e-01 -5.76196642e-04 -4.19177532e+00] [-1.09040691e-02 4.39889548e-04 9.99940452e-01 -2.27819005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93439141800002 meters 0.03201089297764694 Centerline is valid? [True, True] Translation: X:128.61, Y:-4.20, Z:-2.28 [[ 9.99874797e-01 1.17252982e-02 1.06258053e-02 1.28610392e+02] [-1.17199825e-02 9.99931160e-01 -5.62391310e-04 -4.19750669e+00] [-1.06316680e-02 4.37786645e-04 9.99943386e-01 -2.27940401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96439141800002 meters 0.02925419511070478 Centerline is valid? [True, True] Translation: X:128.64, Y:-4.20, Z:-2.28 [[ 9.99888069e-01 1.05085645e-02 1.06498784e-02 1.28642778e+02] [-1.05031264e-02 9.99944680e-01 -5.66432494e-04 -4.19618131e+00] [-1.06552416e-02 4.54512073e-04 9.99943128e-01 -2.27926143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99439141800002 meters 0.030520388468235484 Centerline is valid? [True, True] Translation: X:128.67, Y:-4.20, Z:-2.28 [[ 9.99900828e-01 9.11143237e-03 1.07384995e-02 1.28674753e+02] [-9.10577465e-03 9.99958376e-01 -5.75638658e-04 -4.20123269e+00] [-1.07432974e-02 4.77799214e-04 9.99942175e-01 -2.28030833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters 0.03072636279826326 Centerline is valid? [True, True] Translation: X:128.71, Y:-4.20, Z:-2.28 [[ 9.99902626e-01 8.87209030e-03 1.07714315e-02 1.28707067e+02] [-8.86638679e-03 9.99960526e-01 -5.77141460e-04 -4.20391635e+00] [-1.07761267e-02 4.81581584e-04 9.99941820e-01 -2.28072730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054391418 meters 0.03206349053902109 Centerline is valid? [True, True] Translation: X:128.74, Y:-4.21, Z:-2.28 [[ 9.99890082e-01 9.16322853e-03 1.16558844e-02 1.28738985e+02] [-9.15652478e-03 9.99957881e-01 -6.28375205e-04 -4.20849718e+00] [-1.16611514e-02 5.21578740e-04 9.99931870e-01 -2.28044719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters 0.029848254485854483 Centerline is valid? [True, True] Translation: X:128.77, Y:-4.21, Z:-2.28 [[ 9.99885014e-01 9.58035389e-03 1.17548137e-02 1.28771971e+02] [-9.57351906e-03 9.99953970e-01 -6.37581763e-04 -4.20765927e+00] [-1.17603809e-02 5.24973517e-04 9.99930707e-01 -2.28040878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114391418 meters 0.0310991449965653 Centerline is valid? [True, True] Translation: X:128.80, Y:-4.21, Z:-2.28 [[ 9.99881425e-01 9.91270363e-03 1.17845303e-02 1.28804073e+02] [-9.90579736e-03 9.99950729e-01 -6.44272004e-04 -4.21109582e+00] [-1.17903361e-02 5.27460440e-04 9.99930352e-01 -2.28114875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters 0.031672777043537034 Centerline is valid? [True, True] Translation: X:128.84, Y:-4.21, Z:-2.28 [[ 9.99877343e-01 1.05819144e-02 1.15465145e-02 1.28835687e+02] [-1.05753293e-02 9.99943880e-01 -6.31218140e-04 -4.21340427e+00] [-1.15525460e-02 5.09032523e-04 9.99933138e-01 -2.28209071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174391418 meters 0.029326313066839492 Centerline is valid? [True, True] Translation: X:128.87, Y:-4.21, Z:-2.28 [[ 9.99870268e-01 1.14397058e-02 1.13393099e-02 1.28867160e+02] [-1.14333629e-02 9.99934442e-01 -6.24043712e-04 -4.21145075e+00] [-1.13457054e-02 4.94316308e-04 9.99935513e-01 -2.28253040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters 0.02994339746439089 Centerline is valid? [True, True] Translation: X:128.90, Y:-4.21, Z:-2.28 [[ 9.99855338e-01 1.29241687e-02 1.10575001e-02 1.28899334e+02] [-1.29182030e-02 9.99916370e-01 -6.10777090e-04 -4.21314929e+00] [-1.10644691e-02 4.67845703e-04 9.99938677e-01 -2.28391161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234391418 meters 0.029824008887874752 Centerline is valid? [True, True] Translation: X:128.93, Y:-4.21, Z:-2.28 [[ 9.99836481e-01 1.43583544e-02 1.09930933e-02 1.28931109e+02] [-1.43525465e-02 9.99896813e-01 -6.07038649e-04 -4.21449407e+00] [-1.10006750e-02 4.49160504e-04 9.99939390e-01 -2.28476532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters 0.02942451764223351 Centerline is valid? [True, True] Translation: X:128.96, Y:-4.22, Z:-2.29 [[ 9.99813749e-01 1.56477834e-02 1.12966516e-02 1.28963383e+02] [-1.56416923e-02 9.99877464e-01 -6.27350026e-04 -4.21507688e+00] [-1.13050840e-02 4.50534432e-04 9.99935994e-01 -2.28526233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.294391418 meters 0.028117332152122046 Centerline is valid? [True, True] Translation: X:129.00, Y:-4.21, Z:-2.29 [[ 9.99762084e-01 1.85651807e-02 1.14503084e-02 1.28995544e+02] [-1.85590735e-02 9.99827561e-01 -6.39407355e-04 -4.21310991e+00] [-1.14602047e-02 4.26748114e-04 9.99934239e-01 -2.28584897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters 0.02753163161995694 Centerline is valid? [True, True] Translation: X:129.03, Y:-4.21, Z:-2.29 [[ 9.99727058e-01 2.04909301e-02 1.12219126e-02 1.29027692e+02] [-2.04851488e-02 9.99789959e-01 -6.29896613e-04 -4.21314430e+00] [-1.12324627e-02 3.99842138e-04 9.99936834e-01 -2.28645053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.354391418 meters 0.027000776708119314 Centerline is valid? [True, True] Translation: X:129.06, Y:-4.21, Z:-2.29 [[ 9.99693398e-01 2.22969228e-02 1.07683498e-02 1.29059373e+02] [-2.22916702e-02 9.99751325e-01 -6.07576190e-04 -4.21284493e+00] [-1.07792191e-02 3.67345403e-04 9.99941835e-01 -2.28730116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.384391418 meters 0.024536380197839942 Centerline is valid? [True, True] Translation: X:129.09, Y:-4.21, Z:-2.29 [[ 9.99602663e-01 2.62031307e-02 1.03880265e-02 1.29091320e+02] [-2.61984089e-02 9.99656588e-01 -5.90384487e-04 -4.20834754e+00] [-1.03999291e-02 3.18000139e-04 9.99945869e-01 -2.28799403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414391418 meters 0.024139478803073156 Centerline is valid? [True, True] Translation: X:129.12, Y:-4.21, Z:-2.29 [[ 9.99547860e-01 2.81046087e-02 1.06867886e-02 1.29121849e+02] [-2.80997090e-02 9.99604940e-01 -6.08394604e-04 -4.20789905e+00] [-1.06996654e-02 3.07823873e-04 9.99942710e-01 -2.28852357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444391418 meters 0.022929012123621622 Centerline is valid? [True, True] Translation: X:129.15, Y:-4.21, Z:-2.29 [[ 9.99486097e-01 3.01370401e-02 1.09224709e-02 1.29152609e+02] [-3.01320388e-02 9.99545733e-01 -6.22199779e-04 -4.20644416e+00] [-1.09362605e-02 2.92763711e-04 9.99940154e-01 -2.28849735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474391418 meters 0.02159904067535803 Centerline is valid? [True, True] Translation: X:129.18, Y:-4.20, Z:-2.29 [[ 9.99426753e-01 3.18972651e-02 1.13459326e-02 1.29183277e+02] [-3.18919818e-02 9.99491112e-01 -6.46322319e-04 -4.20448219e+00] [-1.13607747e-02 2.84107542e-04 9.99935424e-01 -2.28851533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504391418 meters 0.01832662827253169 Centerline is valid? [True, True] Translation: X:129.21, Y:-4.20, Z:-2.29 [[ 9.99309637e-01 3.50578336e-02 1.22962665e-02 1.29213158e+02] [-3.50518642e-02 9.99385249e-01 -7.00704486e-04 -4.19852375e+00] [-1.23132726e-02 2.69213680e-04 9.99924153e-01 -2.28760979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534391418 meters 0.018437347318282445 Centerline is valid? [True, True] Translation: X:129.24, Y:-4.20, Z:-2.29 [[ 9.99260069e-01 3.62235735e-02 1.29293033e-02 1.29242628e+02] [-3.62170836e-02 9.99343675e-01 -7.35818514e-04 -4.19950314e+00] [-1.29474715e-02 2.67012400e-04 9.99916142e-01 -2.28807332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564391418 meters 0.018675995696811405 Centerline is valid? [True, True] Translation: X:129.27, Y:-4.20, Z:-2.29 [[ 9.99172919e-01 3.83232663e-02 1.35943249e-02 1.29272057e+02] [-3.83162773e-02 9.99265362e-01 -7.74288830e-04 -4.20004321e+00] [-1.36140113e-02 2.52764507e-04 9.99907293e-01 -2.28887629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59439141800001 meters 0.01844932167743604 Centerline is valid? [True, True] Translation: X:129.30, Y:-4.20, Z:-2.29 [[ 9.99130131e-01 3.95036784e-02 1.33581699e-02 1.29301253e+02] [-3.94970392e-02 9.99219398e-01 -7.60564445e-04 -4.20045027e+00] [-1.33777875e-02 2.32294695e-04 9.99910486e-01 -2.28948531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62439141800002 meters 0.018042639604636902 Centerline is valid? [True, True] Translation: X:129.33, Y:-4.20, Z:-2.29 [[ 9.99085338e-01 4.06478797e-02 1.32754095e-02 1.29330973e+02] [-4.06414259e-02 9.99173510e-01 -7.55672113e-04 -4.20075332e+00] [-1.32951540e-02 2.15449355e-04 9.99911592e-01 -2.29048549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65439141800002 meters 0.01720996524880668 Centerline is valid? [True, True] Translation: X:129.36, Y:-4.20, Z:-2.29 [[ 9.98987920e-01 4.30469042e-02 1.30421909e-02 1.29359464e+02] [-4.30408867e-02 9.99073036e-01 -7.41852283e-04 -4.19973461e+00] [-1.30620357e-02 1.79754007e-04 9.99914672e-01 -2.29110283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68439141800002 meters 0.017487183461039505 Centerline is valid? [True, True] Translation: X:129.39, Y:-4.20, Z:-2.29 [[ 9.98922379e-01 4.44625703e-02 1.33101531e-02 1.29389291e+02] [-4.44564354e-02 9.99011037e-01 -7.56588879e-04 -4.19996667e+00] [-1.33306297e-02 1.64051603e-04 9.99911130e-01 -2.29219212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71439141800002 meters 0.015879801007472157 Centerline is valid? [True, True] Translation: X:129.42, Y:-4.20, Z:-2.29 [[ 9.98876972e-01 4.54633576e-02 1.33370837e-02 1.29418465e+02] [-4.54572914e-02 9.98965996e-01 -7.57793103e-04 -4.19911593e+00] [-1.33577449e-02 1.50674381e-04 9.99910770e-01 -2.29135306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74439141800002 meters 0.01633325726167392 Centerline is valid? [True, True] Translation: X:129.45, Y:-4.20, Z:-2.29 [[ 9.98810754e-01 4.67818834e-02 1.37307155e-02 1.29447926e+02] [-4.67755979e-02 9.98905119e-01 -7.78729597e-04 -4.19989566e+00] [-1.37521124e-02 1.35541068e-04 9.99905426e-01 -2.29235179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774391418 meters 0.01633325726167392 Centerline is valid? [True, True] Translation: X:129.48, Y:-4.20, Z:-2.29 [[ 9.98812757e-01 4.67390846e-02 1.37307490e-02 1.29477036e+02] [-4.67328032e-02 9.98907123e-01 -7.78137977e-04 -4.20149950e+00] [-1.37521125e-02 1.35537746e-04 9.99905426e-01 -2.29287758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters 0.015053569782155593 Centerline is valid? [True, True] Translation: X:129.51, Y:-4.20, Z:-2.29 [[ 9.98731522e-01 4.83280206e-02 1.41332576e-02 1.29506155e+02] [-4.83215311e-02 9.98831512e-01 -8.00491084e-04 -4.20156699e+00] [-1.41554293e-02 1.16535029e-04 9.99899800e-01 -2.29223157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834391418 meters 0.015018576361745091 Centerline is valid? [True, True] Translation: X:129.53, Y:-4.20, Z:-2.29 [[ 9.98710669e-01 4.86996933e-02 1.43296860e-02 1.29534676e+02] [-4.86930809e-02 9.98813460e-01 -8.10184507e-04 -4.20339056e+00] [-1.43521390e-02 1.11383348e-04 9.99896997e-01 -2.29267300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters 0.01495480735781268 Centerline is valid? [True, True] Translation: X:129.56, Y:-4.21, Z:-2.29 [[ 9.98700543e-01 4.87826024e-02 1.47473190e-02 1.29562995e+02] [-4.87756175e-02 9.98809414e-01 -8.33160598e-04 -4.20599950e+00] [-1.47704048e-02 1.12768353e-04 9.99890905e-01 -2.29303414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894391418 meters 0.017446970051331306 Centerline is valid? [True, True] Translation: X:129.59, Y:-4.21, Z:-2.30 [[ 9.98762920e-01 4.76718664e-02 1.41429639e-02 1.29592263e+02] [-4.76653442e-02 9.98863043e-01 -7.98077125e-04 -4.20964551e+00] [-1.41649297e-02 1.22960599e-04 9.99899665e-01 -2.29549656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters 0.015587042017111932 Centerline is valid? [True, True] Translation: X:129.62, Y:-4.21, Z:-2.29 [[ 9.98851619e-01 4.57550048e-02 1.42099513e-02 1.29620477e+02] [-4.57482344e-02 9.98952680e-01 -8.01316234e-04 -4.21372163e+00] [-1.42317332e-02 1.50315833e-04 9.99898712e-01 -2.29450003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954391418 meters 0.01738895702030678 Centerline is valid? [True, True] Translation: X:129.65, Y:-4.22, Z:-2.30 [[ 9.99063832e-01 4.09312622e-02 1.40032959e-02 1.29649096e+02] [-4.09242260e-02 9.99161942e-01 -7.88768213e-04 -4.22236692e+00] [-1.40238456e-02 2.14955747e-04 9.99901638e-01 -2.29566414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters 0.01802106196801207 Centerline is valid? [True, True] Translation: X:129.68, Y:-4.23, Z:-2.30 [[ 9.99197320e-01 3.76676553e-02 1.36332113e-02 1.29679297e+02] [-3.76606976e-02 9.99290290e-01 -7.66816154e-04 -4.22716810e+00] [-1.36524199e-02 2.52764398e-04 9.99906769e-01 -2.29617747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014391418 meters 0.0200704412316457 Centerline is valid? [True, True] Translation: X:129.71, Y:-4.23, Z:-2.30 [[ 9.99333629e-01 3.39498846e-02 1.34053267e-02 1.29708529e+02] [-3.39428218e-02 9.99423492e-01 -7.54098700e-04 -4.23422266e+00] [-1.34232000e-02 2.98581575e-04 9.99909860e-01 -2.29686420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters 0.025640827248153093 Centerline is valid? [True, True] Translation: X:129.74, Y:-4.25, Z:-2.30 [[ 9.99558161e-01 2.64961755e-02 1.34697613e-02 1.29738164e+02] [-2.64883748e-02 9.99648835e-01 -7.57233170e-04 -4.24612054e+00] [-1.34850950e-02 4.00106508e-04 9.99908992e-01 -2.29931600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.074391418 meters 0.027933487676105862 Centerline is valid? [True, True] Translation: X:129.77, Y:-4.25, Z:-2.30 [[ 9.99664523e-01 2.19447624e-02 1.37575062e-02 1.29767481e+02] [-2.19361950e-02 9.99759074e-01 -7.73355553e-04 -4.25444202e+00] [-1.37711628e-02 4.71308771e-04 9.99905062e-01 -2.29797303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.104391418 meters 0.028212647834146537 Centerline is valid? [True, True] Translation: X:129.80, Y:-4.26, Z:-2.30 [[ 9.99728918e-01 1.84827100e-02 1.41591014e-02 1.29798605e+02] [-1.84732752e-02 9.99829037e-01 -7.96853668e-04 -4.25861027e+00] [-1.41714088e-02 5.35072678e-04 9.99899437e-01 -2.29794922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.134391418 meters 0.026599722880149564 Centerline is valid? [True, True] Translation: X:129.83, Y:-4.26, Z:-2.30 [[ 9.99787636e-01 1.48655349e-02 1.42723179e-02 1.29829948e+02] [-1.48555147e-02 9.99889324e-01 -8.07843441e-04 -4.25941729e+00] [-1.42827474e-02 5.95649256e-04 9.99897819e-01 -2.29781750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164391418 meters 0.03519413224746539 Centerline is valid? [True, True] Translation: X:129.86, Y:-4.28, Z:-2.30 [[ 9.99877049e-01 8.14871469e-03 1.33971813e-02 1.29858229e+02] [-8.13927366e-03 9.99966587e-01 -7.59076808e-04 -4.27565944e+00] [-1.34029192e-02 6.49940154e-04 9.99909966e-01 -2.29948584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194391418 meters 0.03610602829213547 Centerline is valid? [True, True] Translation: X:129.89, Y:-4.28, Z:-2.30 [[ 9.99896580e-01 5.55940933e-03 1.32635994e-02 1.29888743e+02] [-5.54993574e-03 9.99984317e-01 -7.50956168e-04 -4.27998654e+00] [-1.32675662e-02 6.77266380e-04 9.99911753e-01 -2.30021463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224391418 meters 0.03357232857159541 Centerline is valid? [True, True] Translation: X:129.92, Y:-4.28, Z:-2.30 [[ 9.99910240e-01 3.55559715e-03 1.29178394e-02 1.29921283e+02] [-3.54643719e-03 9.99993444e-01 -7.31931620e-04 -4.27946804e+00] [-1.29203571e-02 6.86053616e-04 9.99916293e-01 -2.30056329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254391418 meters 0.0394676355545256 Centerline is valid? [True, True] Translation: X:129.95, Y:-4.29, Z:-2.30 [[ 9.99919302e-01 1.05080383e-03 1.26603516e-02 1.29951130e+02] [-1.04178999e-03 9.99999199e-01 -7.18547861e-04 -4.28988441e+00] [-1.26610965e-02 7.05300448e-04 9.99919596e-01 -2.30212432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284391418 meters 0.037671665929880305 Centerline is valid? [True, True] Translation: X:129.98, Y:-4.29, Z:-2.30 [[ 9.99922272e-01 7.47891843e-04 1.24455252e-02 1.29983416e+02] [-7.39169612e-04 9.99999478e-01 -7.05417753e-04 -4.28960268e+00] [-1.24460463e-02 6.96163568e-04 9.99922303e-01 -2.30217928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314391418 meters 0.03741193037660121 Centerline is valid? [True, True] Translation: X:130.02, Y:-4.29, Z:-2.30 [[ 9.99925574e-01 8.44168543e-04 1.21710043e-02 1.30015723e+02] [-8.35792083e-04 9.99999410e-01 -6.93300806e-04 -4.29102136e+00] [-1.21715824e-02 6.83076778e-04 9.99925690e-01 -2.30293406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34439141800001 meters 0.0374552782136585 Centerline is valid? [True, True] Translation: X:130.05, Y:-4.29, Z:-2.30 [[ 9.99929686e-01 1.06128658e-03 1.18108751e-02 1.30049002e+02] [-1.05335623e-03 9.99999216e-01 -6.77645745e-04 -4.29250292e+00] [-1.18115850e-02 6.65157039e-04 9.99930020e-01 -2.30382281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37439141800002 meters 0.03549611765154832 Centerline is valid? [True, True] Translation: X:130.08, Y:-4.29, Z:-2.31 [[ 9.99935895e-01 2.72203907e-03 1.09907710e-02 1.30080996e+02] [-2.71525622e-03 9.99996114e-01 -6.32015363e-04 -4.29007852e+00] [-1.09924487e-02 6.02132088e-04 9.99939400e-01 -2.30511206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40439141800002 meters 0.03456052966605231 Centerline is valid? [True, True] Translation: X:130.11, Y:-4.29, Z:-2.30 [[ 9.99928589e-01 3.75216643e-03 1.13462699e-02 1.30112947e+02] [-3.74500800e-03 9.99992775e-01 -6.52086567e-04 -4.29033227e+00] [-1.13486346e-02 6.09548130e-04 9.99935416e-01 -2.30478856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43439141800002 meters 0.031792350778888596 Centerline is valid? [True, True] Translation: X:130.14, Y:-4.29, Z:-2.31 [[ 9.99926303e-01 5.86336680e-03 1.06306186e-02 1.30144555e+02] [-5.85715490e-03 9.99982657e-01 -6.15380418e-04 -4.28635901e+00] [-1.06340425e-02 5.53069886e-04 9.99943304e-01 -2.30552380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46439141800002 meters 0.03241920302213956 Centerline is valid? [True, True] Translation: X:130.18, Y:-4.29, Z:-2.31 [[ 9.99923944e-01 7.02759163e-03 1.01350478e-02 1.30175894e+02] [-7.02201089e-03 9.99975174e-01 -5.86118226e-04 -4.28790613e+00] [-1.01389152e-02 5.14905232e-04 9.99948467e-01 -2.30687633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49439141800002 meters 0.031250455935418996 Centerline is valid? [True, True] Translation: X:130.21, Y:-4.29, Z:-2.31 [[ 9.99913646e-01 8.58159869e-03 9.95270105e-03 1.30208018e+02] [-8.57628775e-03 9.99963057e-01 -5.76176015e-04 -4.28729978e+00] [-9.95727788e-03 4.90769032e-04 9.99950305e-01 -2.30729813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters 0.0317848772012977 Centerline is valid? [True, True] Translation: X:130.24, Y:-4.29, Z:-2.31 [[ 9.99888687e-01 1.15400446e-02 9.45737510e-03 1.30239104e+02] [-1.15353384e-02 9.99933313e-01 -5.52014801e-04 -4.28637932e+00] [-9.46311470e-03 4.42859332e-04 9.99955126e-01 -2.30914191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554391418 meters 0.02956683463139285 Centerline is valid? [True, True] Translation: X:130.27, Y:-4.28, Z:-2.31 [[ 9.99870684e-01 1.33109206e-02 9.02413851e-03 1.30271833e+02] [-1.33067243e-02 9.99911324e-01 -5.24900458e-04 -4.28424314e+00] [-9.03032519e-03 4.04750857e-04 9.99959144e-01 -2.30882205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters 0.03215794054785916 Centerline is valid? [True, True] Translation: X:130.30, Y:-4.29, Z:-2.31 [[ 9.99842176e-01 1.54548172e-02 8.76198302e-03 1.30303157e+02] [-1.54509239e-02 9.99880496e-01 -5.11864478e-04 -4.28808733e+00] [-8.76884670e-03 3.76402961e-04 9.99961482e-01 -2.31017149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614391418 meters 0.02720581266751349 Centerline is valid? [True, True] Translation: X:130.34, Y:-4.28, Z:-2.31 [[ 9.99764664e-01 2.00076417e-02 8.38512360e-03 1.30335231e+02] [-2.00041971e-02 9.99799774e-01 -4.94475136e-04 -4.27898928e+00] [-8.39333796e-03 3.26621103e-04 9.99964722e-01 -2.30984668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters 0.02794019409829581 Centerline is valid? [True, True] Translation: X:130.37, Y:-4.28, Z:-2.31 [[ 9.99708892e-01 2.24972118e-02 8.71818717e-03 1.30366314e+02] [-2.24935743e-02 9.99746855e-01 -5.15080361e-04 -4.28037997e+00] [-8.72756808e-03 3.18827226e-04 9.99961863e-01 -2.31050083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674391418 meters 0.026890744280254918 Centerline is valid? [True, True] Translation: X:130.40, Y:-4.28, Z:-2.31 [[ 9.99642008e-01 2.53593534e-02 8.52983350e-03 1.30396451e+02] [-2.53559879e-02 9.99678359e-01 -5.02485962e-04 -4.27877173e+00] [-8.53983267e-03 2.86023722e-04 9.99963494e-01 -2.31101458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters 0.023803785490264424 Centerline is valid? [True, True] Translation: X:130.43, Y:-4.27, Z:-2.31 [[ 9.99576130e-01 2.78359231e-02 8.52774458e-03 1.30426661e+02] [-2.78326339e-02 9.99612470e-01 -5.04164578e-04 -4.27400722e+00] [-8.53847372e-03 2.66601285e-04 9.99963511e-01 -2.31051073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734391418 meters 0.021370123057644765 Centerline is valid? [True, True] Translation: X:130.46, Y:-4.27, Z:-2.31 [[ 9.99422297e-01 3.27959777e-02 8.91604161e-03 1.30456599e+02] [-3.27925694e-02 9.99462039e-01 -5.28231823e-04 -4.26932155e+00] [-8.92856901e-03 2.35546749e-04 9.99960112e-01 -2.31025930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters 0.01942366445483442 Centerline is valid? [True, True] Translation: X:130.49, Y:-4.27, Z:-2.31 [[ 9.99351499e-01 3.48691498e-02 8.98469525e-03 1.30486152e+02] [-3.48657755e-02 9.99391862e-01 -5.31962755e-04 -4.26630155e+00] [-8.99778041e-03 2.18359408e-04 9.99959495e-01 -2.31002133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.794391418 meters 0.02024395048213544 Centerline is valid? [True, True] Translation: X:130.51, Y:-4.27, Z:-2.31 [[ 9.99284577e-01 3.65528119e-02 9.70703476e-03 1.30514429e+02] [-3.65489497e-02 9.99331698e-01 -5.75030222e-04 -4.26826872e+00] [-9.72156650e-03 2.19836907e-04 9.99952720e-01 -2.31083301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters 0.017892901335205616 Centerline is valid? [True, True] Translation: X:130.54, Y:-4.26, Z:-2.31 [[ 9.99176014e-01 3.92088904e-02 1.04859484e-02 1.30544612e+02] [-3.92045530e-02 9.99231014e-01 -6.18952912e-04 -4.26285033e+00] [-1.05021533e-02 2.07345985e-04 9.99944829e-01 -2.30973130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.854391418 meters 0.018719660480123107 Centerline is valid? [True, True] Translation: X:130.57, Y:-4.27, Z:-2.31 [[ 9.99135342e-01 4.02629370e-02 1.03664770e-02 1.30572556e+02] [-4.02587559e-02 9.99189100e-01 -6.11782005e-04 -4.26542130e+00] [-1.03827030e-02 1.93911557e-04 9.99946079e-01 -2.31152672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.884391418 meters 0.018217650610629407 Centerline is valid? [True, True] Translation: X:130.60, Y:-4.27, Z:-2.31 [[ 9.99105894e-01 4.11179072e-02 9.83513809e-03 1.30601379e+02] [-4.11141924e-02 9.99154286e-01 -5.79687440e-04 -4.26505558e+00] [-9.85065591e-03 1.74805379e-04 9.99951466e-01 -2.31213493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914391418 meters 0.017974798577525056 Centerline is valid? [True, True] Translation: X:130.63, Y:-4.26, Z:-2.31 [[ 9.99071209e-01 4.20623765e-02 9.35286525e-03 1.30629304e+02] [-4.20590636e-02 9.99114974e-01 -5.50708973e-04 -4.26486178e+00] [-9.36775186e-03 1.56824724e-04 9.99956109e-01 -2.31335769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944391418 meters 0.018566326554972628 Centerline is valid? [True, True] Translation: X:130.66, Y:-4.27, Z:-2.31 [[ 9.99076126e-01 4.20264827e-02 8.98158096e-03 1.30657000e+02] [-4.20234343e-02 9.99116486e-01 -5.27943486e-04 -4.26715626e+00] [-8.99583322e-03 1.50018855e-04 9.99959525e-01 -2.31459097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974391418 meters 0.018379108546216813 Centerline is valid? [True, True] Translation: X:130.69, Y:-4.27, Z:-2.32 [[ 9.99101467e-01 4.16195123e-02 8.00467365e-03 1.30685325e+02] [-4.16170848e-02 9.99133523e-01 -4.69667804e-04 -4.26825006e+00] [-8.01728513e-03 1.36114610e-04 9.99967852e-01 -2.31517695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004391418 meters 0.01841066680175052 Centerline is valid? [True, True] Translation: X:130.71, Y:-4.27, Z:-2.32 [[ 9.99135887e-01 4.07595390e-02 8.13256185e-03 1.30713693e+02] [-4.07570104e-02 9.99168974e-01 -4.76484727e-04 -4.27016561e+00] [-8.14522478e-03 1.44614083e-04 9.99966817e-01 -2.31538818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034391418 meters 0.018187466576669413 Centerline is valid? [True, True] Translation: X:130.74, Y:-4.27, Z:-2.32 [[ 9.99219078e-01 3.87160045e-02 7.89335838e-03 1.30741825e+02] [-3.87135609e-02 9.99250242e-01 -4.62183880e-04 -4.27171041e+00] [-7.90533419e-03 1.56242940e-04 9.99968740e-01 -2.31500882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064391418 meters 0.01818829861016163 Centerline is valid? [True, True] Translation: X:130.77, Y:-4.27, Z:-2.31 [[ 9.99269748e-01 3.73354313e-02 8.12628100e-03 1.30770321e+02] [-3.73328073e-02 9.99302775e-01 -4.74409684e-04 -4.27350081e+00] [-8.13832744e-03 1.70686363e-04 9.99966869e-01 -2.31470113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09439141800001 meters 0.018435784604943585 Centerline is valid? [True, True] Translation: X:130.80, Y:-4.28, Z:-2.31 [[ 9.99312936e-01 3.60673688e-02 8.53237831e-03 1.30798693e+02] [-3.60644363e-02 9.99349343e-01 -4.97358029e-04 -4.27613172e+00] [-8.54476505e-03 1.89300898e-04 9.99963475e-01 -2.31494936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12439141800002 meters 0.018770656299288858 Centerline is valid? [True, True] Translation: X:130.83, Y:-4.28, Z:-2.32 [[ 9.99356119e-01 3.48444873e-02 8.55621309e-03 1.30827398e+02] [-3.48414995e-02 9.99392727e-01 -4.98049852e-04 -4.27860563e+00] [-8.56837143e-03 1.99617873e-04 9.99963271e-01 -2.31552082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15439141800002 meters 0.019512723348183755 Centerline is valid? [True, True] Translation: X:130.86, Y:-4.28, Z:-2.32 [[ 9.99408309e-01 3.35341609e-02 7.64794273e-03 1.30855732e+02] [-3.35317407e-02 9.99437554e-01 -4.44493873e-04 -4.28246314e+00] [-7.65854691e-03 1.87782038e-04 9.99970655e-01 -2.31696608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18439141800002 meters 0.02176441955785475 Centerline is valid? [True, True] Translation: X:130.88, Y:-4.29, Z:-2.32 [[ 9.99412709e-01 3.35022262e-02 7.19983108e-03 1.30883570e+02] [-3.35000818e-02 9.99438627e-01 -4.18276766e-04 -4.28788815e+00] [-7.20980250e-03 1.76836186e-04 9.99973993e-01 -2.31947004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21439141800002 meters 0.020149866523854632 Centerline is valid? [True, True] Translation: X:130.91, Y:-4.29, Z:-2.32 [[ 9.99402735e-01 3.38228166e-02 7.08452742e-03 1.30912465e+02] [-3.38207523e-02 9.99427830e-01 -4.11018770e-04 -4.28717960e+00] [-7.09437568e-03 1.71169236e-04 9.99974820e-01 -2.31919402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24439141800002 meters 0.018495759776903757 Centerline is valid? [True, True] Translation: X:130.94, Y:-4.29, Z:-2.32 [[ 9.99334531e-01 3.59016160e-02 6.44735159e-03 1.30941679e+02] [-3.58999517e-02 9.99355319e-01 -3.73714618e-04 -4.28598051e+00] [-6.45661206e-03 1.42006312e-04 9.99979146e-01 -2.31880660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274391418 meters 0.018068263572314117 Centerline is valid? [True, True] Translation: X:130.97, Y:-4.29, Z:-2.32 [[ 9.99273473e-01 3.75683671e-02 6.41435748e-03 1.30969846e+02] [-3.75667560e-02 9.99294051e-01 -3.71512862e-04 -4.28651683e+00] [-6.42378640e-03 1.30276346e-04 9.99979359e-01 -2.31935969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters 0.01670960401368817 Centerline is valid? [True, True] Translation: X:131.00, Y:-4.29, Z:-2.32 [[ 9.99121548e-01 4.13879372e-02 6.57043063e-03 1.30998840e+02] [-4.13863354e-02 9.99143146e-01 -3.79618566e-04 -4.28524248e+00] [-6.58051237e-03 1.07359043e-04 9.99978342e-01 -2.31910105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334391418 meters 0.016714318280937543 Centerline is valid? [True, True] Translation: X:131.03, Y:-4.29, Z:-2.32 [[ 9.99032764e-01 4.34202186e-02 6.94418268e-03 1.31027916e+02] [-4.34184841e-02 9.99056893e-01 -4.00407746e-04 -4.28728935e+00] [-6.95501936e-03 9.85145723e-05 9.99975809e-01 -2.32049630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters 0.016345763316925593 Centerline is valid? [True, True] Translation: X:131.06, Y:-4.29, Z:-2.32 [[ 9.98967483e-01 4.49298401e-02 6.72891719e-03 1.31057085e+02] [-4.49282468e-02 9.98990141e-01 -3.87841817e-04 -4.28840183e+00] [-6.73954760e-03 8.51229113e-05 9.99977285e-01 -2.32128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394391418 meters 0.015959030210282565 Centerline is valid? [True, True] Translation: X:131.09, Y:-4.29, Z:-2.32 [[ 9.98880996e-01 4.68422514e-02 6.52379810e-03 1.31085068e+02] [-4.68407963e-02 9.98902297e-01 -3.75744732e-04 -4.28929704e+00] [-6.53423764e-03 6.97443740e-05 9.99978649e-01 -2.32266920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters 0.01562639494055174 Centerline is valid? [True, True] Translation: X:131.11, Y:-4.29, Z:-2.32 [[ 9.98867954e-01 4.72006093e-02 5.90879907e-03 1.31113793e+02] [-4.71994260e-02 9.98885428e-01 -3.39627813e-04 -4.29007497e+00] [-5.91824393e-03 6.03514140e-05 9.99982485e-01 -2.32278966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454391418 meters 0.01573139306850696 Centerline is valid? [True, True] Translation: X:131.14, Y:-4.29, Z:-2.32 [[ 9.98884143e-01 4.68805672e-02 5.71678418e-03 1.31141546e+02] [-4.68794554e-02 9.98900500e-01 -3.28404176e-04 -4.29203135e+00] [-5.72589435e-03 6.00379952e-05 9.99983605e-01 -2.32371583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters 0.016114175845733887 Centerline is valid? [True, True] Translation: X:131.17, Y:-4.30, Z:-2.32 [[ 9.98948944e-01 4.55764721e-02 4.87772227e-03 1.31170342e+02] [-4.55756498e-02 9.98960851e-01 -2.79660868e-04 -4.29513432e+00] [-4.88539955e-03 5.70615668e-05 9.99988065e-01 -2.32487410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514391418 meters 0.01681563313648101 Centerline is valid? [True, True] Translation: X:131.20, Y:-4.30, Z:-2.33 [[ 9.99023565e-01 4.39737308e-02 4.26948719e-03 1.31197802e+02] [-4.39730857e-02 9.99032686e-01 -2.44895924e-04 -4.29808657e+00] [-4.27612624e-03 5.69142732e-05 9.99990856e-01 -2.32613550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters 0.017015275287495777 Centerline is valid? [True, True] Translation: X:131.23, Y:-4.30, Z:-2.33 [[ 9.99108793e-01 4.19863071e-02 4.33233216e-03 1.31226738e+02] [-4.19856275e-02 9.99118184e-01 -2.47739564e-04 -4.30097288e+00] [-4.33891351e-03 6.56230927e-05 9.99990585e-01 -2.32601621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.574391418 meters 0.018082200647006948 Centerline is valid? [True, True] Translation: X:131.26, Y:-4.30, Z:-2.33 [[ 9.99207961e-01 3.95959493e-02 3.95126230e-03 1.31255439e+02] [-3.95953662e-02 9.99215771e-01 -2.25724492e-04 -4.30498536e+00] [-3.95710138e-03 6.90940316e-05 9.99992168e-01 -2.32699437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.604391418 meters 0.0215011622775546 Centerline is valid? [True, True] Translation: X:131.28, Y:-4.31, Z:-2.33 [[ 9.99421729e-01 3.37576496e-02 4.07775038e-03 1.31283208e+02] [-3.37569837e-02 9.99430044e-01 -2.32038056e-04 -4.31339970e+00] [-4.08325930e-03 9.42513218e-05 9.99991659e-01 -2.32784179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.634391418 meters 0.020056950407616757 Centerline is valid? [True, True] Translation: X:131.31, Y:-4.31, Z:-2.33 [[ 9.99526004e-01 3.04729347e-02 4.37803337e-03 1.31312426e+02] [-3.04721347e-02 9.99535586e-01 -2.49340876e-04 -4.31298738e+00] [-4.38359830e-03 1.15814667e-04 9.99990385e-01 -2.32548970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664391418 meters 0.020056950407616757 Centerline is valid? [True, True] Translation: X:131.34, Y:-4.31, Z:-2.33 [[ 9.99528437e-01 3.03930304e-02 4.37805923e-03 1.31340707e+02] [-3.03922316e-02 9.99538018e-01 -2.48884774e-04 -4.31451115e+00] [-4.38360101e-03 1.15708419e-04 9.99990385e-01 -2.32600064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694391418 meters 0.021074050764740632 Centerline is valid? [True, True] Translation: X:131.37, Y:-4.32, Z:-2.33 [[ 9.99624111e-01 2.70044294e-02 4.73269476e-03 1.31370594e+02] [-2.70034629e-02 9.99635304e-01 -2.68023990e-04 -4.31780270e+00] [-4.73820660e-03 1.40124095e-04 9.99988765e-01 -2.32586158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724391418 meters 0.022905845856083545 Centerline is valid? [True, True] Translation: X:131.40, Y:-4.32, Z:-2.33 [[ 9.99705846e-01 2.38579801e-02 4.36095596e-03 1.31399005e+02] [-2.38571289e-02 9.99715348e-01 -2.47122008e-04 -4.32258541e+00] [-4.36561043e-03 1.43009428e-04 9.99990460e-01 -2.32624320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754391418 meters 0.02656686040673888 Centerline is valid? [True, True] Translation: X:131.43, Y:-4.33, Z:-2.33 [[ 9.99848183e-01 1.67389785e-02 4.83908442e-03 1.31428405e+02] [-1.67378516e-02 9.99859875e-01 -2.73271027e-04 -4.33021711e+00] [-4.84298062e-03 1.92233662e-04 9.99988254e-01 -2.32690980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784391418 meters 0.028283292383889026 Centerline is valid? [True, True] Translation: X:131.46, Y:-4.33, Z:-2.33 [[ 9.99902960e-01 1.28610988e-02 5.35367993e-03 1.31458467e+02] [-1.28596657e-02 9.99917265e-01 -3.02023456e-04 -4.33388854e+00] [-5.35712135e-03 2.33147614e-04 9.99985623e-01 -2.32713931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814391418 meters 0.033188641787716466 Centerline is valid? [True, True] Translation: X:131.49, Y:-4.34, Z:-2.33 [[ 9.99965226e-01 5.28511063e-03 6.45099765e-03 1.31487627e+02] [-5.28287229e-03 9.99985979e-01 -3.63966285e-04 -4.34055577e+00] [-6.45283081e-03 3.29873832e-04 9.99979126e-01 -2.32683434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84439141800001 meters 0.03489758559505516 Centerline is valid? [True, True] Translation: X:131.52, Y:-4.34, Z:-2.33 [[ 9.99976718e-01 2.10370440e-03 6.49143038e-03 1.31518726e+02] [-2.10137599e-03 9.99997725e-01 -3.65489792e-04 -4.34397079e+00] [-6.49218450e-03 3.51840347e-04 9.99978864e-01 -2.32719783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87439141800002 meters 0.03809558253455701 Centerline is valid? [True, True] Translation: X:131.55, Y:-4.35, Z:-2.33 [[ 9.99977167e-01 -8.18604821e-04 6.70791856e-03 1.31548171e+02] [ 8.21154683e-04 9.99999592e-01 -3.77381871e-04 -4.34857627e+00] [-6.70760689e-03 3.82881492e-04 9.99977430e-01 -2.32759847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90439141800002 meters 0.04268538363810639 Centerline is valid? [True, True] Translation: X:131.58, Y:-4.35, Z:-2.33 [[ 9.99958811e-01 -5.92853704e-03 6.87228997e-03 1.31577196e+02] [ 5.93134404e-03 9.99982334e-01 -3.88142055e-04 -4.35277678e+00] [-6.86986745e-03 4.28887984e-04 9.99976310e-01 -2.32777904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93439141800002 meters 0.04411757588573288 Centerline is valid? [True, True] Translation: X:131.61, Y:-4.35, Z:-2.33 [[ 9.99941534e-01 -8.13390856e-03 7.12518915e-03 1.31608350e+02] [ 8.13698089e-03 9.99966813e-01 -4.02309469e-04 -4.35459270e+00] [-7.12168034e-03 4.60263476e-04 9.99974535e-01 -2.32822488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96439141800002 meters 0.046045727447117824 Centerline is valid? [True, True] Translation: X:131.64, Y:-4.36, Z:-2.33 [[ 9.99926233e-01 -9.88004315e-03 7.06499904e-03 1.31640681e+02] [ 9.88310613e-03 9.99951081e-01 -3.98760429e-04 -4.35703690e+00] [-7.06071366e-03 4.68555149e-04 9.99974963e-01 -2.32888574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99439141800002 meters 0.046884983786451374 Centerline is valid? [True, True] Translation: X:131.67, Y:-4.36, Z:-2.33 [[ 9.99903128e-01 -1.19656977e-02 7.11031164e-03 1.31672066e+02] [ 1.19688594e-02 9.99928290e-01 -4.02285436e-04 -4.35514095e+00] [-7.10498813e-03 4.87348787e-04 9.99974640e-01 -2.32881388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters 0.04801145929175601 Centerline is valid? [True, True] Translation: X:131.70, Y:-4.36, Z:-2.33 [[ 9.99894733e-01 -1.25780906e-02 7.23289964e-03 1.31704545e+02] [ 1.25813774e-02 9.99920768e-01 -4.09100337e-04 -4.35575113e+00] [-7.22718086e-03 5.00057112e-04 9.99973759e-01 -2.32922970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054391418 meters 0.04364650801640375 Centerline is valid? [True, True] Translation: X:131.74, Y:-4.35, Z:-2.33 [[ 9.99891038e-01 -1.28885698e-02 7.19703427e-03 1.31737244e+02] [ 1.28918356e-02 9.99916814e-01 -4.07571367e-04 -4.34903242e+00] [-7.19118256e-03 5.00309940e-04 9.99974018e-01 -2.32894221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters 0.04951089063096387 Centerline is valid? [True, True] Translation: X:131.77, Y:-4.35, Z:-2.33 [[ 9.99902982e-01 -1.23198924e-02 6.49972292e-03 1.31768315e+02] [ 1.23225481e-02 9.99924007e-01 -3.68701924e-04 -4.35261473e+00] [-6.49468661e-03 4.48759302e-04 9.99978809e-01 -2.33119417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114391418 meters 0.041472960506059794 Centerline is valid? [True, True] Translation: X:131.80, Y:-4.34, Z:-2.33 [[ 9.99914442e-01 -1.13042407e-02 6.58208226e-03 1.31801809e+02] [ 1.13069417e-02 9.99936005e-01 -3.73299747e-04 -4.34100378e+00] [-6.57744117e-03 4.47691029e-04 9.99978268e-01 -2.33024084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters 0.04967191996639659 Centerline is valid? [True, True] Translation: X:131.83, Y:-4.35, Z:-2.33 [[ 9.99929111e-01 -9.89686822e-03 6.62008627e-03 1.31831782e+02] [ 9.89958057e-03 9.99950927e-01 -3.77071668e-04 -4.35039892e+00] [-6.61602958e-03 4.42581015e-04 9.99978016e-01 -2.33274058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174391418 meters 0.04244474200596033 Centerline is valid? [True, True] Translation: X:131.86, Y:-4.34, Z:-2.33 [[ 9.99943372e-01 -8.27025490e-03 6.69748118e-03 1.31864273e+02] [ 8.27299138e-03 9.99965706e-01 -3.80981834e-04 -4.33973714e+00] [-6.69410068e-03 4.36368464e-04 9.99977499e-01 -2.33194866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters 0.03908032909944074 Centerline is valid? [True, True] Translation: X:131.90, Y:-4.33, Z:-2.33 [[ 9.99961305e-01 -6.08977907e-03 6.34848343e-03 1.31896347e+02] [ 6.09219781e-03 9.99981377e-01 -3.61726745e-04 -4.33377146e+00] [-6.34616237e-03 4.00388965e-04 9.99979783e-01 -2.33180222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234391418 meters 0.03758305389256868 Centerline is valid? [True, True] Translation: X:131.93, Y:-4.33, Z:-2.33 [[ 9.99981406e-01 -1.04492059e-03 6.00798295e-03 1.31926315e+02] [ 1.04700349e-03 9.99999393e-01 -3.43553262e-04 -4.32521882e+00] [-6.00762032e-03 3.49837253e-04 9.99981893e-01 -2.33262241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters 0.03401424105822107 Centerline is valid? [True, True] Translation: X:131.96, Y:-4.32, Z:-2.33 [[ 9.99981418e-01 1.92555148e-03 5.78417018e-03 1.31958646e+02] [-1.92367635e-03 9.99998095e-01 -3.29729985e-04 -4.31847447e+00] [-5.78479408e-03 3.18596986e-04 9.99983217e-01 -2.33240639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.294391418 meters 0.0333906608733881 Centerline is valid? [True, True] Translation: X:131.99, Y:-4.31, Z:-2.33 [[ 9.99949611e-01 8.10875414e-03 5.91812849e-03 1.31988473e+02] [-8.10689113e-03 9.99967081e-01 -3.38719014e-04 -4.31200126e+00] [-5.92068027e-03 2.90724323e-04 9.99982430e-01 -2.33290974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters 0.031180193259375443 Centerline is valid? [True, True] Translation: X:132.02, Y:-4.31, Z:-2.33 [[ 9.99915065e-01 1.12282300e-02 6.61738047e-03 1.32019741e+02] [-1.12259731e-02 9.99936915e-01 -3.78099106e-04 -4.30728108e+00] [-6.62120840e-03 3.03780457e-04 9.99978033e-01 -2.33237196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.354391418 meters 0.027253996246745123 Centerline is valid? [True, True] Translation: X:132.05, Y:-4.30, Z:-2.33 [[ 9.99870342e-01 1.45196720e-02 6.96270547e-03 1.32051017e+02] [-1.45172515e-02 9.99894540e-01 -3.98047351e-04 -4.30004344e+00] [-6.96775070e-03 2.96916394e-04 9.99975681e-01 -2.33162712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.384391418 meters 0.0244317575173644 Centerline is valid? [True, True] Translation: X:132.08, Y:-4.29, Z:-2.33 [[ 9.99759086e-01 2.07529293e-02 7.14742555e-03 1.32081321e+02] [-2.07505312e-02 9.99784601e-01 -4.09521976e-04 -4.29131901e+00] [-7.15438478e-03 2.61110440e-04 9.99974373e-01 -2.33131692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414391418 meters 0.02279771458018892 Centerline is valid? [True, True] Translation: X:132.11, Y:-4.29, Z:-2.33 [[ 9.99687028e-01 2.39862166e-02 7.10687569e-03 1.32111506e+02] [-2.39839303e-02 9.99712261e-01 -4.06758457e-04 -4.28737246e+00] [-7.11458737e-03 2.36180342e-04 9.99974663e-01 -2.33167976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444391418 meters 0.02041715671273716 Centerline is valid? [True, True] Translation: X:132.14, Y:-4.28, Z:-2.33 [[ 9.99530242e-01 2.98472224e-02 6.95979590e-03 1.32141722e+02] [-2.98451736e-02 9.99554454e-01 -3.98071498e-04 -4.27921027e+00] [-6.96857632e-03 1.90168184e-04 9.99975701e-01 -2.33194895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474391418 meters 0.019713570498174928 Centerline is valid? [True, True] Translation: X:132.17, Y:-4.28, Z:-2.33 [[ 9.99453684e-01 3.23043699e-02 6.98296293e-03 1.32169414e+02] [-3.23023648e-02 9.99478062e-01 -3.99773090e-04 -4.27716142e+00] [-6.99223268e-03 1.73988472e-04 9.99975539e-01 -2.33255499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504391418 meters 0.019617398976024266 Centerline is valid? [True, True] Translation: X:132.20, Y:-4.28, Z:-2.33 [[ 9.99380035e-01 3.45942649e-02 6.54087491e-03 1.32197715e+02] [-3.45925598e-02 9.99401428e-01 -3.73669525e-04 -4.27614511e+00] [-6.54988655e-03 1.47172256e-04 9.99978538e-01 -2.33365933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534391418 meters 0.017705363270731425 Centerline is valid? [True, True] Translation: X:132.23, Y:-4.27, Z:-2.33 [[ 9.99235100e-01 3.85867314e-02 6.34665141e-03 1.32227063e+02] [-3.85852095e-02 9.99255248e-01 -3.62113378e-04 -4.27005411e+00] [-6.35589750e-03 1.16949523e-04 9.99979794e-01 -2.33347427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564391418 meters 0.01735099305534837 Centerline is valid? [True, True] Translation: X:132.26, Y:-4.27, Z:-2.33 [[ 9.99168843e-01 4.02885062e-02 6.20161935e-03 1.32256173e+02] [-4.02870888e-02 9.99188083e-01 -3.53368237e-04 -4.26911425e+00] [-6.21082083e-03 1.03229343e-04 9.99980707e-01 -2.33426410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59439141800001 meters 0.017218280263602153 Centerline is valid? [True, True] Translation: X:132.29, Y:-4.27, Z:-2.33 [[ 9.99130469e-01 4.13170616e-02 5.58629256e-03 1.32285112e+02] [-4.13159293e-02 9.99146082e-01 -3.18001755e-04 -4.26832718e+00] [-5.59466122e-03 8.69223740e-05 9.99984346e-01 -2.33494957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62439141800002 meters 0.01719340979119341 Centerline is valid? [True, True] Translation: X:132.31, Y:-4.27, Z:-2.34 [[ 9.99105969e-01 4.19128838e-02 5.52924077e-03 1.32313520e+02] [-4.19117860e-02 9.99121266e-01 -3.14319117e-04 -4.26727247e+00] [-5.53755606e-03 8.22977502e-05 9.99984664e-01 -2.33597213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65439141800002 meters 0.017205254217179757 Centerline is valid? [True, True] Translation: X:132.34, Y:-4.27, Z:-2.34 [[ 9.99123073e-01 4.15593733e-02 5.08945725e-03 1.32342756e+02] [-4.15584401e-02 9.99136033e-01 -2.89018804e-04 -4.26818044e+00] [-5.09707157e-03 7.72554516e-05 9.99987007e-01 -2.33661089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68439141800002 meters 0.016963402190952867 Centerline is valid? [True, True] Translation: X:132.37, Y:-4.27, Z:-2.34 [[ 9.99157253e-01 4.07191218e-02 5.17076102e-03 1.32371741e+02] [-4.07181493e-02 9.99170629e-01 -2.93251088e-04 -4.26841872e+00] [-5.17841347e-03 8.24601321e-05 9.99986589e-01 -2.33624568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71439141800002 meters 0.017769788288404347 Centerline is valid? [True, True] Translation: X:132.40, Y:-4.27, Z:-2.34 [[ 9.99274132e-01 3.76999562e-02 5.47007392e-03 1.32400758e+02] [-3.76988254e-02 9.99289099e-01 -3.09706743e-04 -4.27034248e+00] [-5.47786117e-03 1.03266575e-04 9.99984991e-01 -2.33608028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74439141800002 meters 0.018695038672640732 Centerline is valid? [True, True] Translation: X:132.43, Y:-4.27, Z:-2.34 [[ 9.99353163e-01 3.55701101e-02 5.29361312e-03 1.32428821e+02] [-3.55690221e-02 9.99367177e-01 -2.99581760e-04 -4.27333402e+00] [-5.30091936e-03 1.11099338e-04 9.99985944e-01 -2.33703305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774391418 meters 0.019785670993699774 Centerline is valid? [True, True] Translation: X:132.46, Y:-4.28, Z:-2.34 [[ 9.99446503e-01 3.28623673e-02 5.17226066e-03 1.32457828e+02] [-3.28612961e-02 9.99459879e-01 -2.91973489e-04 -4.27659308e+00] [-5.17906196e-03 1.21844693e-04 9.99986581e-01 -2.33801150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters 0.020804800027010406 Centerline is valid? [True, True] Translation: X:132.49, Y:-4.28, Z:-2.34 [[ 9.99543050e-01 2.98720332e-02 4.62099105e-03 1.32486561e+02] [-2.98711472e-02 9.99553724e-01 -2.60644235e-04 -4.28023804e+00] [-4.62671479e-03 1.22490830e-04 9.99989289e-01 -2.33898649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834391418 meters 0.023925652513797666 Centerline is valid? [True, True] Translation: X:132.52, Y:-4.29, Z:-2.34 [[ 9.99733367e-01 2.27778125e-02 3.79020565e-03 1.32516043e+02] [-2.27771689e-02 9.99740544e-01 -2.12895818e-04 -4.28701201e+00] [-3.79407156e-03 1.26508898e-04 9.99992794e-01 -2.33954814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters 0.026328835160659474 Centerline is valid? [True, True] Translation: X:132.54, Y:-4.29, Z:-2.34 [[ 9.99807630e-01 1.92271036e-02 3.87586061e-03 1.32544123e+02] [-1.92264010e-02 9.99815132e-01 -2.18456905e-04 -4.29262179e+00] [-3.87934438e-03 1.43896030e-04 9.99992465e-01 -2.34016775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894391418 meters 0.028040859754716894 Centerline is valid? [True, True] Translation: X:132.57, Y:-4.30, Z:-2.34 [[ 9.99866596e-01 1.58312985e-02 4.01994322e-03 1.32573497e+02] [-1.58305191e-02 9.99874664e-01 -2.25649206e-04 -4.29671244e+00] [-4.02301170e-03 1.61981315e-04 9.99991895e-01 -2.34049436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters 0.02915246646128134 Centerline is valid? [True, True] Translation: X:132.60, Y:-4.30, Z:-2.34 [[ 9.99940362e-01 1.03074838e-02 3.60955404e-03 1.32603255e+02] [-1.03068206e-02 9.99946863e-01 -2.02290135e-04 -4.30046512e+00] [-3.61144734e-03 1.65075045e-04 9.99993465e-01 -2.34022093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954391418 meters 0.030006496565332278 Centerline is valid? [True, True] Translation: X:132.63, Y:-4.30, Z:-2.34 [[ 9.99963818e-01 7.88497587e-03 3.19224052e-03 1.32633197e+02] [-7.88444496e-03 9.99968901e-01 -1.78862974e-04 -4.30306510e+00] [-3.19355157e-03 1.53687458e-04 9.99994889e-01 -2.34059404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters 0.030774054238521423 Centerline is valid? [True, True] Translation: X:132.66, Y:-4.31, Z:-2.34 [[ 9.99977697e-01 6.03231169e-03 2.86662018e-03 1.32662653e+02] [-6.03187515e-03 9.99981795e-01 -1.60908383e-04 -4.30551622e+00] [-2.86753864e-03 1.43613699e-04 9.99995878e-01 -2.34121401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014391418 meters 0.0320773504216988 Centerline is valid? [True, True] Translation: X:132.69, Y:-4.31, Z:-2.34 [[ 9.99984867e-01 5.18533401e-03 1.83814950e-03 1.32693348e+02] [-5.18515395e-03 9.99986552e-01 -1.02705807e-04 -4.30804013e+00] [-1.83865734e-03 9.31731649e-05 9.99998305e-01 -2.34203140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters 0.031161970224049488 Centerline is valid? [True, True] Translation: X:132.72, Y:-4.31, Z:-2.34 [[ 9.99985266e-01 4.75835522e-03 2.61277686e-03 1.32723387e+02] [-4.75798832e-03 9.99988670e-01 -1.46621308e-04 -4.30885822e+00] [-2.61344494e-03 1.34187586e-04 9.99996576e-01 -2.34224766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.074391418 meters 0.03192501104912826 Centerline is valid? [True, True] Translation: X:132.75, Y:-4.31, Z:-2.34 [[ 9.99984194e-01 5.19451798e-03 2.15126006e-03 1.32752339e+02] [-5.19427088e-03 9.99986502e-01 -1.20435548e-04 -4.31114397e+00] [-2.15185663e-03 1.09259417e-04 9.99997679e-01 -2.34302150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.104391418 meters 0.031743200288348906 Centerline is valid? [True, True] Translation: X:132.78, Y:-4.31, Z:-2.34 [[ 9.99979619e-01 6.02708558e-03 2.10624384e-03 1.32782735e+02] [-6.02685131e-03 9.99981831e-01 -1.17555737e-04 -4.31189505e+00] [-2.10691409e-03 1.04859323e-04 9.99997775e-01 -2.34350901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.134391418 meters 0.03033918056204443 Centerline is valid? [True, True] Translation: X:132.81, Y:-4.31, Z:-2.34 [[ 9.99969470e-01 7.51981304e-03 2.12403126e-03 1.32812965e+02] [-7.51957632e-03 9.99971720e-01 -1.19413970e-04 -4.30987039e+00] [-2.12486916e-03 1.03438509e-04 9.99997737e-01 -2.34334314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164391418 meters 0.028933529828183376 Centerline is valid? [True, True] Translation: X:132.84, Y:-4.31, Z:-2.34 [[ 9.99962793e-01 8.27442028e-03 2.43855057e-03 1.32842741e+02] [-8.27411168e-03 9.99965760e-01 -1.36614236e-04 -4.30881559e+00] [-2.43959747e-03 1.16432313e-04 9.99997017e-01 -2.34301018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194391418 meters 0.02895333936694931 Centerline is valid? [True, True] Translation: X:132.87, Y:-4.31, Z:-2.34 [[ 9.99956344e-01 8.94527893e-03 2.70044074e-03 1.32872423e+02] [-8.94490345e-03 9.99959982e-01 -1.51089780e-04 -4.30966452e+00] [-2.70168422e-03 1.26928002e-04 9.99996342e-01 -2.34376146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224391418 meters 0.028824180066429613 Centerline is valid? [True, True] Translation: X:132.90, Y:-4.31, Z:-2.34 [[ 9.99943536e-01 1.03549481e-02 2.38760717e-03 1.32901433e+02] [-1.03546578e-02 9.99946380e-01 -1.33887013e-04 -4.30980472e+00] [-2.38886554e-03 1.09156598e-04 9.99997141e-01 -2.34478105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254391418 meters 0.027604972523405658 Centerline is valid? [True, True] Translation: X:132.93, Y:-4.31, Z:-2.35 [[ 9.99937171e-01 1.10601294e-02 1.82427830e-03 1.32930309e+02] [-1.10599602e-02 9.99938831e-01 -1.02790863e-04 -4.30866682e+00] [-1.82530359e-03 8.26079595e-05 9.99998331e-01 -2.34520199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284391418 meters 0.02758776127341189 Centerline is valid? [True, True] Translation: X:132.96, Y:-4.31, Z:-2.35 [[ 9.99924636e-01 1.21408393e-02 1.82287096e-03 1.32958010e+02] [-1.21406719e-02 9.99926294e-01 -1.02879673e-04 -4.30925731e+00] [-1.82398565e-03 8.07410411e-05 9.99998333e-01 -2.34623950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314391418 meters 0.026662574521101295 Centerline is valid? [True, True] Translation: X:132.99, Y:-4.31, Z:-2.35 [[ 9.99900676e-01 1.39617214e-02 1.92553809e-03 1.32986863e+02] [-1.39615392e-02 9.99902527e-01 -1.08040873e-04 -4.30762005e+00] [-1.92685884e-03 8.11466664e-05 9.99998140e-01 -2.34683063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34439141800001 meters 0.026882797643540166 Centerline is valid? [True, True] Translation: X:133.01, Y:-4.31, Z:-2.35 [[ 9.99885965e-01 1.49506697e-02 2.12924061e-03 1.33014766e+02] [-1.49504491e-02 9.99888229e-01 -1.19470011e-04 -4.30850132e+00] [-2.13078878e-03 8.76232837e-05 9.99997726e-01 -2.34732623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37439141800002 meters 0.026487464601813233 Centerline is valid? [True, True] Translation: X:133.04, Y:-4.31, Z:-2.35 [[ 9.99873733e-01 1.56436837e-02 2.79161091e-03 1.33044109e+02] [-1.56433087e-02 9.99877624e-01 -1.56121889e-04 -4.30851858e+00] [-2.79371161e-03 1.12432144e-04 9.99996091e-01 -2.34735456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40439141800002 meters 0.025853700851220157 Centerline is valid? [True, True] Translation: X:133.07, Y:-4.31, Z:-2.35 [[ 9.99847473e-01 1.71986974e-02 3.03894195e-03 1.33073065e+02] [-1.71982640e-02 9.99852085e-01 -1.68704314e-04 -4.30729297e+00] [-3.04139394e-03 1.16414057e-04 9.99995368e-01 -2.34741572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43439141800002 meters 0.026243195547063117 Centerline is valid? [True, True] Translation: X:133.10, Y:-4.31, Z:-2.35 [[ 9.99837603e-01 1.76379747e-02 3.69729913e-03 1.33100955e+02] [-1.76373374e-02 9.99844429e-01 -2.04918160e-04 -4.30884224e+00] [-3.70033828e-03 1.39674370e-04 9.99993144e-01 -2.34763335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46439141800002 meters 0.025870722853303187 Centerline is valid? [True, True] Translation: X:133.13, Y:-4.31, Z:-2.35 [[ 9.99826046e-01 1.80759082e-02 4.59777246e-03 1.33129670e+02] [-1.80749326e-02 9.99836603e-01 -2.53670902e-04 -4.30929199e+00] [-4.60160653e-03 1.70522348e-04 9.99989398e-01 -2.34767888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49439141800002 meters 0.023835061921737222 Centerline is valid? [True, True] Translation: X:133.16, Y:-4.31, Z:-2.35 [[ 9.99808698e-01 1.86881890e-02 5.77234622e-03 1.33158764e+02] [-1.86866658e-02 9.99825339e-01 -3.17701175e-04 -4.30696453e+00] [-5.77727527e-03 2.09774493e-04 9.99983289e-01 -2.34681661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters 0.024200965147035 Centerline is valid? [True, True] Translation: X:133.19, Y:-4.31, Z:-2.35 [[ 9.99803145e-01 1.88529176e-02 6.18372342e-03 1.33186527e+02] [-1.88511751e-02 9.99822243e-01 -3.39962240e-04 -4.30841150e+00] [-6.18903350e-03 2.23324863e-04 9.99980823e-01 -2.34728080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554391418 meters 0.024200965147035 Centerline is valid? [True, True] Translation: X:133.21, Y:-4.31, Z:-2.35 [[ 9.99804657e-01 1.87725328e-02 6.18377077e-03 1.33214810e+02] [-1.87707941e-02 9.99823756e-01 -3.39096978e-04 -4.30988134e+00] [-6.18904662e-03 2.22956450e-04 9.99980823e-01 -2.34779197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters 0.024097846750224895 Centerline is valid? [True, True] Translation: X:133.24, Y:-4.31, Z:-2.35 [[ 9.99789219e-01 1.93467237e-02 6.87183026e-03 1.33243724e+02] [-1.93445950e-02 9.99812805e-01 -3.76107199e-04 -4.31102976e+00] [-6.87782033e-03 2.43095149e-04 9.99976318e-01 -2.34821830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614391418 meters 0.022628673974585154 Centerline is valid? [True, True] Translation: X:133.27, Y:-4.31, Z:-2.35 [[ 9.99749930e-01 2.10041782e-02 7.67476090e-03 1.33272476e+02] [-2.10015777e-02 9.99779355e-01 -4.19281867e-04 -4.30967161e+00] [-7.68187417e-03 2.57994930e-04 9.99970461e-01 -2.34817382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters 0.02352510386761054 Centerline is valid? [True, True] Translation: X:133.30, Y:-4.31, Z:-2.35 [[ 9.99729963e-01 2.16991703e-02 8.31544481e-03 1.33301170e+02] [-2.16961498e-02 9.99764508e-01 -4.53281324e-04 -4.31221240e+00] [-8.32332242e-03 2.72745785e-04 9.99965323e-01 -2.34914100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674391418 meters 0.02328126636673952 Centerline is valid? [True, True] Translation: X:133.33, Y:-4.31, Z:-2.35 [[ 9.99705035e-01 2.26451575e-02 8.77720816e-03 1.33329679e+02] [-2.26418325e-02 9.99743527e-01 -4.78023508e-04 -4.31314979e+00] [-8.78578195e-03 2.79150431e-04 9.99961365e-01 -2.34968507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters 0.022018798929864913 Centerline is valid? [True, True] Translation: X:133.36, Y:-4.31, Z:-2.35 [[ 9.99684019e-01 2.32204847e-02 9.62654938e-03 1.33358763e+02] [-2.32165200e-02 9.99730323e-01 -5.23409009e-04 -4.31279559e+00] [-9.63610714e-03 2.99748646e-04 9.99953527e-01 -2.34975485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734391418 meters 0.021759247989480583 Centerline is valid? [True, True] Translation: X:133.39, Y:-4.31, Z:-2.35 [[ 9.99645791e-01 2.41082138e-02 1.12732290e-02 1.33388062e+02] [-2.41028476e-02 9.99709297e-01 -6.11653695e-04 -4.31465845e+00] [-1.12846977e-02 3.39720122e-04 9.99936268e-01 -2.35036700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters 0.02154191487341656 Centerline is valid? [True, True] Translation: X:133.42, Y:-4.32, Z:-2.35 [[ 9.99628122e-01 2.46452065e-02 1.16717868e-02 1.33417720e+02] [-2.46395008e-02 9.99696201e-01 -6.32414977e-04 -4.31642378e+00] [-1.16838269e-02 3.44592796e-04 9.99931682e-01 -2.35100345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.794391418 meters 0.021123069823041837 Centerline is valid? [True, True] Translation: X:133.45, Y:-4.32, Z:-2.35 [[ 9.99601397e-01 2.52246041e-02 1.26793974e-02 1.33447014e+02] [-2.52179244e-02 9.99681742e-01 -6.86446351e-04 -4.31756507e+00] [-1.26926775e-02 3.66424645e-04 9.99919378e-01 -2.35145508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters 0.0207672663918784 Centerline is valid? [True, True] Translation: X:133.48, Y:-4.32, Z:-2.35 [[ 9.99522363e-01 2.78045422e-02 1.34890126e-02 1.33475473e+02] [-2.77972236e-02 9.99613316e-01 -7.29780343e-04 -4.31918088e+00] [-1.35040878e-02 3.54474674e-04 9.99908753e-01 -2.35256555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.854391418 meters 0.019305560533916088 Centerline is valid? [True, True] Translation: X:133.51, Y:-4.32, Z:-2.35 [[ 9.99468955e-01 2.96479412e-02 1.35206155e-02 1.33505473e+02] [-2.96407689e-02 9.99560349e-01 -7.30594078e-04 -4.31836613e+00] [-1.35363318e-02 3.29444661e-04 9.99908325e-01 -2.35304359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.884391418 meters 0.0180897516619183 Centerline is valid? [True, True] Translation: X:133.53, Y:-4.32, Z:-2.35 [[ 9.99402718e-01 3.16955626e-02 1.37694675e-02 1.33534737e+02] [-3.16883234e-02 9.99497522e-01 -7.43656046e-04 -4.31770765e+00] [-1.37861193e-02 3.06880534e-04 9.99904920e-01 -2.35372678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914391418 meters 0.016825331570450415 Centerline is valid? [True, True] Translation: X:133.56, Y:-4.32, Z:-2.35 [[ 9.99224322e-01 3.65209312e-02 1.47301266e-02 1.33562352e+02] [-3.65131891e-02 9.99332856e-01 -7.94279284e-04 -4.31750260e+00] [-1.47493073e-02 2.55819281e-04 9.99891190e-01 -2.35470846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944391418 meters 0.01625619861958637 Centerline is valid? [True, True] Translation: X:133.59, Y:-4.32, Z:-2.36 [[ 9.99127387e-01 3.88332324e-02 1.53767591e-02 1.33590175e+02] [-3.88250922e-02 9.99245679e-01 -8.27666412e-04 -4.31870122e+00] [-1.53973010e-02 2.29940091e-04 9.99881428e-01 -2.35506085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974391418 meters 0.015107461794041668 Centerline is valid? [True, True] Translation: X:133.62, Y:-4.32, Z:-2.36 [[ 9.98958195e-01 4.27913040e-02 1.58565203e-02 1.33619117e+02] [-4.27831725e-02 9.99084018e-01 -8.51836901e-04 -4.31855146e+00] [-1.58784472e-02 1.72557211e-04 9.99873915e-01 -2.35603698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004391418 meters 0.014826592708576114 Centerline is valid? [True, True] Translation: X:133.65, Y:-4.32, Z:-2.36 [[ 9.98902156e-01 4.40677258e-02 1.58908489e-02 1.33647825e+02] [-4.40597404e-02 9.99028534e-01 -8.52435721e-04 -4.32040652e+00] [-1.59129764e-02 1.51353202e-04 9.99873369e-01 -2.35719789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034391418 meters 0.014499619436587684 Centerline is valid? [True, True] Translation: X:133.68, Y:-4.32, Z:-2.36 [[ 9.98880404e-01 4.45259019e-02 1.59807055e-02 1.33676619e+02] [-4.45179043e-02 9.99008220e-01 -8.56018150e-04 -4.32211238e+00] [-1.60029711e-02 1.43632236e-04 9.99871934e-01 -2.35804941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064391418 meters 0.01449390528210662 Centerline is valid? [True, True] Translation: X:133.70, Y:-4.33, Z:-2.36 [[ 9.98862943e-01 4.48436207e-02 1.61824305e-02 1.33704189e+02] [-4.48354829e-02 9.98994009e-01 -8.65509149e-04 -4.32530425e+00] [-1.62049637e-02 1.38977927e-04 9.99868681e-01 -2.35902946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09439141800001 meters 0.014388891163499394 Centerline is valid? [True, True] Translation: X:133.73, Y:-4.33, Z:-2.36 [[ 9.98900885e-01 4.40795033e-02 1.59380097e-02 1.33733075e+02] [-4.40715384e-02 9.99028015e-01 -8.50799801e-04 -4.33119842e+00] [-1.59600210e-02 1.47452069e-04 9.99872620e-01 -2.36029179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12439141800002 meters 0.014663036254657875 Centerline is valid? [True, True] Translation: X:133.76, Y:-4.34, Z:-2.36 [[ 9.98941599e-01 4.30616794e-02 1.61670368e-02 1.33761543e+02] [-4.30533721e-02 9.99072402e-01 -8.61699143e-04 -4.33528413e+00] [-1.61891465e-02 1.64741669e-04 9.99868934e-01 -2.36115752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15439141800002 meters 0.014949685567736815 Centerline is valid? [True, True] Translation: X:133.79, Y:-4.34, Z:-2.36 [[ 9.98989512e-01 4.18358132e-02 1.64231267e-02 1.33788842e+02] [-4.18270967e-02 9.99124482e-01 -8.74027586e-04 -4.33975551e+00] [-1.64453136e-02 1.86212683e-04 9.99864749e-01 -2.36182925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18439141800002 meters 0.01548426127361064 Centerline is valid? [True, True] Translation: X:133.82, Y:-4.35, Z:-2.36 [[ 9.99085627e-01 3.90229094e-02 1.74677537e-02 1.33817271e+02] [-3.90126516e-02 9.99238286e-01 -9.27745535e-04 -4.34644070e+00] [-1.74906516e-02 2.45433841e-04 9.99846997e-01 -2.36199644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21439141800002 meters 0.01609906855951174 Centerline is valid? [True, True] Translation: X:133.85, Y:-4.35, Z:-2.36 [[ 9.99154187e-01 3.70604808e-02 1.78165927e-02 1.33846827e+02] [-3.70495237e-02 9.99312984e-01 -9.44791334e-04 -4.35119331e+00] [-1.78393669e-02 2.83895943e-04 9.99840826e-01 -2.36237099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24439141800002 meters 0.01768143213768696 Centerline is valid? [True, True] Translation: X:133.87, Y:-4.36, Z:-2.36 [[ 9.99287260e-01 3.29835199e-02 1.83591581e-02 1.33874930e+02] [-3.29712116e-02 9.99455828e-01 -9.72786350e-04 -4.36078753e+00] [-1.83812535e-02 3.66769321e-04 9.99830983e-01 -2.36330412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274391418 meters 0.01807692024208055 Centerline is valid? [True, True] Translation: X:133.90, Y:-4.37, Z:-2.36 [[ 9.99361159e-01 3.04699852e-02 1.86776165e-02 1.33904361e+02] [-3.04568286e-02 9.99535594e-01 -9.88524682e-04 -4.36542538e+00] [-1.86990629e-02 4.19032206e-04 9.99825069e-01 -2.36408594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters 0.01901544993671112 Centerline is valid? [True, True] Translation: X:133.93, Y:-4.37, Z:-2.36 [[ 9.99440766e-01 2.81290539e-02 1.80806901e-02 1.33934917e+02] [-2.81163549e-02 9.99604200e-01 -9.56218412e-04 -4.37068941e+00] [-1.81004312e-02 4.47320564e-04 9.99836074e-01 -2.36494968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334391418 meters 0.02017326533612192 Centerline is valid? [True, True] Translation: X:133.97, Y:-4.38, Z:-2.37 [[ 9.99490944e-01 2.59780509e-02 1.85201070e-02 1.33965390e+02] [-2.59643503e-02 9.99662389e-01 -9.79878706e-04 -4.37626063e+00] [-1.85393098e-02 4.98517345e-04 9.99828008e-01 -2.36555691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters 0.021695835759969685 Centerline is valid? [True, True] Translation: X:134.00, Y:-4.38, Z:-2.37 [[ 9.99572612e-01 2.21534970e-02 1.90739760e-02 1.33996653e+02] [-2.21382339e-02 9.99754408e-01 -1.01101016e-03 -4.38446863e+00] [-1.90916890e-02 5.88313920e-04 9.99817564e-01 -2.36619562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394391418 meters 0.024243862826732448 Centerline is valid? [True, True] Translation: X:134.03, Y:-4.39, Z:-2.37 [[ 9.99595517e-01 2.10366278e-02 1.91379983e-02 1.34027392e+02] [-2.10209602e-02 9.99778515e-01 -1.01948595e-03 -4.39000637e+00] [-1.91552061e-02 6.16774486e-04 9.99816332e-01 -2.36723770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters 0.02408383714144452 Centerline is valid? [True, True] Translation: X:134.06, Y:-4.40, Z:-2.37 [[ 9.99666102e-01 1.74363244e-02 1.90698636e-02 1.34059569e+02] [-1.74200223e-02 9.99847739e-01 -1.02065672e-03 -4.39605319e+00] [-1.90847565e-02 6.88118473e-04 9.99817633e-01 -2.36753140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454391418 meters 0.02634426607404636 Centerline is valid? [True, True] Translation: X:134.09, Y:-4.40, Z:-2.37 [[ 9.99686649e-01 1.62924243e-02 1.90042054e-02 1.34090276e+02] [-1.62759950e-02 9.99867018e-01 -1.01886920e-03 -4.40244470e+00] [-1.90182780e-02 7.09237582e-04 9.99818885e-01 -2.36831862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters 0.026400493341242812 Centerline is valid? [True, True] Translation: X:134.12, Y:-4.41, Z:-2.37 [[ 9.99714190e-01 1.48262712e-02 1.87542250e-02 1.34121858e+02] [-1.48099227e-02 9.99889817e-01 -1.01031850e-03 -4.40559483e+00] [-1.87671379e-02 7.32281123e-04 9.99823614e-01 -2.36943997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514391418 meters 0.0280645968500956 Centerline is valid? [True, True] Translation: X:134.15, Y:-4.41, Z:-2.37 [[ 9.99741039e-01 1.31745048e-02 1.85549728e-02 1.34152874e+02] [-1.31581293e-02 9.99912924e-01 -1.00435619e-03 -4.41062514e+00] [-1.85665890e-02 7.59947367e-04 9.99827337e-01 -2.36990016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters 0.031642255745005905 Centerline is valid? [True, True] Translation: X:134.18, Y:-4.42, Z:-2.37 [[ 9.99766280e-01 9.40467014e-03 1.94663352e-02 1.34182188e+02] [-9.38583810e-03 9.99955392e-01 -1.05855447e-03 -4.41730786e+00] [-1.94754222e-02 8.75599196e-04 9.99809953e-01 -2.37089545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.574391418 meters 0.03287671850785455 Centerline is valid? [True, True] Translation: X:134.21, Y:-4.42, Z:-2.37 [[ 9.99794233e-01 6.89555876e-03 1.90772917e-02 1.34213299e+02] [-6.87701112e-03 9.99975815e-01 -1.03767008e-03 -4.42251255e+00] [-1.90839856e-02 9.06261815e-04 9.99817473e-01 -2.37067291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.604391418 meters 0.034942199546152616 Centerline is valid? [True, True] Translation: X:134.24, Y:-4.43, Z:-2.37 [[ 9.99809476e-01 4.80560899e-03 1.89187023e-02 1.34244019e+02] [-4.78690577e-03 9.99988008e-01 -1.03377165e-03 -4.42796840e+00] [-1.89234434e-02 9.43012652e-04 9.99820491e-01 -2.37128478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.634391418 meters 0.034840466134739796 Centerline is valid? [True, True] Translation: X:134.28, Y:-4.43, Z:-2.37 [[ 9.99830088e-01 2.60175851e-03 1.82490109e-02 1.34275861e+02] [-2.58391047e-03 9.99996160e-01 -1.00153875e-03 -4.43036199e+00] [-1.82515466e-02 9.54214769e-04 9.99832971e-01 -2.37237492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664391418 meters 0.03551417566160158 Centerline is valid? [True, True] Translation: X:134.31, Y:-4.43, Z:-2.37 [[ 9.99836992e-01 -1.20914305e-03 1.80146206e-02 1.34306778e+02] [ 1.22717748e-03 9.99998757e-01 -9.90078470e-04 -4.43408343e+00] [-1.80134010e-02 1.01202422e-03 9.99837233e-01 -2.37350347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694391418 meters 0.03925437454231093 Centerline is valid? [True, True] Translation: X:134.34, Y:-4.44, Z:-2.37 [[ 9.99837296e-01 -2.83751423e-03 1.78137466e-02 1.34337054e+02] [ 2.85542027e-03 9.99995443e-01 -9.79826041e-04 -4.44101752e+00] [-1.78108852e-02 1.03053235e-03 9.99840843e-01 -2.37404303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724391418 meters 0.037406318060312735 Centerline is valid? [True, True] Translation: X:134.37, Y:-4.44, Z:-2.37 [[ 9.99830526e-01 -5.71032704e-03 1.75017836e-02 1.34367737e+02] [ 5.72806213e-03 9.99983130e-01 -9.63367926e-04 -4.44032226e+00] [-1.74959872e-02 1.06345596e-03 9.99846368e-01 -2.37499120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754391418 meters 0.03791382921558043 Centerline is valid? [True, True] Translation: X:134.40, Y:-4.44, Z:-2.38 [[ 9.99839557e-01 -6.53466775e-03 1.66780658e-02 1.34399415e+02] [ 6.55088927e-03 9.99978121e-01 -9.18179052e-04 -4.44311871e+00] [-1.66717009e-02 1.02728790e-03 9.99860490e-01 -2.37617098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784391418 meters 0.044500911327697415 Centerline is valid? [True, True] Translation: X:134.43, Y:-4.45, Z:-2.38 [[ 9.99849856e-01 -7.29100034e-03 1.57196173e-02 1.34429909e+02] [ 7.30553830e-03 9.99972938e-01 -8.67603105e-04 -4.45347471e+00] [-1.57128662e-02 9.82313106e-04 9.99876063e-01 -2.37766570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814391418 meters 0.041887261784282044 Centerline is valid? [True, True] Translation: X:134.46, Y:-4.45, Z:-2.38 [[ 9.99863947e-01 -7.66909166e-03 1.46038411e-02 1.34462445e+02] [ 7.68171126e-03 9.99970169e-01 -8.08230137e-04 -4.45135631e+00] [-1.45972070e-02 9.20302666e-04 9.99893032e-01 -2.37893421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84439141800001 meters 0.039839070464036765 Centerline is valid? [True, True] Translation: X:134.50, Y:-4.45, Z:-2.38 [[ 9.99871560e-01 -6.94729971e-03 1.44429728e-02 1.34495258e+02] [ 6.95958278e-03 9.99975462e-01 -8.00365702e-04 -4.44943311e+00] [-1.44370580e-02 9.00779968e-04 9.99895375e-01 -2.37920019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87439141800002 meters 0.04179574574916394 Centerline is valid? [True, True] Translation: X:134.53, Y:-4.45, Z:-2.38 [[ 9.99872620e-01 -5.29830861e-03 1.50556508e-02 1.34526303e+02] [ 5.31149099e-03 9.99985545e-01 -8.35725089e-04 -4.45246157e+00] [-1.50510052e-02 9.15586588e-04 9.99886308e-01 -2.37892502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90439141800002 meters 0.0352688014361139 Centerline is valid? [True, True] Translation: X:134.56, Y:-4.44, Z:-2.38 [[ 9.99874006e-01 -1.09621392e-03 1.58357026e-02 1.34557655e+02] [ 1.11031935e-03 9.99998995e-01 -8.81971744e-04 -4.44246794e+00] [-1.58347198e-02 8.99443308e-04 9.99874218e-01 -2.37803817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93439141800002 meters 0.035850851608439295 Centerline is valid? [True, True] Translation: X:134.59, Y:-4.44, Z:-2.38 [[ 9.99863340e-01 2.00487004e-03 1.64097786e-02 1.34588432e+02] [-1.99013442e-03 9.99997602e-01 -9.14259127e-04 -4.44343552e+00] [-1.64115722e-02 8.81476519e-04 9.99864933e-01 -2.37842147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96439141800002 meters 0.03262356946888686 Centerline is valid? [True, True] Translation: X:134.62, Y:-4.44, Z:-2.38 [[ 9.99841105e-01 5.87961238e-03 1.68284100e-02 1.34619546e+02] [-5.86465039e-03 9.99982363e-01 -9.38303086e-04 -4.43933985e+00] [-1.68336300e-02 8.39461253e-04 9.99857952e-01 -2.37844473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99439141800002 meters 0.03072044234886187 Centerline is valid? [True, True] Translation: X:134.65, Y:-4.44, Z:-2.38 [[ 9.99815066e-01 9.75602187e-03 1.65726835e-02 1.34650451e+02] [-9.74203610e-03 9.99952118e-01 -9.24428736e-04 -4.43667352e+00] [-1.65809088e-02 7.62806097e-04 9.99862236e-01 -2.37884611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters 0.026065821985151654 Centerline is valid? [True, True] Translation: X:134.68, Y:-4.43, Z:-2.38 [[ 9.99677723e-01 1.89407799e-02 1.69025842e-02 1.34681183e+02] [-1.89275360e-02 9.99820413e-01 -9.43186554e-04 -4.42817443e+00] [-1.69174134e-02 6.22958317e-04 9.99856696e-01 -2.37878387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054391418 meters 0.023697387853623842 Centerline is valid? [True, True] Translation: X:134.71, Y:-4.42, Z:-2.38 [[ 9.99573373e-01 2.38330056e-02 1.68837291e-02 1.34712654e+02] [-2.38204867e-02 9.99715808e-01 -9.42224999e-04 -4.42438668e+00] [-1.69013870e-02 5.39644375e-04 9.99857016e-01 -2.37928530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters 0.021932595836659425 Centerline is valid? [True, True] Translation: X:134.74, Y:-4.42, Z:-2.38 [[ 9.99452363e-01 2.85940647e-02 1.66539618e-02 1.34743684e+02] [-2.85825336e-02 9.99591003e-01 -9.30053770e-04 -4.42137359e+00] [-1.66737444e-02 4.53532014e-04 9.99860881e-01 -2.37972353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114391418 meters 0.01699018371077466 Centerline is valid? [True, True] Translation: X:134.77, Y:-4.41, Z:-2.38 [[ 9.99140919e-01 3.82604220e-02 1.59236761e-02 1.34774558e+02] [-3.82510952e-02 9.99267763e-01 -8.89988202e-04 -4.41104606e+00] [-1.59460675e-02 2.80125581e-04 9.99872814e-01 -2.38052789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters 0.015964695949152546 Centerline is valid? [True, True] Translation: X:134.80, Y:-4.41, Z:-2.38 [[ 9.98984684e-01 4.23682246e-02 1.53145075e-02 1.34802458e+02] [-4.23600816e-02 9.99102042e-01 -8.55856153e-04 -4.40832701e+00] [-1.53370168e-02 2.06263403e-04 9.99882360e-01 -2.38147719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174391418 meters 0.015129528161828235 Centerline is valid? [True, True] Translation: X:134.83, Y:-4.41, Z:-2.38 [[ 9.98833518e-01 4.60914828e-02 1.43936931e-02 1.34831023e+02] [-4.60846958e-02 9.98937213e-01 -8.03025244e-04 -4.40585102e+00] [-1.44154083e-02 1.38759560e-04 9.99896083e-01 -2.38232688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters 0.01554561158684584 Centerline is valid? [True, True] Translation: X:134.86, Y:-4.40, Z:-2.38 [[ 9.98494480e-01 5.33761066e-02 1.26397706e-02 1.34860005e+02] [-5.33714667e-02 9.98574479e-01 -7.04358065e-04 -4.39993407e+00] [-1.26593483e-02 2.86945441e-05 9.99919867e-01 -2.38486441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234391418 meters 0.014209104011645091 Centerline is valid? [True, True] Translation: X:134.89, Y:-4.40, Z:-2.39 [[ 9.98381310e-01 5.55740862e-02 1.20946965e-02 1.34887008e+02] [-5.55700059e-02 9.98454566e-01 -6.73427041e-04 -4.39856585e+00] [-1.21134301e-02 2.34613248e-07 9.99926630e-01 -2.38518531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters 0.014470349750779099 Centerline is valid? [True, True] Translation: X:134.92, Y:-4.40, Z:-2.39 [[ 9.98153337e-01 5.95749140e-02 1.18636550e-02 1.34916253e+02] [-5.95712938e-02 9.98223836e-01 -6.58607886e-04 -4.39576392e+00] [-1.18818197e-02 -4.93416183e-05 9.99929407e-01 -2.38572611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.294391418 meters 0.014587680714456966 Centerline is valid? [True, True] Translation: X:134.94, Y:-4.40, Z:-2.39 [[ 9.98096002e-01 6.04381011e-02 1.23129039e-02 1.34942780e+02] [-6.04342758e-02 9.98171945e-01 -6.82858136e-04 -4.39568559e+00] [-1.23316659e-02 -6.25634533e-05 9.99923960e-01 -2.38583793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters 0.01471702177149539 Centerline is valid? [True, True] Translation: X:134.97, Y:-4.40, Z:-2.39 [[ 9.98067916e-01 6.08959406e-02 1.23336984e-02 1.34971656e+02] [-6.08921621e-02 9.98144118e-01 -6.82004442e-04 -4.39645516e+00] [-1.23523398e-02 -7.03388081e-05 9.99923704e-01 -2.38615786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.354391418 meters 0.014525270053548752 Centerline is valid? [True, True] Translation: X:135.00, Y:-4.40, Z:-2.39 [[ 9.98094235e-01 6.04661935e-02 1.23181798e-02 1.34999941e+02] [-6.04624006e-02 9.98170244e-01 -6.80423558e-04 -4.39811315e+00] [-1.23367832e-02 -6.56598923e-05 9.99923897e-01 -2.38657493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.384391418 meters 0.014320228381173123 Centerline is valid? [True, True] Translation: X:135.03, Y:-4.40, Z:-2.39 [[ 9.98257592e-01 5.77347852e-02 1.21849801e-02 1.35028634e+02] [-5.77308900e-02 9.98331956e-01 -6.71463964e-04 -4.40231861e+00] [-1.22034218e-02 -3.31557449e-05 9.99925535e-01 -2.38702716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414391418 meters 0.014174525571782207 Centerline is valid? [True, True] Translation: X:135.06, Y:-4.41, Z:-2.39 [[ 9.98419727e-01 5.48580432e-02 1.21919622e-02 1.35055273e+02] [-5.48539366e-02 9.98494164e-01 -6.71223348e-04 -4.40582581e+00] [-1.22104251e-02 1.38551205e-06 9.99925450e-01 -2.38726561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444391418 meters 0.014116063189480747 Centerline is valid? [True, True] Translation: X:135.08, Y:-4.41, Z:-2.39 [[ 9.98609410e-01 5.12951352e-02 1.21677696e-02 1.35083356e+02] [-5.12908034e-02 9.98683537e-01 -6.68007171e-04 -4.41039624e+00] [-1.21860167e-02 4.29835698e-05 9.99925747e-01 -2.38762518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474391418 meters 0.014116063189480747 Centerline is valid? [True, True] Translation: X:135.11, Y:-4.41, Z:-2.39 [[ 9.98615468e-01 5.11770624e-02 1.21678290e-02 1.35110776e+02] [-5.11727350e-02 9.98689595e-01 -6.66923345e-04 -4.41178279e+00] [-1.21860154e-02 4.33388810e-05 9.99925747e-01 -2.38812073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504391418 meters 0.0158768360097853 Centerline is valid? [True, True] Translation: X:135.14, Y:-4.42, Z:-2.39 [[ 9.99051460e-01 4.16608904e-02 1.26708496e-02 1.35138602e+02] [-4.16554538e-02 9.99131795e-01 -6.92796059e-04 -4.42217920e+00] [-1.26887112e-02 1.64328924e-04 9.99919482e-01 -2.38808683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534391418 meters 0.017605702795485095 Centerline is valid? [True, True] Translation: X:135.17, Y:-4.43, Z:-2.39 [[ 9.99267019e-01 3.61659482e-02 1.25479033e-02 1.35165876e+02] [-3.61601987e-02 9.99345772e-01 -6.84851926e-04 -4.42932901e+00] [-1.25644624e-02 2.30615267e-04 9.99921037e-01 -2.38835376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564391418 meters 0.023228436366339793 Centerline is valid? [True, True] Translation: X:135.19, Y:-4.44, Z:-2.39 [[ 9.99614725e-01 2.46905229e-02 1.26799105e-02 1.35194483e+02] [-2.46837495e-02 9.99695071e-01 -6.90432589e-04 -4.44404702e+00] [-1.26930912e-02 3.77178849e-04 9.99919368e-01 -2.38915229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59439141800001 meters 0.02623463933306034 Centerline is valid? [True, True] Translation: X:135.22, Y:-4.45, Z:-2.39 [[ 9.99737504e-01 1.90486698e-02 1.27307034e-02 1.35224583e+02] [-1.90413918e-02 9.99818456e-01 -6.92670094e-04 -4.45211499e+00] [-1.27415867e-02 4.50077959e-04 9.99918721e-01 -2.38993518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62439141800002 meters 0.028034527987632903 Centerline is valid? [True, True] Translation: X:135.26, Y:-4.46, Z:-2.39 [[ 9.99825315e-01 1.39006263e-02 1.24944790e-02 1.35255289e+02] [-1.38932158e-02 9.99903254e-01 -6.79709499e-04 -4.45801791e+00] [-1.25027186e-02 5.06002272e-04 9.99921710e-01 -2.39076906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65439141800002 meters 0.03403167803408162 Centerline is valid? [True, True] Translation: X:135.28, Y:-4.47, Z:-2.39 [[ 9.99915002e-01 4.97351883e-03 1.20521011e-02 1.35284836e+02] [-4.96597576e-03 9.99987454e-01 -6.55717534e-04 -4.47065950e+00] [-1.20552111e-02 5.95811358e-04 9.99927156e-01 -2.39218158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68439141800002 meters 0.03650441930911925 Centerline is valid? [True, True] Translation: X:135.32, Y:-4.48, Z:-2.39 [[ 9.99931764e-01 1.27720092e-03 1.16119264e-02 1.35315240e+02] [-1.26994266e-03 9.99998994e-01 -6.32421760e-04 -4.47664887e+00] [-1.16127225e-02 6.17632126e-04 9.99932379e-01 -2.39318717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71439141800002 meters 0.03890283757911468 Centerline is valid? [True, True] Translation: X:135.35, Y:-4.48, Z:-2.39 [[ 9.99936621e-01 -1.52401048e-03 1.11548953e-02 1.35346157e+02] [ 1.53088317e-03 9.99998644e-01 -6.07601793e-04 -4.48253711e+00] [-1.11539542e-02 6.24640126e-04 9.99937598e-01 -2.39431171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74439141800002 meters 0.04116330192344811 Centerline is valid? [True, True] Translation: X:135.38, Y:-4.49, Z:-2.40 [[ 9.99933651e-01 -3.96377833e-03 1.08158622e-02 1.35375817e+02] [ 3.97038182e-03 9.99991944e-01 -5.89133901e-04 -4.48782742e+00] [-1.08134399e-02 6.32037916e-04 9.99941333e-01 -2.39539614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774391418 meters 0.04468740957711981 Centerline is valid? [True, True] Translation: X:135.40, Y:-4.49, Z:-2.40 [[ 9.99921717e-01 -8.03900377e-03 9.58818788e-03 1.35404822e+02] [ 8.04439523e-03 9.99967506e-01 -5.23868025e-04 -4.49474504e+00] [-9.58366494e-03 6.00958189e-04 9.99953895e-01 -2.39707756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters 0.046465187461238885 Centerline is valid? [True, True] Translation: X:135.44, Y:-4.50, Z:-2.40 [[ 9.99912210e-01 -9.46845974e-03 9.26931301e-03 1.35436421e+02] [ 9.47354738e-03 9.99954997e-01 -5.05114301e-04 -4.49876970e+00] [-9.26411322e-03 5.92883233e-04 9.99956911e-01 -2.39824562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834391418 meters 0.0481020103234138 Centerline is valid? [True, True] Translation: X:135.47, Y:-4.50, Z:-2.40 [[ 9.99904106e-01 -1.07071595e-02 8.78272405e-03 1.35467611e+02] [ 1.07117886e-02 9.99942512e-01 -4.80198344e-04 -4.50238993e+00] [-8.77707759e-03 5.74230979e-04 9.99961316e-01 -2.39912487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters 0.04914947443117093 Centerline is valid? [True, True] Translation: X:135.50, Y:-4.50, Z:-2.40 [[ 9.99896059e-01 -1.17448169e-02 8.36238835e-03 1.35499735e+02] [ 1.17490517e-02 9.99930873e-01 -4.57460173e-04 -4.50480522e+00] [-8.35643750e-03 5.55662757e-04 9.99964930e-01 -2.39967636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894391418 meters 0.051750365345619005 Centerline is valid? [True, True] Translation: X:135.53, Y:-4.51, Z:-2.40 [[ 9.99877565e-01 -1.33903110e-02 8.09663488e-03 1.35530161e+02] [ 1.33943348e-02 9.99910194e-01 -4.42949693e-04 -4.50817865e+00] [-8.08997652e-03 5.51344499e-04 9.99967124e-01 -2.40038260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters 0.0528844113268438 Centerline is valid? [True, True] Translation: X:135.56, Y:-4.51, Z:-2.40 [[ 9.99874654e-01 -1.40307752e-02 7.33584239e-03 1.35562162e+02] [ 1.40341051e-02 9.99901436e-01 -4.02632812e-04 -4.51054217e+00] [-7.32947009e-03 5.05534327e-04 9.99973011e-01 -2.40160982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954391418 meters 0.053494626216256794 Centerline is valid? [True, True] Translation: X:135.59, Y:-4.51, Z:-2.40 [[ 9.99876435e-01 -1.42338964e-02 6.67158716e-03 1.35594554e+02] [ 1.42366575e-02 9.99898586e-01 -3.66543749e-04 -4.51222434e+00] [-6.66569322e-03 4.61479559e-04 9.99977678e-01 -2.40311188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters 0.05480463693169903 Centerline is valid? [True, True] Translation: X:135.63, Y:-4.51, Z:-2.41 [[ 9.99881768e-01 -1.42695938e-02 5.72958891e-03 1.35625473e+02] [ 1.42716334e-02 9.99898105e-01 -3.15244275e-04 -4.51339948e+00] [-5.72450669e-03 3.96977595e-04 9.99983536e-01 -2.40518736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014391418 meters 0.05355150881877415 Centerline is valid? [True, True] Translation: X:135.66, Y:-4.51, Z:-2.41 [[ 9.99891995e-01 -1.37766482e-02 5.11873055e-03 1.35658230e+02] [ 1.37782694e-02 9.99905036e-01 -2.81571659e-04 -4.51222988e+00] [-5.11436533e-03 3.52068496e-04 9.99986860e-01 -2.40566976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters 0.05256089635145777 Centerline is valid? [True, True] Translation: X:135.69, Y:-4.51, Z:-2.41 [[ 9.99917738e-01 -1.18517634e-02 4.90430616e-03 1.35689993e+02] [ 1.18532323e-02 9.99929711e-01 -2.70547501e-04 -4.50908718e+00] [-4.90075498e-03 3.28657125e-04 9.99987937e-01 -2.40610250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.074391418 meters 0.05299430564157041 Centerline is valid? [True, True] Translation: X:135.72, Y:-4.51, Z:-2.41 [[ 9.99933943e-01 -1.04578767e-02 4.76883140e-03 1.35721345e+02] [ 1.04592438e-02 9.99945266e-01 -2.61831171e-04 -4.50940449e+00] [-4.76583218e-03 3.11692245e-04 9.99988595e-01 -2.40628472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.104391418 meters 0.040743091822900326 Centerline is valid? [True, True] Translation: X:135.75, Y:-4.49, Z:-2.40 [[ 9.99969655e-01 -6.80306662e-03 3.79581487e-03 1.35753522e+02] [ 6.80391319e-03 9.99976831e-01 -2.10157402e-04 -4.49080858e+00] [-3.79429721e-03 2.35977419e-04 9.99992774e-01 -2.40353771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.134391418 meters 0.03924296056771941 Centerline is valid? [True, True] Translation: X:135.79, Y:-4.49, Z:-2.40 [[ 9.99984020e-01 -4.51096661e-03 3.40754727e-03 1.35785273e+02] [ 4.51163470e-03 9.99989805e-01 -1.88400116e-04 -4.48857481e+00] [-3.40666267e-03 2.03770714e-04 9.99994177e-01 -2.40392866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164391418 meters 0.048165510022822475 Centerline is valid? [True, True] Translation: X:135.82, Y:-4.50, Z:-2.41 [[ 9.99990184e-01 -1.96065840e-03 3.97329672e-03 1.35815484e+02] [ 1.96154780e-03 9.99998052e-01 -2.19960979e-04 -4.50000913e+00] [-3.97285771e-03 2.27752632e-04 9.99992082e-01 -2.40740696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194391418 meters 0.03677127750697278 Centerline is valid? [True, True] Translation: X:135.85, Y:-4.48, Z:-2.40 [[ 9.99992097e-01 1.03138891e-03 3.83945235e-03 1.35847815e+02] [-1.03057991e-03 9.99999446e-01 -2.12679081e-04 -4.48497703e+00] [-3.83966958e-03 2.08720538e-04 9.99992607e-01 -2.40454794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224391418 meters 0.03324137705405421 Centerline is valid? [True, True] Translation: X:135.88, Y:-4.48, Z:-2.40 [[ 9.99960984e-01 7.65724277e-03 4.40411019e-03 1.35878994e+02] [-7.65623885e-03 9.99970661e-01 -2.44765661e-04 -4.47730481e+00] [-4.40585521e-03 2.11037192e-04 9.99990272e-01 -2.40399164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254391418 meters 0.034419980176274075 Centerline is valid? [True, True] Translation: X:135.91, Y:-4.48, Z:-2.41 [[ 9.99925483e-01 1.12543007e-02 4.72968496e-03 1.35908450e+02] [-1.12531818e-02 9.99936646e-01 -2.63114278e-04 -4.47816695e+00] [-4.73234648e-03 2.09870667e-04 9.99988780e-01 -2.40513479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284391418 meters 0.02622188663974625 Centerline is valid? [True, True] Translation: X:135.94, Y:-4.47, Z:-2.40 [[ 9.99874503e-01 1.50282157e-02 5.01309716e-03 1.35939170e+02] [-1.50270066e-02 9.99887049e-01 -2.78781883e-04 -4.46601875e+00] [-5.01672052e-03 2.03415052e-04 9.99987395e-01 -2.40251470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314391418 meters 0.023541767209074266 Centerline is valid? [True, True] Translation: X:135.97, Y:-4.46, Z:-2.40 [[ 9.99731861e-01 2.25170060e-02 5.40284703e-03 1.35968936e+02] [-2.25157111e-02 9.99746444e-01 -3.00382647e-04 -4.45900137e+00] [-5.40824082e-03 1.78653160e-04 9.99985359e-01 -2.40268850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34439141800001 meters 0.02166875219574531 Centerline is valid? [True, True] Translation: X:136.00, Y:-4.46, Z:-2.40 [[ 9.99644609e-01 2.61054350e-02 5.40015252e-03 1.35998373e+02] [-2.61041921e-02 9.99659182e-01 -3.00535769e-04 -4.45570651e+00] [-5.40615767e-03 1.59462343e-04 9.99985374e-01 -2.40301468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37439141800002 meters 0.02094224977814189 Centerline is valid? [True, True] Translation: X:136.03, Y:-4.45, Z:-2.40 [[ 9.99550844e-01 2.94750308e-02 5.41596211e-03 1.36026259e+02] [-2.94738291e-02 9.99565507e-01 -3.01580384e-04 -4.45438346e+00] [-5.42249801e-03 1.41815785e-04 9.99985288e-01 -2.40421204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40439141800002 meters 0.01856471671758557 Centerline is valid? [True, True] Translation: X:136.06, Y:-4.45, Z:-2.40 [[ 9.99346251e-01 3.57979308e-02 5.05758399e-03 1.36056092e+02] [-3.57969698e-02 9.99359044e-01 -2.80448484e-04 -4.44812131e+00] [-5.06438177e-03 9.92189600e-05 9.99987171e-01 -2.40439176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43439141800002 meters 0.017390314768236072 Centerline is valid? [True, True] Translation: X:136.08, Y:-4.45, Z:-2.40 [[ 9.99246240e-01 3.85308440e-02 4.72508823e-03 1.36084777e+02] [-3.85300338e-02 9.99257408e-01 -2.62414594e-04 -4.44529502e+00] [-4.73169047e-03 8.01589869e-05 9.99988802e-01 -2.40446413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46439141800002 meters 0.01690402790215951 Centerline is valid? [True, True] Translation: X:136.11, Y:-4.44, Z:-2.41 [[ 9.99160274e-01 4.07273974e-02 4.47511030e-03 1.36112829e+02] [-4.07266928e-02 9.99170293e-01 -2.48508109e-04 -4.44404319e+00] [-4.48151836e-03 6.60429878e-05 9.99989956e-01 -2.40558682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49439141800002 meters 0.016056897385224506 Centerline is valid? [True, True] Translation: X:136.14, Y:-4.44, Z:-2.41 [[ 9.99011870e-01 4.42710266e-02 3.91920178e-03 1.36141617e+02] [-4.42705151e-02 9.99019557e-01 -2.17189686e-04 -4.44125051e+00] [-3.92497444e-03 4.34699923e-05 9.99992296e-01 -2.40651133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters 0.01575305508989452 Centerline is valid? [True, True] Translation: X:136.17, Y:-4.44, Z:-2.41 [[ 9.98949155e-01 4.56382752e-02 4.21106353e-03 1.36170209e+02] [-4.56376987e-02 9.98958030e-01 -2.32933130e-04 -4.44119570e+00] [-4.21730639e-03 4.05051049e-05 9.99991106e-01 -2.40649599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554391418 meters 0.015388694734950224 Centerline is valid? [True, True] Translation: X:136.20, Y:-4.44, Z:-2.41 [[ 9.98903910e-01 4.65698017e-02 4.71517480e-03 1.36199096e+02] [-4.65690919e-02 9.98915037e-01 -2.60270335e-04 -4.44186037e+00] [-4.72217975e-03 4.04036470e-05 9.99988850e-01 -2.40669003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters 0.01559764137914381 Centerline is valid? [True, True] Translation: X:136.23, Y:-4.44, Z:-2.41 [[ 9.98866001e-01 4.74066947e-02 4.39520965e-03 1.36226672e+02] [-4.74060849e-02 9.98875670e-01 -2.42883543e-04 -4.44236980e+00] [-4.40178229e-03 3.42484311e-05 9.99990312e-01 -2.40723432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614391418 meters 0.015326452679706159 Centerline is valid? [True, True] Translation: X:136.26, Y:-4.44, Z:-2.41 [[ 9.98858218e-01 4.75487400e-02 4.62350119e-03 1.36255435e+02] [-4.75480721e-02 9.98868918e-01 -2.54333448e-04 -4.44318088e+00] [-4.63036487e-03 3.42044871e-05 9.99989279e-01 -2.40664135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters 0.015596396085107368 Centerline is valid? [True, True] Translation: X:136.28, Y:-4.44, Z:-2.41 [[ 9.98898090e-01 4.66757279e-02 4.89711382e-03 1.36282707e+02] [-4.66749667e-02 9.98910093e-01 -2.69683611e-04 -4.44472527e+00] [-4.90436410e-03 4.08138199e-05 9.99987973e-01 -2.40736499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674391418 meters 0.015769114157442584 Centerline is valid? [True, True] Translation: X:136.31, Y:-4.45, Z:-2.41 [[ 9.99000002e-01 4.43981657e-02 5.27237172e-03 1.36311822e+02] [-4.43972608e-02 9.99013914e-01 -2.88614962e-04 -4.44824952e+00] [-5.27998668e-03 5.42474855e-05 9.99986059e-01 -2.40685552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters 0.016054679943971934 Centerline is valid? [True, True] Translation: X:136.34, Y:-4.45, Z:-2.41 [[ 9.99087451e-01 4.22867671e-02 6.00789627e-03 1.36340789e+02] [-4.22855579e-02 9.99105512e-01 -3.28201228e-04 -4.45205713e+00] [-6.01640085e-03 7.38544829e-05 9.99981899e-01 -2.40719355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734391418 meters 0.017690012104672227 Centerline is valid? [True, True] Translation: X:136.37, Y:-4.46, Z:-2.41 [[ 9.99310036e-01 3.65205558e-02 6.76031178e-03 1.36367727e+02] [-3.65188948e-02 9.99332895e-01 -3.69019250e-04 -4.46025983e+00] [-6.76927873e-03 1.21885525e-04 9.99977081e-01 -2.40767974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters 0.018375859318480712 Centerline is valid? [True, True] Translation: X:136.40, Y:-4.46, Z:-2.41 [[ 9.99426238e-01 3.31619258e-02 6.89065511e-03 1.36396457e+02] [-3.31601290e-02 9.99449981e-01 -3.74872839e-04 -4.46480992e+00] [-6.89929663e-03 1.46162739e-04 9.99976189e-01 -2.40779395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.794391418 meters 0.01931636089255826 Centerline is valid? [True, True] Translation: X:136.42, Y:-4.47, Z:-2.41 [[ 9.99528241e-01 2.98232315e-02 7.33958837e-03 1.36424888e+02] [-2.98211080e-02 9.99555172e-01 -3.98617854e-04 -4.46966642e+00] [-7.34821159e-03 1.79555145e-04 9.99972985e-01 -2.40802538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.824391418 meters 0.02076086283599051 Centerline is valid? [True, True] Translation: X:136.45, Y:-4.48, Z:-2.41 [[ 9.99627857e-01 2.63256361e-02 7.14904786e-03 1.36453691e+02] [-2.63235375e-02 9.99653401e-01 -3.87502100e-04 -4.47509571e+00] [-7.15677124e-03 1.99169664e-04 9.99974370e-01 -2.40849654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.854391418 meters 0.02367482139019386 Centerline is valid? [True, True] Translation: X:136.48, Y:-4.48, Z:-2.41 [[ 9.99776095e-01 1.99072844e-02 7.17362078e-03 1.36483403e+02] [-1.99050125e-02 9.99801800e-01 -3.87960375e-04 -4.48410104e+00] [-7.17992221e-03 2.45082497e-04 9.99974194e-01 -2.40959548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.884391418 meters 0.02484070112365628 Centerline is valid? [True, True] Translation: X:136.51, Y:-4.49, Z:-2.41 [[ 9.99822798e-01 1.75785736e-02 6.73542964e-03 1.36512972e+02] [-1.75765173e-02 9.99845455e-01 -3.64373945e-04 -4.48925832e+00] [-6.74079389e-03 2.45923981e-04 9.99977250e-01 -2.41055157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914391418 meters 0.027992203506830956 Centerline is valid? [True, True] Translation: X:136.54, Y:-4.50, Z:-2.41 [[ 9.99883895e-01 1.39575592e-02 6.11409543e-03 1.36541151e+02] [-1.39557967e-02 9.99902558e-01 -3.30828825e-04 -4.49825161e+00] [-6.11811722e-03 2.45463341e-04 9.99981254e-01 -2.41253484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944391418 meters 0.0289916551020794 Centerline is valid? [True, True] Translation: X:136.57, Y:-4.50, Z:-2.41 [[ 9.99899757e-01 1.30763093e-02 5.43005714e-03 1.36569707e+02] [-1.30749075e-02 9.99914477e-01 -2.93572095e-04 -4.50261699e+00] [-5.43343159e-03 2.22545172e-04 9.99985214e-01 -2.41371771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974391418 meters 0.028129916654641228 Centerline is valid? [True, True] Translation: X:136.60, Y:-4.50, Z:-2.41 [[ 9.99901819e-01 1.29339013e-02 5.39130035e-03 1.36599457e+02] [-1.29325203e-02 9.99916329e-01 -2.90936241e-04 -4.50432378e+00] [-5.39461220e-03 2.21184575e-04 9.99985425e-01 -2.41408357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004391418 meters 0.028848874486501253 Centerline is valid? [True, True] Translation: X:136.63, Y:-4.51, Z:-2.42 [[ 9.99893632e-01 1.35194999e-02 5.47244926e-03 1.36627660e+02] [-1.35180857e-02 9.99908583e-01 -2.95329273e-04 -4.50772435e+00] [-5.47594169e-03 2.21320822e-04 9.99984982e-01 -2.41503465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034391418 meters 0.028206822676159378 Centerline is valid? [True, True] Translation: X:136.66, Y:-4.51, Z:-2.42 [[ 9.99875008e-01 1.49314912e-02 5.19794389e-03 1.36656967e+02] [-1.49302319e-02 9.99888498e-01 -2.80999108e-04 -4.50904743e+00] [-5.20156004e-03 2.03357478e-04 9.99986451e-01 -2.41539954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064391418 meters 0.023409685402115833 Centerline is valid? [True, True] Translation: X:136.69, Y:-4.50, Z:-2.41 [[ 9.99797653e-01 1.94799036e-02 5.01868163e-03 1.36686926e+02] [-1.94787943e-02 9.99810234e-01 -2.69823842e-04 -4.50423982e+00] [-5.02298540e-03 1.72011376e-04 9.99987370e-01 -2.41422513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09439141800001 meters 0.02221359868309038 Centerline is valid? [True, True] Translation: X:136.72, Y:-4.50, Z:-2.41 [[ 9.99740182e-01 2.22726086e-02 4.84765336e-03 1.36716384e+02] [-2.22716060e-02 9.99751923e-01 -2.60723514e-04 -4.50397940e+00] [-4.85225776e-03 1.52690748e-04 9.99988216e-01 -2.41442830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12439141800002 meters 0.019717756587043805 Centerline is valid? [True, True] Translation: X:136.75, Y:-4.50, Z:-2.41 [[ 9.99576574e-01 2.86265832e-02 5.21448312e-03 1.36745854e+02] [-2.86255128e-02 9.99590167e-01 -2.79793654e-04 -4.50208647e+00] [-5.22035559e-03 1.30407928e-04 9.99986365e-01 -2.41470320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15439141800002 meters 0.01994552924734688 Centerline is valid? [True, True] Translation: X:136.77, Y:-4.50, Z:-2.42 [[ 9.99480120e-01 3.18549185e-02 4.97525030e-03 1.36774036e+02] [-3.18539824e-02 9.99492497e-01 -2.67294132e-04 -4.50494050e+00] [-4.98123998e-03 1.08673635e-04 9.99987588e-01 -2.41705660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18439141800002 meters 0.017339230744106447 Centerline is valid? [True, True] Translation: X:136.80, Y:-4.50, Z:-2.42 [[ 9.99383154e-01 3.47376325e-02 5.15836787e-03 1.36803482e+02] [-3.47366682e-02 9.99396462e-01 -2.76429733e-04 -4.50267838e+00] [-5.16485711e-03 9.70747054e-05 9.99986657e-01 -2.41615671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21439141800002 meters 0.016658593612677346 Centerline is valid? [True, True] Translation: X:136.83, Y:-4.50, Z:-2.42 [[ 9.99294942e-01 3.72392726e-02 4.78075932e-03 1.36831856e+02] [-3.72384728e-02 9.99306375e-01 -2.56244348e-04 -4.50339662e+00] [-4.78698561e-03 7.80355050e-05 9.99988539e-01 -2.41698439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24439141800002 meters 0.015283622614688859 Centerline is valid? [True, True] Translation: X:136.86, Y:-4.50, Z:-2.42 [[ 9.99118858e-01 4.17868849e-02 3.91966565e-03 1.36859933e+02] [-4.17863799e-02 9.99126546e-01 -2.10689586e-04 -4.50367824e+00] [-3.92504606e-03 4.67153010e-05 9.99992296e-01 -2.41809601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274391418 meters 0.014922798570278924 Centerline is valid? [True, True] Translation: X:136.89, Y:-4.50, Z:-2.42 [[ 9.99038809e-01 4.36590330e-02 3.91763189e-03 1.36888772e+02] [-4.36585474e-02 9.99046489e-01 -2.09417224e-04 -4.50472755e+00] [-3.92303934e-03 3.81778163e-05 9.99992304e-01 -2.41878752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters 0.014696886099570703 Centerline is valid? [True, True] Translation: X:136.92, Y:-4.51, Z:-2.42 [[ 9.98979765e-01 4.49843437e-02 3.97967378e-03 1.36916428e+02] [-4.49838534e-02 9.98987691e-01 -2.12662572e-04 -4.50636273e+00] [-3.98521161e-03 3.34245443e-05 9.99992058e-01 -2.41947402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334391418 meters 0.014279894112112635 Centerline is valid? [True, True] Translation: X:136.94, Y:-4.51, Z:-2.42 [[ 9.98846349e-01 4.77918110e-02 4.68120503e-03 1.36944971e+02] [-4.77911680e-02 9.98857318e-01 -2.49186031e-04 -4.50801670e+00] [-4.68776495e-03 2.51783015e-05 9.99989012e-01 -2.41873173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters 0.014279894112112635 Centerline is valid? [True, True] Translation: X:136.97, Y:-4.51, Z:-2.42 [[ 9.98852110e-01 4.76712528e-02 4.68119674e-03 1.36972396e+02] [-4.76706077e-02 9.98863079e-01 -2.49344618e-04 -4.50935491e+00] [-4.68776116e-03 2.59029044e-05 9.99989012e-01 -2.41922721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394391418 meters 0.014113567952965011 Centerline is valid? [True, True] Translation: X:137.00, Y:-4.51, Z:-2.42 [[ 9.98794922e-01 4.88037123e-02 5.18659195e-03 1.37001585e+02] [-4.88029429e-02 9.98808389e-01 -2.74877529e-04 -4.51176511e+00] [-5.19382659e-03 2.14253299e-05 9.99986512e-01 -2.41957844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters 0.013856198593171987 Centerline is valid? [True, True] Translation: X:137.03, Y:-4.51, Z:-2.42 [[ 9.98731072e-01 5.00462561e-02 5.62304797e-03 1.37029955e+02] [-5.00453746e-02 9.98746901e-01 -2.97449450e-04 -4.51380462e+00] [-5.63088797e-03 1.56644660e-05 9.99984146e-01 -2.41912833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454391418 meters 0.013903526874492336 Centerline is valid? [True, True] Translation: X:137.06, Y:-4.52, Z:-2.42 [[ 9.98587996e-01 5.25924147e-02 7.48677574e-03 1.37058168e+02] [-5.25909318e-02 9.98616061e-01 -3.94936521e-04 -4.51595268e+00] [-7.49718516e-03 6.42356350e-07 9.99971896e-01 -2.41897076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters 0.013748522195461911 Centerline is valid? [True, True] Translation: X:137.09, Y:-4.52, Z:-2.42 [[ 9.98544241e-01 5.33651466e-02 7.84602543e-03 1.37085652e+02] [-5.33635442e-02 9.98575065e-01 -4.13595532e-04 -4.51785083e+00] [-7.85691695e-03 -5.69828839e-06 9.99969134e-01 -2.41831712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514391418 meters 0.013820604475594845 Centerline is valid? [True, True] Translation: X:137.11, Y:-4.52, Z:-2.42 [[ 9.98514928e-01 5.38595387e-02 8.19081578e-03 1.37112722e+02] [-5.38578109e-02 9.98548522e-01 -4.31526897e-04 -4.52027494e+00] [-8.20216883e-03 -1.02533591e-05 9.99966362e-01 -2.41921474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters 0.013811287714275769 Centerline is valid? [True, True] Translation: X:137.14, Y:-4.53, Z:-2.42 [[ 9.98505653e-01 5.39389483e-02 8.77786890e-03 1.37141596e+02] [-5.39369954e-02 9.98544235e-01 -4.59228887e-04 -4.52591023e+00] [-8.78986071e-03 -1.49092348e-05 9.99961368e-01 -2.41963754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.574391418 meters 0.01380075143785611 Centerline is valid? [True, True] Translation: X:137.17, Y:-4.53, Z:-2.42 [[ 9.98537205e-01 5.32672657e-02 9.27626996e-03 1.37169832e+02] [-5.32650636e-02 9.98580291e-01 -4.84467821e-04 -4.53020251e+00] [-9.28890664e-03 -1.03419655e-05 9.99956857e-01 -2.42077425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.604391418 meters 0.013946138424610063 Centerline is valid? [True, True] Translation: X:137.20, Y:-4.53, Z:-2.42 [[ 9.98604813e-01 5.19841158e-02 9.27784912e-03 1.37196891e+02] [-5.19818565e-02 9.98647912e-01 -4.84665052e-04 -4.53454872e+00] [-9.29049954e-03 1.70903234e-06 9.99956842e-01 -2.42172605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.634391418 meters 0.013900359313280366 Centerline is valid? [True, True] Translation: X:137.23, Y:-4.54, Z:-2.42 [[ 9.98724030e-01 4.94882589e-02 1.00610442e-02 1.37225149e+02] [-4.94855044e-02 9.98774705e-01 -5.22690822e-04 -4.54228819e+00] [-1.00745835e-02 2.41480363e-05 9.99949250e-01 -2.42185276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664391418 meters 0.01406399054014096 Centerline is valid? [True, True] Translation: X:137.25, Y:-4.55, Z:-2.42 [[ 9.98806161e-01 4.76432569e-02 1.07876211e-02 1.37252360e+02] [-4.76399885e-02 9.98864414e-01 -5.59888118e-04 -4.54747508e+00] [-1.08020457e-02 4.52975564e-05 9.99941655e-01 -2.42257855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694391418 meters 0.014270695586037632 Centerline is valid? [True, True] Translation: X:137.28, Y:-4.55, Z:-2.42 [[ 9.98879772e-01 4.58775136e-02 1.15954605e-02 1.37280528e+02] [-4.58736438e-02 9.98947070e-01 -5.99621985e-04 -4.55255948e+00] [-1.16107605e-02 6.70242452e-05 9.99932591e-01 -2.42278568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724391418 meters 0.01436949497446272 Centerline is valid? [True, True] Translation: X:137.31, Y:-4.56, Z:-2.42 [[ 9.98967878e-01 4.39390961e-02 1.15123811e-02 1.37309062e+02] [-4.39351634e-02 9.99034208e-01 -5.94407967e-04 -4.55835799e+00] [-1.15273803e-02 8.79961213e-05 9.99933554e-01 -2.42353569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754391418 meters 0.01467543147157691 Centerline is valid? [True, True] Translation: X:137.34, Y:-4.56, Z:-2.42 [[ 9.99053142e-01 4.18990759e-02 1.17169246e-02 1.37337533e+02] [-4.18948732e-02 9.99121842e-01 -6.04011790e-04 -4.56387782e+00] [-1.17319428e-02 1.12560807e-04 9.99931172e-01 -2.42395494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784391418 meters 0.01516736480049584 Centerline is valid? [True, True] Translation: X:137.37, Y:-4.57, Z:-2.42 [[ 9.99165128e-01 3.90593331e-02 1.19756474e-02 1.37366279e+02] [-3.90547508e-02 9.99236882e-01 -6.16346661e-04 -4.57358776e+00] [-1.19905827e-02 1.48126165e-04 9.99928099e-01 -2.42473796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814391418 meters 0.015434924187579213 Centerline is valid? [True, True] Translation: X:137.40, Y:-4.58, Z:-2.43 [[ 9.99207324e-01 3.78679159e-02 1.22777810e-02 1.37395028e+02] [-3.78630221e-02 9.99282740e-01 -6.30878910e-04 -4.57821034e+00] [-1.22928647e-02 1.65504934e-04 9.99924426e-01 -2.42521834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84439141800001 meters 0.015410679904430045 Centerline is valid? [True, True] Translation: X:137.42, Y:-4.59, Z:-2.43 [[ 9.99239676e-01 3.70014398e-02 1.22866760e-02 1.37423084e+02] [-3.69964858e-02 9.99315197e-01 -6.30327801e-04 -4.58544990e+00] [-1.23015851e-02 1.75284714e-04 9.99924317e-01 -2.42597677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87439141800002 meters 0.01574820921148292 Centerline is valid? [True, True] Translation: X:137.45, Y:-4.59, Z:-2.43 [[ 9.99234169e-01 3.71002084e-02 1.24358515e-02 1.37451383e+02] [-3.70951541e-02 9.99311535e-01 -6.36928535e-04 -4.58956655e+00] [-1.24509200e-02 1.75130929e-04 9.99922469e-01 -2.42668795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90439141800002 meters 0.015544667372071014 Centerline is valid? [True, True] Translation: X:137.48, Y:-4.59, Z:-2.43 [[ 9.99204164e-01 3.78193783e-02 1.26780471e-02 1.37478851e+02] [-3.78141953e-02 9.99284577e-01 -6.48367504e-04 -4.59348635e+00] [-1.26934978e-02 1.68441359e-04 9.99919420e-01 -2.42710618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93439141800002 meters 0.015111438519407107 Centerline is valid? [True, True] Translation: X:137.51, Y:-4.60, Z:-2.43 [[ 9.99126082e-01 3.96215602e-02 1.33118369e-02 1.37507077e+02] [-3.96160264e-02 9.99214746e-01 -6.79241838e-04 -4.59924768e+00] [-1.33282963e-02 1.51286155e-04 9.99911163e-01 -2.42771822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96439141800002 meters 0.015223656052236948 Centerline is valid? [True, True] Translation: X:137.53, Y:-4.60, Z:-2.43 [[ 9.99104081e-01 4.02816303e-02 1.29779111e-02 1.37534686e+02] [-4.02764385e-02 9.99188356e-01 -6.61274369e-04 -4.60353721e+00] [-1.29940149e-02 1.37977883e-04 9.99915565e-01 -2.42889933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994391418 meters 0.014635009214828262 Centerline is valid? [True, True] Translation: X:137.56, Y:-4.61, Z:-2.43 [[ 9.99062517e-01 4.12454993e-02 1.31489566e-02 1.37563396e+02] [-4.12402726e-02 9.99149034e-01 -6.68517607e-04 -4.60881752e+00] [-1.31653406e-02 1.25624330e-04 9.99913325e-01 -2.42907182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters 0.014609151139705175 Centerline is valid? [True, True] Translation: X:137.59, Y:-4.61, Z:-2.43 [[ 9.99080462e-01 4.08272555e-02 1.30906759e-02 1.37592488e+02] [-4.08220530e-02 9.99166212e-01 -6.64487973e-04 -4.61310579e+00] [-1.31068903e-02 1.29488685e-04 9.99914093e-01 -2.42938491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054391418 meters 0.01499544014027289 Centerline is valid? [True, True] Translation: X:137.62, Y:-4.62, Z:-2.43 [[ 9.99118878e-01 3.98458431e-02 1.31824104e-02 1.37620237e+02] [-3.98404952e-02 9.99205829e-01 -6.68147808e-04 -4.61780178e+00] [-1.31985642e-02 1.42365329e-04 9.99912885e-01 -2.43020038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters 0.015009075114564726 Centerline is valid? [True, True] Translation: X:137.65, Y:-4.62, Z:-2.43 [[ 9.99167487e-01 3.85781878e-02 1.32686264e-02 1.37648870e+02] [-3.85726774e-02 9.99255572e-01 -6.71059760e-04 -4.62262835e+00] [-1.32846372e-02 1.58694648e-04 9.99911743e-01 -2.43077731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114391418 meters 0.016175980455644036 Centerline is valid? [True, True] Translation: X:137.68, Y:-4.63, Z:-2.43 [[ 9.99300491e-01 3.47499860e-02 1.38190875e-02 1.37676943e+02] [-3.47436604e-02 9.99396013e-01 -6.97628457e-04 -4.63327604e+00] [-1.38349836e-02 2.17014776e-04 9.99904268e-01 -2.43143659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters 0.016713925222374155 Centerline is valid? [True, True] Translation: X:137.71, Y:-4.64, Z:-2.43 [[ 9.99383010e-01 3.22498533e-02 1.39120735e-02 1.37706656e+02] [-3.22432130e-02 9.99479806e-01 -7.01394003e-04 -4.63864660e+00] [-1.39274564e-02 2.52391302e-04 9.99902976e-01 -2.43181667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174391418 meters 0.01795186328571782 Centerline is valid? [True, True] Translation: X:137.74, Y:-4.65, Z:-2.43 [[ 9.99461998e-01 2.94512374e-02 1.44339796e-02 1.37736066e+02] [-2.94438077e-02 9.99566173e-01 -7.27021724e-04 -4.64558136e+00] [-1.44491294e-02 3.01639266e-04 9.99895560e-01 -2.43203886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters 0.019095630015387173 Centerline is valid? [True, True] Translation: X:137.77, Y:-4.65, Z:-2.43 [[ 9.99545291e-01 2.64915955e-02 1.44016238e-02 1.37766849e+02] [-2.64838992e-02 9.99648977e-01 -7.24888339e-04 -4.65262747e+00] [-1.44157720e-02 3.43147572e-04 9.99896028e-01 -2.43275862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234391418 meters 0.02139026315363436 Centerline is valid? [True, True] Translation: X:137.80, Y:-4.66, Z:-2.43 [[ 9.99692488e-01 2.00053202e-02 1.46531998e-02 1.37797740e+02] [-1.99966477e-02 9.99799775e-01 -7.38141073e-04 -4.66372437e+00] [-1.46650326e-02 4.44899212e-04 9.99892364e-01 -2.43344012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters 0.02478725630796807 Centerline is valid? [True, True] Translation: X:137.83, Y:-4.67, Z:-2.43 [[ 9.99750598e-01 1.71605719e-02 1.42918142e-02 1.37828606e+02] [-1.71520353e-02 9.99852634e-01 -7.19677434e-04 -4.67305280e+00] [-1.43020581e-02 4.74364244e-04 9.99897608e-01 -2.43431430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.294391418 meters 0.028538029133356808 Centerline is valid? [True, True] Translation: X:137.86, Y:-4.68, Z:-2.43 [[ 9.99826385e-01 1.19135236e-02 1.43271506e-02 1.37858025e+02] [-1.19043434e-02 9.99928877e-01 -7.25868448e-04 -4.68468238e+00] [-1.43347793e-02 5.55187106e-04 9.99897098e-01 -2.43446479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.324391418 meters 0.029709609341019835 Centerline is valid? [True, True] Translation: X:137.89, Y:-4.69, Z:-2.43 [[ 9.99844668e-01 1.00699988e-02 1.44649538e-02 1.37889459e+02] [-1.00604346e-02 9.99949123e-01 -7.33816557e-04 -4.68983608e+00] [-1.44716074e-02 5.88178850e-04 9.99895108e-01 -2.43488064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.354391418 meters 0.029996442584731737 Centerline is valid? [True, True] Translation: X:137.92, Y:-4.69, Z:-2.43 [[ 9.99854875e-01 9.15760712e-03 1.43654919e-02 1.37920997e+02] [-9.14805749e-03 9.99957889e-01 -7.30333730e-04 -4.69362357e+00] [-1.43715750e-02 5.98811395e-04 9.99896544e-01 -2.43488102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.384391418 meters 0.027717707434502834 Centerline is valid? [True, True] Translation: X:137.95, Y:-4.69, Z:-2.44 [[ 9.99862838e-01 8.80359603e-03 1.40285950e-02 1.37953155e+02] [-8.79440878e-03 9.99961072e-01 -7.16451295e-04 -4.69321516e+00] [-1.40343563e-02 5.92979826e-04 9.99901338e-01 -2.43516759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414391418 meters 0.026114515176986035 Centerline is valid? [True, True] Translation: X:137.99, Y:-4.70, Z:-2.44 [[ 9.99850223e-01 1.01906827e-02 1.39885888e-02 1.37985744e+02] [-1.01816287e-02 9.99947908e-01 -7.18311909e-04 -4.69507975e+00] [-1.39951802e-02 5.75777707e-04 9.99901897e-01 -2.43549356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444391418 meters 0.030087836396800963 Centerline is valid? [True, True] Translation: X:138.02, Y:-4.70, Z:-2.44 [[ 9.99837774e-01 1.17099316e-02 1.36858938e-02 1.38016486e+02] [-1.17013537e-02 9.99931287e-01 -7.06677449e-04 -4.70255497e+00] [-1.36932286e-02 5.46419324e-04 9.99906094e-01 -2.43667918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474391418 meters 0.02501700207652623 Centerline is valid? [True, True] Translation: X:138.05, Y:-4.70, Z:-2.44 [[ 9.99806937e-01 1.42252023e-02 1.35548248e-02 1.38049166e+02] [-1.42169722e-02 9.99898686e-01 -7.03343447e-04 -4.69765906e+00] [-1.35634567e-02 5.10499091e-04 9.99907882e-01 -2.43673030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504391418 meters 0.022387429794023396 Centerline is valid? [True, True] Translation: X:138.08, Y:-4.69, Z:-2.44 [[ 9.99718437e-01 1.95946975e-02 1.33826068e-02 1.38080527e+02] [-1.95870896e-02 9.99807910e-01 -6.99339634e-04 -4.69487465e+00] [-1.33937395e-02 4.37016408e-04 9.99910204e-01 -2.43757861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534391418 meters 0.020493041428581077 Centerline is valid? [True, True] Translation: X:138.11, Y:-4.69, Z:-2.44 [[ 9.99644045e-01 2.31234122e-02 1.33075549e-02 1.38112795e+02] [-2.31162148e-02 9.99732543e-01 -6.94431586e-04 -4.69320250e+00] [-1.33200534e-02 3.86564101e-04 9.99911209e-01 -2.43823637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564391418 meters 0.019955091144408348 Centerline is valid? [True, True] Translation: X:138.14, Y:-4.69, Z:-2.44 [[ 9.99561981e-01 2.66194781e-02 1.29325206e-02 1.38144064e+02] [-2.66129254e-02 9.99645583e-01 -6.78542381e-04 -4.69324320e+00] [-1.29459996e-02 3.34072960e-04 9.99916141e-01 -2.43933945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59439141800001 meters 0.018840063189702362 Centerline is valid? [True, True] Translation: X:138.17, Y:-4.69, Z:-2.44 [[ 9.99377904e-01 3.29326371e-02 1.26192599e-02 1.38174551e+02] [-3.29268437e-02 9.99457542e-01 -6.66637672e-04 -4.69134856e+00] [-1.26343686e-02 2.50710563e-04 9.99920152e-01 -2.44084437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62439141800002 meters 0.017426129674196898 Centerline is valid? [True, True] Translation: X:138.20, Y:-4.69, Z:-2.44 [[ 9.99279966e-01 3.57957052e-02 1.25784392e-02 1.38204739e+02] [-3.57901711e-02 9.99359105e-01 -6.64863193e-04 -4.69004620e+00] [-1.25941770e-02 2.14199978e-04 9.99920667e-01 -2.44129390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65439141800002 meters 0.01710333812819058 Centerline is valid? [True, True] Translation: X:138.23, Y:-4.69, Z:-2.44 [[ 9.99186297e-01 3.81975940e-02 1.29494529e-02 1.38233867e+02] [-3.81919274e-02 9.99270188e-01 -6.84692010e-04 -4.69046335e+00] [-1.29661558e-02 1.89570311e-04 9.99915918e-01 -2.44256954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68439141800002 meters 0.01567753071637539 Centerline is valid? [True, True] Translation: X:138.26, Y:-4.69, Z:-2.44 [[ 9.99070897e-01 4.14726073e-02 1.17203447e-02 1.38263628e+02] [-4.14681958e-02 9.99139633e-01 -6.19269237e-04 -4.68790648e+00] [-1.17359436e-02 1.32672325e-04 9.99931123e-01 -2.44372751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71439141800002 meters 0.015381071644201529 Centerline is valid? [True, True] Translation: X:138.29, Y:-4.69, Z:-2.44 [[ 9.99043235e-01 4.22232507e-02 1.13934641e-02 1.38292079e+02] [-4.22191327e-02 9.99108194e-01 -6.01814189e-04 -4.68832892e+00] [-1.14087139e-02 1.20216223e-04 9.99934911e-01 -2.44430112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters 0.015583556400835724 Centerline is valid? [True, True] Translation: X:138.32, Y:-4.69, Z:-2.45 [[ 9.99042902e-01 4.22699812e-02 1.12485356e-02 1.38320238e+02] [-4.22659787e-02 9.99106218e-01 -5.93412549e-04 -4.68980764e+00] [-1.12635654e-02 1.17414228e-04 9.99936557e-01 -2.44540902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774391418 meters 0.015476687230597402 Centerline is valid? [True, True] Translation: X:138.35, Y:-4.69, Z:-2.45 [[ 9.99071806e-01 4.16559276e-02 1.09685982e-02 1.38349428e+02] [-4.16521001e-02 9.99132008e-01 -5.77254448e-04 -4.69085036e+00] [-1.09831236e-02 1.19853495e-04 9.99939676e-01 -2.44561643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters 0.015559544030824443 Centerline is valid? [True, True] Translation: X:138.38, Y:-4.69, Z:-2.45 [[ 9.99097647e-01 4.09681068e-02 1.12029399e-02 1.38378016e+02] [-4.09640821e-02 9.99160446e-01 -5.88584727e-04 -4.69293169e+00] [-1.12176476e-02 1.29135467e-04 9.99937072e-01 -2.44601303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834391418 meters 0.016372140822612253 Centerline is valid? [True, True] Translation: X:138.41, Y:-4.70, Z:-2.45 [[ 9.99124970e-01 4.01843048e-02 1.15980624e-02 1.38406795e+02] [-4.01799525e-02 9.99192275e-01 -6.08118889e-04 -4.69728253e+00] [-1.16131312e-02 1.41577171e-04 9.99932555e-01 -2.44712036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters 0.016778581819436228 Centerline is valid? [True, True] Translation: X:138.44, Y:-4.70, Z:-2.45 [[ 9.99172261e-01 3.88473507e-02 1.20696182e-02 1.38436767e+02] [-3.88425518e-02 9.99245144e-01 -6.31850747e-04 -4.70048010e+00] [-1.20850531e-02 1.62512969e-04 9.99926960e-01 -2.44733736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894391418 meters 0.017158065818267662 Centerline is valid? [True, True] Translation: X:138.47, Y:-4.70, Z:-2.45 [[ 9.99285488e-01 3.55269451e-02 1.28976933e-02 1.38466678e+02] [-3.55211958e-02 9.99368695e-01 -6.74641013e-04 -4.70357876e+00] [-1.29135188e-02 2.16017486e-04 9.99916594e-01 -2.44632720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters 0.019544002066743914 Centerline is valid? [True, True] Translation: X:138.50, Y:-4.71, Z:-2.45 [[ 9.99350313e-01 3.36346613e-02 1.29483881e-02 1.38495721e+02] [-3.36287169e-02 9.99434166e-01 -6.76602053e-04 -4.70982492e+00] [-1.29638187e-02 2.40724796e-04 9.99915937e-01 -2.44721115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954391418 meters 0.020102777060712798 Centerline is valid? [True, True] Translation: X:138.53, Y:-4.71, Z:-2.45 [[ 9.99473157e-01 2.93841349e-02 1.37833952e-02 1.38526118e+02] [-2.93770007e-02 9.99568144e-01 -7.19814859e-04 -4.71290593e+00] [-1.37985939e-02 3.14520819e-04 9.99904745e-01 -2.44691421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters 0.02134099599464875 Centerline is valid? [True, True] Translation: X:138.56, Y:-4.72, Z:-2.45 [[ 9.99519127e-01 2.75688863e-02 1.41940861e-02 1.38556810e+02] [-2.75611527e-02 9.99619845e-01 -7.40208114e-04 -4.71759775e+00] [-1.42090969e-02 3.48646793e-04 9.99898985e-01 -2.44757378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014391418 meters 0.02133022338110824 Centerline is valid? [True, True] Translation: X:138.59, Y:-4.72, Z:-2.45 [[ 9.99561861e-01 2.58751348e-02 1.43722999e-02 1.38589234e+02] [-2.58669741e-02 9.99665110e-01 -7.53437686e-04 -4.72051052e+00] [-1.43869820e-02 3.81339668e-04 9.99896429e-01 -2.44810719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters 0.02456953090303069 Centerline is valid? [True, True] Translation: X:138.62, Y:-4.73, Z:-2.45 [[ 9.99639496e-01 2.21683056e-02 1.51473995e-02 1.38619437e+02] [-2.21587295e-02 9.99754145e-01 -7.99751973e-04 -4.72908079e+00] [-1.51614046e-02 4.63816529e-04 9.99884952e-01 -2.44894581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.074391418 meters 0.024403093666606795 Centerline is valid? [True, True] Translation: X:138.65, Y:-4.73, Z:-2.45 [[ 9.99666242e-01 2.08799350e-02 1.52129302e-02 1.38651442e+02] [-2.08701277e-02 9.99781873e-01 -8.03157686e-04 -4.73119129e+00] [-1.52263817e-02 4.85393830e-04 9.99883954e-01 -2.44964623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.104391418 meters 0.025228544706487943 Centerline is valid? [True, True] Translation: X:138.68, Y:-4.73, Z:-2.45 [[ 9.99683306e-01 2.00342357e-02 1.52288005e-02 1.38683977e+02] [-2.00242397e-02 9.99799168e-01 -8.08602000e-04 -4.73444259e+00] [-1.52419418e-02 5.03400769e-04 9.99883708e-01 -2.45066935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.134391418 meters 0.026091754580051474 Centerline is valid? [True, True] Translation: X:138.72, Y:-4.74, Z:-2.45 [[ 9.99700621e-01 1.96152858e-02 1.46256228e-02 1.38715273e+02] [-1.96059531e-02 9.99807480e-01 -7.81229986e-04 -4.73752335e+00] [-1.46381311e-02 4.94246829e-04 9.99892735e-01 -2.45223897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164391418 meters 0.024824647131709936 Centerline is valid? [True, True] Translation: X:138.75, Y:-4.74, Z:-2.45 [[ 9.99692830e-01 2.03195962e-02 1.41901307e-02 1.38747298e+02] [-2.03108577e-02 9.99793425e-01 -7.59675137e-04 -4.73761900e+00] [-1.42026356e-02 4.71228063e-04 9.99899026e-01 -2.45311381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194391418 meters 0.024872442629423442 Centerline is valid? [True, True] Translation: X:138.78, Y:-4.74, Z:-2.45 [[ 9.99677463e-01 2.12394599e-02 1.39231623e-02 1.38778565e+02] [-2.12310771e-02 9.99774314e-01 -7.49626581e-04 -4.73940951e+00] [-1.39359417e-02 4.53781066e-04 9.99902787e-01 -2.45457734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224391418 meters 0.024518397981570142 Centerline is valid? [True, True] Translation: X:138.81, Y:-4.74, Z:-2.46 [[ 9.99646836e-01 2.26766720e-02 1.38553579e-02 1.38811029e+02] [-2.26684557e-02 9.99742756e-01 -7.49782875e-04 -4.74063954e+00] [-1.38687962e-02 4.35438513e-04 9.99903729e-01 -2.45580483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254391418 meters 0.023242581321096488 Centerline is valid? [True, True] Translation: X:138.84, Y:-4.74, Z:-2.46 [[ 9.99564374e-01 2.62375045e-02 1.35149787e-02 1.38842858e+02] [-2.62299589e-02 9.99655665e-01 -7.35297875e-04 -4.74059667e+00] [-1.35296174e-02 3.80480225e-04 9.99908398e-01 -2.45698886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284391418 meters 0.023242581321096488 Centerline is valid? [True, True] Translation: X:138.87, Y:-4.74, Z:-2.46 [[ 9.99556551e-01 2.65339939e-02 1.35147596e-02 1.38874542e+02] [-2.65264213e-02 9.99647839e-01 -7.39299046e-04 -4.74248221e+00] [-1.35296168e-02 3.80472998e-04 9.99908398e-01 -2.45756024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314391418 meters 0.022433520237490057 Centerline is valid? [True, True] Translation: X:138.91, Y:-4.74, Z:-2.46 [[ 9.99505829e-01 2.84755909e-02 1.33130652e-02 1.38906412e+02] [-2.84683484e-02 9.99594426e-01 -7.33244067e-04 -4.74244339e+00] [-1.33285453e-02 3.53880741e-04 9.99911108e-01 -2.45854701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34439141800001 meters 0.02081392057130487 Centerline is valid? [True, True] Translation: X:138.94, Y:-4.74, Z:-2.46 [[ 9.99376037e-01 3.26635700e-02 1.34397918e-02 1.38937470e+02] [-3.26565545e-02 9.99466358e-01 -7.41181665e-04 -4.73995411e+00] [-1.34568294e-02 3.01821901e-04 9.99909407e-01 -2.45992969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37439141800002 meters 0.02002693489163144 Centerline is valid? [True, True] Translation: X:138.97, Y:-4.74, Z:-2.46 [[ 9.99309771e-01 3.45562521e-02 1.36325878e-02 1.38968565e+02] [-3.45492006e-02 9.99402715e-01 -7.52492622e-04 -4.73952815e+00] [-1.36504486e-02 2.80978219e-04 9.99906789e-01 -2.46071577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40439141800002 meters 0.01875810608250593 Centerline is valid? [True, True] Translation: X:139.00, Y:-4.74, Z:-2.46 [[ 9.99225624e-01 3.68090365e-02 1.39013338e-02 1.38998876e+02] [-3.68019169e-02 9.99322285e-01 -7.67704994e-04 -4.73827938e+00] [-1.39201711e-02 2.55514772e-04 9.99903077e-01 -2.46099843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43439141800002 meters 0.01691662604084394 Centerline is valid? [True, True] Translation: X:139.03, Y:-4.73, Z:-2.46 [[ 9.99045217e-01 4.13123259e-02 1.42107934e-02 1.39028692e+02] [-4.13053389e-02 9.99146262e-01 -7.84951838e-04 -4.73445876e+00] [-1.42310893e-02 1.97220740e-04 9.99898713e-01 -2.46137532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46439141800002 meters 0.01609018811660718 Centerline is valid? [True, True] Translation: X:139.06, Y:-4.73, Z:-2.46 [[ 9.98931627e-01 4.37791272e-02 1.47984284e-02 1.39058211e+02] [-4.37718339e-02 9.99041220e-01 -8.16535175e-04 -4.73359586e+00] [-1.48199871e-02 1.67908462e-04 9.99890164e-01 -2.46175798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494391418 meters 0.015377820991988457 Centerline is valid? [True, True] Translation: X:139.09, Y:-4.73, Z:-2.46 [[ 9.98834940e-01 4.58160617e-02 1.51542513e-02 1.39087890e+02] [-4.58086374e-02 9.98949883e-01 -8.36857361e-04 -4.73260998e+00] [-1.51766791e-02 1.41686768e-04 9.99884818e-01 -2.46184906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters 0.014451877590473129 Centerline is valid? [True, True] Translation: X:139.12, Y:-4.73, Z:-2.46 [[ 9.98689481e-01 4.87266846e-02 1.56534714e-02 1.39117389e+02] [-4.87191307e-02 9.98812145e-01 -8.63766377e-04 -4.72942012e+00] [-1.56769658e-02 1.00010873e-04 9.99877104e-01 -2.46174759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554391418 meters 0.014339681124798321 Centerline is valid? [True, True] Translation: X:139.15, Y:-4.73, Z:-2.46 [[ 9.98648051e-01 4.94532895e-02 1.60138100e-02 1.39146941e+02] [-4.94454884e-02 9.98776433e-01 -8.82961108e-04 -4.72982198e+00] [-1.60378813e-02 8.99567357e-05 9.99871381e-01 -2.46225862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters 0.014329526554430537 Centerline is valid? [True, True] Translation: X:139.18, Y:-4.73, Z:-2.46 [[ 9.98652116e-01 4.93497958e-02 1.60794403e-02 1.39175154e+02] [-4.93419275e-02 9.98781552e-01 -8.85934106e-04 -4.73148358e+00] [-1.61035690e-02 9.13493913e-05 9.99870325e-01 -2.46308877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614391418 meters 0.014641650118472016 Centerline is valid? [True, True] Translation: X:139.20, Y:-4.74, Z:-2.46 [[ 9.98735718e-01 4.77609623e-02 1.56798220e-02 1.39204868e+02] [-4.77533004e-02 9.98858788e-01 -8.62908067e-04 -4.73507751e+00] [-1.57031413e-02 1.13053859e-04 9.99876692e-01 -2.46458845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters 0.0149526737211769 Centerline is valid? [True, True] Translation: X:139.23, Y:-4.74, Z:-2.47 [[ 9.98811438e-01 4.61620117e-02 1.56454694e-02 1.39234255e+02] [-4.61541973e-02 9.98933957e-01 -8.60366420e-04 -4.73852830e+00] [-1.56685069e-02 1.37239738e-04 9.99877232e-01 -2.46538777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674391418 meters 0.01623024193639352 Centerline is valid? [True, True] Translation: X:139.26, Y:-4.74, Z:-2.47 [[ 9.98972396e-01 4.25865889e-02 1.55091762e-02 1.39263559e+02] [-4.25784913e-02 9.99092761e-01 -8.52087670e-04 -4.74479338e+00] [-1.55313932e-02 1.90854735e-04 9.99879362e-01 -2.46585245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters 0.016656773756909035 Centerline is valid? [True, True] Translation: X:139.29, Y:-4.75, Z:-2.47 [[ 9.99051527e-01 4.06713548e-02 1.55527078e-02 1.39294380e+02] [-4.06629760e-02 9.99172554e-01 -8.54721502e-04 -4.74792197e+00] [-1.55746015e-02 2.21491436e-04 9.99878684e-01 -2.46648455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734391418 meters 0.01772800918581512 Centerline is valid? [True, True] Translation: X:139.32, Y:-4.75, Z:-2.47 [[ 9.99123076e-01 3.89782073e-02 1.52897930e-02 1.39323928e+02] [-3.89699103e-02 9.99240031e-01 -8.40329604e-04 -4.75255781e+00] [-1.53109278e-02 2.43750837e-04 9.99882751e-01 -2.46714322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters 0.017682179604829873 Centerline is valid? [True, True] Translation: X:139.35, Y:-4.75, Z:-2.47 [[ 9.99195917e-01 3.70085642e-02 1.54235466e-02 1.39354302e+02] [-3.69998927e-02 9.99314910e-01 -8.47299075e-04 -4.75476273e+00] [-1.54443374e-02 2.75948208e-04 9.99880691e-01 -2.46752909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.794391418 meters 0.01919692507270628 Centerline is valid? [True, True] Translation: X:139.38, Y:-4.76, Z:-2.47 [[ 9.99296667e-01 3.41823594e-02 1.54187698e-02 1.39384167e+02] [-3.41733577e-02 9.99415561e-01 -8.46980964e-04 -4.76102512e+00] [-1.54387103e-02 3.19474117e-04 9.99880765e-01 -2.46828137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.824391418 meters 0.019733350004443418 Centerline is valid? [True, True] Translation: X:139.42, Y:-4.76, Z:-2.47 [[ 9.99325736e-01 3.32484330e-02 1.55761279e-02 1.39415604e+02] [-3.32391287e-02 9.99447061e-01 -8.55914026e-04 -4.76450436e+00] [-1.55959731e-02 3.37599992e-04 9.99878318e-01 -2.46890515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.854391418 meters 0.020947642401784507 Centerline is valid? [True, True] Translation: X:139.45, Y:-4.77, Z:-2.47 [[ 9.99345869e-01 3.24580035e-02 1.59471569e-02 1.39446975e+02] [-3.24481465e-02 9.99473036e-01 -8.76526249e-04 -4.76878651e+00] [-1.59672036e-02 3.58497204e-04 9.99872452e-01 -2.46911023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.884391418 meters 0.020480597623420208 Centerline is valid? [True, True] Translation: X:139.48, Y:-4.77, Z:-2.47 [[ 9.99348515e-01 3.24288204e-02 1.58403691e-02 1.39478858e+02] [-3.24190240e-02 9.99473982e-01 -8.74902002e-04 -4.77038563e+00] [-1.58604088e-02 3.60802712e-04 9.99874151e-01 -2.46914716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914391418 meters 0.020665367799685523 Centerline is valid? [True, True] Translation: X:139.51, Y:-4.77, Z:-2.47 [[ 9.99333182e-01 3.27702727e-02 1.61027904e-02 1.39510677e+02] [-3.27601146e-02 9.99462843e-01 -8.94273231e-04 -4.77277077e+00] [-1.61234462e-02 3.66147655e-04 9.99869942e-01 -2.46954359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944391418 meters 0.020706592443822145 Centerline is valid? [True, True] Translation: X:139.54, Y:-4.78, Z:-2.47 [[ 9.99300879e-01 3.37568537e-02 1.60694543e-02 1.39541495e+02] [-3.37467884e-02 9.99430012e-01 -8.97193063e-04 -4.77542560e+00] [-1.60905813e-02 3.54273343e-04 9.99870475e-01 -2.47026662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974391418 meters 0.02063123428881103 Centerline is valid? [True, True] Translation: X:139.57, Y:-4.78, Z:-2.47 [[ 9.99279391e-01 3.44084126e-02 1.60237256e-02 1.39573056e+02] [-3.43984111e-02 9.99407795e-01 -8.99447936e-04 -4.77757914e+00] [-1.60451848e-02 3.47609087e-04 9.99871207e-01 -2.47103764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004391418 meters 0.02039461481998552 Centerline is valid? [True, True] Translation: X:139.60, Y:-4.78, Z:-2.47 [[ 9.99251941e-01 3.52411863e-02 1.59253946e-02 1.39604116e+02] [-3.52314100e-02 9.99378781e-01 -8.94112145e-04 -4.77966085e+00] [-1.59470110e-02 3.32369191e-04 9.99872783e-01 -2.47183391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034391418 meters 0.018849198042212 Centerline is valid? [True, True] Translation: X:139.64, Y:-4.78, Z:-2.47 [[ 9.99198271e-01 3.69082005e-02 1.55113068e-02 1.39635819e+02] [-3.68990560e-02 9.99318615e-01 -8.75416506e-04 -4.77986870e+00] [-1.55330477e-02 3.02362080e-04 9.99879309e-01 -2.47282060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064391418 meters 0.0182041755633276 Centerline is valid? [True, True] Translation: X:139.67, Y:-4.78, Z:-2.47 [[ 9.99162398e-01 3.78283450e-02 1.56051126e-02 1.39667396e+02] [-3.78191913e-02 9.99284210e-01 -8.81379633e-04 -4.78087055e+00] [-1.56272838e-02 2.90468648e-04 9.99877844e-01 -2.47322141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09439141800001 meters 0.01817414839024825 Centerline is valid? [True, True] Translation: X:139.70, Y:-4.78, Z:-2.47 [[ 9.99116019e-01 3.91084801e-02 1.54177346e-02 1.39697762e+02] [-3.90996861e-02 9.99234935e-01 -8.71515933e-04 -4.78298384e+00] [-1.54400227e-02 2.67916947e-04 9.99880760e-01 -2.47369266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12439141800002 meters 0.016990182335608967 Centerline is valid? [True, True] Translation: X:139.73, Y:-4.78, Z:-2.47 [[ 9.98990646e-01 4.20152201e-02 1.58874106e-02 1.39728406e+02] [-4.20062431e-02 9.99116944e-01 -8.98464645e-04 -4.78323803e+00] [-1.59111304e-02 2.30187342e-04 9.99873383e-01 -2.47369674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15439141800002 meters 0.016198598292668148 Centerline is valid? [True, True] Translation: X:139.76, Y:-4.78, Z:-2.47 [[ 9.98897539e-01 4.41068123e-02 1.60715969e-02 1.39758620e+02] [-4.40978967e-02 9.99026801e-01 -9.08880743e-04 -4.78397613e+00] [-1.60960439e-02 1.99155118e-04 9.99870430e-01 -2.47416668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18439141800002 meters 0.015515134046706042 Centerline is valid? [True, True] Translation: X:139.79, Y:-4.78, Z:-2.48 [[ 9.98813603e-01 4.59874066e-02 1.60170240e-02 1.39788673e+02] [-4.59787931e-02 9.98942005e-01 -9.05794540e-04 -4.78444903e+00] [-1.60417333e-02 1.68276474e-04 9.99871309e-01 -2.47505398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21439141800002 meters 0.01491311926669363 Centerline is valid? [True, True] Translation: X:139.82, Y:-4.79, Z:-2.48 [[ 9.98700787e-01 4.84997500e-02 1.56368781e-02 1.39818430e+02] [-4.84918476e-02 9.98823187e-01 -8.84345496e-04 -4.78504033e+00] [-1.56613670e-02 1.24935432e-04 9.99877345e-01 -2.47609677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters 0.013862635839438545 Centerline is valid? [True, True] Translation: X:139.85, Y:-4.78, Z:-2.48 [[ 9.98481225e-01 5.30904636e-02 1.47189205e-02 1.39848528e+02] [-5.30839637e-02 9.98589706e-01 -8.32217869e-04 -4.78402841e+00] [-1.47423454e-02 4.96152734e-05 9.99891324e-01 -2.47741654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274391418 meters 0.013613448313265358 Centerline is valid? [True, True] Translation: X:139.88, Y:-4.79, Z:-2.48 [[ 9.98366600e-01 5.51864516e-02 1.47846966e-02 1.39876859e+02] [-5.51801305e-02 9.98476066e-01 -8.35443580e-04 -4.78502198e+00] [-1.48082708e-02 1.82574806e-05 9.99890351e-01 -2.47777305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters 0.013527329810086353 Centerline is valid? [True, True] Translation: X:139.91, Y:-4.79, Z:-2.48 [[ 9.98287468e-01 5.65628374e-02 1.49257174e-02 1.39905587e+02] [-5.65565681e-02 9.98399041e-01 -8.42132098e-04 -4.78665224e+00] [-1.49494553e-02 -3.45743194e-06 9.99888251e-01 -2.47807501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334391418 meters 0.013768669954966697 Centerline is valid? [True, True] Translation: X:139.93, Y:-4.79, Z:-2.48 [[ 9.98227643e-01 5.77169095e-02 1.45027965e-02 1.39933446e+02] [-5.77111284e-02 9.98332989e-01 -8.17165988e-04 -4.79019573e+00] [-1.45257845e-02 -2.12550731e-05 9.99894495e-01 -2.47904832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters 0.01380677390316318 Centerline is valid? [True, True] Translation: X:139.96, Y:-4.79, Z:-2.48 [[ 9.98243950e-01 5.75045260e-02 1.42213491e-02 1.39962260e+02] [-5.74989672e-02 9.98345245e-01 -7.99782171e-04 -4.79387589e+00] [-1.42438074e-02 -1.93351747e-05 9.99898552e-01 -2.48002251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394391418 meters 0.013825614633049665 Centerline is valid? [True, True] Translation: X:139.99, Y:-4.80, Z:-2.48 [[ 9.98377205e-01 5.53803081e-02 1.32656445e-02 1.39989338e+02] [-5.53752962e-02 9.98465333e-01 -7.45109938e-04 -4.80116986e+00] [-1.32865505e-02 9.31178699e-06 9.99911730e-01 -2.48138851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters 0.013811071309414818 Centerline is valid? [True, True] Translation: X:140.02, Y:-4.81, Z:-2.48 [[ 9.98466978e-01 5.37667754e-02 1.31463654e-02 1.40017652e+02] [-5.37617326e-02 9.98553520e-01 -7.36941691e-04 -4.80621618e+00] [-1.31669724e-02 2.90405622e-05 9.99913311e-01 -2.48173252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454391418 meters 0.0140163322955745 Centerline is valid? [True, True] Translation: X:140.05, Y:-4.81, Z:-2.48 [[ 9.98579651e-01 5.17058656e-02 1.28524017e-02 1.40046635e+02] [-5.17008912e-02 9.98662356e-01 -7.19219379e-04 -4.81182024e+00] [-1.28723976e-02 5.37172164e-05 9.99917146e-01 -2.48197241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters 0.015203113300459597 Centerline is valid? [True, True] Translation: X:140.07, Y:-4.82, Z:-2.48 [[ 9.98831828e-01 4.65983920e-02 1.27893993e-02 1.40074650e+02] [-4.65930535e-02 9.98913698e-01 -7.15218141e-04 -4.82281384e+00] [-1.28088342e-02 1.18485476e-04 9.99917956e-01 -2.48246696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514391418 meters 0.015967473185769063 Centerline is valid? [True, True] Translation: X:140.10, Y:-4.83, Z:-2.48 [[ 9.98943527e-01 4.41650815e-02 1.26994041e-02 1.40104058e+02] [-4.41596305e-02 9.99024236e-01 -7.09458410e-04 -4.82910469e+00] [-1.27183458e-02 1.47907894e-04 9.99919108e-01 -2.48252182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters 0.01855529828385188 Centerline is valid? [True, True] Translation: X:140.13, Y:-4.84, Z:-2.48 [[ 9.99144022e-01 3.94521008e-02 1.24400824e-02 1.40133539e+02] [-3.94465193e-02 9.99221442e-01 -6.93812138e-04 -4.84040066e+00] [-1.24577695e-02 2.02500298e-04 9.99922378e-01 -2.48303878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.574391418 meters 0.01829484653203283 Centerline is valid? [True, True] Translation: X:140.16, Y:-4.84, Z:-2.48 [[ 9.99232045e-01 3.72808222e-02 1.20607109e-02 1.40164148e+02] [-3.72754010e-02 9.99304803e-01 -6.74051833e-04 -4.84311805e+00] [-1.20774555e-02 2.23966357e-04 9.99927040e-01 -2.48251654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.604391418 meters 0.019265070814240778 Centerline is valid? [True, True] Translation: X:140.19, Y:-4.85, Z:-2.48 [[ 9.99286647e-01 3.56937375e-02 1.23350778e-02 1.40194626e+02] [-3.56879525e-02 9.99362745e-01 -6.88858361e-04 -4.84841469e+00] [-1.23518052e-02 2.48153291e-04 9.99923683e-01 -2.48277587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.634391418 meters 0.020628209091519332 Centerline is valid? [True, True] Translation: X:140.22, Y:-4.85, Z:-2.48 [[ 9.99339630e-01 3.40696564e-02 1.26317997e-02 1.40224350e+02] [-3.40634445e-02 9.99419423e-01 -7.06658140e-04 -4.85436998e+00] [-1.26485415e-02 2.75908877e-04 9.99919966e-01 -2.48283346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664391418 meters 0.021872417701314095 Centerline is valid? [True, True] Translation: X:140.26, Y:-4.86, Z:-2.48 [[ 9.99474337e-01 2.98947044e-02 1.25441862e-02 1.40256220e+02] [-2.98882353e-02 9.99553000e-01 -7.02907084e-04 -4.86234075e+00] [-1.25595922e-02 3.27614003e-04 9.99921072e-01 -2.48279426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694391418 meters 0.023613280503449158 Centerline is valid? [True, True] Translation: X:140.29, Y:-4.87, Z:-2.48 [[ 9.99538203e-01 2.77846902e-02 1.23040985e-02 1.40287531e+02] [-2.77783071e-02 9.99613871e-01 -6.89408887e-04 -4.86863362e+00] [-1.23185026e-02 3.47303493e-04 9.99924064e-01 -2.48333277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724391418 meters 0.027702332230299023 Centerline is valid? [True, True] Translation: X:140.32, Y:-4.88, Z:-2.48 [[ 9.99665593e-01 2.29468605e-02 1.19224413e-02 1.40316656e+02] [-2.29404661e-02 9.99736606e-01 -6.72836758e-04 -4.87889738e+00] [-1.19347404e-02 3.99105397e-04 9.99928699e-01 -2.48427181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754391418 meters 0.029423141672435052 Centerline is valid? [True, True] Translation: X:140.35, Y:-4.88, Z:-2.48 [[ 9.99725500e-01 2.04191075e-02 1.14884186e-02 1.40348784e+02] [-2.04130096e-02 9.99791423e-01 -6.47811308e-04 -4.88414232e+00] [-1.14992501e-02 4.13120287e-04 9.99933796e-01 -2.48495952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784391418 meters 0.029993420660690252 Centerline is valid? [True, True] Translation: X:140.38, Y:-4.89, Z:-2.49 [[ 9.99825322e-01 1.51001776e-02 1.10141258e-02 1.40379730e+02] [-1.50942366e-02 9.99885882e-01 -6.22324822e-04 -4.88791892e+00] [-1.10222661e-02 4.55966295e-04 9.99939149e-01 -2.48523354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814391418 meters 0.034737344011056534 Centerline is valid? [True, True] Translation: X:140.41, Y:-4.90, Z:-2.49 [[ 9.99868372e-01 1.24738550e-02 1.03750355e-02 1.40409876e+02] [-1.24684421e-02 9.99922094e-01 -5.86250454e-04 -4.89659483e+00] [-1.03815400e-02 4.56812758e-04 9.99946006e-01 -2.48669695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84439141800001 meters 0.03191319106033912 Centerline is valid? [True, True] Translation: X:140.44, Y:-4.90, Z:-2.49 [[ 9.99900118e-01 1.00182777e-02 9.96932250e-03 1.40441587e+02] [-1.00131736e-02 9.99949709e-01 -5.61767304e-04 -4.89508598e+00] [-9.97444907e-03 4.61886636e-04 9.99950147e-01 -2.48659589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87439141800002 meters 0.034009819264462574 Centerline is valid? [True, True] Translation: X:140.47, Y:-4.90, Z:-2.49 [[ 9.99919199e-01 8.24620151e-03 9.67446661e-03 1.40472608e+02] [-8.24128642e-03 9.99965890e-01 -5.47804676e-04 -4.90041385e+00] [-9.67865392e-03 4.68030362e-04 9.99953051e-01 -2.48753427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90439141800002 meters 0.03520626707690447 Centerline is valid? [True, True] Translation: X:140.50, Y:-4.90, Z:-2.49 [[ 9.99944608e-01 5.02752031e-03 9.24691920e-03 1.40503264e+02] [-5.02284924e-03 9.99987246e-01 -5.28302842e-04 -4.90306752e+00] [-9.24945731e-03 4.81827698e-04 9.99957107e-01 -2.48800691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93439141800002 meters 0.037034756669700186 Centerline is valid? [True, True] Translation: X:140.53, Y:-4.91, Z:-2.49 [[ 9.99947932e-01 4.42035865e-03 9.19744169e-03 1.40533787e+02] [-4.41572763e-03 9.99990113e-01 -5.23757613e-04 -4.90633611e+00] [-9.19966595e-03 4.83116944e-04 9.99957565e-01 -2.48890786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96439141800002 meters 0.03883814288595757 Centerline is valid? [True, True] Translation: X:140.56, Y:-4.91, Z:-2.49 [[ 9.99950017e-01 4.35555443e-03 8.99954672e-03 1.40564433e+02] [-4.35110214e-03 9.99990402e-01 -5.14243179e-04 -4.90888175e+00] [-9.00170015e-03 4.75059529e-04 9.99959371e-01 -2.48975971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994391418 meters 0.0367405732066205 Centerline is valid? [True, True] Translation: X:140.60, Y:-4.90, Z:-2.49 [[ 9.99951437e-01 5.14901263e-03 8.40310110e-03 1.40597301e+02] [-5.14514440e-03 9.99986648e-01 -4.81886617e-04 -4.90381008e+00] [-8.40547014e-03 4.38628046e-04 9.99964577e-01 -2.49014375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters 0.03568921667132248 Centerline is valid? [True, True] Translation: X:140.63, Y:-4.90, Z:-2.49 [[ 9.99945685e-01 6.40275158e-03 8.22381019e-03 1.40629552e+02] [-6.39906972e-03 9.99979413e-01 -4.73942326e-04 -4.90221130e+00] [-8.22667542e-03 4.21291849e-04 9.99966072e-01 -2.49080758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054391418 meters 0.03427178579042654 Centerline is valid? [True, True] Translation: X:140.66, Y:-4.90, Z:-2.49 [[ 9.99926917e-01 9.25757367e-03 7.77546813e-03 1.40660918e+02] [-9.25433184e-03 9.99957075e-01 -4.52807426e-04 -4.89740611e+00] [-7.77932626e-03 3.80817571e-04 9.99969668e-01 -2.49167733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters 0.03476465321380714 Centerline is valid? [True, True] Translation: X:140.69, Y:-4.90, Z:-2.49 [[ 9.99909053e-01 1.11306744e-02 7.61537910e-03 1.40692305e+02] [-1.11276349e-02 9.99937989e-01 -4.41376778e-04 -4.89732486e+00] [-7.61981968e-03 3.56595477e-04 9.99970905e-01 -2.49235454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114391418 meters 0.033246715549529175 Centerline is valid? [True, True] Translation: X:140.73, Y:-4.89, Z:-2.49 [[ 9.99880918e-01 1.29865073e-02 8.33669170e-03 1.40725304e+02] [-1.29828922e-02 9.99915600e-01 -4.87612160e-04 -4.89438694e+00] [-8.34232046e-03 3.79319725e-04 9.99965130e-01 -2.49215635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters 0.031876982122206944 Centerline is valid? [True, True] Translation: X:140.76, Y:-4.89, Z:-2.49 [[ 9.99828084e-01 1.57227428e-02 9.82841613e-03 1.40756911e+02] [-1.57178315e-02 9.99876301e-01 -5.76753823e-04 -4.88799288e+00] [-9.83626852e-03 4.22173282e-04 9.99951534e-01 -2.49161629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174391418 meters 0.031876982122206944 Centerline is valid? [True, True] Translation: X:140.79, Y:-4.89, Z:-2.49 [[ 9.99822740e-01 1.60589135e-02 9.82853333e-03 1.40789430e+02] [-1.60540379e-02 9.99870960e-01 -5.74767234e-04 -4.89010417e+00] [-9.83649520e-03 4.16877705e-04 9.99951534e-01 -2.49220374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters 0.0311660981992068 Centerline is valid? [True, True] Translation: X:140.82, Y:-4.89, Z:-2.49 [[ 9.99793015e-01 1.76682692e-02 1.00875857e-02 1.40821706e+02] [-1.76631754e-02 9.99843818e-01 -5.93830436e-04 -4.88848500e+00] [-1.00965021e-02 4.15528726e-04 9.99948943e-01 -2.49241213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234391418 meters 0.03115281350920348 Centerline is valid? [True, True] Translation: X:140.85, Y:-4.89, Z:-2.49 [[ 9.99769037e-01 1.89365148e-02 1.01627483e-02 1.40854127e+02] [-1.89313792e-02 9.99820605e-01 -6.01299731e-04 -4.88755907e+00] [-1.01723116e-02 4.08766011e-04 9.99948177e-01 -2.49319947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters 0.03056988116695828 Centerline is valid? [True, True] Translation: X:140.89, Y:-4.89, Z:-2.49 [[ 9.99740409e-01 2.03968453e-02 1.01529987e-02 1.40886642e+02] [-2.03917648e-02 9.99791884e-01 -6.03673715e-04 -4.88623101e+00] [-1.01631987e-02 3.96479445e-04 9.99948275e-01 -2.49393382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.294391418 meters 0.030344581508779247 Centerline is valid? [True, True] Translation: X:140.92, Y:-4.88, Z:-2.49 [[ 9.99700503e-01 2.22180069e-02 1.02598362e-02 1.40918197e+02] [-2.22128819e-02 9.99753075e-01 -6.13221536e-04 -4.88182248e+00] [-1.02709274e-02 3.85137347e-04 9.99947178e-01 -2.49458525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.324391418 meters 0.03029121014676693 Centerline is valid? [True, True] Translation: X:140.95, Y:-4.88, Z:-2.49 [[ 9.99683238e-01 2.27288669e-02 1.08084167e-02 1.40950095e+02] [-2.27231576e-02 9.99741584e-01 -6.50759981e-04 -4.88064616e+00] [-1.08204147e-02 4.04952488e-04 9.99941376e-01 -2.49497355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.354391418 meters 0.030357794978872865 Centerline is valid? [True, True] Translation: X:140.98, Y:-4.88, Z:-2.50 [[ 9.99668303e-01 2.32921184e-02 1.09891806e-02 1.40982284e+02] [-2.32862641e-02 9.99728620e-01 -6.60407722e-04 -4.87982920e+00] [-1.10015807e-02 4.04291704e-04 9.99939399e-01 -2.49528579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.384391418 meters 0.028058160609632603 Centerline is valid? [True, True] Translation: X:141.01, Y:-4.87, Z:-2.50 [[ 9.99658606e-01 2.35373652e-02 1.13430457e-02 1.41013981e+02] [-2.35311036e-02 9.99722870e-01 -6.85187856e-04 -4.87278540e+00] [-1.13560298e-02 4.18039553e-04 9.99935431e-01 -2.49515598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414391418 meters 0.028506287088376422 Centerline is valid? [True, True] Translation: X:141.05, Y:-4.87, Z:-2.50 [[ 9.99654114e-01 2.36127509e-02 1.15797497e-02 1.41045411e+02] [-2.36061929e-02 9.99721088e-01 -7.02704836e-04 -4.87269874e+00] [-1.15931127e-02 4.29107976e-04 9.99932706e-01 -2.49568521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444391418 meters 0.023923351012553756 Centerline is valid? [True, True] Translation: X:141.08, Y:-4.86, Z:-2.50 [[ 9.99632395e-01 2.41980025e-02 1.22283034e-02 1.41077763e+02] [-2.41906796e-02 9.99707084e-01 -7.46426480e-04 -4.86279027e+00] [-1.22427835e-02 4.50341121e-04 9.99924953e-01 -2.49527386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474391418 meters 0.02673061614784074 Centerline is valid? [True, True] Translation: X:141.11, Y:-4.87, Z:-2.50 [[ 9.99609793e-01 2.49140610e-02 1.26313820e-02 1.41108454e+02] [-2.49062975e-02 9.99689492e-01 -7.71575400e-04 -4.86610709e+00] [-1.26466829e-02 4.56673368e-04 9.99919923e-01 -2.49668244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504391418 meters 0.023605392666658988 Centerline is valid? [True, True] Translation: X:141.14, Y:-4.86, Z:-2.50 [[ 9.99592868e-01 2.55323562e-02 1.27356690e-02 1.41140497e+02] [-2.55245075e-02 9.99673894e-01 -7.78467315e-04 -4.86066181e+00] [-1.27513920e-02 4.53078696e-04 9.99918595e-01 -2.49667493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534391418 meters 0.023194657489574066 Centerline is valid? [True, True] Translation: X:141.17, Y:-4.86, Z:-2.50 [[ 9.99567970e-01 2.66911932e-02 1.23066392e-02 1.41172223e+02] [-2.66839462e-02 9.99643637e-01 -7.52722289e-04 -4.85907862e+00] [-1.23223446e-02 4.24007392e-04 9.99923987e-01 -2.49734757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564391418 meters 0.02262388597819531 Centerline is valid? [True, True] Translation: X:141.20, Y:-4.85, Z:-2.50 [[ 9.99498145e-01 2.92923761e-02 1.20588402e-02 1.41203009e+02] [-2.92856067e-02 9.99570812e-01 -7.37597225e-04 -4.85465094e+00] [-1.20752707e-02 3.84076606e-04 9.99927017e-01 -2.49858043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59439141800001 meters 0.023041789721568458 Centerline is valid? [True, True] Translation: X:141.23, Y:-4.85, Z:-2.50 [[ 9.99452114e-01 3.07822072e-02 1.21625645e-02 1.41232918e+02] [-3.07754040e-02 9.99526047e-01 -7.46164200e-04 -4.85463674e+00] [-1.21797686e-02 3.71447550e-04 9.99925755e-01 -2.49955260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62439141800002 meters 0.020715647279057645 Centerline is valid? [True, True] Translation: X:141.26, Y:-4.85, Z:-2.50 [[ 9.99360463e-01 3.34693295e-02 1.25884620e-02 1.41262805e+02] [-3.34622563e-02 9.99439684e-01 -7.72140010e-04 -4.84830988e+00] [-1.26072515e-02 3.50407855e-04 9.99920464e-01 -2.49941650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65439141800002 meters 0.02005447486063219 Centerline is valid? [True, True] Translation: X:141.29, Y:-4.85, Z:-2.50 [[ 9.99314802e-01 3.46918794e-02 1.28996381e-02 1.41292410e+02] [-3.46845609e-02 9.99397997e-01 -7.90691055e-04 -4.84703097e+00] [-1.29193031e-02 3.42730991e-04 9.99916484e-01 -2.49954269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68439141800002 meters 0.01960745889624087 Centerline is valid? [True, True] Translation: X:141.32, Y:-4.84, Z:-2.50 [[ 9.99258977e-01 3.61915274e-02 1.31022667e-02 1.41321914e+02] [-3.61841131e-02 9.99344818e-01 -8.02572789e-04 -4.84432085e+00] [-1.31227287e-02 3.27884163e-04 9.99913840e-01 -2.50020722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71439141800002 meters 0.019618633897550336 Centerline is valid? [True, True] Translation: X:141.35, Y:-4.84, Z:-2.50 [[ 9.99251008e-01 3.63775902e-02 1.31944733e-02 1.41351124e+02] [-3.63700944e-02 9.99338063e-01 -8.07689026e-04 -4.84468335e+00] [-1.32151212e-02 3.27199832e-04 9.99912623e-01 -2.50094496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters 0.019700042214670636 Centerline is valid? [True, True] Translation: X:141.38, Y:-4.85, Z:-2.50 [[ 9.99269505e-01 3.60251829e-02 1.27531541e-02 1.41381249e+02] [-3.60181577e-02 9.99350831e-01 -7.80191293e-04 -4.84556577e+00] [-1.27729817e-02 3.20276251e-04 9.99918371e-01 -2.50197228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774391418 meters 0.02033095346330211 Centerline is valid? [True, True] Translation: X:141.41, Y:-4.85, Z:-2.50 [[ 9.99335861e-01 3.39071176e-02 1.33471008e-02 1.41411318e+02] [-3.38992427e-02 9.99424922e-01 -8.15871371e-04 -4.84636626e+00] [-1.33670890e-02 3.62872909e-04 9.99910591e-01 -2.50248541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters 0.02221556498864213 Centerline is valid? [True, True] Translation: X:141.44, Y:-4.85, Z:-2.50 [[ 9.99372141e-01 3.27571410e-02 1.35015921e-02 1.41440790e+02] [-3.27489815e-02 9.99463268e-01 -8.25039139e-04 -4.85046445e+00] [-1.35213712e-02 3.82357742e-04 9.99908509e-01 -2.50334915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834391418 meters 0.022548064675043042 Centerline is valid? [True, True] Translation: X:141.47, Y:-4.85, Z:-2.50 [[ 9.99466588e-01 2.96047798e-02 1.37875793e-02 1.41470956e+02] [-2.95959763e-02 9.99561588e-01 -8.42149861e-04 -4.85165067e+00] [-1.38064663e-02 4.33643776e-04 9.99904592e-01 -2.50351474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters 0.025291343090878184 Centerline is valid? [True, True] Translation: X:141.50, Y:-4.86, Z:-2.50 [[ 9.99506031e-01 2.81932609e-02 1.38864768e-02 1.41500727e+02] [-2.81841958e-02 9.99602387e-01 -8.48109465e-04 -4.85681013e+00] [-1.39048663e-02 4.56311343e-04 9.99903219e-01 -2.50436614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894391418 meters 0.023492126607368765 Centerline is valid? [True, True] Translation: X:141.53, Y:-4.86, Z:-2.50 [[ 9.99535690e-01 2.70867724e-02 1.39539125e-02 1.41532096e+02] [-2.70775086e-02 9.99632974e-01 -8.52422134e-04 -4.85555471e+00] [-1.39718804e-02 4.74189162e-04 9.99902276e-01 -2.50449568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters 0.027275621152211042 Centerline is valid? [True, True] Translation: X:141.56, Y:-4.86, Z:-2.51 [[ 9.99592548e-01 2.53790106e-02 1.30630800e-02 1.41562381e+02] [-2.53707400e-02 9.99677792e-01 -7.98482994e-04 -4.86195408e+00] [-1.30791356e-02 4.66737645e-04 9.99914356e-01 -2.50599665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954391418 meters 0.023742192336632394 Centerline is valid? [True, True] Translation: X:141.59, Y:-4.86, Z:-2.51 [[ 9.99600233e-01 2.49802146e-02 1.32424563e-02 1.41593753e+02] [-2.49716731e-02 9.99687831e-01 -8.09987794e-04 -4.85828022e+00] [-1.32585561e-02 4.78977697e-04 9.99911987e-01 -2.50608289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters 0.02416590257812226 Centerline is valid? [True, True] Translation: X:141.62, Y:-4.86, Z:-2.51 [[ 9.99596015e-01 2.51754852e-02 1.31909482e-02 1.41623512e+02] [-2.51670186e-02 9.99682934e-01 -8.07477037e-04 -4.86056840e+00] [-1.32070944e-02 4.75173991e-04 9.99912670e-01 -2.50671882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014391418 meters 0.023787784858255424 Centerline is valid? [True, True] Translation: X:141.65, Y:-4.86, Z:-2.51 [[ 9.99584288e-01 2.59182449e-02 1.26291748e-02 1.41654806e+02] [-2.59105416e-02 9.99663967e-01 -7.73221543e-04 -4.86109340e+00] [-1.26449715e-02 4.45671345e-04 9.99919950e-01 -2.50765860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters 0.022427799335314726 Centerline is valid? [True, True] Translation: X:141.69, Y:-4.86, Z:-2.51 [[ 9.99502020e-01 2.88473214e-02 1.27884674e-02 1.41685374e+02] [-2.88396526e-02 9.99583743e-01 -7.83717287e-04 -4.85899653e+00] [-1.28057523e-02 4.14512054e-04 9.99917917e-01 -2.50821122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.074391418 meters 0.02229764726283893 Centerline is valid? [True, True] Translation: X:141.72, Y:-4.86, Z:-2.51 [[ 9.99443951e-01 3.07835825e-02 1.28124506e-02 1.41715170e+02] [-3.07760424e-02 9.99525997e-01 -7.85291769e-04 -4.85975035e+00] [-1.28305515e-02 3.90538585e-04 9.99917609e-01 -2.50880640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.104391418 meters 0.020854655381038704 Centerline is valid? [True, True] Translation: X:141.74, Y:-4.86, Z:-2.51 [[ 9.99299768e-01 3.48623946e-02 1.35863017e-02 1.41744740e+02] [-3.48542956e-02 9.99392058e-01 -8.32509465e-04 -4.85643746e+00] [-1.36070653e-02 3.58385541e-04 9.99907355e-01 -2.50872123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.134391418 meters 0.019154257323691533 Centerline is valid? [True, True] Translation: X:141.77, Y:-4.85, Z:-2.51 [[ 9.99210686e-01 3.73509421e-02 1.35244763e-02 1.41774946e+02] [-3.73431516e-02 9.99302158e-01 -8.28197699e-04 -4.85437651e+00] [-1.35459723e-02 3.22497423e-04 9.99908197e-01 -2.50881551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164391418 meters 0.01893599060749427 Centerline is valid? [True, True] Translation: X:141.80, Y:-4.85, Z:-2.51 [[ 9.99130718e-01 3.94808823e-02 1.33816112e-02 1.41803333e+02] [-3.94734511e-02 9.99220284e-01 -8.19099178e-04 -4.85468603e+00] [-1.34035161e-02 2.90168773e-04 9.99910127e-01 -2.50951834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194391418 meters 0.01666656412579067 Centerline is valid? [True, True] Translation: X:141.83, Y:-4.85, Z:-2.51 [[ 9.98941903e-01 4.40064265e-02 1.33606925e-02 1.41833263e+02] [-4.39994396e-02 9.99031222e-01 -8.16577662e-04 -4.85104270e+00] [-1.33836836e-02 2.27850661e-04 9.99910409e-01 -2.51023776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224391418 meters 0.016849970958529602 Centerline is valid? [True, True] Translation: X:141.86, Y:-4.85, Z:-2.51 [[ 9.98864431e-01 4.57979696e-02 1.31299416e-02 1.41861547e+02] [-4.57913810e-02 9.98950702e-01 -8.02152099e-04 -4.85198691e+00] [-1.31529013e-02 2.00003040e-04 9.99913477e-01 -2.51160966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254391418 meters 0.015647101577619303 Centerline is valid? [True, True] Translation: X:141.89, Y:-4.85, Z:-2.51 [[ 9.98785846e-01 4.75822016e-02 1.27580463e-02 1.41890385e+02] [-4.75761391e-02 9.98867311e-01 -7.78448339e-04 -4.85049149e+00] [-1.27806357e-02 1.70524597e-04 9.99918310e-01 -2.51160679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284391418 meters 0.015077440814211644 Centerline is valid? [True, True] Translation: X:141.92, Y:-4.85, Z:-2.51 [[ 9.98700134e-01 4.94330897e-02 1.24262413e-02 1.41918855e+02] [-4.94274935e-02 9.98777427e-01 -7.57248500e-04 -4.85046820e+00] [-1.24484825e-02 1.42066215e-04 9.99922505e-01 -2.51245346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314391418 meters 0.01470482697899444 Centerline is valid? [True, True] Translation: X:141.95, Y:-4.85, Z:-2.51 [[ 9.98571003e-01 5.22070530e-02 1.14181818e-02 1.41947754e+02] [-5.22025185e-02 9.98636277e-01 -6.95013385e-04 -4.85043688e+00] [-1.14388951e-02 9.79623686e-05 9.99934569e-01 -2.51373498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34439141800001 meters 0.014664639219537486 Centerline is valid? [True, True] Translation: X:141.98, Y:-4.85, Z:-2.51 [[ 9.98535243e-01 5.29003375e-02 1.13543909e-02 1.41975683e+02] [-5.28959071e-02 9.98599793e-01 -6.90362592e-04 -4.85188499e+00] [-1.13750128e-02 8.87505741e-05 9.99935299e-01 -2.51468123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37439141800002 meters 0.014376126927948981 Centerline is valid? [True, True] Translation: X:142.00, Y:-4.85, Z:-2.52 [[ 9.98514975e-01 5.35413013e-02 1.00584767e-02 1.42004279e+02] [-5.35378664e-02 9.98565633e-01 -6.10640212e-04 -4.85304288e+00] [-1.00767436e-02 7.12240136e-05 9.99949226e-01 -2.51529161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40439141800002 meters 0.014383700977780215 Centerline is valid? [True, True] Translation: X:142.03, Y:-4.86, Z:-2.52 [[ 9.98534070e-01 5.32131945e-02 9.90290419e-03 1.42032841e+02] [-5.32098566e-02 9.98583172e-01 -6.00425262e-04 -4.85517654e+00] [-9.92082402e-03 7.26129695e-05 9.99950785e-01 -2.51580770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43439141800002 meters 0.01486981961496043 Centerline is valid? [True, True] Translation: X:142.06, Y:-4.86, Z:-2.52 [[ 9.98637328e-01 5.12585425e-02 9.80044723e-03 1.42060819e+02] [-5.12551840e-02 9.98685413e-01 -5.93717469e-04 -4.85957605e+00] [-9.81799677e-03 9.05847011e-05 9.99951798e-01 -2.51664334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46439141800002 meters 0.014761546232696559 Centerline is valid? [True, True] Translation: X:142.09, Y:-4.86, Z:-2.52 [[ 9.98694698e-01 5.01161671e-02 9.86255627e-03 1.42089123e+02] [-5.01127245e-02 9.98743390e-01 -5.96023824e-04 -4.86163344e+00] [-9.88003331e-03 1.01006267e-04 9.99951186e-01 -2.51609013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494391418 meters 0.015331545877629518 Centerline is valid? [True, True] Translation: X:142.12, Y:-4.87, Z:-2.52 [[ 9.98770345e-01 4.85917541e-02 9.83051366e-03 1.42116839e+02] [-4.85882665e-02 9.98818716e-01 -5.93434041e-04 -4.86531025e+00] [-9.84773704e-03 1.15056704e-04 9.99951503e-01 -2.51667347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters 0.015380102388902769 Centerline is valid? [True, True] Translation: X:142.15, Y:-4.87, Z:-2.52 [[ 9.98823937e-01 4.74358839e-02 1.00289453e-02 1.42145409e+02] [-4.74322082e-02 9.98874277e-01 -6.04177467e-04 -4.86804882e+00] [-1.00463151e-02 1.27771896e-04 9.99949526e-01 -2.51642567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554391418 meters 0.016175504994593665 Centerline is valid? [True, True] Translation: X:142.17, Y:-4.87, Z:-2.52 [[ 9.98949545e-01 4.46914376e-02 1.01233825e-02 1.42172602e+02] [-4.46875585e-02 9.99000826e-01 -6.09168246e-04 -4.87276395e+00] [-1.01404921e-02 1.56139092e-04 9.99948572e-01 -2.51603131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters 0.016457347003774048 Centerline is valid? [True, True] Translation: X:142.20, Y:-4.88, Z:-2.52 [[ 9.99017184e-01 4.31023809e-02 1.03368518e-02 1.42201688e+02] [-4.30982645e-02 9.99070645e-01 -6.20757480e-04 -4.87621193e+00] [-1.03540013e-02 1.74647017e-04 9.99946381e-01 -2.51600272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614391418 meters 0.017966165541126063 Centerline is valid? [True, True] Translation: X:142.23, Y:-4.88, Z:-2.52 [[ 9.99179636e-01 3.89829852e-02 1.09718419e-02 1.42228834e+02] [-3.89781085e-02 9.99239848e-01 -6.58037615e-04 -4.88274389e+00] [-1.09891539e-02 2.29836138e-04 9.99939591e-01 -2.51618670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters 0.0192593859782888 Centerline is valid? [True, True] Translation: X:142.26, Y:-4.89, Z:-2.52 [[ 9.99282558e-01 3.63978454e-02 1.04673601e-02 1.42257516e+02] [-3.63932770e-02 9.99337349e-01 -6.26651571e-04 -4.88772176e+00] [-1.04832327e-02 2.45260449e-04 9.99945019e-01 -2.51717214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674391418 meters 0.020113018720314152 Centerline is valid? [True, True] Translation: X:142.29, Y:-4.89, Z:-2.52 [[ 9.99380014e-01 3.37028220e-02 1.01836713e-02 1.42286686e+02] [-3.36983691e-02 9.99431863e-01 -6.08585834e-04 -4.89237046e+00] [-1.01983967e-02 2.65035404e-04 9.99947960e-01 -2.51774534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters 0.023775032800590224 Centerline is valid? [True, True] Translation: X:142.32, Y:-4.90, Z:-2.52 [[ 9.99541702e-01 2.90421570e-02 8.54039260e-03 1.42316059e+02] [-2.90388588e-02 9.99578153e-01 -5.09963574e-04 -4.90003369e+00] [-8.55160031e-03 2.61726604e-04 9.99963400e-01 -2.51949921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734391418 meters 0.024464898173493618 Centerline is valid? [True, True] Translation: X:142.34, Y:-4.91, Z:-2.52 [[ 9.99617152e-01 2.60976707e-02 9.19030870e-03 1.42344689e+02] [-2.60937258e-02 9.99659350e-01 -5.48909933e-04 -4.90566290e+00] [-9.20150330e-03 3.08890388e-04 9.99957618e-01 -2.51941978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters 0.02721684503560241 Centerline is valid? [True, True] Translation: X:142.37, Y:-4.91, Z:-2.52 [[ 9.99722429e-01 2.21713978e-02 7.96825523e-03 1.42374023e+02] [-2.21683137e-02 9.99754140e-01 -4.75176924e-04 -4.91244652e+00] [-7.97683149e-03 2.98402247e-04 9.99968140e-01 -2.52026556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.794391418 meters 0.02849093973316019 Centerline is valid? [True, True] Translation: X:142.40, Y:-4.92, Z:-2.52 [[ 9.99758960e-01 2.03842816e-02 8.15488305e-03 1.42403537e+02] [-2.03809934e-02 9.99792168e-01 -4.86139039e-04 -4.91695585e+00] [-8.16309780e-03 3.19817243e-04 9.99966630e-01 -2.52074192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.824391418 meters 0.02849093973316019 Centerline is valid? [True, True] Translation: X:142.43, Y:-4.92, Z:-2.52 [[ 9.99758960e-01 2.03842754e-02 8.15490358e-03 1.42433504e+02] [-2.03809899e-02 9.99792168e-01 -4.85794496e-04 -4.91874114e+00] [-8.16311130e-03 3.19472392e-04 9.99966630e-01 -2.52128324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.854391418 meters 0.029279483587795828 Centerline is valid? [True, True] Translation: X:142.46, Y:-4.92, Z:-2.52 [[ 9.99766426e-01 2.02591633e-02 7.52728261e-03 1.42462981e+02] [-2.02563591e-02 9.99794718e-01 -4.48605384e-04 -4.92196969e+00] [-7.53482576e-03 2.96025262e-04 9.99971569e-01 -2.52189940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.884391418 meters 0.02828692061609932 Centerline is valid? [True, True] Translation: X:142.49, Y:-4.92, Z:-2.52 [[ 9.99760293e-01 2.06038929e-02 7.40514910e-03 1.42492486e+02] [-2.06011878e-02 9.99787676e-01 -4.41395062e-04 -4.92192479e+00] [-7.41267126e-03 2.88734389e-04 9.99972484e-01 -2.52240149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914391418 meters 0.028314050563093007 Centerline is valid? [True, True] Translation: X:142.52, Y:-4.92, Z:-2.52 [[ 9.99733026e-01 2.20011608e-02 7.05871126e-03 1.42521622e+02] [-2.19987409e-02 9.99757910e-01 -4.20296435e-04 -4.92224298e+00] [-7.06624942e-03 2.64901467e-04 9.99974999e-01 -2.52358051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944391418 meters 0.027924095545732955 Centerline is valid? [True, True] Translation: X:142.55, Y:-4.92, Z:-2.52 [[ 9.99717704e-01 2.28062856e-02 6.66227494e-03 1.42551257e+02] [-2.28041471e-02 9.99739873e-01 -3.96795246e-04 -4.92260299e+00] [-6.66959132e-03 2.44755734e-04 9.99977728e-01 -2.52451648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974391418 meters 0.024603156982453907 Centerline is valid? [True, True] Translation: X:142.58, Y:-4.92, Z:-2.52 [[ 9.99705793e-01 2.34267445e-02 6.28617866e-03 1.42581227e+02] [-2.34248539e-02 9.99725530e-01 -3.74230551e-04 -4.91849482e+00] [-6.29322030e-03 2.26867633e-04 9.99980172e-01 -2.52415406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004391418 meters 0.02737069970359333 Centerline is valid? [True, True] Translation: X:142.61, Y:-4.92, Z:-2.53 [[ 9.99694330e-01 2.39378671e-02 6.18269080e-03 1.42609976e+02] [-2.39360480e-02 9.99713424e-01 -3.68063267e-04 -4.92281596e+00] [-6.18972964e-03 2.19961577e-04 9.99980819e-01 -2.52643249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034391418 meters 0.025662562062363926 Centerline is valid? [True, True] Translation: X:142.64, Y:-4.92, Z:-2.53 [[ 9.99689413e-01 2.40172937e-02 6.65181094e-03 1.42639550e+02] [-2.40151946e-02 9.99711515e-01 -3.95272468e-04 -4.92149545e+00] [-6.65938537e-03 2.35405167e-04 9.99977798e-01 -2.52602042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064391418 meters 0.026072838310705962 Centerline is valid? [True, True] Translation: X:142.67, Y:-4.92, Z:-2.53 [[ 9.99692951e-01 2.37942625e-02 6.91646620e-03 1.42669644e+02] [-2.37919898e-02 9.99716846e-01 -4.10700912e-04 -4.92276873e+00] [-6.92428010e-03 2.46018313e-04 9.99975997e-01 -2.52629435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09439141800001 meters 0.026072838310705962 Centerline is valid? [True, True] Translation: X:142.70, Y:-4.92, Z:-2.53 [[ 9.99693867e-01 2.37557181e-02 6.91648203e-03 1.42698768e+02] [-2.37534463e-02 9.99717763e-01 -4.10433929e-04 -4.92445513e+00] [-6.92428010e-03 2.46017997e-04 9.99975997e-01 -2.52682047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12439141800002 meters 0.02483086804289403 Centerline is valid? [True, True] Translation: X:142.73, Y:-4.92, Z:-2.53 [[ 9.99700335e-01 2.33055820e-02 7.48928511e-03 1.42728284e+02] [-2.33029082e-02 9.99728352e-01 -4.44094492e-04 -4.92374062e+00] [-7.49760054e-03 2.69439289e-04 9.99971856e-01 -2.52568775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15439141800002 meters 0.02554957246947221 Centerline is valid? [True, True] Translation: X:142.76, Y:-4.93, Z:-2.53 [[ 9.99705670e-01 2.28676566e-02 8.10202304e-03 1.42756892e+02] [-2.28645160e-02 9.99738458e-01 -4.80058912e-04 -4.92633333e+00] [-8.11088184e-03 2.94668780e-04 9.99967063e-01 -2.52606784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18439141800002 meters 0.025643500205952595 Centerline is valid? [True, True] Translation: X:142.79, Y:-4.93, Z:-2.53 [[ 9.99715135e-01 2.23206639e-02 8.45200697e-03 1.42786633e+02] [-2.23172300e-02 9.99750814e-01 -5.00387355e-04 -4.92736701e+00] [-8.46106983e-03 3.11619428e-04 9.99964156e-01 -2.52594660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21439141800002 meters 0.026159930783139905 Centerline is valid? [True, True] Translation: X:142.82, Y:-4.93, Z:-2.53 [[ 9.99725730e-01 2.15752738e-02 9.10892147e-03 1.42816682e+02] [-2.15712583e-02 9.99767168e-01 -5.38859484e-04 -4.92838461e+00] [-9.11842666e-03 3.42220793e-04 9.99958368e-01 -2.52581632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters 0.026273036602925126 Centerline is valid? [True, True] Translation: X:142.85, Y:-4.93, Z:-2.53 [[ 9.99721829e-01 2.16189126e-02 9.42805588e-03 1.42847633e+02] [-2.16146197e-02 9.99766222e-01 -5.57000697e-04 -4.92987589e+00] [-9.43789355e-03 3.53061914e-04 9.99955400e-01 -2.52648009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274391418 meters 0.02593602549680083 Centerline is valid? [True, True] Translation: X:142.88, Y:-4.93, Z:-2.53 [[ 9.99713202e-01 2.19002314e-02 9.68988626e-03 1.42878399e+02] [-2.18957100e-02 9.99760096e-01 -5.72469391e-04 -4.93056090e+00] [-9.70009884e-03 3.60138269e-04 9.99952888e-01 -2.52670088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters 0.02564206939480829 Centerline is valid? [True, True] Translation: X:142.91, Y:-4.93, Z:-2.53 [[ 9.99697484e-01 2.24876624e-02 9.96224254e-03 1.42908565e+02] [-2.24829107e-02 9.99747054e-01 -5.88718970e-04 -4.93095840e+00] [-9.97296154e-03 3.64560664e-04 9.99950202e-01 -2.52696545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334391418 meters 0.02689002872117369 Centerline is valid? [True, True] Translation: X:142.94, Y:-4.93, Z:-2.53 [[ 9.99672026e-01 2.37995409e-02 9.45632076e-03 1.42937603e+02] [-2.37953198e-02 9.99716695e-01 -5.58651103e-04 -4.93202795e+00] [-9.46693738e-03 3.33451703e-04 9.99955132e-01 -2.52856104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters 0.022838794745414854 Centerline is valid? [True, True] Translation: X:142.97, Y:-4.93, Z:-2.53 [[ 9.99599595e-01 2.64995592e-02 9.92087419e-03 1.42968205e+02] [-2.64950481e-02 9.99648773e-01 -5.85889026e-04 -4.92720495e+00] [-9.93291551e-03 3.22800395e-04 9.99950615e-01 -2.52731338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394391418 meters 0.022841679234167366 Centerline is valid? [True, True] Translation: X:143.00, Y:-4.93, Z:-2.53 [[ 9.99548085e-01 2.84878980e-02 9.59510676e-03 1.42997230e+02] [-2.84837683e-02 9.99594094e-01 -5.66803851e-04 -4.92790256e+00] [-9.60735911e-03 2.93242906e-04 9.99953805e-01 -2.52824803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters 0.020246304852206253 Centerline is valid? [True, True] Translation: X:143.03, Y:-4.92, Z:-2.53 [[ 9.99379750e-01 3.38704250e-02 9.63899293e-03 1.43027861e+02] [-3.38665165e-02 9.99426203e-01 -5.68469316e-04 -4.92370269e+00] [-9.65271640e-03 2.41677610e-04 9.99953382e-01 -2.52820621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454391418 meters 0.020246304852206253 Centerline is valid? [True, True] Translation: X:143.06, Y:-4.93, Z:-2.53 [[ 9.99382421e-01 3.37915145e-02 9.63897501e-03 1.43056133e+02] [-3.37875994e-02 9.99428874e-01 -5.68773714e-04 -4.92529090e+00] [-9.65268967e-03 2.42744625e-04 9.99953382e-01 -2.52871684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters 0.018234082288091747 Centerline is valid? [True, True] Translation: X:143.09, Y:-4.92, Z:-2.53 [[ 9.99160508e-01 3.97240868e-02 1.00137778e-02 1.43085676e+02] [-3.97201707e-02 9.99210669e-01 -5.89721818e-04 -4.92120183e+00] [-1.00292998e-02 1.91477787e-04 9.99949687e-01 -2.52917422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514391418 meters 0.016988908266476564 Centerline is valid? [True, True] Translation: X:143.12, Y:-4.92, Z:-2.53 [[ 9.99048657e-01 4.25173706e-02 9.69816632e-03 1.43115225e+02] [-4.25138265e-02 9.99095715e-01 -5.71392312e-04 -4.91890255e+00] [-9.71369051e-03 1.58542562e-04 9.99952808e-01 -2.52938744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters 0.01710590024695184 Centerline is valid? [True, True] Translation: X:143.14, Y:-4.92, Z:-2.53 [[ 9.98935770e-01 4.50223171e-02 1.00158816e-02 1.43142767e+02] [-4.50186760e-02 9.98985972e-01 -5.88800128e-04 -4.91950299e+00] [-1.00322344e-02 1.37271778e-04 9.99949666e-01 -2.53082224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.574391418 meters 0.015287186317265071 Centerline is valid? [True, True] Translation: X:143.17, Y:-4.91, Z:-2.53 [[ 9.98701944e-01 5.00086447e-02 9.67282096e-03 1.43171603e+02] [-5.00054930e-02 9.98748782e-01 -5.67560186e-04 -4.91491551e+00] [-9.68910106e-03 8.31292809e-05 9.99953056e-01 -2.53051373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.604391418 meters 0.015076104661013728 Centerline is valid? [True, True] Translation: X:143.20, Y:-4.92, Z:-2.53 [[ 9.98622481e-01 5.15355752e-02 9.86029235e-03 1.43200727e+02] [-5.15323826e-02 9.98671157e-01 -5.77744967e-04 -4.91513919e+00] [-9.87696399e-03 6.88247536e-05 9.99951219e-01 -2.53137213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.634391418 meters 0.01493188549860436 Centerline is valid? [True, True] Translation: X:143.23, Y:-4.92, Z:-2.53 [[ 9.98572873e-01 5.25273620e-02 9.64847197e-03 1.43228171e+02] [-5.25243560e-02 9.98619484e-01 -5.64862469e-04 -4.91571175e+00] [-9.66482283e-03 5.72765625e-05 9.99953293e-01 -2.53181441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664391418 meters 0.014805776721430623 Centerline is valid? [True, True] Translation: X:143.26, Y:-4.92, Z:-2.53 [[ 9.98576015e-01 5.24374857e-02 9.81081715e-03 1.43255745e+02] [-5.24343840e-02 9.98624207e-01 -5.73280411e-04 -4.91744181e+00] [-9.82738088e-03 5.80399150e-05 9.99951708e-01 -2.53235522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694391418 meters 0.015030539759077467 Centerline is valid? [True, True] Translation: X:143.28, Y:-4.92, Z:-2.53 [[ 9.98619296e-01 5.15397835e-02 1.01564092e-02 1.43283092e+02] [-5.15364245e-02 9.98670940e-01 -5.92346284e-04 -4.91987760e+00] [-1.01734401e-02 6.81034125e-05 9.99948247e-01 -2.53257824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724391418 meters 0.01621569641815193 Centerline is valid? [True, True] Translation: X:143.31, Y:-4.93, Z:-2.53 [[ 9.98777211e-01 4.82957763e-02 1.05641506e-02 1.43310599e+02] [-4.82919802e-02 9.98833073e-01 -6.14288285e-04 -4.92648126e+00] [-1.05814906e-02 1.03373387e-04 9.99944009e-01 -2.53374976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754391418 meters 0.016232181884962584 Centerline is valid? [True, True] Translation: X:143.34, Y:-4.93, Z:-2.53 [[ 9.98884950e-01 4.60751770e-02 1.02924392e-02 1.43339691e+02] [-4.60714671e-02 9.98937968e-01 -5.97387412e-04 -4.92907531e+00] [-1.03090330e-02 1.22533520e-04 9.99946853e-01 -2.53327716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784391418 meters 0.0169041588275191 Centerline is valid? [True, True] Translation: X:143.37, Y:-4.93, Z:-2.53 [[ 9.98995149e-01 4.37138022e-02 9.88921349e-03 1.43368582e+02] [-4.37102685e-02 9.99044085e-01 -5.73286566e-04 -4.93359843e+00] [-9.90482078e-03 1.40450322e-04 9.99950936e-01 -2.53415375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814391418 meters 0.01887099331604234 Centerline is valid? [True, True] Translation: X:143.40, Y:-4.94, Z:-2.54 [[ 9.99180695e-01 3.91212098e-02 1.03667273e-02 1.43396105e+02] [-3.91170868e-02 9.99234454e-01 -6.00252989e-04 -4.94130095e+00] [-1.03822737e-02 1.94245028e-04 9.99946084e-01 -2.53506162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84439141800001 meters 0.01958116884598251 Centerline is valid? [True, True] Translation: X:143.43, Y:-4.95, Z:-2.54 [[ 9.99261142e-01 3.70722993e-02 1.01397946e-02 1.43425096e+02] [-3.70682604e-02 9.99312564e-01 -5.86040192e-04 -4.94520571e+00] [-1.01545500e-02 2.09742645e-04 9.99948419e-01 -2.53529161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87439141800002 meters 0.021447609041823346 Centerline is valid? [True, True] Translation: X:143.45, Y:-4.95, Z:-2.54 [[ 9.99382489e-01 3.36410827e-02 1.01448926e-02 1.43454115e+02] [-3.36368722e-02 9.99433949e-01 -5.85423376e-04 -4.95068677e+00] [-1.01588444e-02 2.43819413e-04 9.99948368e-01 -2.53564876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90439141800002 meters 0.022367388448424435 Centerline is valid? [True, True] Translation: X:143.48, Y:-4.95, Z:-2.54 [[ 9.99430052e-01 3.22225689e-02 1.00637014e-02 1.43483136e+02] [-3.22183601e-02 9.99480686e-01 -5.80099249e-04 -4.95394689e+00] [-1.00771675e-02 2.55532666e-04 9.99949191e-01 -2.53634964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93439141800002 meters 0.02303710153886276 Centerline is valid? [True, True] Translation: X:143.51, Y:-4.96, Z:-2.54 [[ 9.99458855e-01 3.12955491e-02 1.01284652e-02 1.43511619e+02] [-3.12912433e-02 9.99510139e-01 -5.83354330e-04 -4.95751352e+00] [-1.01417601e-02 2.66106381e-04 9.99948536e-01 -2.53694558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96439141800002 meters 0.024180616975267154 Centerline is valid? [True, True] Translation: X:143.54, Y:-4.96, Z:-2.54 [[ 9.99509869e-01 2.96745340e-02 9.97217226e-03 1.43540306e+02] [-2.96702825e-02 9.99559575e-01 -5.74033997e-04 -4.96172606e+00] [-9.98481446e-03 2.77875477e-04 9.99950112e-01 -2.53774567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994391418 meters 0.024825739478061066 Centerline is valid? [True, True] Translation: X:143.57, Y:-4.96, Z:-2.54 [[ 9.99533446e-01 2.88586197e-02 1.00034927e-02 1.43569429e+02] [-2.88543077e-02 9.99583462e-01 -5.75140052e-04 -4.96489844e+00] [-1.00159236e-02 2.86227862e-04 9.99949798e-01 -2.53835350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters 0.020977565334314538 Centerline is valid? [True, True] Translation: X:143.60, Y:-4.96, Z:-2.54 [[ 9.99550138e-01 2.82383043e-02 1.01054820e-02 1.43599508e+02] [-2.82338755e-02 9.99601176e-01 -5.80672529e-04 -4.96107726e+00] [-1.01178489e-02 2.95094385e-04 9.99948770e-01 -2.53689594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054391418 meters 0.022421022892602328 Centerline is valid? [True, True] Translation: X:143.63, Y:-4.97, Z:-2.54 [[ 9.99583046e-01 2.71478637e-02 9.83499709e-03 1.43628256e+02] [-2.71436184e-02 9.99631384e-01 -5.64909053e-04 -4.96564017e+00] [-9.84670783e-03 2.97716104e-04 9.99951476e-01 -2.53767834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters 0.02290003767412447 Centerline is valid? [True, True] Translation: X:143.66, Y:-4.97, Z:-2.54 [[ 9.99610528e-01 2.63194738e-02 9.27781561e-03 1.43657886e+02] [-2.63156666e-02 9.99653541e-01 -5.32212945e-04 -4.96835731e+00] [-9.28860879e-03 2.87853761e-04 9.99956819e-01 -2.53840810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114391418 meters 0.023156075852101474 Centerline is valid? [True, True] Translation: X:143.69, Y:-4.97, Z:-2.54 [[ 9.99629043e-01 2.56873523e-02 9.05187259e-03 1.43687699e+02] [-2.56837055e-02 9.99669985e-01 -5.18911529e-04 -4.97089376e+00] [-9.06221479e-03 2.86233406e-04 9.99958896e-01 -2.53909226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters 0.02360892482189301 Centerline is valid? [True, True] Translation: X:143.72, Y:-4.97, Z:-2.54 [[ 9.99681492e-01 2.36851876e-02 8.71363200e-03 1.43716829e+02] [-2.36817350e-02 9.99719424e-01 -4.99206734e-04 -4.97473040e+00] [-8.72301097e-03 2.92693809e-04 9.99961911e-01 -2.53987062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174391418 meters 0.024175663683105645 Centerline is valid? [True, True] Translation: X:143.75, Y:-4.98, Z:-2.54 [[ 9.99709290e-01 2.27198009e-02 8.07132602e-03 1.43746116e+02] [-2.27168093e-02 9.99741833e-01 -4.62136894e-04 -4.97821223e+00] [-8.07974193e-03 2.78647772e-04 9.99967320e-01 -2.54100445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters 0.025476110677061212 Centerline is valid? [True, True] Translation: X:143.78, Y:-4.98, Z:-2.54 [[ 9.99747437e-01 2.11749531e-02 7.52882673e-03 1.43775135e+02] [-2.11723121e-02 9.99775749e-01 -4.30322554e-04 -4.98281220e+00] [-7.53625045e-03 2.70811201e-04 9.99971565e-01 -2.54278187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234391418 meters 0.02579524615371527 Centerline is valid? [True, True] Translation: X:143.81, Y:-4.99, Z:-2.54 [[ 9.99755177e-01 2.09340532e-02 7.16596771e-03 1.43805032e+02] [-2.09316520e-02 9.99780825e-01 -4.09927787e-04 -4.98503023e+00] [-7.17297856e-03 2.59831885e-04 9.99974240e-01 -2.54408662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters 0.025715886153377467 Centerline is valid? [True, True] Translation: X:143.84, Y:-4.99, Z:-2.54 [[ 9.99755910e-01 2.09064583e-02 7.14429751e-03 1.43835133e+02] [-2.09040703e-02 9.99781402e-01 -4.08762450e-04 -4.98662712e+00] [-7.15128156e-03 2.59317778e-04 9.99974396e-01 -2.54477131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.294391418 meters 0.02484976075540023 Centerline is valid? [True, True] Translation: X:143.86, Y:-4.99, Z:-2.54 [[ 9.99744593e-01 2.13936970e-02 7.28418095e-03 1.43864797e+02] [-2.13912297e-02 9.99771095e-01 -4.16473041e-04 -4.98674943e+00] [-7.29142346e-03 2.60549082e-04 9.99973383e-01 -2.54487866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.324391418 meters 0.025679117008961232 Centerline is valid? [True, True] Translation: X:143.89, Y:-4.99, Z:-2.55 [[ 9.99703972e-01 2.29265741e-02 8.14493465e-03 1.43893201e+02] [-2.29235418e-02 9.99737113e-01 -4.65467927e-04 -4.98892453e+00] [-8.15346504e-03 2.78619386e-04 9.99966721e-01 -2.54520330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.354391418 meters 0.023774180914081598 Centerline is valid? [True, True] Translation: X:143.92, Y:-4.99, Z:-2.54 [[ 9.99669953e-01 2.42696280e-02 8.42439625e-03 1.43923245e+02] [-2.42664378e-02 9.99705411e-01 -4.80711667e-04 -4.98705779e+00] [-8.43358121e-03 2.76122922e-04 9.99964399e-01 -2.54463700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.384391418 meters 0.02226058105250614 Centerline is valid? [True, True] Translation: X:143.95, Y:-4.99, Z:-2.54 [[ 9.99626110e-01 2.59366333e-02 8.65631421e-03 1.43952731e+02] [-2.59333306e-02 9.99663553e-01 -4.93588775e-04 -4.98610899e+00] [-8.66620384e-03 2.68917169e-04 9.99962412e-01 -2.54435063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414391418 meters 0.022743793489119393 Centerline is valid? [True, True] Translation: X:143.98, Y:-4.99, Z:-2.54 [[ 9.99535901e-01 2.90764381e-02 9.08531261e-03 1.43981598e+02] [-2.90729315e-02 9.99577159e-01 -5.17822256e-04 -4.98700273e+00] [-9.09652739e-03 2.53445264e-04 9.99958594e-01 -2.54482673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444391418 meters 0.02107269500783275 Centerline is valid? [True, True] Translation: X:144.01, Y:-4.98, Z:-2.54 [[ 9.99499470e-01 3.03378751e-02 8.96786580e-03 1.44011096e+02] [-3.03345141e-02 9.99539672e-01 -5.10597674e-04 -4.98475331e+00] [-8.97922809e-03 2.38306253e-04 9.99959658e-01 -2.54464864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474391418 meters 0.020192128434677943 Centerline is valid? [True, True] Translation: X:144.04, Y:-4.98, Z:-2.55 [[ 9.99438501e-01 3.22422281e-02 9.11713484e-03 1.44040076e+02] [-3.22388369e-02 9.99480059e-01 -5.18713276e-04 -4.98299184e+00] [-9.12911894e-03 2.24496196e-04 9.99958304e-01 -2.54505479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504391418 meters 0.01922779664992393 Centerline is valid? [True, True] Translation: X:144.07, Y:-4.98, Z:-2.54 [[ 9.99422715e-01 3.26112349e-02 9.52594143e-03 1.44069148e+02] [-3.26075571e-02 9.99468086e-01 -5.41179359e-04 -4.98242874e+00] [-9.53852298e-03 2.30249265e-04 9.99954481e-01 -2.54493030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534391418 meters 0.0192032355577982 Centerline is valid? [True, True] Translation: X:144.10, Y:-4.98, Z:-2.55 [[ 9.99420595e-01 3.25294630e-02 1.00153925e-02 1.44097609e+02] [-3.25254023e-02 9.99470748e-01 -5.68099953e-04 -4.98341822e+00] [-1.00285718e-02 2.42016122e-04 9.99949683e-01 -2.54544297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564391418 meters 0.021276613211367 Centerline is valid? [True, True] Translation: X:144.13, Y:-4.99, Z:-2.55 [[ 9.99465586e-01 3.08608940e-02 1.07771617e-02 1.44126286e+02] [-3.08561074e-02 9.99523651e-01 -6.10169811e-04 -4.98831904e+00] [-1.07908584e-02 2.77302469e-04 9.99941739e-01 -2.54711257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59439141800001 meters 0.021259141808186142 Centerline is valid? [True, True] Translation: X:144.16, Y:-4.99, Z:-2.55 [[ 9.99500512e-01 2.94467999e-02 1.14722719e-02 1.44155642e+02] [-2.94412932e-02 9.99566301e-01 -6.48623144e-04 -4.98957715e+00] [-1.14863962e-02 3.10540645e-04 9.99933981e-01 -2.54726943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62439141800002 meters 0.020567779342628132 Centerline is valid? [True, True] Translation: X:144.18, Y:-4.99, Z:-2.55 [[ 9.99555455e-01 2.75130357e-02 1.14859151e-02 1.44184786e+02] [-2.75073918e-02 9.99621389e-01 -6.49092867e-04 -4.98944398e+00] [-1.14994249e-02 3.32856749e-04 9.99933824e-01 -2.54730897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65439141800002 meters 0.02324820102493659 Centerline is valid? [True, True] Translation: X:144.21, Y:-4.99, Z:-2.55 [[ 9.99653946e-01 2.34769881e-02 1.18667069e-02 1.44213726e+02] [-2.34706904e-02 9.99724301e-01 -6.69704222e-04 -4.99453213e+00] [-1.18791579e-02 3.90952665e-04 9.99929364e-01 -2.54865968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68439141800002 meters 0.023013847891094136 Centerline is valid? [True, True] Translation: X:144.24, Y:-5.00, Z:-2.55 [[ 9.99697307e-01 2.15958947e-02 1.17860829e-02 1.44244205e+02] [-2.15895605e-02 9.99766698e-01 -6.64414870e-04 -4.99564259e+00] [-1.17976818e-02 4.09757407e-04 9.99930321e-01 -2.54895224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71439141800002 meters 0.025287068666692194 Centerline is valid? [True, True] Translation: X:144.27, Y:-5.00, Z:-2.55 [[ 9.99778997e-01 1.74935311e-02 1.16590668e-02 1.44273713e+02] [-1.74870541e-02 9.99846874e-01 -6.57254616e-04 -5.00025884e+00] [-1.16687792e-02 4.53226629e-04 9.99931815e-01 -2.55031622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters 0.02647324974696894 Centerline is valid? [True, True] Translation: X:144.31, Y:-5.00, Z:-2.55 [[ 9.99808497e-01 1.55868852e-02 1.18329419e-02 1.44305767e+02] [-1.55801011e-02 9.99878402e-01 -6.65294342e-04 -5.00340839e+00] [-1.18418729e-02 4.80808506e-04 9.99929767e-01 -2.55124178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774391418 meters 0.0278402107570948 Centerline is valid? [True, True] Translation: X:144.34, Y:-5.01, Z:-2.55 [[ 9.99830870e-01 1.38535816e-02 1.20958934e-02 1.44336505e+02] [-1.38463213e-02 9.99903901e-01 -6.83775888e-04 -5.00728154e+00] [-1.21042038e-02 5.16176614e-04 9.99926608e-01 -2.55194535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters 0.029291441475296644 Centerline is valid? [True, True] Translation: X:144.37, Y:-5.01, Z:-2.55 [[ 9.99853398e-01 1.18578844e-02 1.23520506e-02 1.44368726e+02] [-1.18501069e-02 9.99929538e-01 -7.02659511e-04 -5.01106625e+00] [-1.23595123e-02 5.56183380e-04 9.99923464e-01 -2.55293716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834391418 meters 0.031481415193333126 Centerline is valid? [True, True] Translation: X:144.40, Y:-5.01, Z:-2.55 [[ 9.99882455e-01 8.26681817e-03 1.29126288e-02 1.44399362e+02] [-8.25800141e-03 9.99965631e-01 -7.35971857e-04 -5.01437586e+00] [-1.29182692e-02 6.29252840e-04 9.99916358e-01 -2.55341888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters 0.033477695732579346 Centerline is valid? [True, True] Translation: X:144.43, Y:-5.02, Z:-2.55 [[ 9.99892504e-01 6.54145853e-03 1.31220915e-02 1.44429820e+02] [-6.53220292e-03 9.99978385e-01 -7.48082017e-04 -5.01730564e+00] [-1.31267015e-02 6.62285436e-04 9.99913622e-01 -2.55412939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894391418 meters 0.03366477502239785 Centerline is valid? [True, True] Translation: X:144.46, Y:-5.02, Z:-2.55 [[ 9.99908279e-01 4.32774979e-03 1.28336879e-02 1.44461654e+02] [-4.31872318e-03 9.99990407e-01 -7.30982901e-04 -5.01670969e+00] [-1.28367283e-02 6.75490710e-04 9.99917378e-01 -2.55440679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters 0.03282872290819861 Centerline is valid? [True, True] Translation: X:144.49, Y:-5.02, Z:-2.55 [[ 9.99899218e-01 3.51440640e-03 1.37551094e-02 1.44494062e+02] [-3.50390699e-03 9.99993551e-01 -7.87334568e-04 -5.01701017e+00] [-1.37577878e-02 7.39058595e-04 9.99905084e-01 -2.55457375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954391418 meters 0.03791514582213675 Centerline is valid? [True, True] Translation: X:144.52, Y:-5.02, Z:-2.56 [[ 9.99892854e-01 3.16574095e-03 1.42919068e-02 1.44524369e+02] [-3.15430074e-03 9.99994687e-01 -8.22938138e-04 -5.02455501e+00] [-1.42944360e-02 7.77768991e-04 9.99897527e-01 -2.55555115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters 0.03791514582213675 Centerline is valid? [True, True] Translation: X:144.56, Y:-5.03, Z:-2.56 [[ 9.99891837e-01 3.47260774e-03 1.42918238e-02 1.44556931e+02] [-3.46117827e-03 9.99993670e-01 -8.24377652e-04 -5.02659695e+00] [-1.42945961e-02 7.74821935e-04 9.99897527e-01 -2.55613886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014391418 meters 0.03601591971676957 Centerline is valid? [True, True] Translation: X:144.59, Y:-5.02, Z:-2.56 [[ 9.99904611e-01 3.64486314e-03 1.33222722e-02 1.44589777e+02] [-3.63489806e-03 9.99993096e-01 -7.72138080e-04 -5.02356287e+00] [-1.33249945e-02 7.23639325e-04 9.99910956e-01 -2.55715384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.044391418 meters 0.034332880275042096 Centerline is valid? [True, True] Translation: X:144.62, Y:-5.02, Z:-2.56 [[ 9.99898639e-01 4.22692143e-03 1.35957531e-02 1.44622322e+02] [-4.21653450e-03 9.99990796e-01 -7.92557316e-04 -5.02162412e+00] [-1.35989781e-02 7.35150019e-04 9.99907259e-01 -2.55768104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.074391418 meters 0.03483573860137474 Centerline is valid? [True, True] Translation: X:144.65, Y:-5.02, Z:-2.56 [[ 9.99890761e-01 4.76822213e-03 1.39903398e-02 1.44654092e+02] [-4.75721857e-03 9.99988348e-01 -8.19684857e-04 -5.02254587e+00] [-1.39940852e-02 7.53040211e-04 9.99901794e-01 -2.55797960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.104391418 meters 0.034958718383740546 Centerline is valid? [True, True] Translation: X:144.69, Y:-5.02, Z:-2.56 [[ 9.99871564e-01 6.14603574e-03 1.48014200e-02 1.44685714e+02] [-6.13380278e-03 9.99980808e-01 -8.71727634e-04 -5.02166110e+00] [-1.48064936e-02 7.80826682e-04 9.99890073e-01 -2.55793810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.134391418 meters 0.0351405784479357 Centerline is valid? [True, True] Translation: X:144.72, Y:-5.02, Z:-2.56 [[ 9.99879130e-01 7.25448035e-03 1.37512808e-02 1.44718481e+02] [-7.24397258e-03 9.99973431e-01 -8.13786358e-04 -5.02136746e+00] [-1.37568190e-02 7.14074095e-04 9.99905116e-01 -2.55950687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164391418 meters 0.03406501006054996 Centerline is valid? [True, True] Translation: X:144.75, Y:-5.02, Z:-2.56 [[ 9.99869847e-01 9.01414113e-03 1.33803344e-02 1.44750990e+02] [-9.00434352e-03 9.99959146e-01 -7.92303553e-04 -5.01931811e+00] [-1.33869297e-02 6.71719306e-04 9.99910165e-01 -2.56087902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194391418 meters 0.03647429956231993 Centerline is valid? [True, True] Translation: X:144.78, Y:-5.02, Z:-2.56 [[ 9.99864063e-01 1.04536151e-02 1.27506179e-02 1.44781666e+02] [-1.04447916e-02 9.99945164e-01 -7.58406108e-04 -5.02268708e+00] [-1.27578468e-02 6.25125465e-04 9.99918420e-01 -2.56262479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224391418 meters 0.03276449860058683 Centerline is valid? [True, True] Translation: X:144.81, Y:-5.02, Z:-2.56 [[ 9.99850269e-01 1.21803034e-02 1.22914770e-02 1.44813893e+02] [-1.21721993e-02 9.99925647e-01 -7.33925459e-04 -5.01779837e+00] [-1.22995025e-02 5.84201260e-04 9.99924188e-01 -2.56323188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254391418 meters 0.030535026743866364 Centerline is valid? [True, True] Translation: X:144.85, Y:-5.01, Z:-2.56 [[ 9.99808510e-01 1.56023749e-02 1.18113860e-02 1.44846115e+02] [-1.55950781e-02 9.99878138e-01 -7.09631188e-04 -5.01208506e+00] [-1.18210185e-02 5.25295814e-04 9.99929991e-01 -2.56414911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284391418 meters 0.02961955914401448 Centerline is valid? [True, True] Translation: X:144.88, Y:-5.01, Z:-2.56 [[ 9.99765000e-01 1.79022447e-02 1.22251344e-02 1.44878805e+02] [-1.78946052e-02 9.99839609e-01 -7.34010534e-04 -5.01030718e+00] [-1.22363141e-02 5.15074088e-04 9.99925001e-01 -2.56431930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314391418 meters 0.028410006530983477 Centerline is valid? [True, True] Translation: X:144.91, Y:-5.01, Z:-2.56 [[ 9.99676503e-01 2.19628039e-02 1.28266911e-02 1.44909935e+02] [-2.19546637e-02 9.99758667e-01 -7.75114046e-04 -5.00536275e+00] [-1.28406193e-02 4.93257610e-04 9.99917434e-01 -2.56390011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34439141800001 meters 0.027568380343674745 Centerline is valid? [True, True] Translation: X:144.94, Y:-5.00, Z:-2.56 [[ 9.99630146e-01 2.37635786e-02 1.32235684e-02 1.44940525e+02] [-2.37550745e-02 9.99717488e-01 -7.99823218e-04 -5.00316835e+00] [-1.32388393e-02 4.85400548e-04 9.99912245e-01 -2.56378330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37439141800002 meters 0.025786239249469527 Centerline is valid? [True, True] Translation: X:144.97, Y:-5.00, Z:-2.56 [[ 9.99506195e-01 2.80670404e-02 1.41282666e-02 1.44971186e+02] [-2.80577621e-02 9.99605938e-01 -8.54543589e-04 -4.99685844e+00] [-1.41466837e-02 4.57714069e-04 9.99899826e-01 -2.56340632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40439141800002 meters 0.023414886165030034 Centerline is valid? [True, True] Translation: X:145.00, Y:-4.99, Z:-2.56 [[ 9.99427889e-01 3.07369407e-02 1.41115251e-02 1.45001760e+02] [-3.07279491e-02 9.99527421e-01 -8.53606680e-04 -4.99258017e+00] [-1.41310936e-02 4.19500096e-04 9.99900063e-01 -2.56360698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43439141800002 meters 0.022641554223812362 Centerline is valid? [True, True] Translation: X:145.03, Y:-4.99, Z:-2.56 [[ 9.99335530e-01 3.36676250e-02 1.39638537e-02 1.45030483e+02] [-3.36591081e-02 9.99433015e-01 -8.44560970e-04 -4.99027322e+00] [-1.39843708e-02 3.73988924e-04 9.99902144e-01 -2.56485599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46439141800002 meters 0.021314319996347936 Centerline is valid? [True, True] Translation: X:145.06, Y:-4.99, Z:-2.57 [[ 9.99245403e-01 3.60668358e-02 1.44155343e-02 1.45060326e+02] [-3.60580220e-02 9.99349319e-01 -8.70937530e-04 -4.98840841e+00] [-1.44375664e-02 3.50484669e-04 9.99895711e-01 -2.56534152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494391418 meters 0.019524943709265958 Centerline is valid? [True, True] Translation: X:145.09, Y:-4.98, Z:-2.57 [[ 9.99067456e-01 4.08783308e-02 1.38989102e-02 1.45088321e+02] [-4.08706066e-02 9.99164095e-01 -8.39449556e-04 -4.98240941e+00] [-1.39216074e-02 2.70609839e-04 9.99903053e-01 -2.56634005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters 0.018830199925540747 Centerline is valid? [True, True] Translation: X:145.12, Y:-4.98, Z:-2.57 [[ 9.98992666e-01 4.27467057e-02 1.36517928e-02 1.45116048e+02] [-4.27394455e-02 9.99085913e-01 -8.23255899e-04 -4.98101514e+00] [-1.36745053e-02 2.38956552e-04 9.99906471e-01 -2.56696897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554391418 meters 0.018237174280108126 Centerline is valid? [True, True] Translation: X:145.14, Y:-4.98, Z:-2.57 [[ 9.98930876e-01 4.41610934e-02 1.36712530e-02 1.45144711e+02] [-4.41539636e-02 9.99024399e-01 -8.23063587e-04 -4.97988516e+00] [-1.36942627e-02 2.18543621e-04 9.99906205e-01 -2.56753780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters 0.018142182374134955 Centerline is valid? [True, True] Translation: X:145.17, Y:-4.98, Z:-2.57 [[ 9.98896783e-01 4.51105974e-02 1.30480460e-02 1.45172898e+02] [-4.51041941e-02 9.98981980e-01 -7.84749795e-04 -4.97923073e+00] [-1.30701633e-02 1.95362446e-04 9.99914563e-01 -2.56919201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614391418 meters 0.018113740273969708 Centerline is valid? [True, True] Translation: X:145.20, Y:-4.98, Z:-2.57 [[ 9.98913079e-01 4.48324078e-02 1.27560292e-02 1.45201497e+02] [-4.48262826e-02 9.98994503e-01 -7.65836397e-04 -4.98056557e+00] [-1.27775374e-02 1.93198623e-04 9.99918345e-01 -2.57029970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters 0.018574546351146574 Centerline is valid? [True, True] Translation: X:145.23, Y:-4.98, Z:-2.57 [[ 9.98963981e-01 4.38517756e-02 1.21649343e-02 1.45230671e+02] [-4.38461424e-02 9.99038029e-01 -7.29514655e-04 -4.98259870e+00] [-1.21852225e-02 1.95373421e-04 9.99925738e-01 -2.57147092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674391418 meters 0.020354313556845836 Centerline is valid? [True, True] Translation: X:145.26, Y:-4.99, Z:-2.57 [[ 9.99120775e-01 4.03543845e-02 1.13666349e-02 1.45258639e+02] [-4.03492473e-02 9.99185405e-01 -6.81017376e-04 -4.98657324e+00] [-1.13848577e-02 2.21783449e-04 9.99935166e-01 -2.57330433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters 0.021449497022623644 Centerline is valid? [True, True] Translation: X:145.29, Y:-4.99, Z:-2.57 [[ 9.99216956e-01 3.80193352e-02 1.09546914e-02 1.45286807e+02] [-3.80144325e-02 9.99276975e-01 -6.55499403e-04 -4.98992586e+00] [-1.09716926e-02 2.38549741e-04 9.99939781e-01 -2.57415816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734391418 meters 0.022800095668196466 Centerline is valid? [True, True] Translation: X:145.32, Y:-4.99, Z:-2.58 [[ 9.99306061e-01 3.56599031e-02 1.07595614e-02 1.45315706e+02] [-3.56550508e-02 9.99363950e-01 -6.42518805e-04 -4.99383077e+00] [-1.07756299e-02 2.58440228e-04 9.99941908e-01 -2.57536325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters 0.026290556475596867 Centerline is valid? [True, True] Translation: X:145.35, Y:-5.00, Z:-2.58 [[ 9.99485646e-01 3.05242945e-02 9.83415376e-03 1.45345139e+02] [-3.05200013e-02 9.99533984e-01 -5.86371217e-04 -5.00001319e+00] [-9.84746946e-03 2.85931229e-04 9.99951472e-01 -2.57677075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.794391418 meters 0.0272209016521533 Centerline is valid? [True, True] Translation: X:145.37, Y:-5.00, Z:-2.58 [[ 9.99571528e-01 2.75562099e-02 9.86989508e-03 1.45374284e+02] [-2.75517429e-02 9.99620206e-01 -5.88299808e-04 -5.00328068e+00] [-9.88235786e-03 3.16114927e-04 9.99951118e-01 -2.57687780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.824391418 meters 0.027046577723563562 Centerline is valid? [True, True] Translation: X:145.40, Y:-5.00, Z:-2.58 [[ 9.99692699e-01 2.27470787e-02 9.85277291e-03 1.45403262e+02] [-2.27423989e-02 9.99741186e-01 -5.86774805e-04 -5.00388132e+00] [-9.86357029e-03 3.62518798e-04 9.99951288e-01 -2.57621830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.854391418 meters 0.028754434301726358 Centerline is valid? [True, True] Translation: X:145.43, Y:-5.01, Z:-2.58 [[ 9.99741460e-01 2.04744873e-02 9.88981634e-03 1.45432002e+02] [-2.04696683e-02 9.99790301e-01 -5.88255843e-04 -5.00731926e+00] [-9.89978669e-03 3.85662495e-04 9.99950922e-01 -2.57656821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.884391418 meters 0.029831622718657854 Centerline is valid? [True, True] Translation: X:145.46, Y:-5.01, Z:-2.58 [[ 9.99776141e-01 1.85246830e-02 1.02227270e-02 1.45461123e+02] [-1.85194350e-02 9.99828316e-01 -6.07790773e-04 -5.00975347e+00] [-1.02322311e-02 4.18335584e-04 9.99947562e-01 -2.57663221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914391418 meters 0.031214701647985368 Centerline is valid? [True, True] Translation: X:145.49, Y:-5.01, Z:-2.58 [[ 9.99807816e-01 1.67201649e-02 1.02355930e-02 1.45491426e+02] [-1.67148199e-02 9.99860113e-01 -6.07524657e-04 -5.01276626e+00] [-1.02443191e-02 4.36321806e-04 9.99947430e-01 -2.57706330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944391418 meters 0.03276435214472042 Centerline is valid? [True, True] Translation: X:145.52, Y:-5.02, Z:-2.58 [[ 9.99835473e-01 1.50030258e-02 1.01948716e-02 1.45521722e+02] [-1.49976342e-02 9.99887346e-01 -6.05107671e-04 -5.01555645e+00] [-1.02028015e-02 4.52109160e-04 9.99947848e-01 -2.57778487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974391418 meters 0.03589396642940315 Centerline is valid? [True, True] Translation: X:145.55, Y:-5.02, Z:-2.58 [[ 9.99873650e-01 1.08569299e-02 1.16108269e-02 1.45551610e+02] [-1.08496575e-02 9.99940903e-01 -6.89150460e-04 -5.02107523e+00] [-1.16176228e-02 5.63089890e-04 9.99932355e-01 -2.57703598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004391418 meters 0.03715179410930328 Centerline is valid? [True, True] Translation: X:145.58, Y:-5.02, Z:-2.58 [[ 9.99891382e-01 9.04048840e-03 1.16401512e-02 1.45584011e+02] [-9.03306200e-03 9.99958963e-01 -6.90416745e-04 -5.02404001e+00] [-1.16459152e-02 5.85195546e-04 9.99932013e-01 -2.57713950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034391418 meters 0.0406559351943777 Centerline is valid? [True, True] Translation: X:145.61, Y:-5.03, Z:-2.58 [[ 9.99913300e-01 5.35821105e-03 1.20283916e-02 1.45613431e+02] [-5.35000395e-03 9.99985433e-01 -7.14383892e-04 -5.02884831e+00] [-1.20320442e-02 6.49970012e-04 9.99927401e-01 -2.57751704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064391418 meters 0.042288342537199375 Centerline is valid? [True, True] Translation: X:145.64, Y:-5.03, Z:-2.58 [[ 9.99919841e-01 4.24122196e-03 1.19299876e-02 1.45644429e+02] [-4.23307050e-03 9.99990790e-01 -7.08443379e-04 -5.03221897e+00] [-1.19328824e-02 6.57886112e-04 9.99928584e-01 -2.57814098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09439141800001 meters 0.04456909232124723 Centerline is valid? [True, True] Translation: X:145.68, Y:-5.04, Z:-2.58 [[ 9.99926589e-01 3.01995202e-03 1.17344362e-02 1.45675693e+02] [-3.01194981e-03 9.99995219e-01 -6.99555115e-04 -5.03613891e+00] [-1.17364927e-02 6.64160227e-04 9.99930904e-01 -2.57909088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12439141800002 meters 0.04571318655768053 Centerline is valid? [True, True] Translation: X:145.71, Y:-5.04, Z:-2.58 [[ 9.99931688e-01 1.63252508e-03 1.15738309e-02 1.45707689e+02] [-1.62460490e-03 9.99998440e-01 -6.93687355e-04 -5.03743668e+00] [-1.15749453e-02 6.74837066e-04 9.99932780e-01 -2.57958339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15439141800002 meters 0.04629804852806586 Centerline is valid? [True, True] Translation: X:145.74, Y:-5.04, Z:-2.58 [[ 9.99936054e-01 1.70281727e-03 1.11798566e-02 1.45739703e+02] [-1.69543657e-03 9.99998339e-01 -6.69622571e-04 -5.03899326e+00] [-1.11809783e-02 6.50625013e-04 9.99937279e-01 -2.58051565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18439141800002 meters 0.04055093294211744 Centerline is valid? [True, True] Translation: X:145.77, Y:-5.03, Z:-2.58 [[ 9.99935001e-01 2.43935422e-03 1.11374669e-02 1.45772502e+02] [-2.43203091e-03 9.99996817e-01 -6.71034946e-04 -5.03219492e+00] [-1.11390683e-02 6.43904666e-04 9.99937751e-01 -2.57997993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21439141800002 meters 0.04517790103188367 Centerline is valid? [True, True] Translation: X:145.80, Y:-5.04, Z:-2.58 [[ 9.99942164e-01 4.73506171e-03 9.65649318e-03 1.45802855e+02] [-4.72965333e-03 9.99988645e-01 -5.82836648e-04 -5.03662057e+00] [-9.65914330e-03 5.37131074e-04 9.99953205e-01 -2.58220609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters 0.037663439423792466 Centerline is valid? [True, True] Translation: X:145.84, Y:-5.03, Z:-2.58 [[ 9.99933743e-01 6.77371480e-03 9.30733611e-03 1.45835359e+02] [-6.76878007e-03 9.99976934e-01 -5.61596032e-04 -5.02687977e+00] [-9.31092552e-03 4.98559511e-04 9.99956528e-01 -2.58201517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274391418 meters 0.03280727371940087 Centerline is valid? [True, True] Translation: X:145.87, Y:-5.02, Z:-2.58 [[ 9.99888867e-01 1.18687861e-02 9.02142026e-03 1.45866400e+02] [-1.18643477e-02 9.99929467e-01 -5.45346323e-04 -5.01839392e+00] [-9.02725656e-03 4.38252450e-04 9.99959157e-01 -2.58225757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters 0.03895112573631535 Centerline is valid? [True, True] Translation: X:145.90, Y:-5.03, Z:-2.58 [[ 9.99846134e-01 1.51968192e-02 8.76152810e-03 1.45896631e+02] [-1.51927635e-02 9.99884443e-01 -5.29271398e-04 -5.02664124e+00] [-8.76855889e-03 3.96078137e-04 9.99961477e-01 -2.58497259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334391418 meters 0.03411174246552565 Centerline is valid? [True, True] Translation: X:145.93, Y:-5.02, Z:-2.59 [[ 9.99720483e-01 2.23132762e-02 7.81495157e-03 1.45926716e+02] [-2.23102602e-02 9.99750983e-01 -4.72900461e-04 -5.01760924e+00] [-7.82355748e-03 2.98414675e-04 9.99969351e-01 -2.58676305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters 0.023377491504731965 Centerline is valid? [True, True] Translation: X:145.96, Y:-5.00, Z:-2.58 [[ 9.99629732e-01 2.62466183e-02 7.17733320e-03 1.45957638e+02] [-2.62441746e-02 9.99655468e-01 -4.34458404e-04 -5.00164615e+00] [-7.18626344e-03 2.45934352e-04 9.99974148e-01 -2.58405967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394391418 meters 0.02212867981767462 Centerline is valid? [True, True] Translation: X:145.99, Y:-5.00, Z:-2.58 [[ 9.99510079e-01 3.04912041e-02 7.06323311e-03 1.45986804e+02] [-3.04889454e-02 9.99535013e-01 -4.27271187e-04 -4.99878239e+00] [-7.07297681e-03 2.11711330e-04 9.99974964e-01 -2.58494474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters 0.020230871766607813 Centerline is valid? [True, True] Translation: X:146.02, Y:-4.99, Z:-2.59 [[ 9.99362436e-01 3.50354137e-02 6.87319569e-03 1.46016359e+02] [-3.50333825e-02 9.99386056e-01 -4.15731930e-04 -4.99489466e+00] [-6.88354128e-03 1.74675580e-04 9.99976293e-01 -2.58504661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454391418 meters 0.01708658304738052 Centerline is valid? [True, True] Translation: X:146.05, Y:-4.99, Z:-2.59 [[ 9.99007755e-01 4.40234039e-02 6.74136843e-03 1.46046587e+02] [-4.40216584e-02 9.99030494e-01 -4.07151752e-04 -4.98646961e+00] [-6.75275683e-03 1.09981540e-04 9.99977194e-01 -2.58501609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters 0.01600963903837763 Centerline is valid? [True, True] Translation: X:146.08, Y:-4.98, Z:-2.58 [[ 9.98815014e-01 4.81173002e-02 7.30016863e-03 1.46075962e+02] [-4.81153622e-02 9.98841688e-01 -4.40969416e-04 -4.98352147e+00] [-7.31293102e-03 8.91966160e-05 9.99973256e-01 -2.58497553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514391418 meters 0.015183318432318961 Centerline is valid? [True, True] Translation: X:146.11, Y:-4.98, Z:-2.58 [[ 9.98605864e-01 5.21584785e-02 8.11299093e-03 1.46105299e+02] [-5.21562247e-02 9.98638818e-01 -4.89273750e-04 -4.98083660e+00] [-8.12746745e-03 6.54486581e-05 9.99966969e-01 -2.58463420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.544391418 meters 0.014642863859803928 Centerline is valid? [True, True] Translation: X:146.13, Y:-4.98, Z:-2.58 [[ 9.98396903e-01 5.58783163e-02 9.01318479e-03 1.46133762e+02] [-5.58756939e-02 9.98437586e-01 -5.42693341e-04 -4.97848807e+00] [-9.02942725e-03 3.82053963e-05 9.99959233e-01 -2.58489009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.574391418 meters 0.014662998622872531 Centerline is valid? [True, True] Translation: X:146.16, Y:-4.97, Z:-2.58 [[ 9.97975225e-01 6.28829682e-02 9.54900446e-03 1.46162172e+02] [-6.28803517e-02 9.98020907e-01 -5.74290503e-04 -4.97252391e+00] [-9.56621919e-03 -2.73170646e-05 9.99954242e-01 -2.58463683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.604391418 meters 0.01477487998743309 Centerline is valid? [True, True] Translation: X:146.19, Y:-4.97, Z:-2.58 [[ 9.97786197e-01 6.57359033e-02 1.00745768e-02 1.46190762e+02] [-6.57331480e-02 9.97837055e-01 -6.04725585e-04 -4.97128718e+00] [-1.00925382e-02 -5.88468057e-05 9.99949067e-01 -2.58390769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.634391418 meters 0.01547090952722486 Centerline is valid? [True, True] Translation: X:146.22, Y:-4.97, Z:-2.58 [[ 9.97446450e-01 7.06351057e-02 1.05480114e-02 1.46219059e+02] [-7.06323675e-02 9.97502215e-01 -6.32364460e-04 -4.96797070e+00] [-1.05663319e-02 -1.14281332e-04 9.99944168e-01 -2.58462236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664391418 meters 0.01569045175068974 Centerline is valid? [True, True] Translation: X:146.25, Y:-4.97, Z:-2.59 [[ 9.97402856e-01 7.12370038e-02 1.06222632e-02 1.46248179e+02] [-7.12342584e-02 9.97459410e-01 -6.37057286e-04 -4.96888813e+00] [-1.06406585e-02 -1.21266289e-04 9.99943379e-01 -2.58583635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694391418 meters 0.015525637731695711 Centerline is valid? [True, True] Translation: X:146.28, Y:-4.97, Z:-2.59 [[ 9.97481974e-01 7.01282452e-02 1.05707085e-02 1.46276024e+02] [-7.01255054e-02 9.97537977e-01 -6.30069866e-04 -4.97148837e+00] [-1.05888689e-02 -1.12792942e-04 9.99943930e-01 -2.58744678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724391418 meters 0.015061204842093289 Centerline is valid? [True, True] Translation: X:146.30, Y:-4.98, Z:-2.59 [[ 9.97636834e-01 6.78964734e-02 1.05269653e-02 1.46304988e+02] [-6.78936540e-02 9.97692368e-01 -6.25378875e-04 -4.97530534e+00] [-1.05451340e-02 -9.08131405e-05 9.99944394e-01 -2.58871229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754391418 meters 0.014615241852977958 Centerline is valid? [True, True] Translation: X:146.33, Y:-4.98, Z:-2.59 [[ 9.97838392e-01 6.49248541e-02 1.01640414e-02 1.46332348e+02] [-6.49220777e-02 9.97890154e-01 -6.03213839e-04 -4.97983624e+00] [-1.01817604e-02 -5.79607590e-05 9.99948163e-01 -2.58995092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784391418 meters 0.014398846979895201 Centerline is valid? [True, True] Translation: X:146.36, Y:-4.99, Z:-2.59 [[ 9.98096385e-01 6.08670704e-02 9.94013020e-03 1.46359635e+02] [-6.08642230e-02 9.98145881e-01 -5.88986072e-04 -4.98533252e+00] [-9.95754987e-03 -1.71334315e-05 9.99950422e-01 -2.59139887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814391418 meters 0.014864914944958568 Centerline is valid? [True, True] Translation: X:146.39, Y:-5.00, Z:-2.59 [[ 9.98604316e-01 5.18536808e-02 1.00306992e-02 1.46388163e+02] [-5.18503380e-02 9.98654690e-01 -5.93203266e-04 -4.99633452e+00] [-1.00479646e-02 7.22801995e-05 9.99949515e-01 -2.59224300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84439141800001 meters 0.015565798276047225 Centerline is valid? [True, True] Translation: X:146.42, Y:-5.00, Z:-2.59 [[ 9.98821432e-01 4.74294151e-02 1.03052418e-02 1.46416344e+02] [-4.74256598e-02 9.98874585e-01 -6.08612839e-04 -5.00262755e+00] [-1.03225103e-02 1.19162656e-04 9.99946714e-01 -2.59250726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87439141800002 meters 0.017628038187314246 Centerline is valid? [True, True] Translation: X:146.45, Y:-5.01, Z:-2.59 [[ 9.99155690e-01 3.97166168e-02 1.05118065e-02 1.46445281e+02] [-3.97122943e-02 9.99210964e-01 -6.19693726e-04 -5.01254117e+00] [-1.05281244e-02 2.01722558e-04 9.99944557e-01 -2.59273134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90439141800002 meters 0.017628038187314246 Centerline is valid? [True, True] Translation: X:146.47, Y:-5.01, Z:-2.59 [[ 9.99160396e-01 3.95980336e-02 1.05117961e-02 1.46472696e+02] [-3.95937027e-02 9.99215670e-01 -6.19870499e-04 -5.01403927e+00] [-1.05280971e-02 2.03149122e-04 9.99944557e-01 -2.59322662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93439141800002 meters 0.01981837119670236 Centerline is valid? [True, True] Translation: X:146.50, Y:-5.02, Z:-2.59 [[ 9.99267740e-01 3.65931852e-02 1.11768725e-02 1.46499994e+02] [-3.65881191e-02 9.99330214e-01 -6.57481382e-04 -5.02141355e+00] [-1.11934457e-02 2.48059194e-04 9.99937321e-01 -2.59431592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96439141800002 meters 0.0198155937509664 Centerline is valid? [True, True] Translation: X:146.53, Y:-5.02, Z:-2.59 [[ 9.99355722e-01 3.39398322e-02 1.16717087e-02 1.46529076e+02] [-3.39341424e-02 9.99423836e-01 -6.85240086e-04 -5.02481702e+00] [-1.16882408e-02 2.88729175e-04 9.99931648e-01 -2.59409313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994391418 meters 0.02352267744804238 Centerline is valid? [True, True] Translation: X:146.56, Y:-5.04, Z:-2.59 [[ 9.99461160e-01 3.01948760e-02 1.28708427e-02 1.46556969e+02] [-3.01876629e-02 9.99543964e-01 -7.54374775e-04 -5.03577761e+00] [-1.28877513e-02 3.65427628e-04 9.99916883e-01 -2.59473637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters 0.02158897775448163 Centerline is valid? [True, True] Translation: X:146.59, Y:-5.04, Z:-2.59 [[ 9.99487636e-01 2.89221703e-02 1.37103123e-02 1.46585519e+02] [-2.89138767e-02 9.99581584e-01 -8.02793614e-04 -5.03574786e+00] [-1.37277942e-02 4.05964013e-04 9.99905687e-01 -2.59377495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054391418 meters 0.021869512633763723 Centerline is valid? [True, True] Translation: X:146.61, Y:-5.04, Z:-2.59 [[ 9.99490259e-01 2.83721114e-02 1.46371251e-02 1.46614328e+02] [-2.83626181e-02 9.99597334e-01 -8.55792324e-04 -5.03947520e+00] [-1.46555119e-02 4.40208901e-04 9.99892505e-01 -2.59385093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters 0.022190403879433898 Centerline is valid? [True, True] Translation: X:146.64, Y:-5.04, Z:-2.59 [[ 9.99474132e-01 2.83425073e-02 1.57531227e-02 1.46644074e+02] [-2.83315303e-02 9.99598159e-01 -9.19589225e-04 -5.04301994e+00] [-1.57728559e-02 4.72795569e-04 9.99875489e-01 -2.59409971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114391418 meters 0.020826954559368394 Centerline is valid? [True, True] Translation: X:146.67, Y:-5.04, Z:-2.59 [[ 9.99418674e-01 2.99788334e-02 1.62352727e-02 1.46673793e+02] [-2.99674006e-02 9.99550428e-01 -9.47073478e-04 -5.04498157e+00] [-1.62563660e-02 4.59993997e-04 9.99867751e-01 -2.59424487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters 0.020480414144520245 Centerline is valid? [True, True] Translation: X:146.70, Y:-5.05, Z:-2.60 [[ 9.99375074e-01 3.15221103e-02 1.59943302e-02 1.46702701e+02] [-3.15112222e-02 9.99502963e-01 -9.32371626e-04 -5.04668396e+00] [-1.60157708e-02 4.27788069e-04 9.99871648e-01 -2.59520801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174391418 meters 0.01906086302131047 Centerline is valid? [True, True] Translation: X:146.73, Y:-5.05, Z:-2.60 [[ 9.99313432e-01 3.34783956e-02 1.58701583e-02 1.46731741e+02] [-3.34679287e-02 9.99439364e-01 -9.24734469e-04 -5.04664326e+00] [-1.58922195e-02 3.92958249e-04 9.99873633e-01 -2.59595941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters 0.017238468596285018 Centerline is valid? [True, True] Translation: X:146.76, Y:-5.05, Z:-2.60 [[ 9.99119408e-01 3.89462108e-02 1.56077008e-02 1.46760229e+02] [-3.89367750e-02 9.99241264e-01 -9.08096218e-04 -5.04615369e+00] [-1.56312255e-02 2.99583024e-04 9.99877780e-01 -2.59737863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234391418 meters 0.016413739990337295 Centerline is valid? [True, True] Translation: X:146.79, Y:-5.05, Z:-2.60 [[ 9.98991316e-01 4.20727313e-02 1.56919021e-02 1.46788462e+02] [-4.20635868e-02 9.99114519e-01 -9.12492112e-04 -5.04652499e+00] [-1.57163982e-02 2.51514011e-04 9.99876458e-01 -2.59831784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters 0.014522075619079523 Centerline is valid? [True, True] Translation: X:146.82, Y:-5.04, Z:-2.60 [[ 9.98698802e-01 4.85859357e-02 1.54954966e-02 1.46817476e+02] [-4.85778210e-02 9.98818995e-01 -8.99863894e-04 -5.04404575e+00] [-1.55209171e-02 1.45955533e-04 9.99879533e-01 -2.59978289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.294391418 meters 0.013895852802023514 Centerline is valid? [True, True] Translation: X:146.85, Y:-5.04, Z:-2.60 [[ 9.98553564e-01 5.15032437e-02 1.54336032e-02 1.46846767e+02] [-5.14955608e-02 9.98672822e-01 -8.95055512e-04 -5.04398547e+00] [-1.54592183e-02 9.89988213e-05 9.99880494e-01 -2.60044938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.324391418 meters 0.0134613008388635 Centerline is valid? [True, True] Translation: X:146.87, Y:-5.04, Z:-2.60 [[ 9.98283155e-01 5.65491653e-02 1.52622010e-02 1.46874595e+02] [-5.65422590e-02 9.98399815e-01 -8.83983193e-04 -5.04261770e+00] [-1.52877672e-02 1.95062106e-05 9.99883135e-01 -2.60164584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.354391418 meters 0.013430328615484712 Centerline is valid? [True, True] Translation: X:146.90, Y:-5.04, Z:-2.60 [[ 9.98193024e-01 5.81401028e-02 1.51794551e-02 1.46902512e+02] [-5.81334765e-02 9.98308434e-01 -8.77783992e-04 -5.04337150e+00] [-1.52048125e-02 -6.23663773e-06 9.99884400e-01 -2.60207186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.384391418 meters 0.013519799718932846 Centerline is valid? [True, True] Translation: X:146.93, Y:-5.04, Z:-2.60 [[ 9.98121872e-01 5.92755591e-02 1.54640228e-02 1.46930686e+02] [-5.92688474e-02 9.98241658e-01 -8.92359311e-04 -5.04440908e+00] [-1.54897268e-02 -2.58514600e-05 9.99880027e-01 -2.60255361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414391418 meters 0.013604160590749289 Centerline is valid? [True, True] Translation: X:146.96, Y:-5.05, Z:-2.60 [[ 9.98117843e-01 5.93376024e-02 1.54861103e-02 1.46957266e+02] [-5.93309047e-02 9.98237972e-01 -8.91975928e-04 -5.04603825e+00] [-1.55117510e-02 -2.85078415e-05 9.99879685e-01 -2.60313618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444391418 meters 0.013412868422820039 Centerline is valid? [True, True] Translation: X:146.99, Y:-5.05, Z:-2.60 [[ 9.98142403e-01 5.88952547e-02 1.55913937e-02 1.46985346e+02] [-5.88884645e-02 9.98264168e-01 -8.94660340e-04 -5.04833270e+00] [-1.56170209e-02 -2.51548119e-05 9.99878047e-01 -2.60347046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474391418 meters 0.01342987764520336 Centerline is valid? [True, True] Translation: X:147.01, Y:-5.05, Z:-2.60 [[ 9.98253910e-01 5.67813574e-02 1.62790964e-02 1.47012874e+02] [-5.67737070e-02 9.98386637e-01 -9.32086453e-04 -5.05309851e+00] [-1.63057574e-02 6.23429900e-06 9.99867052e-01 -2.60333724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504391418 meters 0.013591686199199302 Centerline is valid? [True, True] Translation: X:147.04, Y:-5.06, Z:-2.60 [[ 9.98328022e-01 5.52866752e-02 1.68684387e-02 1.47041051e+02] [-5.52782826e-02 9.98470522e-01 -9.63743658e-04 -5.05665481e+00] [-1.68959210e-02 2.96739777e-05 9.99857253e-01 -2.60372979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534391418 meters 0.013705479688315847 Centerline is valid? [True, True] Translation: X:147.07, Y:-5.06, Z:-2.60 [[ 9.98491445e-01 5.20414924e-02 1.75076236e-02 1.47069400e+02] [-5.20319908e-02 9.98644920e-01 -9.98095733e-04 -5.06335253e+00] [-1.75358418e-02 8.56335389e-05 9.99846232e-01 -2.60432454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564391418 meters 0.01408570708965186 Centerline is valid? [True, True] Translation: X:147.10, Y:-5.07, Z:-2.60 [[ 9.98579045e-01 5.02677300e-02 1.76931398e-02 1.47096743e+02] [-5.02577728e-02 9.98735772e-01 -1.00725015e-03 -5.06801739e+00] [-1.77214038e-02 1.16601091e-04 9.99842957e-01 -2.60477456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59439141800001 meters 0.014126778669032902 Centerline is valid? [True, True] Translation: X:147.13, Y:-5.07, Z:-2.60 [[ 9.98631925e-01 4.88503847e-02 1.86525569e-02 1.47125620e+02] [-4.88391071e-02 9.98806096e-01 -1.05993931e-03 -5.07208069e+00] [-1.86820660e-02 1.47515010e-04 9.99825464e-01 -2.60498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62439141800002 meters 0.014887978202920588 Centerline is valid? [True, True] Translation: X:147.15, Y:-5.08, Z:-2.61 [[ 9.98753415e-01 4.60025480e-02 1.93747913e-02 1.47154481e+02] [-4.59898746e-02 9.98941301e-01 -1.09940982e-03 -5.07775670e+00] [-1.94048548e-02 2.06995095e-04 9.99811687e-01 -2.60516394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65439141800002 meters 0.014965812847885096 Centerline is valid? [True, True] Translation: X:147.18, Y:-5.08, Z:-2.61 [[ 9.98802703e-01 4.48473496e-02 1.95416365e-02 1.47183333e+02] [-4.48342669e-02 9.98993825e-01 -1.10729863e-03 -5.08091101e+00] [-1.95716336e-02 2.29837916e-04 9.99808431e-01 -2.60581430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68439141800002 meters 0.01524882704789995 Centerline is valid? [True, True] Translation: X:147.21, Y:-5.09, Z:-2.61 [[ 9.98833105e-01 4.40060962e-02 1.98970434e-02 1.47210465e+02] [-4.39924003e-02 9.99031231e-01 -1.12573136e-03 -5.08505708e+00] [-1.99273068e-02 2.49099050e-04 9.99801400e-01 -2.60636271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71439141800002 meters 0.015390133660496009 Centerline is valid? [True, True] Translation: X:147.24, Y:-5.09, Z:-2.61 [[ 9.98885076e-01 4.28184401e-02 1.98792974e-02 1.47239454e+02] [-4.28045731e-02 9.99082833e-01 -1.12273622e-03 -5.09038367e+00] [-1.99091386e-02 2.70559619e-04 9.99801757e-01 -2.60710479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters 0.016555692729576948 Centerline is valid? [True, True] Translation: X:147.27, Y:-5.10, Z:-2.61 [[ 9.98880404e-01 4.26977610e-02 2.03676153e-02 1.47267122e+02] [-4.26832153e-02 9.99087996e-01 -1.14854473e-03 -5.09580028e+00] [-2.03980803e-02 2.77903512e-04 9.99791899e-01 -2.60728089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774391418 meters 0.015439949241713437 Centerline is valid? [True, True] Translation: X:147.30, Y:-5.10, Z:-2.61 [[ 9.98863171e-01 4.31604176e-02 2.02371745e-02 1.47295762e+02] [-4.31461964e-02 9.99068120e-01 -1.13902672e-03 -5.09599467e+00] [-2.02674768e-02 2.64574736e-04 9.99794559e-01 -2.60819789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters 0.014857707053355953 Centerline is valid? [True, True] Translation: X:147.32, Y:-5.10, Z:-2.61 [[ 9.98761574e-01 4.54630350e-02 2.02096741e-02 1.47324985e+02] [-4.54493558e-02 9.98965998e-01 -1.13589217e-03 -5.09771052e+00] [-2.02404184e-02 2.15968779e-04 9.99795118e-01 -2.60895156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834391418 meters 0.01454317964777842 Centerline is valid? [True, True] Translation: X:147.35, Y:-5.10, Z:-2.61 [[ 9.98678811e-01 4.72814053e-02 2.01271105e-02 1.47352433e+02] [-4.72682332e-02 9.98881593e-01 -1.12994322e-03 -5.09897179e+00] [-2.01580255e-02 1.77077395e-04 9.99796791e-01 -2.60948352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters 0.014255495257039697 Centerline is valid? [True, True] Translation: X:147.38, Y:-5.10, Z:-2.61 [[ 9.98572756e-01 4.93773232e-02 2.03551200e-02 1.47381271e+02] [-4.93643276e-02 9.98780187e-01 -1.14071990e-03 -5.09966686e+00] [-2.03866163e-02 1.34275002e-04 9.99792162e-01 -2.61014623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894391418 meters 0.013998965727789284 Centerline is valid? [True, True] Translation: X:147.41, Y:-5.10, Z:-2.61 [[ 9.98351065e-01 5.36850120e-02 2.03241166e-02 1.47410239e+02] [-5.36729815e-02 9.98557919e-01 -1.13734736e-03 -5.09981370e+00] [-2.03558661e-02 4.46160179e-05 9.99792797e-01 -2.61111511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters 0.013815597965214744 Centerline is valid? [True, True] Translation: X:147.44, Y:-5.10, Z:-2.61 [[ 9.98251469e-01 5.56026340e-02 2.00587002e-02 1.47438875e+02] [-5.55913349e-02 9.98452977e-01 -1.12089622e-03 -5.10109175e+00] [-2.00899937e-02 3.84637754e-06 9.99798176e-01 -2.61195207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954391418 meters 0.013738370482604713 Centerline is valid? [True, True] Translation: X:147.47, Y:-5.10, Z:-2.61 [[ 9.98153870e-01 5.74907856e-02 1.95872636e-02 1.47467231e+02] [-5.74804054e-02 9.98346036e-01 -1.09299653e-03 -5.10281271e+00] [-1.96177042e-02 -3.49051397e-05 9.99807554e-01 -2.61296968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters 0.013753682950312556 Centerline is valid? [True, True] Translation: X:147.49, Y:-5.11, Z:-2.61 [[ 9.98111503e-01 5.85124472e-02 1.87008328e-02 1.47494813e+02] [-5.85031921e-02 9.98286678e-01 -1.04206385e-03 -5.10670674e+00] [-1.87297659e-02 -5.39624939e-05 9.99824581e-01 -2.61483966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014391418 meters 0.013846658172559999 Centerline is valid? [True, True] Translation: X:147.52, Y:-5.11, Z:-2.62 [[ 9.98149610e-01 5.80578129e-02 1.80733486e-02 1.47522627e+02] [-5.80491320e-02 9.98313222e-01 -1.00500054e-03 -5.11043553e+00] [-1.81012110e-02 -4.60013003e-05 9.99836159e-01 -2.61622597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.044391418 meters 0.013828840643237653 Centerline is valid? [True, True] Translation: X:147.55, Y:-5.11, Z:-2.62 [[ 9.98218857e-01 5.70685388e-02 1.73866552e-02 1.47550395e+02] [-5.70603899e-02 9.98370262e-01 -9.64812590e-04 -5.11478012e+00] [-1.74133800e-02 -2.89952066e-05 9.99848375e-01 -2.61761457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.074391418 meters 0.01361659928461535 Centerline is valid? [True, True] Translation: X:147.58, Y:-5.12, Z:-2.62 [[ 9.98446594e-01 5.33680104e-02 1.60079509e-02 1.47578014e+02] [-5.33606557e-02 9.98574912e-01 -8.86520177e-04 -5.12361718e+00] [-1.60324499e-02 3.09482976e-05 9.99871472e-01 -2.61952942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.104391418 meters 0.014072408554985458 Centerline is valid? [True, True] Translation: X:147.61, Y:-5.13, Z:-2.62 [[ 9.98594096e-01 5.07563315e-02 1.52848086e-02 1.47606461e+02] [-5.07493430e-02 9.98711064e-01 -8.44992794e-04 -5.12941925e+00] [-1.53079962e-02 6.81108186e-05 9.99882823e-01 -2.62081132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.134391418 meters 0.014272846143610234 Centerline is valid? [True, True] Translation: X:147.64, Y:-5.14, Z:-2.62 [[ 9.98736981e-01 4.80320849e-02 1.47431719e-02 1.47635074e+02] [-4.80253025e-02 9.98845788e-01 -8.13938733e-04 -5.13538306e+00] [-1.47652503e-02 1.04865424e-04 9.99890982e-01 -2.62168920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164391418 meters 0.015467191018851733 Centerline is valid? [True, True] Translation: X:147.66, Y:-5.15, Z:-2.62 [[ 9.98982866e-01 4.30980654e-02 1.32586051e-02 1.47662487e+02] [-4.30921563e-02 9.99070834e-01 -7.31170743e-04 -5.14630634e+00] [-1.32777977e-02 1.59085163e-04 9.99911834e-01 -2.62336632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194391418 meters 0.01620225105503619 Centerline is valid? [True, True] Translation: X:147.69, Y:-5.15, Z:-2.62 [[ 9.99086235e-01 4.07321711e-02 1.29454800e-02 1.47690843e+02] [-4.07263564e-02 9.99170084e-01 -7.12586980e-04 -5.15213379e+00] [-1.29637615e-02 1.84713613e-04 9.99915950e-01 -2.62400399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224391418 meters 0.017304874405744262 Centerline is valid? [True, True] Translation: X:147.72, Y:-5.16, Z:-2.62 [[ 9.99199593e-01 3.79721491e-02 1.25813129e-02 1.47719246e+02] [-3.79664499e-02 9.99278775e-01 -6.91614221e-04 -5.16110074e+00] [-1.25985011e-02 2.13392861e-04 9.99920613e-01 -2.62441515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254391418 meters 0.01753943873768995 Centerline is valid? [True, True] Translation: X:147.75, Y:-5.17, Z:-2.62 [[ 9.99216183e-01 3.74108933e-02 1.29400283e-02 1.47746853e+02] [-3.74048293e-02 9.99299942e-01 -7.10405005e-04 -5.16575762e+00] [-1.29575464e-02 2.25828626e-04 9.99916022e-01 -2.62477803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284391418 meters 0.01776789415480779 Centerline is valid? [True, True] Translation: X:147.77, Y:-5.17, Z:-2.63 [[ 9.99219030e-01 3.72188899e-02 1.32696538e-02 1.47774886e+02] [-3.72125134e-02 9.99307110e-01 -7.27202180e-04 -5.17015624e+00] [-1.32875251e-02 2.32837086e-04 9.99911690e-01 -2.62514961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314391418 meters 0.01614961954042982 Centerline is valid? [True, True] Translation: X:147.80, Y:-5.17, Z:-2.62 [[ 9.99168221e-01 3.85664066e-02 1.32475796e-02 1.47803847e+02] [-3.85601869e-02 9.99256017e-01 -7.24699113e-04 -5.17306322e+00] [-1.32656727e-02 2.13267178e-04 9.99911984e-01 -2.62452841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34439141800001 meters 0.016864988574225633 Centerline is valid? [True, True] Translation: X:147.83, Y:-5.18, Z:-2.63 [[ 9.99120706e-01 3.98347477e-02 1.30769827e-02 1.47831400e+02] [-3.98288082e-02 9.99206263e-01 -7.14420615e-04 -5.17828709e+00] [-1.30950618e-02 1.92951793e-04 9.99914237e-01 -2.62622582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37439141800002 meters 0.01640313667854092 Centerline is valid? [True, True] Translation: X:147.86, Y:-5.18, Z:-2.63 [[ 9.99074277e-01 4.10556586e-02 1.28460716e-02 1.47859415e+02] [-4.10500447e-02 9.99156846e-01 -7.00496652e-04 -5.18119469e+00] [-1.28639998e-02 1.72516372e-04 9.99917240e-01 -2.62711925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40439141800002 meters 0.014629010851778573 Centerline is valid? [True, True] Translation: X:147.89, Y:-5.18, Z:-2.63 [[ 9.98969771e-01 4.39220062e-02 1.14128556e-02 1.47888588e+02] [-4.39177726e-02 9.99034956e-01 -6.21423827e-04 -5.18303451e+00] [-1.14291359e-02 1.19556420e-04 9.99934678e-01 -2.62761595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43439141800002 meters 0.014683474097914748 Centerline is valid? [True, True] Translation: X:147.92, Y:-5.19, Z:-2.63 [[ 9.98912459e-01 4.52737640e-02 1.11438542e-02 1.47916253e+02] [-4.52698201e-02 9.98974612e-01 -6.06033175e-04 -5.18676308e+00] [-1.11598648e-02 1.00893816e-04 9.99937722e-01 -2.62903339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46439141800002 meters 0.014427965780327678 Centerline is valid? [True, True] Translation: X:147.95, Y:-5.19, Z:-2.63 [[ 9.98860528e-01 4.66040484e-02 1.02814597e-02 1.47945056e+02] [-4.66007728e-02 9.98913438e-01 -5.58067348e-04 -5.18946012e+00] [-1.02962964e-02 7.83074787e-05 9.99946989e-01 -2.62964141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494391418 meters 0.014204789005233516 Centerline is valid? [True, True] Translation: X:147.97, Y:-5.19, Z:-2.63 [[ 9.98740460e-01 4.93106465e-02 9.27108775e-03 1.47973004e+02] [-4.93081037e-02 9.98783489e-01 -5.02786756e-04 -5.19417712e+00] [-9.28460211e-03 4.50137200e-05 9.99956896e-01 -2.63155922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters 0.014014055213240877 Centerline is valid? [True, True] Translation: X:148.00, Y:-5.20, Z:-2.63 [[ 9.98673799e-01 5.07459418e-02 8.68866365e-03 1.48000855e+02] [-5.07437697e-02 9.98711594e-01 -4.70406945e-04 -5.19715812e+00] [-8.70134037e-03 2.88875435e-05 9.99962142e-01 -2.63244760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554391418 meters 0.013901759747436742 Centerline is valid? [True, True] Translation: X:148.03, Y:-5.20, Z:-2.63 [[ 9.98588695e-01 5.24501052e-02 8.34293278e-03 1.48028590e+02] [-5.24481662e-02 9.98623546e-01 -4.51174230e-04 -5.19981961e+00] [-8.35511325e-03 1.29659605e-05 9.99965095e-01 -2.63270631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters 0.014446720077147718 Centerline is valid? [True, True] Translation: X:148.06, Y:-5.20, Z:-2.64 [[ 9.98411298e-01 5.58718842e-02 7.29463019e-03 1.48056462e+02] [-5.58705004e-02 9.98437946e-01 -3.93508550e-04 -5.20347015e+00] [-7.30522165e-03 -1.46712565e-05 9.99973316e-01 -2.63551415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614391418 meters 0.014869702063229656 Centerline is valid? [True, True] Translation: X:148.09, Y:-5.21, Z:-2.64 [[ 9.98301318e-01 5.78000707e-02 7.32331571e-03 1.48085386e+02] [-5.77987325e-02 9.98328178e-01 -3.94422537e-04 -5.20605251e+00] [-7.33387008e-03 -2.95258270e-05 9.99973106e-01 -2.63633611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters 0.015119813092305204 Centerline is valid? [True, True] Translation: X:148.11, Y:-5.21, Z:-2.64 [[ 9.98197319e-01 5.96273727e-02 6.83298903e-03 1.48112866e+02] [-5.96262522e-02 9.98220704e-01 -3.67769337e-04 -5.20858724e+00] [-6.84276024e-03 -4.03191604e-05 9.99976587e-01 -2.63713994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674391418 meters 0.01613092614728444 Centerline is valid? [True, True] Translation: X:148.14, Y:-5.21, Z:-2.64 [[ 9.98032675e-01 6.23603078e-02 6.47860300e-03 1.48141696e+02] [-6.23593635e-02 9.98053700e-01 -3.47854772e-04 -5.21304399e+00] [-6.48768603e-03 -5.68311304e-05 9.99978953e-01 -2.63781839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters 0.01639117886831869 Centerline is valid? [True, True] Translation: X:148.17, Y:-5.22, Z:-2.64 [[ 9.97977130e-01 6.32431376e-02 6.47709841e-03 1.48170541e+02] [-6.32422158e-02 9.97998147e-01 -3.47242771e-04 -5.21639186e+00] [-6.48609293e-03 -6.30857113e-05 9.99978963e-01 -2.63820303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734391418 meters 0.01673498382198492 Centerline is valid? [True, True] Translation: X:148.20, Y:-5.22, Z:-2.64 [[ 9.97952606e-01 6.36079422e-02 6.68022954e-03 1.48198638e+02] [-6.36069708e-02 9.97974962e-01 -3.57986778e-04 -5.21983058e+00] [-6.68947262e-03 -6.76553274e-05 9.99977623e-01 -2.63865801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters 0.016684385123130842 Centerline is valid? [True, True] Translation: X:148.23, Y:-5.23, Z:-2.64 [[ 9.98008010e-01 6.28253217e-02 5.74385638e-03 1.48226180e+02] [-6.28245943e-02 9.98024537e-01 -3.07151978e-04 -5.22765711e+00] [-5.75180653e-03 -5.43153128e-05 9.99983457e-01 -2.63972784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.794391418 meters 0.016684385123130842 Centerline is valid? [True, True] Translation: X:148.25, Y:-5.23, Z:-2.64 [[ 9.98015604e-01 6.27045569e-02 5.74387488e-03 1.48253617e+02] [-6.27038296e-02 9.98032132e-01 -3.06805785e-04 -5.22896852e+00] [-5.75180981e-03 -5.39659905e-05 9.99983457e-01 -2.64022348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.824391418 meters 0.01639886793983834 Centerline is valid? [True, True] Translation: X:148.28, Y:-5.23, Z:-2.64 [[ 9.98114091e-01 6.11365418e-02 5.53026316e-03 1.48280829e+02] [-6.11358461e-02 9.98129411e-01 -2.94926439e-04 -5.23457914e+00] [-5.53794909e-03 -4.37270828e-05 9.99984664e-01 -2.64121631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.854391418 meters 0.015159560862012275 Centerline is valid? [True, True] Translation: X:148.31, Y:-5.25, Z:-2.64 [[ 9.98341927e-01 5.72234871e-02 6.23451740e-03 1.48308831e+02] [-5.72225373e-02 9.98361393e-01 -3.30759548e-04 -5.24637687e+00] [-6.24322870e-03 -2.65437798e-05 9.99980511e-01 -2.64077463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.884391418 meters 0.01449742422216767 Centerline is valid? [True, True] Translation: X:148.34, Y:-5.25, Z:-2.64 [[ 9.98470583e-01 5.48419274e-02 6.98981048e-03 1.48337211e+02] [-5.48406798e-02 9.98495049e-01 -3.70172097e-04 -5.25359839e+00] [-6.99959211e-03 -1.37200083e-05 9.99975502e-01 -2.63885578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914391418 meters 0.014470159318202903 Centerline is valid? [True, True] Translation: X:148.36, Y:-5.26, Z:-2.64 [[ 9.98606439e-01 5.22151267e-02 7.66560318e-03 1.48364700e+02] [-5.22135534e-02 9.98635860e-01 -4.05370303e-04 -5.26028822e+00] [-7.67631269e-03 4.55701382e-06 9.99970537e-01 -2.63976520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944391418 meters 0.01432472693582446 Centerline is valid? [True, True] Translation: X:148.39, Y:-5.27, Z:-2.64 [[ 9.98738248e-01 4.95686044e-02 8.05388693e-03 1.48393135e+02] [-4.95667910e-02 9.98770721e-01 -4.24734060e-04 -5.26706221e+00] [-8.06503993e-03 2.49928215e-05 9.99967477e-01 -2.63783186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974391418 meters 0.015333041920924263 Centerline is valid? [True, True] Translation: X:148.42, Y:-5.28, Z:-2.64 [[ 9.98945186e-01 4.51209438e-02 8.52146651e-03 1.48421160e+02] [-4.51187586e-02 9.98981530e-01 -4.48600448e-04 -5.27759767e+00] [-8.53302892e-03 6.36492677e-05 9.99963591e-01 -2.63709993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004391418 meters 0.01528134609483109 Centerline is valid? [True, True] Translation: X:148.45, Y:-5.28, Z:-2.64 [[ 9.99028352e-01 4.31713279e-02 8.86505062e-03 1.48449582e+02] [-4.31688937e-02 9.99067680e-01 -4.65840966e-04 -5.28338509e+00] [-8.87689653e-03 8.26939046e-05 9.99960596e-01 -2.63718514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034391418 meters 0.015726069405841363 Centerline is valid? [True, True] Translation: X:148.48, Y:-5.29, Z:-2.64 [[ 9.99102836e-01 4.14420147e-02 8.72248551e-03 1.48477927e+02] [-4.14395986e-02 9.99140906e-01 -4.57620554e-04 -5.28902290e+00] [-8.73395680e-03 9.57536954e-05 9.99961854e-01 -2.63776687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064391418 meters 0.01685873166871938 Centerline is valid? [True, True] Translation: X:148.51, Y:-5.30, Z:-2.64 [[ 9.99194501e-01 3.92226361e-02 8.48144299e-03 1.48505771e+02] [-3.92202795e-02 9.99230490e-01 -4.44067063e-04 -5.29827591e+00] [-8.49233392e-03 1.11064803e-04 9.99963933e-01 -2.63911115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09439141800001 meters 0.01639346746635956 Centerline is valid? [True, True] Translation: X:148.53, Y:-5.30, Z:-2.64 [[ 9.99216264e-01 3.86094186e-02 8.72752218e-03 1.48534695e+02] [-3.86069031e-02 9.99254371e-01 -4.56585627e-04 -5.30120765e+00] [-8.73864320e-03 1.19285182e-04 9.99961810e-01 -2.63863551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12439141800002 meters 0.016873603828488556 Centerline is valid? [True, True] Translation: X:148.56, Y:-5.31, Z:-2.64 [[ 9.99213574e-01 3.86719104e-02 8.75877984e-03 1.48563424e+02] [-3.86693880e-02 9.99251955e-01 -4.57221652e-04 -5.30558329e+00] [-8.76990951e-03 1.18165425e-04 9.99961537e-01 -2.63988991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15439141800002 meters 0.016594905784923897 Centerline is valid? [True, True] Translation: X:148.59, Y:-5.31, Z:-2.64 [[ 9.99164630e-01 4.00441107e-02 8.15548439e-03 1.48592040e+02] [-4.00419735e-02 9.99197908e-01 -4.25232837e-04 -5.30838641e+00] [-8.16597101e-03 9.83159200e-05 9.99966653e-01 -2.64103538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18439141800002 meters 0.016187713883412284 Centerline is valid? [True, True] Translation: X:148.62, Y:-5.31, Z:-2.64 [[ 9.99108743e-01 4.14513895e-02 7.96879829e-03 1.48621221e+02] [-4.14493960e-02 9.99140518e-01 -4.15228048e-04 -5.30989770e+00] [-7.97916103e-03 8.45560967e-05 9.99968162e-01 -2.64179954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21439141800002 meters 0.015376061375766912 Centerline is valid? [True, True] Translation: X:148.65, Y:-5.31, Z:-2.64 [[ 9.99041590e-01 4.30096358e-02 8.12850347e-03 1.48650719e+02] [-4.30076218e-02 9.99074655e-01 -4.22475012e-04 -5.31031897e+00] [-8.13915229e-03 7.24825048e-05 9.99966874e-01 -2.64134666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters 0.014529954199134854 Centerline is valid? [True, True] Translation: X:148.68, Y:-5.31, Z:-2.64 [[ 9.98829393e-01 4.75302009e-02 8.98468736e-03 1.48678636e+02] [-4.75279222e-02 9.98869801e-01 -4.67081922e-04 -5.31042289e+00] [-8.99673337e-03 3.95116304e-05 9.99959528e-01 -2.64115132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274391418 meters 0.014335296520517831 Centerline is valid? [True, True] Translation: X:148.71, Y:-5.31, Z:-2.64 [[ 9.98723363e-01 4.96578402e-02 9.25977104e-03 1.48707522e+02] [-4.96555229e-02 9.98766288e-01 -4.80134454e-04 -5.31098014e+00] [-9.27218959e-03 1.97227233e-05 9.99957012e-01 -2.64129167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters 0.014393962335558778 Centerline is valid? [True, True] Translation: X:148.74, Y:-5.31, Z:-2.64 [[ 9.98512606e-01 5.36032958e-02 9.96303537e-03 1.48735307e+02] [-5.36008174e-02 9.98562310e-01 -5.15802359e-04 -5.31064632e+00] [-9.97636032e-03 -1.89916820e-05 9.99950235e-01 -2.64169475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334391418 meters 0.014570895604832323 Centerline is valid? [True, True] Translation: X:148.76, Y:-5.31, Z:-2.64 [[ 9.98462421e-01 5.45368284e-02 9.92610419e-03 1.48763762e+02] [-5.45344267e-02 9.98511759e-01 -5.12669859e-04 -5.31171998e+00] [-9.93929114e-03 -2.94328125e-05 9.99950604e-01 -2.64250197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters 0.014723164510911688 Centerline is valid? [True, True] Translation: X:148.79, Y:-5.31, Z:-2.64 [[ 9.98430534e-01 5.51928847e-02 9.49812881e-03 1.48792410e+02] [-5.51907222e-02 9.98475710e-01 -4.89837819e-04 -5.31357653e+00] [-9.51068648e-03 -3.51395535e-05 9.99954772e-01 -2.64359493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394391418 meters 0.01445148668731398 Centerline is valid? [True, True] Translation: X:148.82, Y:-5.32, Z:-2.65 [[ 9.98528118e-01 5.34919413e-02 8.95596228e-03 1.48820899e+02] [-5.34899558e-02 9.98568281e-01 -4.61251959e-04 -5.31929254e+00] [-8.96781313e-03 -1.84809758e-05 9.99959788e-01 -2.64501355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters 0.014399426572707028 Centerline is valid? [True, True] Translation: X:148.85, Y:-5.32, Z:-2.65 [[ 9.98654927e-01 5.12104337e-02 8.11345598e-03 1.48849438e+02] [-5.12087333e-02 9.98687885e-01 -4.17317210e-04 -5.32415935e+00] [-8.12418119e-03 1.27608455e-06 9.99966998e-01 -2.64630039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454391418 meters 0.015456214528337552 Centerline is valid? [True, True] Translation: X:148.88, Y:-5.33, Z:-2.65 [[ 9.98973402e-01 4.47392214e-02 7.10947218e-03 1.48877037e+02] [-4.47377549e-02 9.98998699e-01 -3.65241085e-04 -5.33478778e+00] [-7.11869406e-03 4.68043050e-05 9.99974661e-01 -2.64906606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters 0.01609286588202637 Centerline is valid? [True, True] Translation: X:148.91, Y:-5.34, Z:-2.65 [[ 9.99124560e-01 4.12170964e-02 7.15987156e-03 1.48906061e+02] [-4.12155265e-02 9.99150212e-01 -3.66736324e-04 -5.34007145e+00] [-7.16890299e-03 7.13173923e-05 9.99974301e-01 -2.64854109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514391418 meters 0.01731527961136626 Centerline is valid? [True, True] Translation: X:148.94, Y:-5.35, Z:-2.65 [[ 9.99271093e-01 3.74681431e-02 7.30896013e-03 1.48935553e+02] [-3.74664093e-02 9.99297818e-01 -3.74042818e-04 -5.34598358e+00] [-7.31784259e-03 9.99296838e-05 9.99973219e-01 -2.64841440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.544391418 meters 0.019078381850141327 Centerline is valid? [True, True] Translation: X:148.97, Y:-5.35, Z:-2.65 [[ 9.99396368e-01 3.38236582e-02 7.92846780e-03 1.48965034e+02] [-3.38215083e-02 9.99427807e-01 -4.05132340e-04 -5.35206703e+00] [-7.93763424e-03 1.36735050e-04 9.99968487e-01 -2.64834666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.574391418 meters 0.02179460543058382 Centerline is valid? [True, True] Translation: X:148.99, Y:-5.36, Z:-2.65 [[ 9.99566521e-01 2.79948323e-02 9.11374164e-03 1.48994587e+02] [-2.79917532e-02 9.99608046e-01 -4.65257925e-04 -5.36053837e+00] [-9.12319429e-03 2.09946639e-04 9.99958361e-01 -2.64668067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.604391418 meters 0.022286909949438785 Centerline is valid? [True, True] Translation: X:149.03, Y:-5.36, Z:-2.65 [[ 9.99618857e-01 2.58673074e-02 9.64484298e-03 1.49026059e+02] [-2.58637633e-02 9.99665356e-01 -4.92029505e-04 -5.36389961e+00] [-9.65434287e-03 2.42390036e-04 9.99953366e-01 -2.64590097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.634391418 meters 0.02467500237419712 Centerline is valid? [True, True] Translation: X:149.06, Y:-5.37, Z:-2.65 [[ 9.99649160e-01 2.44281154e-02 1.02383162e-02 1.49057060e+02] [-2.44240599e-02 9.99701552e-01 -5.20980396e-04 -5.37032188e+00] [-1.02479872e-02 2.70736368e-04 9.99947451e-01 -2.64637985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664391418 meters 0.02654264209329968 Centerline is valid? [True, True] Translation: X:149.09, Y:-5.38, Z:-2.65 [[ 9.99690261e-01 2.21184922e-02 1.14085406e-02 1.49088072e+02] [-2.21132627e-02 9.99755301e-01 -5.84343881e-04 -5.37606697e+00] [-1.14186737e-02 3.31882832e-04 9.99934750e-01 -2.64585286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694391418 meters 0.027361787146781204 Centerline is valid? [True, True] Translation: X:149.12, Y:-5.38, Z:-2.65 [[ 9.99696335e-01 2.15809195e-02 1.18954424e-02 1.49120431e+02] [-2.15751579e-02 9.99767042e-01 -6.12482242e-04 -5.37905792e+00] [-1.19058891e-02 3.55650206e-04 9.99929059e-01 -2.64590495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724391418 meters 0.024881513254809154 Centerline is valid? [True, True] Translation: X:149.15, Y:-5.38, Z:-2.65 [[ 9.99689346e-01 2.20204405e-02 1.16752231e-02 1.49154097e+02] [-2.20148882e-02 9.99757461e-01 -6.03883639e-04 -5.37743461e+00] [-1.16856892e-02 3.46667309e-04 9.99931660e-01 -2.64587649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754391418 meters 0.024542295451026624 Centerline is valid? [True, True] Translation: X:149.19, Y:-5.38, Z:-2.65 [[ 9.99663652e-01 2.30784447e-02 1.18308385e-02 1.49186494e+02] [-2.30727653e-02 9.99733598e-01 -6.16329483e-04 -5.37882100e+00] [-1.18419107e-02 3.43152021e-04 9.99929823e-01 -2.64625025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784391418 meters 0.02426412486631156 Centerline is valid? [True, True] Translation: X:149.22, Y:-5.38, Z:-2.65 [[ 9.99625001e-01 2.45553960e-02 1.21198189e-02 1.49217763e+02] [-2.45494972e-02 9.99698414e-01 -6.35259971e-04 -5.38033685e+00] [-1.21317628e-02 3.37486288e-04 9.99926351e-01 -2.64683049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814391418 meters 0.02619132005752576 Centerline is valid? [True, True] Translation: X:149.25, Y:-5.38, Z:-2.65 [[ 9.99580086e-01 2.63781455e-02 1.19935800e-02 1.49249027e+02] [-2.63724538e-02 9.99651986e-01 -6.32505916e-04 -5.38464292e+00] [-1.20060904e-02 3.15940184e-04 9.99927874e-01 -2.64837328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84439141800001 meters 0.021485141486127485 Centerline is valid? [True, True] Translation: X:149.28, Y:-5.38, Z:-2.65 [[ 9.99453084e-01 3.08635648e-02 1.18732416e-02 1.49280805e+02] [-3.08582705e-02 9.99523572e-01 -6.28885121e-04 -5.37792565e+00] [-1.18869945e-02 2.62153471e-04 9.99929313e-01 -2.64847865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87439141800002 meters 0.019954514730537196 Centerline is valid? [True, True] Translation: X:149.31, Y:-5.38, Z:-2.65 [[ 9.99366444e-01 3.34539498e-02 1.21467303e-02 1.49312696e+02] [-3.34485966e-02 9.99440232e-01 -6.43653645e-04 -5.37631634e+00] [-1.21614637e-02 2.36954773e-04 9.99926019e-01 -2.64862104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90439141800002 meters 0.018751544435705557 Centerline is valid? [True, True] Translation: X:149.34, Y:-5.38, Z:-2.65 [[ 9.99276800e-01 3.59723894e-02 1.23233384e-02 1.49344156e+02] [-3.59670551e-02 9.99352762e-01 -6.54284761e-04 -5.37505405e+00] [-1.23388984e-02 2.10577392e-04 9.99923851e-01 -2.64914361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93439141800002 meters 0.0167350529536923 Centerline is valid? [True, True] Translation: X:149.38, Y:-5.37, Z:-2.65 [[ 9.99089097e-01 4.09491073e-02 1.20061239e-02 1.49375398e+02] [-4.09443974e-02 9.99161223e-01 -6.37928287e-04 -5.37076296e+00] [-1.20221761e-02 1.45763687e-04 9.99927720e-01 -2.64987857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96439141800002 meters 0.015906083588534604 Centerline is valid? [True, True] Translation: X:149.41, Y:-5.37, Z:-2.65 [[ 9.98962632e-01 4.41984715e-02 1.09615028e-02 1.49405193e+02] [-4.41947317e-02 9.99022765e-01 -5.83287939e-04 -5.36856054e+00] [-1.09765713e-02 9.82421769e-05 9.99939751e-01 -2.65202045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994391418 meters 0.01578059461675296 Centerline is valid? [True, True] Translation: X:149.43, Y:-5.37, Z:-2.65 [[ 9.98931976e-01 4.50346265e-02 1.03339222e-02 1.49434371e+02] [-4.50313495e-02 9.98985423e-01 -5.49691266e-04 -5.36862713e+00] [-1.03481927e-02 8.37537220e-05 9.99946453e-01 -2.65343192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters 0.015669440718549955 Centerline is valid? [True, True] Translation: X:149.46, Y:-5.37, Z:-2.65 [[ 9.98922314e-01 4.53360369e-02 9.94254945e-03 1.49464481e+02] [-4.53330186e-02 9.98971790e-01 -5.28852249e-04 -5.36900033e+00] [-9.95630249e-03 7.75565339e-05 9.99950432e-01 -2.65461512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054391418 meters 0.01567691255077691 Centerline is valid? [True, True] Translation: X:149.49, Y:-5.37, Z:-2.66 [[ 9.98929899e-01 4.51426366e-02 1.00598126e-02 1.49492688e+02] [-4.51395397e-02 9.98980548e-01 -5.34810894e-04 -5.37009946e+00] [-1.00736999e-02 8.01432812e-05 9.99949256e-01 -2.65528893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters 0.01597699017816966 Centerline is valid? [True, True] Translation: X:149.52, Y:-5.37, Z:-2.66 [[ 9.98987962e-01 4.38208462e-02 1.01382896e-02 1.49521975e+02] [-4.38176410e-02 9.99039401e-01 -5.38166687e-04 -5.37212751e+00] [-1.01521337e-02 9.33861063e-05 9.99948461e-01 -2.65537480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114391418 meters 0.017011304573903166 Centerline is valid? [True, True] Translation: X:149.55, Y:-5.38, Z:-2.66 [[ 9.99029663e-01 4.26975417e-02 1.08005986e-02 1.49551141e+02] [-4.26938457e-02 9.99088038e-01 -5.72642256e-04 -5.37650745e+00] [-1.08151993e-02 1.10967508e-04 9.99941508e-01 -2.65682332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters 0.016943920882439994 Centerline is valid? [True, True] Translation: X:149.58, Y:-5.38, Z:-2.66 [[ 9.99092102e-01 4.12324153e-02 1.07172337e-02 1.49581173e+02] [-4.12286961e-02 9.99149574e-01 -5.67835144e-04 -5.37829375e+00] [-1.07315327e-02 1.25462038e-04 9.99942408e-01 -2.65583723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174391418 meters 0.01859383500036017 Centerline is valid? [True, True] Translation: X:149.61, Y:-5.38, Z:-2.66 [[ 9.99241561e-01 3.73409862e-02 1.10432469e-02 1.49611395e+02] [-3.73367995e-02 9.99302567e-01 -5.85108425e-04 -5.38310507e+00] [-1.10573936e-02 1.72345159e-04 9.99938850e-01 -2.65599529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters 0.01938416209773543 Centerline is valid? [True, True] Translation: X:149.64, Y:-5.39, Z:-2.66 [[ 9.99321921e-01 3.51610201e-02 1.09270633e-02 1.49641815e+02] [-3.51567908e-02 9.99381641e-01 -5.78952626e-04 -5.38630681e+00] [-1.09406631e-02 1.94399571e-04 9.99940130e-01 -2.65595229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234391418 meters 0.019962870561560802 Centerline is valid? [True, True] Translation: X:149.67, Y:-5.39, Z:-2.66 [[ 9.99389798e-01 3.30456491e-02 1.13144529e-02 1.49671839e+02] [-3.30409790e-02 9.99453818e-01 -5.99477828e-04 -5.38933074e+00] [-1.13280832e-02 2.25271426e-04 9.99935810e-01 -2.65638542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters 0.0203747075393308 Centerline is valid? [True, True] Translation: X:149.70, Y:-5.39, Z:-2.66 [[ 9.99460681e-01 3.08641320e-02 1.12139405e-02 1.49703323e+02] [-3.08594106e-02 9.99523559e-01 -5.93852150e-04 -5.39249537e+00] [-1.12269265e-02 2.47476278e-04 9.99936945e-01 -2.65629433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.294391418 meters 0.023042274787173522 Centerline is valid? [True, True] Translation: X:149.73, Y:-5.40, Z:-2.66 [[ 9.99542784e-01 2.77073910e-02 1.21047151e-02 1.49734376e+02] [-2.77016684e-02 9.99616030e-01 -6.40202559e-04 -5.40061081e+00] [-1.21178056e-02 3.04589044e-04 9.99926530e-01 -2.65664928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.324391418 meters 0.022785793413492374 Centerline is valid? [True, True] Translation: X:149.77, Y:-5.40, Z:-2.66 [[ 9.99560386e-01 2.68913096e-02 1.24856932e-02 1.49766232e+02] [-2.68851123e-02 9.99638310e-01 -6.63961268e-04 -5.40263899e+00] [-1.24990320e-02 3.27990118e-04 9.99921830e-01 -2.65644443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.354391418 meters 0.023634903737442023 Centerline is valid? [True, True] Translation: X:149.80, Y:-5.41, Z:-2.66 [[ 9.99571949e-01 2.61840319e-02 1.30505152e-02 1.49797067e+02] [-2.61771441e-02 9.99657076e-01 -6.98356544e-04 -5.40675144e+00] [-1.30643257e-02 3.56432394e-04 9.99914595e-01 -2.65655093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.384391418 meters 0.02372619297900267 Centerline is valid? [True, True] Translation: X:149.83, Y:-5.41, Z:-2.66 [[ 9.99561124e-01 2.66260776e-02 1.29850245e-02 1.49829577e+02] [-2.66192527e-02 9.99645401e-01 -6.98172947e-04 -5.40864811e+00] [-1.29990097e-02 3.52214886e-04 9.99915447e-01 -2.65723114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414391418 meters 0.023747510552447143 Centerline is valid? [True, True] Translation: X:149.86, Y:-5.41, Z:-2.66 [[ 9.99530464e-01 2.80080243e-02 1.24258291e-02 1.49860787e+02] [-2.80018274e-02 9.99607646e-01 -6.72442680e-04 -5.40937734e+00] [-1.24397875e-02 3.24181024e-04 9.99922570e-01 -2.65873368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444391418 meters 0.02316413947226243 Centerline is valid? [True, True] Translation: X:149.89, Y:-5.41, Z:-2.66 [[ 9.99486364e-01 2.95919424e-02 1.23014094e-02 1.49892692e+02] [-2.95859495e-02 9.99562016e-01 -6.68912067e-04 -5.40985445e+00] [-1.23158160e-02 3.04619614e-04 9.99924111e-01 -2.65922553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474391418 meters 0.022336863928030876 Centerline is valid? [True, True] Translation: X:149.93, Y:-5.41, Z:-2.66 [[ 9.99428233e-01 3.15576179e-02 1.21377069e-02 1.49925114e+02] [-3.15518862e-02 9.99501895e-01 -6.63468192e-04 -5.41004064e+00] [-1.21525985e-02 2.80121296e-04 9.99926115e-01 -2.65997968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504391418 meters 0.02163099909142402 Centerline is valid? [True, True] Translation: X:149.96, Y:-5.41, Z:-2.66 [[ 9.99357871e-01 3.36324020e-02 1.23574878e-02 1.49956053e+02] [-3.36265725e-02 9.99434236e-01 -6.79273895e-04 -5.40998201e+00] [-1.23733420e-02 2.63297755e-04 9.99923413e-01 -2.66054627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534391418 meters 0.01924714227149898 Centerline is valid? [True, True] Translation: X:149.99, Y:-5.41, Z:-2.66 [[ 9.99173440e-01 3.87782112e-02 1.21937623e-02 1.49986413e+02] [-3.87728616e-02 9.99247822e-01 -6.74898641e-04 -5.40565843e+00] [-1.22107618e-02 2.01553737e-04 9.99925426e-01 -2.66094943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564391418 meters 0.018842537053109915 Centerline is valid? [True, True] Translation: X:150.02, Y:-5.40, Z:-2.66 [[ 9.99049278e-01 4.18578703e-02 1.21843633e-02 1.50016999e+02] [-4.18527535e-02 9.99123562e-01 -6.74745415e-04 -5.40373976e+00] [-1.22019278e-02 1.64154768e-04 9.99925540e-01 -2.66183665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59439141800001 meters 0.01607416123117483 Centerline is valid? [True, True] Translation: X:150.05, Y:-5.40, Z:-2.66 [[ 9.98823854e-01 4.67068974e-02 1.30143649e-02 1.50046734e+02] [-4.67014735e-02 9.98908631e-01 -7.20527730e-04 -5.39958411e+00] [-1.30338150e-02 1.11890269e-04 9.99915050e-01 -2.66130476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62439141800002 meters 0.015605542015263886 Centerline is valid? [True, True] Translation: X:150.08, Y:-5.40, Z:-2.66 [[ 9.98750301e-01 4.83962273e-02 1.24756467e-02 1.50076903e+02] [-4.83913643e-02 9.98828212e-01 -6.91549656e-04 -5.39895504e+00] [-1.24944963e-02 8.69718631e-05 9.99921937e-01 -2.66253655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65439141800002 meters 0.01591013190367221 Centerline is valid? [True, True] Translation: X:150.11, Y:-5.40, Z:-2.66 [[ 9.98696303e-01 4.97217542e-02 1.15517159e-02 1.50106770e+02] [-4.97176780e-02 9.98763107e-01 -6.39944594e-04 -5.39839586e+00] [-1.15692468e-02 6.47858094e-05 9.99933072e-01 -2.66385091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68439141800002 meters 0.014995874073300781 Centerline is valid? [True, True] Translation: X:150.14, Y:-5.40, Z:-2.66 [[ 9.98680510e-01 5.01269846e-02 1.11590039e-02 1.50136453e+02] [-5.01232111e-02 9.98742851e-01 -6.17755471e-04 -5.39946876e+00] [-1.11759416e-02 5.76152411e-05 9.99937546e-01 -2.66411471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71439141800002 meters 0.014995874073300781 Centerline is valid? [True, True] Translation: X:150.17, Y:-5.40, Z:-2.66 [[ 9.98682699e-01 5.00833636e-02 1.11590309e-02 1.50165565e+02] [-5.00795927e-02 9.98745039e-01 -6.17267182e-04 -5.40103201e+00] [-1.11759416e-02 5.76143321e-05 9.99937546e-01 -2.66464048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters 0.015383578152278938 Centerline is valid? [True, True] Translation: X:150.19, Y:-5.40, Z:-2.67 [[ 9.98785648e-01 4.80930998e-02 1.06903258e-02 1.50194108e+02] [-4.80895281e-02 9.98842854e-01 -5.91060942e-04 -5.40481716e+00] [-1.07063814e-02 7.62504657e-05 9.99942682e-01 -2.66624489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774391418 meters 0.0166180800795192 Centerline is valid? [True, True] Translation: X:150.22, Y:-5.41, Z:-2.67 [[ 9.98904976e-01 4.57068686e-02 9.98658315e-03 1.50222069e+02] [-4.57036384e-02 9.98954890e-01 -5.51556246e-04 -5.41035228e+00] [-1.00013560e-02 9.45290933e-05 9.99949981e-01 -2.66817407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters 0.017763704725573197 Centerline is valid? [True, True] Translation: X:150.25, Y:-5.42, Z:-2.67 [[ 9.99192667e-01 3.87456301e-02 1.06202898e-02 1.50251776e+02] [-3.87415929e-02 9.99249091e-01 -5.85689386e-04 -5.41601382e+00] [-1.06350078e-02 1.73769596e-04 9.99943432e-01 -2.66596657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834391418 meters 0.019738356710628825 Centerline is valid? [True, True] Translation: X:150.28, Y:-5.42, Z:-2.67 [[ 9.99348029e-01 3.45926196e-02 1.03376474e-02 1.50280768e+02] [-3.45885786e-02 9.99401474e-01 -5.69494048e-04 -5.42180616e+00] [-1.03511603e-02 2.11558225e-04 9.99946403e-01 -2.66636164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters 0.02182916424386246 Centerline is valid? [True, True] Translation: X:150.31, Y:-5.43, Z:-2.67 [[ 9.99479248e-01 3.05639363e-02 1.03479189e-02 1.50311187e+02] [-3.05596771e-02 9.99532782e-01 -5.69501482e-04 -5.42782524e+00] [-1.03604904e-02 2.52975852e-04 9.99946297e-01 -2.66684884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894391418 meters 0.025162120831293957 Centerline is valid? [True, True] Translation: X:150.34, Y:-5.44, Z:-2.67 [[ 9.99667824e-01 2.33684176e-02 1.08701009e-02 1.50341685e+02] [-2.33632899e-02 9.99726862e-01 -5.98491014e-04 -5.43681245e+00] [-1.08811176e-02 3.44330892e-04 9.99940740e-01 -2.66657581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters 0.026911064368023895 Centerline is valid? [True, True] Translation: X:150.37, Y:-5.44, Z:-2.67 [[ 9.99724877e-01 2.04521353e-02 1.14838934e-02 1.50373189e+02] [-2.04462362e-02 9.99790755e-01 -6.30873400e-04 -5.44168753e+00] [-1.14943931e-02 3.95897436e-04 9.99933859e-01 -2.66650646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954391418 meters 0.028835919502679677 Centerline is valid? [True, True] Translation: X:150.41, Y:-5.45, Z:-2.67 [[ 9.99770028e-01 1.78372463e-02 1.19047760e-02 1.50405324e+02] [-1.78306656e-02 9.99840804e-01 -6.58698624e-04 -5.44654392e+00] [-1.19146302e-02 4.46277061e-04 9.99928919e-01 -2.66695950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters 0.028988027371990906 Centerline is valid? [True, True] Translation: X:150.44, Y:-5.45, Z:-2.67 [[ 9.99813028e-01 1.52033269e-02 1.19485795e-02 1.50437193e+02] [-1.51964978e-02 9.99884307e-01 -6.62132001e-04 -5.44891845e+00] [-1.19572637e-02 4.80431639e-04 9.99928394e-01 -2.66698867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014391418 meters 0.03109637876587018 Centerline is valid? [True, True] Translation: X:150.47, Y:-5.45, Z:-2.67 [[ 9.99821418e-01 1.50654282e-02 1.14089883e-02 1.50468549e+02] [-1.50591969e-02 9.99886404e-01 -6.31887942e-04 -5.45335880e+00] [-1.14172119e-02 4.59964897e-04 9.99934716e-01 -2.66848224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.044391418 meters 0.031133505672870796 Centerline is valid? [True, True] Translation: X:150.50, Y:-5.46, Z:-2.67 [[ 9.99807438e-01 1.60228571e-02 1.13293963e-02 1.50499259e+02] [-1.60167373e-02 9.99871525e-01 -6.30700891e-04 -5.45502815e+00] [-1.13380464e-02 4.49119477e-04 9.99935621e-01 -2.66932735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.074391418 meters 0.028040898849851437 Centerline is valid? [True, True] Translation: X:150.53, Y:-5.45, Z:-2.67 [[ 9.99765942e-01 1.84357980e-02 1.13217910e-02 1.50531791e+02] [-1.84298087e-02 9.99829956e-01 -6.33121291e-04 -5.45141182e+00] [-1.13315379e-02 4.24314661e-04 9.99935706e-01 -2.66964051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.104391418 meters 0.026611126589412743 Centerline is valid? [True, True] Translation: X:150.56, Y:-5.45, Z:-2.67 [[ 9.99721990e-01 2.07922406e-02 1.11186757e-02 1.50563718e+02] [-2.07865732e-02 9.99783740e-01 -6.25048280e-04 -5.45040609e+00] [-1.11292673e-02 3.93755344e-04 9.99937990e-01 -2.67004069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.134391418 meters 0.027129463450747678 Centerline is valid? [True, True] Translation: X:150.59, Y:-5.45, Z:-2.67 [[ 9.99663664e-01 2.33064416e-02 1.13740654e-02 1.50594984e+02] [-2.33006301e-02 9.99728297e-01 -6.43209324e-04 -5.45179548e+00] [-1.13859660e-02 3.77970098e-04 9.99935106e-01 -2.67127571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164391418 meters 0.024926603443824285 Centerline is valid? [True, True] Translation: X:150.63, Y:-5.45, Z:-2.67 [[ 9.99593673e-01 2.62832984e-02 1.10307129e-02 1.50627408e+02] [-2.62779821e-02 9.99654478e-01 -6.26639174e-04 -5.44941936e+00] [-1.10433717e-02 3.36519678e-04 9.99938963e-01 -2.67166652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194391418 meters 0.021642332961775482 Centerline is valid? [True, True] Translation: X:150.66, Y:-5.44, Z:-2.67 [[ 9.99435315e-01 3.16308532e-02 1.13375305e-02 1.50658978e+02] [-3.16255209e-02 9.99499577e-01 -6.49342902e-04 -5.44371246e+00] [-1.13523962e-02 2.90420918e-04 9.99935517e-01 -2.67188866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224391418 meters 0.020636480330465515 Centerline is valid? [True, True] Translation: X:150.69, Y:-5.44, Z:-2.67 [[ 9.99342669e-01 3.43739945e-02 1.15177714e-02 1.50690404e+02] [-3.43686672e-02 9.99409005e-01 -6.60196194e-04 -5.44293036e+00] [-1.15336580e-02 2.63911775e-04 9.99933450e-01 -2.67275554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254391418 meters 0.018670817454560965 Centerline is valid? [True, True] Translation: X:150.72, Y:-5.44, Z:-2.67 [[ 9.99144035e-01 3.97223267e-02 1.15470645e-02 1.50720715e+02] [-3.97173201e-02 9.99210736e-01 -6.62665968e-04 -5.43860707e+00] [-1.15642734e-02 2.03480292e-04 9.99933111e-01 -2.67403650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284391418 meters 0.018161698074031132 Centerline is valid? [True, True] Translation: X:150.75, Y:-5.44, Z:-2.68 [[ 9.99037747e-01 4.23571680e-02 1.13776540e-02 1.50750141e+02] [-4.23524764e-02 9.99102518e-01 -6.53085001e-04 -5.43786845e+00] [-1.13951056e-02 1.70584745e-04 9.99935059e-01 -2.67518439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314391418 meters 0.01650675033763338 Centerline is valid? [True, True] Translation: X:150.78, Y:-5.43, Z:-2.68 [[ 9.98930913e-01 4.48248581e-02 1.13032099e-02 1.50779616e+02] [-4.48203866e-02 9.98994851e-01 -6.48730287e-04 -5.43441873e+00] [-1.13209277e-02 1.41422501e-04 9.99935906e-01 -2.67532049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34439141800001 meters 0.016084703597068786 Centerline is valid? [True, True] Translation: X:150.81, Y:-5.43, Z:-2.68 [[ 9.98819526e-01 4.72442718e-02 1.12930305e-02 1.50808196e+02] [-4.72399688e-02 9.98883360e-01 -6.47626010e-04 -5.43332524e+00] [-1.13110169e-02 1.13379096e-04 9.99936022e-01 -2.67621364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37439141800002 meters 0.015218634728896235 Centerline is valid? [True, True] Translation: X:150.84, Y:-5.43, Z:-2.68 [[ 9.98604821e-01 5.16244502e-02 1.11053155e-02 1.50838036e+02] [-5.16205649e-02 9.98666567e-01 -6.36412885e-04 -5.42937040e+00] [-1.11233618e-02 6.22623143e-05 9.99938132e-01 -2.67725349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40439141800002 meters 0.015024954186326666 Centerline is valid? [True, True] Translation: X:150.87, Y:-5.43, Z:-2.68 [[ 9.98532312e-01 5.30224323e-02 1.10382454e-02 1.50866820e+02] [-5.30186828e-02 9.98593320e-01 -6.32235922e-04 -5.42922727e+00] [-1.10562408e-02 4.60747641e-05 9.99938877e-01 -2.67821220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43439141800002 meters 0.014842180072957041 Centerline is valid? [True, True] Translation: X:150.90, Y:-5.43, Z:-2.68 [[ 9.98407195e-01 5.52372744e-02 1.14855339e-02 1.50895476e+02] [-5.52333691e-02 9.98473256e-01 -6.57187703e-04 -5.42836212e+00] [-1.15042997e-02 2.17561991e-05 9.99933823e-01 -2.67841435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46439141800002 meters 0.014795352802767236 Centerline is valid? [True, True] Translation: X:150.92, Y:-5.43, Z:-2.68 [[ 9.98377182e-01 5.56707695e-02 1.19903604e-02 1.50923896e+02] [-5.56665579e-02 9.98449180e-01 -6.84960498e-04 -5.42937794e+00] [-1.20098978e-02 1.63868383e-05 9.99927878e-01 -2.67842858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494391418 meters 0.014778676156261866 Centerline is valid? [True, True] Translation: X:150.95, Y:-5.43, Z:-2.68 [[ 9.98349368e-01 5.61498373e-02 1.20721193e-02 1.50952757e+02] [-5.61456160e-02 9.98422353e-01 -6.88568538e-04 -5.43039390e+00] [-1.20917367e-02 9.63539196e-06 9.99926892e-01 -2.67885966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters 0.014808968233486172 Centerline is valid? [True, True] Translation: X:150.98, Y:-5.43, Z:-2.68 [[ 9.98331196e-01 5.63693121e-02 1.25428407e-02 1.50980742e+02] [-5.63647854e-02 9.98409986e-01 -7.14390785e-04 -5.43177666e+00] [-1.25631671e-02 6.22408271e-06 9.99921080e-01 -2.67908181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554391418 meters 0.01476374919749635 Centerline is valid? [True, True] Translation: X:151.01, Y:-5.43, Z:-2.68 [[ 9.98314888e-01 5.65294489e-02 1.31074973e-02 1.51009963e+02] [-5.65245403e-02 9.98400932e-01 -7.44950995e-04 -5.43368937e+00] [-1.31286492e-02 2.80040905e-06 9.99913816e-01 -2.67904711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters 0.014852721264515176 Centerline is valid? [True, True] Translation: X:151.04, Y:-5.44, Z:-2.68 [[ 9.98314532e-01 5.64335717e-02 1.35405797e-02 1.51038824e+02] [-5.64283404e-02 9.98406356e-01 -7.68392295e-04 -5.43609243e+00] [-1.35623640e-02 3.02475161e-06 9.99908027e-01 -2.67911151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614391418 meters 0.014655828208905094 Centerline is valid? [True, True] Translation: X:151.07, Y:-5.44, Z:-2.68 [[ 9.98293678e-01 5.66155219e-02 1.42974041e-02 1.51067047e+02] [-5.66097269e-02 9.98396055e-01 -8.10026025e-04 -5.43894199e+00] [-1.43203319e-02 -7.28282663e-07 9.99897459e-01 -2.67893968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters 0.014738119702370416 Centerline is valid? [True, True] Translation: X:151.10, Y:-5.44, Z:-2.68 [[ 9.98293181e-01 5.66506026e-02 1.41927683e-02 1.51096531e+02] [-5.66449148e-02 9.98394065e-01 -8.02745513e-04 -5.44123893e+00] [-1.42154517e-02 -2.57278246e-06 9.99898955e-01 -2.67960092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674391418 meters 0.014741566923837261 Centerline is valid? [True, True] Translation: X:151.13, Y:-5.44, Z:-2.68 [[ 9.98251623e-01 5.75894836e-02 1.33096868e-02 1.51125913e+02] [-5.75845721e-02 9.98340348e-01 -7.52273811e-04 -5.44430318e+00] [-1.33309205e-02 -1.54740688e-05 9.99911139e-01 -2.68091053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters 0.014803622673891681 Centerline is valid? [True, True] Translation: X:151.15, Y:-5.45, Z:-2.68 [[ 9.98228306e-01 5.80975550e-02 1.28422239e-02 1.51154483e+02] [-5.80930299e-02 9.98310910e-01 -7.25427815e-04 -5.44637592e+00] [-1.28626779e-02 -2.19011205e-05 9.99917272e-01 -2.68221677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734391418 meters 0.01472623873876885 Centerline is valid? [True, True] Translation: X:151.18, Y:-5.45, Z:-2.68 [[ 9.98198586e-01 5.86124603e-02 1.28125910e-02 1.51182708e+02] [-5.86080077e-02 9.98280812e-01 -7.23040061e-04 -5.44904705e+00] [-1.28329429e-02 -2.91828662e-05 9.99917654e-01 -2.68224539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764391418 meters 0.014837665676119173 Centerline is valid? [True, True] Translation: X:151.21, Y:-5.45, Z:-2.68 [[ 9.98101212e-01 6.01625188e-02 1.32076193e-02 1.51210071e+02] [-6.01579378e-02 9.98188594e-01 -7.44219425e-04 -5.45242975e+00] [-1.32284690e-02 -5.17368277e-05 9.99912499e-01 -2.68238281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.794391418 meters 0.015052024200742186 Centerline is valid? [True, True] Translation: X:151.24, Y:-5.45, Z:-2.68 [[ 9.98027012e-01 6.13431536e-02 1.33828702e-02 1.51237871e+02] [-6.13385764e-02 9.98116733e-01 -7.52602389e-04 -5.45430835e+00] [-1.34038337e-02 -6.97686922e-05 9.99910162e-01 -2.68281893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.824391418 meters 0.015415184324731209 Centerline is valid? [True, True] Translation: X:151.27, Y:-5.46, Z:-2.68 [[ 9.97951231e-01 6.25550871e-02 1.34239297e-02 1.51265720e+02] [-6.25506108e-02 9.98041509e-01 -7.53465072e-04 -5.45555327e+00] [-1.34447721e-02 -8.77536076e-05 9.99909611e-01 -2.68311601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.854391418 meters 0.01601863839631159 Centerline is valid? [True, True] Translation: X:151.29, Y:-5.46, Z:-2.68 [[ 9.97770210e-01 6.53216006e-02 1.37002230e-02 1.51294542e+02] [-6.53172218e-02 9.97864255e-01 -7.67299005e-04 -5.45767275e+00] [-1.37210840e-02 -1.29272415e-04 9.99905853e-01 -2.68297240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.884391418 meters 0.016495150103765954 Centerline is valid? [True, True] Translation: X:151.32, Y:-5.46, Z:-2.68 [[ 9.97668808e-01 6.68404821e-02 1.37585959e-02 1.51323462e+02] [-6.68362262e-02 9.97763663e-01 -7.69411867e-04 -5.45943594e+00] [-1.37792549e-02 -1.51954409e-04 9.99905050e-01 -2.68372953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914391418 meters 0.016953924380976086 Centerline is valid? [True, True] Translation: X:151.35, Y:-5.46, Z:-2.68 [[ 9.97492181e-01 6.95154605e-02 1.33022365e-02 1.51352360e+02] [-6.95117339e-02 9.97580857e-01 -7.42853148e-04 -5.46460903e+00] [-1.33216963e-02 -1.83671320e-04 9.99911245e-01 -2.68472489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944391418 meters 0.018266550309959145 Centerline is valid? [True, True] Translation: X:151.38, Y:-5.47, Z:-2.69 [[ 9.97442613e-01 7.03302911e-02 1.27233613e-02 1.51379959e+02] [-7.03269602e-02 9.97523742e-01 -7.09580605e-04 -5.46632165e+00] [-1.27417600e-02 -1.87029392e-04 9.99918803e-01 -2.68677058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974391418 meters 0.018463674295401394 Centerline is valid? [True, True] Translation: X:151.41, Y:-5.47, Z:-2.69 [[ 9.97425694e-01 7.06356706e-02 1.23526293e-02 1.51409050e+02] [-7.06325724e-02 9.97502164e-01 -6.87440259e-04 -5.47030000e+00] [-1.23703323e-02 -1.86827407e-04 9.99923467e-01 -2.68798943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004391418 meters 0.017714510548553553 Centerline is valid? [True, True] Translation: X:151.44, Y:-5.48, Z:-2.69 [[ 9.97445788e-01 7.04627998e-02 1.17001684e-02 1.51437873e+02] [-7.04600183e-02 9.97514392e-01 -6.50287106e-04 -5.47613673e+00] [-1.17169074e-02 -1.75767943e-04 9.99931339e-01 -2.68834992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034391418 meters 0.018531579614511115 Centerline is valid? [True, True] Translation: X:151.47, Y:-5.48, Z:-2.69 [[ 9.97501516e-01 6.97611969e-02 1.11400350e-02 1.51465249e+02] [-6.97586400e-02 9.97563707e-01 -6.18400516e-04 -5.47902892e+00] [-1.11560350e-02 -1.60258237e-04 9.99937757e-01 -2.69001746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064391418 meters 0.01711087828642739 Centerline is valid? [True, True] Translation: X:151.49, Y:-5.49, Z:-2.69 [[ 9.97633430e-01 6.78369281e-02 1.12111737e-02 1.51493179e+02] [-6.78342325e-02 9.97696412e-01 -6.20965735e-04 -5.48990385e+00] [-1.12274722e-02 -1.41005184e-04 9.99936960e-01 -2.68986941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09439141800001 meters 0.016599065099366574 Centerline is valid? [True, True] Translation: X:151.52, Y:-5.50, Z:-2.69 [[ 9.97717601e-01 6.66114406e-02 1.10681685e-02 1.51522035e+02] [-6.66087481e-02 9.97778984e-01 -6.12127256e-04 -5.49589377e+00] [-1.10843606e-02 -1.26506711e-04 9.99938559e-01 -2.68980777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12439141800002 meters 0.015957185373124565 Centerline is valid? [True, True] Translation: X:151.55, Y:-5.51, Z:-2.69 [[ 9.97845461e-01 6.45430223e-02 1.17743388e-02 1.51549172e+02] [-6.45398428e-02 9.97914919e-01 -6.50199941e-04 -5.50641805e+00] [-1.17917542e-02 -1.11114913e-04 9.99930469e-01 -2.68961348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15439141800002 meters 0.015566845458065364 Centerline is valid? [True, True] Translation: X:151.58, Y:-5.51, Z:-2.69 [[ 9.97882060e-01 6.39837133e-02 1.17251485e-02 1.51578721e+02] [-6.39805408e-02 9.97950937e-01 -6.45861355e-04 -5.51279012e+00] [-1.17424475e-02 -1.05687882e-04 9.99931050e-01 -2.68973549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18439141800002 meters 0.015731680239362986 Centerline is valid? [True, True] Translation: X:151.61, Y:-5.52, Z:-2.69 [[ 9.97895531e-01 6.38283646e-02 1.14214731e-02 1.51607485e+02] [-6.38253493e-02 9.97960886e-01 -6.28683368e-04 -5.51800791e+00] [-1.14383113e-02 -1.01619188e-04 9.99934575e-01 -2.69043219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21439141800002 meters 0.016175160985498156 Centerline is valid? [True, True] Translation: X:151.64, Y:-5.53, Z:-2.69 [[ 9.97832172e-01 6.48873169e-02 1.09814331e-02 1.51635652e+02] [-6.48845978e-02 9.97892591e-01 -6.04070499e-04 -5.52533328e+00] [-1.09974873e-02 -1.09764895e-04 9.99939520e-01 -2.69175454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters 0.016469947036213115 Centerline is valid? [True, True] Translation: X:151.67, Y:-5.53, Z:-2.69 [[ 9.97791935e-01 6.55631426e-02 1.06173500e-02 1.51665608e+02] [-6.55606477e-02 9.97848416e-01 -5.83239612e-04 -5.52940321e+00] [-1.06327449e-02 -1.14128562e-04 9.99943464e-01 -2.69257391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274391418 meters 0.01683420317773597 Centerline is valid? [True, True] Translation: X:151.70, Y:-5.53, Z:-2.69 [[ 9.97733946e-01 6.65353115e-02 1.00012565e-02 1.51695214e+02] [-6.65331503e-02 9.97784064e-01 -5.49016792e-04 -5.53350347e+00] [-1.00156233e-02 -1.17642409e-04 9.99949835e-01 -2.69347275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters 0.016967842585893372 Centerline is valid? [True, True] Translation: X:151.72, Y:-5.54, Z:-2.69 [[ 9.97676147e-01 6.73789082e-02 1.01186811e-02 1.51724454e+02] [-6.73767438e-02 9.97727451e-01 -5.55032236e-04 -5.54187101e+00] [-1.01330833e-02 -1.28021358e-04 9.99948651e-01 -2.69362654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334391418 meters 0.017105285920845707 Centerline is valid? [True, True] Translation: X:151.75, Y:-5.55, Z:-2.69 [[ 9.97717629e-01 6.68240557e-02 9.69942732e-03 1.51752987e+02] [-6.68220428e-02 9.97764768e-01 -5.31823208e-04 -5.54707651e+00] [-9.71328543e-03 -1.17526157e-04 9.99952818e-01 -2.69405367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters 0.01671387540597274 Centerline is valid? [True, True] Translation: X:151.78, Y:-5.55, Z:-2.69 [[ 9.97805296e-01 6.54957014e-02 9.74187707e-03 1.51781589e+02] [-6.54936137e-02 9.97852846e-01 -5.33509658e-04 -5.55363953e+00] [-9.75590235e-03 -1.05691972e-04 9.99952404e-01 -2.69414553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394391418 meters 0.014993957048102585 Centerline is valid? [True, True] Translation: X:151.81, Y:-5.57, Z:-2.69 [[ 9.98150198e-01 5.99973496e-02 9.82347621e-03 1.51811513e+02] [-5.99949717e-02 9.98198535e-01 -5.36835768e-04 -5.56891406e+00] [-9.83798828e-03 -5.35164490e-05 9.99951604e-01 -2.69274224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters 0.014636285240019769 Centerline is valid? [True, True] Translation: X:151.84, Y:-5.58, Z:-2.69 [[ 9.98345743e-01 5.66746964e-02 9.68280021e-03 1.51841378e+02] [-5.66722315e-02 9.98392697e-01 -5.28971608e-04 -5.57767691e+00] [-9.69721632e-03 -2.06493427e-05 9.99952981e-01 -2.69306828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454391418 meters 0.014597410739191493 Centerline is valid? [True, True] Translation: X:151.87, Y:-5.59, Z:-2.69 [[ 9.98576811e-01 5.24840265e-02 9.47515440e-03 1.51872132e+02] [-5.24814776e-02 9.98621764e-01 -5.17620047e-04 -5.58680530e+00] [-9.48926218e-03 1.96132720e-05 9.99954976e-01 -2.69220890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters 0.015109179209903486 Centerline is valid? [True, True] Translation: X:151.90, Y:-5.60, Z:-2.69 [[ 9.98754631e-01 4.89006527e-02 9.89515661e-03 1.51903342e+02] [-4.88977029e-02 9.98803646e-01 -5.39968791e-04 -5.59601319e+00] [-9.90972333e-03 5.54459022e-05 9.99950896e-01 -2.69250800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514391418 meters 0.01756078039041674 Centerline is valid? [True, True] Translation: X:151.93, Y:-5.61, Z:-2.69 [[ 9.99065765e-01 4.19214743e-02 1.04969772e-02 1.51933220e+02] [-4.19177457e-02 9.99120900e-01 -5.75066759e-04 -5.61214375e+00] [-1.05118570e-02 1.34519890e-04 9.99944740e-01 -2.69272590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.544391418 meters 0.018717404335691988 Centerline is valid? [True, True] Translation: X:151.96, Y:-5.62, Z:-2.69 [[ 9.99162395e-01 3.95956647e-02 1.03291550e-02 1.51964742e+02] [-3.95919257e-02 9.99215772e-01 -5.66293921e-04 -5.61988642e+00] [-1.03434773e-02 1.56868454e-04 9.99946493e-01 -2.69337437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.574391418 meters 0.019997664014123586 Centerline is valid? [True, True] Translation: X:152.00, Y:-5.63, Z:-2.69 [[ 9.99340454e-01 3.51956788e-02 8.93991702e-03 1.51996632e+02] [-3.51926860e-02 9.99380425e-01 -4.91916927e-04 -5.62989853e+00] [-8.95169141e-03 1.76972793e-04 9.99959917e-01 -2.69448701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.604391418 meters 0.021317666111602494 Centerline is valid? [True, True] Translation: X:152.03, Y:-5.64, Z:-2.70 [[ 9.99402463e-01 3.34711514e-02 8.62553311e-03 1.52027398e+02] [-3.34682784e-02 9.99439666e-01 -4.77254378e-04 -5.63679078e+00] [-8.63667419e-03 1.88287457e-04 9.99962686e-01 -2.69615607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.634391418 meters 0.021317666111602494 Centerline is valid? [True, True] Translation: X:152.06, Y:-5.64, Z:-2.70 [[ 9.99390718e-01 3.38200303e-02 8.62543081e-03 1.52059863e+02] [-3.38171544e-02 9.99427922e-01 -4.79093849e-04 -5.63882402e+00] [-8.63669936e-03 1.87114420e-04 9.99962686e-01 -2.69674248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664391418 meters 0.02634841090551473 Centerline is valid? [True, True] Translation: X:152.09, Y:-5.65, Z:-2.70 [[ 9.99529946e-01 2.98272316e-02 7.08682686e-03 1.52089624e+02] [-2.98251565e-02 9.99555052e-01 -3.98335387e-04 -5.65294454e+00] [-7.09555483e-03 1.86782428e-04 9.99974809e-01 -2.69996015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694391418 meters 0.024326050000466694 Centerline is valid? [True, True] Translation: X:152.12, Y:-5.65, Z:-2.70 [[ 9.99576067e-01 2.82868298e-02 6.89507129e-03 1.52121855e+02] [-2.82848471e-02 9.99599830e-01 -3.84912525e-04 -5.65392908e+00] [-6.90320005e-03 1.89723311e-04 9.99976155e-01 -2.69881244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724391418 meters 0.026126102657026227 Centerline is valid? [True, True] Translation: X:152.15, Y:-5.66, Z:-2.70 [[ 9.99614938e-01 2.68628410e-02 6.95440932e-03 1.52152621e+02] [-2.68607725e-02 9.99639108e-01 -3.90683858e-04 -5.65975059e+00] [-6.96239441e-03 2.03732614e-04 9.99975741e-01 -2.69932514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754391418 meters 0.02751650428603684 Centerline is valid? [True, True] Translation: X:152.18, Y:-5.67, Z:-2.70 [[ 9.99683636e-01 2.41390492e-02 7.06647474e-03 1.52184028e+02] [-2.41368306e-02 9.99708585e-01 -3.99095632e-04 -5.66583736e+00] [-7.07404925e-03 2.28407069e-04 9.99974953e-01 -2.69969155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784391418 meters 0.028947894315658276 Centerline is valid? [True, True] Translation: X:152.22, Y:-5.67, Z:-2.70 [[ 9.99713571e-01 2.27883243e-02 7.31225822e-03 1.52215356e+02] [-2.27858961e-02 9.99740282e-01 -4.15221434e-04 -5.67022178e+00] [-7.31982129e-03 2.48486146e-04 9.99973179e-01 -2.70006866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814391418 meters 0.030123192634950457 Centerline is valid? [True, True] Translation: X:152.25, Y:-5.67, Z:-2.70 [[ 9.99737868e-01 2.15674029e-02 7.68395376e-03 1.52247300e+02] [-2.15646689e-02 9.99767359e-01 -4.38485158e-04 -5.67406385e+00] [-7.69162314e-03 2.72668298e-04 9.99970382e-01 -2.70044020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84439141800001 meters 0.031511635552060234 Centerline is valid? [True, True] Translation: X:152.28, Y:-5.68, Z:-2.70 [[ 9.99763290e-01 2.00867741e-02 8.35979795e-03 1.52279168e+02] [-2.00834617e-02 9.99798192e-01 -4.80005355e-04 -5.67805723e+00] [-8.36775263e-03 3.11998051e-04 9.99964941e-01 -2.70083346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87439141800002 meters 0.03422291902803373 Centerline is valid? [True, True] Translation: X:152.31, Y:-5.68, Z:-2.70 [[ 9.99812428e-01 1.68422416e-02 9.56287321e-03 1.52309934e+02] [-1.68377228e-02 9.99858083e-01 -5.52851171e-04 -5.68340434e+00] [-9.57082733e-03 3.91730463e-04 9.99954122e-01 -2.70110640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90439141800002 meters 0.03702443752163136 Centerline is valid? [True, True] Translation: X:152.34, Y:-5.69, Z:-2.70 [[ 9.99848537e-01 1.42779620e-02 9.95202222e-03 1.52341150e+02] [-1.42729121e-02 9.99897970e-01 -5.78268489e-04 -5.68758601e+00] [-9.95926331e-03 4.36136565e-04 9.99950310e-01 -2.70231285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93439141800002 meters 0.036750418816382927 Centerline is valid? [True, True] Translation: X:152.37, Y:-5.69, Z:-2.70 [[ 9.99852979e-01 1.41574353e-02 9.67402081e-03 1.52373418e+02] [-1.41526362e-02 9.99899687e-01 -5.64363301e-04 -5.68789984e+00] [-9.68104032e-03 4.27367431e-04 9.99953046e-01 -2.70294363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96439141800002 meters 0.03724015731755499 Centerline is valid? [True, True] Translation: X:152.40, Y:-5.69, Z:-2.70 [[ 9.99842998e-01 1.46311915e-02 9.99541360e-03 1.52404966e+02] [-1.46260595e-02 9.99892862e-01 -5.86339478e-04 -5.68859404e+00] [-1.00029216e-02 4.40053907e-04 9.99949873e-01 -2.70358323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994391418 meters 0.03616576223167205 Centerline is valid? [True, True] Translation: X:152.44, Y:-5.69, Z:-2.70 [[ 9.99826486e-01 1.55148678e-02 1.03095799e-02 1.52437560e+02] [-1.55094273e-02 9.99879537e-01 -6.07456415e-04 -5.68716916e+00] [-1.03177626e-02 4.47455332e-04 9.99946670e-01 -2.70364753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters 0.035643869758210246 Centerline is valid? [True, True] Translation: X:152.47, Y:-5.68, Z:-2.70 [[ 9.99763717e-01 1.86492524e-02 1.11675855e-02 1.52467950e+02] [-1.86430032e-02 9.99825984e-01 -6.63429066e-04 -5.68366755e+00] [-1.11780146e-02 4.55074976e-04 9.99937420e-01 -2.70320545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054391418 meters 0.03455987973512277 Centerline is valid? [True, True] Translation: X:152.50, Y:-5.68, Z:-2.70 [[ 9.99713721e-01 2.08412901e-02 1.17522974e-02 1.52500664e+02] [-2.08345363e-02 9.99782695e-01 -6.96829703e-04 -5.68137212e+00] [-1.17642664e-02 4.51776549e-04 9.99930697e-01 -2.70297137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters 0.03284152265845261 Centerline is valid? [True, True] Translation: X:152.53, Y:-5.68, Z:-2.70 [[ 9.99654288e-01 2.31886454e-02 1.23932161e-02 1.52533035e+02] [-2.31812693e-02 9.99731006e-01 -7.38508070e-04 -5.67833700e+00] [-1.24070074e-02 4.50962278e-04 9.99922928e-01 -2.70276862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114391418 meters 0.03100403011166027 Centerline is valid? [True, True] Translation: X:152.56, Y:-5.67, Z:-2.70 [[ 9.99535663e-01 2.74995860e-02 1.31237122e-02 1.52563628e+02] [-2.74916237e-02 9.99621724e-01 -7.86768523e-04 -5.67282570e+00] [-1.31403836e-02 4.25611041e-04 9.99913571e-01 -2.70310805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters 0.028932360490120212 Centerline is valid? [True, True] Translation: X:152.60, Y:-5.67, Z:-2.70 [[ 9.99460310e-01 2.99366253e-02 1.35236158e-02 1.52596296e+02] [-2.99283797e-02 9.99551716e-01 -8.11727081e-04 -5.66949900e+00] [-1.35418537e-02 4.06549091e-04 9.99908222e-01 -2.70382512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174391418 meters 0.027902007272966642 Centerline is valid? [True, True] Translation: X:152.63, Y:-5.67, Z:-2.70 [[ 9.99393380e-01 3.20599135e-02 1.36026972e-02 1.52628563e+02] [-3.20517166e-02 9.99485875e-01 -8.20226450e-04 -5.66703248e+00] [-1.36220001e-02 3.83739090e-04 9.99907143e-01 -2.70489471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters 0.022257041807623057 Centerline is valid? [True, True] Translation: X:152.66, Y:-5.65, Z:-2.71 [[ 9.99265423e-01 3.58187824e-02 1.36246146e-02 1.52661871e+02] [-3.58108599e-02 9.99358245e-01 -8.25090308e-04 -5.65471720e+00] [-1.36454246e-02 3.36575052e-04 9.99906840e-01 -2.70544563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234391418 meters 0.02168794159077954 Centerline is valid? [True, True] Translation: X:152.69, Y:-5.65, Z:-2.71 [[ 9.99201967e-01 3.76848888e-02 1.32392664e-02 1.52693059e+02] [-3.76775184e-02 9.99289625e-01 -8.05776781e-04 -5.65317381e+00] [-1.32602272e-02 3.06311041e-04 9.99912032e-01 -2.70691347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264391418 meters 0.02366604622197303 Centerline is valid? [True, True] Translation: X:152.72, Y:-5.66, Z:-2.71 [[ 9.99118938e-01 3.99637871e-02 1.28157295e-02 1.52724158e+02] [-3.99570235e-02 9.99201092e-01 -7.83475279e-04 -5.65556110e+00] [-1.28368016e-02 2.70706583e-04 9.99917568e-01 -2.70930622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.294391418 meters 0.021118988779153858 Centerline is valid? [True, True] Translation: X:152.76, Y:-5.65, Z:-2.71 [[ 9.98940415e-01 4.43876064e-02 1.21568006e-02 1.52755667e+02] [-4.43818072e-02 9.99014363e-01 -7.46530677e-04 -5.64870795e+00] [-1.21779551e-02 2.06198885e-04 9.99925825e-01 -2.71079855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.324391418 meters 0.018125486785616932 Centerline is valid? [True, True] Translation: X:152.79, Y:-5.64, Z:-2.71 [[ 9.98832649e-01 4.66829407e-02 1.24113550e-02 1.52787991e+02] [-4.66770380e-02 9.98909740e-01 -7.64994835e-04 -5.64346143e+00] [-1.24335356e-02 1.84776527e-04 9.99922684e-01 -2.71037652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.354391418 meters 0.017234470016589273 Centerline is valid? [True, True] Translation: X:152.82, Y:-5.64, Z:-2.71 [[ 9.98718317e-01 4.89309976e-02 1.29414703e-02 1.52820211e+02] [-4.89247162e-02 9.98802147e-01 -8.01706303e-04 -5.64169555e+00] [-1.29651966e-02 1.67521007e-04 9.99915934e-01 -2.71061560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.384391418 meters 0.015932399663736427 Centerline is valid? [True, True] Translation: X:152.85, Y:-5.64, Z:-2.71 [[ 9.98520303e-01 5.25944787e-02 1.38211854e-02 1.52852786e+02] [-5.25876034e-02 9.98615944e-01 -8.60656457e-04 -5.63654054e+00] [-1.38473219e-02 1.32559930e-04 9.99904112e-01 -2.71014107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414391418 meters 0.015399565049189344 Centerline is valid? [True, True] Translation: X:152.89, Y:-5.64, Z:-2.71 [[ 9.98399741e-01 5.44782416e-02 1.51683511e-02 1.52885356e+02] [-5.44701015e-02 9.98514950e-01 -9.49575093e-04 -5.63529424e+00] [-1.51975566e-02 1.21833900e-04 9.99884503e-01 -2.70992954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444391418 meters 0.015158153726645012 Centerline is valid? [True, True] Translation: X:152.92, Y:-5.64, Z:-2.71 [[ 9.98310002e-01 5.58735304e-02 1.59777517e-02 1.52918026e+02] [-5.58645960e-02 9.98437848e-01 -1.00530621e-03 -5.63508737e+00] [-1.60089620e-02 1.11016606e-04 9.99871842e-01 -2.71010796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474391418 meters 0.014997914751261438 Centerline is valid? [True, True] Translation: X:152.95, Y:-5.64, Z:-2.71 [[ 9.98233292e-01 5.71167229e-02 1.63699041e-02 1.52950461e+02] [-5.71074299e-02 9.98367503e-01 -1.03496409e-03 -5.63555281e+00] [-1.64022941e-02 9.82924557e-05 9.99865468e-01 -2.71053596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504391418 meters 0.014877061088406465 Centerline is valid? [True, True] Translation: X:152.98, Y:-5.64, Z:-2.71 [[ 9.98191213e-01 5.78037520e-02 1.65235490e-02 1.52982983e+02] [-5.77942893e-02 9.98327961e-01 -1.05002253e-03 -5.63617028e+00] [-1.65566163e-02 9.31564943e-05 9.99862925e-01 -2.71225435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534391418 meters 0.014987288253826284 Centerline is valid? [True, True] Translation: X:153.02, Y:-5.64, Z:-2.71 [[ 9.98215397e-01 5.74925549e-02 1.61439760e-02 1.53015318e+02] [-5.74834075e-02 9.98345930e-01 -1.03045819e-03 -5.63804756e+00] [-1.61765164e-02 1.00608474e-04 9.99869147e-01 -2.71340080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564391418 meters 0.01554595370987889 Centerline is valid? [True, True] Translation: X:153.05, Y:-5.64, Z:-2.71 [[ 9.98287691e-01 5.60693849e-02 1.66706298e-02 1.53047243e+02] [-5.60593447e-02 9.98426866e-01 -1.06933049e-03 -5.64109469e+00] [-1.67043614e-02 1.32954881e-04 9.99860464e-01 -2.71411080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59439141800001 meters 0.015738732773725644 Centerline is valid? [True, True] Translation: X:153.08, Y:-5.64, Z:-2.71 [[ 9.98306602e-01 5.54746143e-02 1.75070275e-02 1.53079122e+02] [-5.54633513e-02 9.98460086e-01 -1.12859958e-03 -5.64383695e+00] [-1.75426768e-02 1.55690000e-04 9.99846103e-01 -2.71406208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62439141800002 meters 0.01644366090969431 Centerline is valid? [True, True] Translation: X:153.11, Y:-5.65, Z:-2.71 [[ 9.98357182e-01 5.41528981e-02 1.87190134e-02 1.53111626e+02] [-5.41397076e-02 9.98532636e-01 -1.21107407e-03 -5.64731798e+00] [-1.87571290e-02 1.95642582e-04 9.99824050e-01 -2.71369362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65439141800002 meters 0.01715985353986524 Centerline is valid? [True, True] Translation: X:153.14, Y:-5.65, Z:-2.71 [[ 9.98399633e-01 5.32801706e-02 1.89577719e-02 1.53143102e+02] [-5.32663786e-02 9.98579579e-01 -1.23207922e-03 -5.65122291e+00] [-1.89964893e-02 2.20295585e-04 9.99819526e-01 -2.71417559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68439141800002 meters 0.017536087628486442 Centerline is valid? [True, True] Translation: X:153.17, Y:-5.65, Z:-2.72 [[ 9.98464958e-01 5.21318124e-02 1.87083308e-02 1.53174735e+02] [-5.21181213e-02 9.98640183e-01 -1.21897151e-03 -5.65452101e+00] [-1.87464381e-02 2.42057288e-04 9.99824241e-01 -2.71528035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71439141800002 meters 0.017834125590702587 Centerline is valid? [True, True] Translation: X:153.21, Y:-5.66, Z:-2.72 [[ 9.98532406e-01 5.09055305e-02 1.84840978e-02 1.53206393e+02] [-5.08918572e-02 9.98703437e-01 -1.20966973e-03 -5.65785976e+00] [-1.85217109e-02 2.67204358e-04 9.99828423e-01 -2.71668736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters 0.01928709854276904 Centerline is valid? [True, True] Translation: X:153.24, Y:-5.66, Z:-2.72 [[ 9.98733310e-01 4.71179821e-02 1.76542391e-02 1.53238223e+02] [-4.71048276e-02 9.98889277e-01 -1.16044193e-03 -5.66372351e+00] [-1.76893078e-02 3.27372120e-04 9.99843478e-01 -2.71849254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774391418 meters 0.02053652552203947 Centerline is valid? [True, True] Translation: X:153.27, Y:-5.67, Z:-2.72 [[ 9.98821077e-01 4.53186485e-02 1.73975807e-02 1.53269303e+02] [-4.53055069e-02 9.98972518e-01 -1.14896006e-03 -5.66813006e+00] [-1.74317743e-02 3.59399314e-04 9.99847990e-01 -2.71959405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters 0.02121111716578511 Centerline is valid? [True, True] Translation: X:153.30, Y:-5.67, Z:-2.72 [[ 9.98886625e-01 4.39421242e-02 1.71639223e-02 1.53301162e+02] [-4.39290810e-02 9.99034006e-01 -1.13639238e-03 -5.67158673e+00] [-1.71972775e-02 3.81131816e-04 9.99852043e-01 -2.72039901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834391418 meters 0.021705738106430714 Centerline is valid? [True, True] Translation: X:153.33, Y:-5.67, Z:-2.72 [[ 9.98932800e-01 4.26990367e-02 1.76083258e-02 1.53333668e+02] [-4.26850191e-02 9.99087893e-01 -1.17131752e-03 -5.67477116e+00] [-1.76422793e-02 4.18455769e-04 9.99844275e-01 -2.72072805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters 0.02316245966715397 Centerline is valid? [True, True] Translation: X:153.36, Y:-5.68, Z:-2.72 [[ 9.99004273e-01 4.08783462e-02 1.78723956e-02 1.53364103e+02] [-4.08635138e-02 9.99164024e-01 -1.19446758e-03 -5.67978236e+00] [-1.79062826e-02 4.62949328e-04 9.99839562e-01 -2.72089091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894391418 meters 0.023897570913407384 Centerline is valid? [True, True] Translation: X:153.40, Y:-5.68, Z:-2.72 [[ 9.99035860e-01 4.02762682e-02 1.74692016e-02 1.53395130e+02] [-4.02619340e-02 9.99188473e-01 -1.17160913e-03 -5.68310270e+00] [-1.75022129e-02 4.67135691e-04 9.99846715e-01 -2.72147868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters 0.02437376314773901 Centerline is valid? [True, True] Translation: X:153.43, Y:-5.69, Z:-2.72 [[ 9.99055051e-01 3.97251744e-02 1.76327929e-02 1.53427340e+02] [-3.97103969e-02 9.99210525e-01 -1.18755137e-03 -5.68568323e+00] [-1.76660479e-02 4.86223988e-04 9.99843825e-01 -2.72181062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954391418 meters 0.02556853360718454 Centerline is valid? [True, True] Translation: X:153.46, Y:-5.69, Z:-2.72 [[ 9.99092802e-01 3.87353778e-02 1.76958347e-02 1.53457954e+02] [-3.87202449e-02 9.99249373e-01 -1.19711714e-03 -5.68931323e+00] [-1.77289225e-02 5.10844069e-04 9.99842700e-01 -2.72240072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters 0.026591998798318514 Centerline is valid? [True, True] Translation: X:153.49, Y:-5.69, Z:-2.72 [[ 9.99098978e-01 3.84978579e-02 1.78647048e-02 1.53488882e+02] [-3.84823078e-02 9.99258545e-01 -1.21351121e-03 -5.69231931e+00] [-1.78981765e-02 5.24942741e-04 9.99839677e-01 -2.72279822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014391418 meters 0.02584082615494301 Centerline is valid? [True, True] Translation: X:153.52, Y:-5.69, Z:-2.72 [[ 9.99047600e-01 3.94104070e-02 1.87273244e-02 1.53521652e+02] [-3.93933816e-02 9.99222963e-01 -1.27729615e-03 -5.69240507e+00] [-1.87631114e-02 5.38347015e-04 9.99823812e-01 -2.72274147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.044391418 meters 0.02258991112251426 Centerline is valid? [True, True] Translation: X:153.55, Y:-5.69, Z:-2.72 [[ 9.98964900e-01 4.08919969e-02 1.99241908e-02 1.53554604e+02] [-4.08729552e-02 9.99163423e-01 -1.36216376e-03 -5.68930932e+00] [-1.99632243e-02 5.46393225e-04 9.99800566e-01 -2.72258285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.074391418 meters 0.021420577569698243 Centerline is valid? [True, True] Translation: X:153.59, Y:-5.69, Z:-2.72 [[ 9.98878108e-01 4.30506955e-02 1.97272152e-02 1.53587147e+02] [-4.30323982e-02 9.99072764e-01 -1.35126799e-03 -5.68893403e+00] [-1.97670964e-02 5.00842636e-04 9.99804486e-01 -2.72301573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.104391418 meters 0.020281024241232768 Centerline is valid? [True, True] Translation: X:153.62, Y:-5.69, Z:-2.72 [[ 9.98644363e-01 4.83633105e-02 1.92464819e-02 1.53617791e+02] [-4.83467714e-02 9.98829734e-01 -1.32397074e-03 -5.68688920e+00] [-1.92879900e-02 3.91670657e-04 9.99813893e-01 -2.72400278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.134391418 meters 0.01843056415772499 Centerline is valid? [True, True] Translation: X:153.65, Y:-5.68, Z:-2.73 [[ 9.98508773e-01 5.14403164e-02 1.82790540e-02 1.53649770e+02] [-5.14259050e-02 9.98676021e-01 -1.25789621e-03 -5.68475171e+00] [-1.83195595e-02 3.16003509e-04 9.99832133e-01 -2.72590864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164391418 meters 0.018768783187216757 Centerline is valid? [True, True] Translation: X:153.68, Y:-5.69, Z:-2.73 [[ 9.98384175e-01 5.42298469e-02 1.69753547e-02 1.53680868e+02] [-5.42177374e-02 9.98528448e-01 -1.17309990e-03 -5.68659225e+00] [-1.70139916e-02 2.50839056e-04 9.99855220e-01 -2.72787430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194391418 meters 0.016740132575420723 Centerline is valid? [True, True] Translation: X:153.71, Y:-5.68, Z:-2.73 [[ 9.98275050e-01 5.65667405e-02 1.57203330e-02 1.53713164e+02] [-5.65565813e-02 9.98398800e-01 -1.09042632e-03 -5.68366379e+00] [-1.57568435e-02 1.99457098e-04 9.99875833e-01 -2.72961297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224391418 meters 0.015826906131694667 Centerline is valid? [True, True] Translation: X:153.74, Y:-5.68, Z:-2.73 [[ 9.98100012e-01 5.97985920e-02 1.48490744e-02 1.53744211e+02] [-5.97898202e-02 9.98210453e-01 -1.03436126e-03 -5.68216884e+00] [-1.48843546e-02 1.44572500e-04 9.99889211e-01 -2.73134232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254391418 meters 0.015676852657520536 Centerline is valid? [True, True] Translation: X:153.78, Y:-5.68, Z:-2.73 [[ 9.98067686e-01 6.04521138e-02 1.43678835e-02 1.53775726e+02] [-6.04439001e-02 9.98171089e-01 -1.00562992e-03 -5.68320956e+00] [-1.44023984e-02 1.35235809e-04 9.99896271e-01 -2.73206047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284391418 meters 0.01556169976942213 Centerline is valid? [True, True] Translation: X:153.81, Y:-5.68, Z:-2.73 [[ 9.98041013e-01 6.08980421e-02 1.43375198e-02 1.53806889e+02] [-6.08899001e-02 9.98143983e-01 -1.00413148e-03 -5.68457027e+00] [-1.43720588e-02 1.29154248e-04 9.99896708e-01 -2.73225613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314391418 meters 0.016277374528777287 Centerline is valid? [True, True] Translation: X:153.84, Y:-5.69, Z:-2.73 [[ 9.98028837e-01 6.09370976e-02 1.50036702e-02 1.53837125e+02] [-6.09281745e-02 9.98141599e-01 -1.05153463e-03 -5.68723155e+00] [-1.50398648e-02 1.35315651e-04 9.99886886e-01 -2.73236948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34439141800001 meters 0.015742869950293323 Centerline is valid? [True, True] Translation: X:153.87, Y:-5.69, Z:-2.73 [[ 9.98045960e-01 6.06411879e-02 1.50634943e-02 1.53868013e+02] [-6.06321583e-02 9.98159620e-01 -1.05582647e-03 -5.68783680e+00] [-1.50997983e-02 1.40431167e-04 9.99885982e-01 -2.73208966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37439141800002 meters 0.016095152453560056 Centerline is valid? [True, True] Translation: X:153.90, Y:-5.69, Z:-2.73 [[ 9.98095692e-01 5.97832528e-02 1.51970833e-02 1.53899676e+02] [-5.97739375e-02 9.98211370e-01 -1.06686022e-03 -5.69087797e+00] [-1.52336817e-02 1.56439078e-04 9.99883948e-01 -2.73267780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40439141800002 meters 0.01750388435038072 Centerline is valid? [True, True] Translation: X:153.93, Y:-5.70, Z:-2.73 [[ 9.98281192e-01 5.65826158e-02 1.52665942e-02 1.53929366e+02] [-5.65728300e-02 9.98397899e-01 -1.07244358e-03 -5.69622351e+00] [-1.53028173e-02 2.06925815e-04 9.99882884e-01 -2.73297996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43439141800002 meters 0.01859162115758499 Centerline is valid? [True, True] Translation: X:153.96, Y:-5.70, Z:-2.73 [[ 9.98391177e-01 5.45662451e-02 1.54136837e-02 1.53960823e+02] [-5.45560302e-02 9.98510124e-01 -1.08273493e-03 -5.70089955e+00] [-1.54498000e-02 2.40083614e-04 9.99880616e-01 -2.73332206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46439141800002 meters 0.021464349914040226 Centerline is valid? [True, True] Translation: X:153.99, Y:-5.71, Z:-2.73 [[ 9.98647544e-01 4.96059347e-02 1.55670817e-02 1.53991081e+02] [-4.95948679e-02 9.98768816e-01 -1.09639164e-03 -5.70756700e+00] [-1.56023033e-02 3.22861459e-04 9.99878225e-01 -2.73286755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494391418 meters 0.021464349914040226 Centerline is valid? [True, True] Translation: X:154.02, Y:-5.71, Z:-2.73 [[ 9.98633572e-01 4.98864173e-02 1.55670780e-02 1.54022696e+02] [-4.98753837e-02 9.98754847e-01 -1.09644578e-03 -5.70997108e+00] [-1.56023924e-02 3.18533579e-04 9.99878225e-01 -2.73343914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters 0.022036921874255697 Centerline is valid? [True, True] Translation: X:154.05, Y:-5.71, Z:-2.73 [[ 9.98724191e-01 4.77357944e-02 1.64706831e-02 1.54054606e+02] [-4.77230689e-02 9.98859926e-01 -1.16501659e-03 -5.71298112e+00] [-1.65075183e-02 3.77498709e-04 9.99863670e-01 -2.73294925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554391418 meters 0.02245926853214367 Centerline is valid? [True, True] Translation: X:154.09, Y:-5.72, Z:-2.73 [[ 9.98803053e-01 4.59324546e-02 1.68128323e-02 1.54086340e+02] [-4.59188545e-02 9.98944459e-01 -1.19426227e-03 -5.71583563e+00] [-1.68499411e-02 4.20806801e-04 9.99857941e-01 -2.73264832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters 0.025069694155070984 Centerline is valid? [True, True] Translation: X:154.12, Y:-5.72, Z:-2.73 [[ 9.98935473e-01 4.23843836e-02 1.82067354e-02 1.54116809e+02] [-4.23677370e-02 9.99101240e-01 -1.29923358e-03 -5.72189341e+00] [-1.82454391e-02 5.26472338e-04 9.99833400e-01 -2.73140485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614391418 meters 0.025116391036657845 Centerline is valid? [True, True] Translation: X:154.15, Y:-5.72, Z:-2.73 [[ 9.98986355e-01 4.09752588e-02 1.86357564e-02 1.54148715e+02] [-4.09575178e-02 9.99160000e-01 -1.33282088e-03 -5.72371775e+00] [-1.86747151e-02 5.68195546e-04 9.99825451e-01 -2.73102426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters 0.026314188274875434 Centerline is valid? [True, True] Translation: X:154.18, Y:-5.73, Z:-2.73 [[ 9.99007050e-01 4.02246786e-02 1.91543400e-02 1.54180197e+02] [-4.02056850e-02 9.99190477e-01 -1.37582598e-03 -5.72734415e+00] [-1.91941763e-02 6.04346497e-04 9.99815592e-01 -2.73120071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674391418 meters 0.026242832335653863 Centerline is valid? [True, True] Translation: X:154.21, Y:-5.73, Z:-2.73 [[ 9.99026458e-01 3.98065591e-02 1.90151041e-02 1.54211898e+02] [-3.97876649e-02 9.99207217e-01 -1.37107914e-03 -5.72929849e+00] [-1.90546072e-02 6.13177744e-04 9.99818256e-01 -2.73181497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters 0.02693389665906607 Centerline is valid? [True, True] Translation: X:154.24, Y:-5.73, Z:-2.73 [[ 9.99048439e-01 3.93895396e-02 1.87264800e-02 1.54244043e+02] [-3.93710383e-02 9.99223740e-01 -1.35576742e-03 -5.73194211e+00] [-1.87653464e-02 6.17196360e-04 9.99823725e-01 -2.73311249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734391418 meters 0.02613177501730395 Centerline is valid? [True, True] Translation: X:154.28, Y:-5.73, Z:-2.73 [[ 9.99029281e-01 4.00359116e-02 1.83744550e-02 1.54276251e+02] [-4.00181100e-02 9.99198062e-01 -1.33563665e-03 -5.73285026e+00] [-1.84131933e-02 5.99029155e-04 9.99830283e-01 -2.73406334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764391418 meters 0.026496368144986345 Centerline is valid? [True, True] Translation: X:154.31, Y:-5.74, Z:-2.74 [[ 9.98998122e-01 4.10809482e-02 1.77512525e-02 1.54307556e+02] [-4.10644060e-02 9.99155662e-01 -1.29554435e-03 -5.73520922e+00] [-1.77894866e-02 5.65301733e-04 9.99841595e-01 -2.73536837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.794391418 meters 0.025048853559323233 Centerline is valid? [True, True] Translation: X:154.34, Y:-5.73, Z:-2.74 [[ 9.98866233e-01 4.47659405e-02 1.61944106e-02 1.54337776e+02] [-4.47526119e-02 9.98997398e-01 -1.18467654e-03 -5.73319580e+00] [-1.62312072e-02 4.58591218e-04 9.99868160e-01 -2.73774514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.824391418 meters 0.022253748186633268 Centerline is valid? [True, True] Translation: X:154.37, Y:-5.73, Z:-2.74 [[ 9.98750986e-01 4.76701090e-02 1.49675594e-02 1.54370339e+02] [-4.76590579e-02 9.98863062e-01 -1.09435939e-03 -5.72951219e+00] [-1.50027104e-02 3.79652744e-04 9.99887381e-01 -2.73880686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.854391418 meters 0.01959402538801864 Centerline is valid? [True, True] Translation: X:154.40, Y:-5.72, Z:-2.74 [[ 9.98373581e-01 5.54707193e-02 1.31602606e-02 1.54401374e+02] [-5.54627912e-02 9.98460287e-01 -9.66911038e-04 -5.72318579e+00] [-1.31936329e-02 2.35433647e-04 9.99912933e-01 -2.74127409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.884391418 meters 0.017265292809509857 Centerline is valid? [True, True] Translation: X:154.43, Y:-5.72, Z:-2.74 [[ 9.98138898e-01 5.97012104e-02 1.24300000e-02 1.54432156e+02] [-5.96944610e-02 9.98216277e-01 -9.13626768e-04 -5.71879387e+00] [-1.24623730e-02 1.69924265e-04 9.99922327e-01 -2.74215132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914391418 meters 0.01559196540861493 Centerline is valid? [True, True] Translation: X:154.46, Y:-5.72, Z:-2.74 [[ 9.97851433e-01 6.43674751e-02 1.22207495e-02 1.54462637e+02] [-6.43612994e-02 9.97926258e-01 -8.98368266e-04 -5.71561573e+00] [-1.22532325e-02 1.09894746e-04 9.99924920e-01 -2.74267274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944391418 meters 0.014219887130294815 Centerline is valid? [True, True] Translation: X:154.49, Y:-5.71, Z:-2.74 [[ 9.97267333e-01 7.28022866e-02 1.25576512e-02 1.54492044e+02] [-7.27964330e-02 9.97346393e-01 -9.23213088e-04 -5.70769287e+00] [-1.25915401e-02 6.53804152e-06 9.99920723e-01 -2.74251974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974391418 meters 0.014394300992350055 Centerline is valid? [True, True] Translation: X:154.52, Y:-5.71, Z:-2.74 [[ 9.97007584e-01 7.62682338e-02 1.26108776e-02 1.54520711e+02] [-7.62626216e-02 9.97087336e-01 -9.26024901e-04 -5.70558864e+00] [-1.26447726e-02 -3.84847343e-05 9.99920051e-01 -2.74311624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004391418 meters 0.01471183488444706 Centerline is valid? [True, True] Translation: X:154.55, Y:-5.70, Z:-2.74 [[ 9.96829798e-01 7.85530349e-02 1.26401780e-02 1.54550034e+02] [-7.85475940e-02 9.96909934e-01 -9.27086331e-04 -5.70445893e+00] [-1.26739445e-02 -6.87082910e-05 9.99919680e-01 -2.74334401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034391418 meters 0.014889539463081606 Centerline is valid? [True, True] Translation: X:154.58, Y:-5.71, Z:-2.74 [[ 9.96727859e-01 7.97517607e-02 1.31617261e-02 1.54578714e+02] [-7.97459817e-02 9.96814752e-01 -9.64156620e-04 -5.70503063e+00] [-1.31966959e-02 -8.85930036e-05 9.99912916e-01 -2.74312389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064391418 meters 0.014691904181689317 Centerline is valid? [True, True] Translation: X:154.61, Y:-5.71, Z:-2.74 [[ 9.96834635e-01 7.84065210e-02 1.31578161e-02 1.54606579e+02] [-7.84006424e-02 9.96921467e-01 -9.62789224e-04 -5.70689498e+00] [-1.31927983e-02 -7.18395924e-05 9.99912969e-01 -2.74405488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09439141800001 meters 0.014317055518791403 Centerline is valid? [True, True] Translation: X:154.63, Y:-5.71, Z:-2.74 [[ 9.97053426e-01 7.56116596e-02 1.29361047e-02 1.54634940e+02] [-7.56057620e-02 9.97137340e-01 -9.45044429e-04 -5.71183828e+00] [-1.29705294e-02 -3.57842687e-05 9.99915879e-01 -2.74414640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12439141800002 meters 0.014206245185095008 Centerline is valid? [True, True] Translation: X:154.66, Y:-5.72, Z:-2.74 [[ 9.97340591e-01 7.18048589e-02 1.24823282e-02 1.54663764e+02] [-7.17990825e-02 9.97418699e-01 -9.10858810e-04 -5.71795259e+00] [-1.25155117e-02 1.22167482e-05 9.99921678e-01 -2.74482516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15439141800002 meters 0.014623471664898026 Centerline is valid? [True, True] Translation: X:154.69, Y:-5.73, Z:-2.75 [[ 9.97656316e-01 6.72164753e-02 1.27992796e-02 1.54692429e+02] [-6.72100405e-02 9.97738413e-01 -9.32708754e-04 -5.72503046e+00] [-1.28330263e-02 7.02826819e-05 9.99917651e-01 -2.74507817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18439141800002 meters 0.017265731950697808 Centerline is valid? [True, True] Translation: X:154.72, Y:-5.74, Z:-2.74 [[ 9.98247649e-01 5.76358740e-02 1.34065882e-02 1.54721662e+02] [-5.76279647e-02 9.98337651e-01 -9.75840099e-04 -5.73760550e+00] [-1.34405451e-02 2.01535694e-04 9.99909651e-01 -2.74373949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21439141800002 meters 0.01933320185875395 Centerline is valid? [True, True] Translation: X:154.75, Y:-5.75, Z:-2.74 [[ 9.98490582e-01 5.29419904e-02 1.46186094e-02 1.54752486e+02] [-5.29320918e-02 9.98597548e-01 -1.06348428e-03 -5.74518536e+00] [-1.46544105e-02 2.88085467e-04 9.99892577e-01 -2.74320137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters 0.02230252434400218 Centerline is valid? [True, True] Translation: X:154.78, Y:-5.75, Z:-2.74 [[ 9.98850927e-01 4.51558391e-02 1.60553838e-02 1.54782674e+02] [-4.51428803e-02 9.98979857e-01 -1.16882173e-03 -5.75498366e+00] [-1.60917842e-02 4.42692394e-04 9.99870421e-01 -2.74157135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274391418 meters 0.024846637169164156 Centerline is valid? [True, True] Translation: X:154.81, Y:-5.76, Z:-2.74 [[ 9.98985702e-01 4.21039442e-02 1.59632387e-02 1.54813078e+02] [-4.20907394e-02 9.99113116e-01 -1.16242353e-03 -5.76189706e+00] [-1.59980238e-02 4.89339962e-04 9.99871904e-01 -2.74177588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters 0.027284004950879737 Centerline is valid? [True, True] Translation: X:154.84, Y:-5.77, Z:-2.74 [[ 9.99101161e-01 3.92570412e-02 1.59923570e-02 1.54843728e+02] [-3.92434158e-02 9.99229001e-01 -1.16504047e-03 -5.76914104e+00] [-1.60257629e-02 5.36398567e-04 9.99871435e-01 -2.74262800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334391418 meters 0.026314251612284213 Centerline is valid? [True, True] Translation: X:154.88, Y:-5.77, Z:-2.74 [[ 9.99102471e-01 3.95391320e-02 1.51957065e-02 1.54876654e+02] [-3.95268373e-02 9.99217894e-01 -1.10869128e-03 -5.77093645e+00] [-1.52276585e-02 5.07057980e-04 9.99883924e-01 -2.74423507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters 0.025900241515626633 Centerline is valid? [True, True] Translation: X:154.91, Y:-5.77, Z:-2.75 [[ 9.99080579e-01 4.04773122e-02 1.41274084e-02 1.54908813e+02] [-4.04667139e-02 9.99180351e-01 -1.03536712e-03 -5.77299166e+00] [-1.41577377e-02 4.62725388e-04 9.99899667e-01 -2.74593917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394391418 meters 0.02501157187093137 Centerline is valid? [True, True] Translation: X:154.94, Y:-5.77, Z:-2.75 [[ 9.98972186e-01 4.35333696e-02 1.26260792e-02 1.54940220e+02] [-4.35250981e-02 9.99051902e-01 -9.29293419e-04 -5.77332011e+00] [-1.26545637e-02 3.78786944e-04 9.99919856e-01 -2.74853036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters 0.023678190958011207 Centerline is valid? [True, True] Translation: X:154.97, Y:-5.77, Z:-2.75 [[ 9.98858943e-01 4.63074387e-02 1.16805007e-02 1.54972625e+02] [-4.63005376e-02 9.98927184e-01 -8.60691636e-04 -5.77323393e+00] [-1.17078261e-02 3.18896076e-04 9.99931410e-01 -2.74968146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454391418 meters 0.02234986034945994 Centerline is valid? [True, True] Translation: X:155.00, Y:-5.77, Z:-2.75 [[ 9.98750523e-01 4.87390449e-02 1.10407874e-02 1.55004281e+02] [-4.87329747e-02 9.98811508e-01 -8.18325485e-04 -5.77246482e+00] [-1.10675499e-02 2.79252594e-04 9.99938714e-01 -2.75045247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters 0.019828733651529967 Centerline is valid? [True, True] Translation: X:155.04, Y:-5.77, Z:-2.75 [[ 9.98602225e-01 5.17506834e-02 1.07453789e-02 1.55035347e+02] [-5.17450999e-02 9.98660007e-01 -7.97176314e-04 -5.76947730e+00] [-1.07722346e-02 2.40041334e-04 9.99941949e-01 -2.75049704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514391418 meters 0.017347934620067937 Centerline is valid? [True, True] Translation: X:155.06, Y:-5.76, Z:-2.75 [[ 9.98226083e-01 5.85726300e-02 1.06739636e-02 1.55064985e+02] [-5.85675067e-02 9.98283136e-01 -7.92201761e-04 -5.76449205e+00] [-1.07020392e-02 1.65649027e-04 9.99942718e-01 -2.75072041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.544391418 meters 0.016344763962191106 Centerline is valid? [True, True] Translation: X:155.09, Y:-5.76, Z:-2.75 [[ 9.98016082e-01 6.20648937e-02 1.05758346e-02 1.55093453e+02] [-6.20600634e-02 9.98072108e-01 -7.84612613e-04 -5.76345693e+00] [-1.06041424e-02 1.26719040e-04 9.99943766e-01 -2.75126890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.574391418 meters 0.014473693585712512 Centerline is valid? [True, True] Translation: X:155.12, Y:-5.76, Z:-2.75 [[ 9.97543227e-01 6.92637002e-02 1.04904726e-02 1.55122603e+02] [-6.92593527e-02 9.97598385e-01 -7.77585889e-04 -5.75822735e+00] [-1.05191370e-02 4.91121924e-05 9.99944671e-01 -2.75236126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.604391418 meters 0.014111161158787522 Centerline is valid? [True, True] Translation: X:155.15, Y:-5.76, Z:-2.75 [[ 9.97270710e-01 7.31180779e-02 1.02409632e-02 1.55151529e+02] [-7.31141422e-02 9.97323291e-01 -7.58673964e-04 -5.75596600e+00] [-1.02690239e-02 7.84408557e-06 9.99947272e-01 -2.75231910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.634391418 meters 0.014321792896739939 Centerline is valid? [True, True] Translation: X:155.18, Y:-5.75, Z:-2.75 [[ 9.97009250e-01 7.66803412e-02 9.62703560e-03 1.55179637e+02] [-7.66770348e-02 9.97055728e-01 -7.12620552e-04 -5.75400872e+00] [-9.65333497e-03 -2.76832613e-05 9.99953405e-01 -2.75293472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664391418 meters 0.016246020281162923 Centerline is valid? [True, True] Translation: X:155.21, Y:-5.75, Z:-2.75 [[ 9.96395595e-01 8.43869230e-02 8.64090379e-03 1.55209141e+02] [-8.43845573e-02 9.96433058e-01 -6.38657169e-04 -5.74860664e+00] [-8.66397650e-03 -9.28036506e-05 9.99962463e-01 -2.75447910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694391418 meters 0.01777670508900266 Centerline is valid? [True, True] Translation: X:155.24, Y:-5.75, Z:-2.76 [[ 9.96111700e-01 8.77407476e-02 7.93997170e-03 1.55236633e+02] [-8.77388577e-02 9.96143337e-01 -5.86712854e-04 -5.74714162e+00] [-7.96082853e-03 -1.12212509e-04 9.99968306e-01 -2.75548853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724391418 meters 0.019152500670100277 Centerline is valid? [True, True] Translation: X:155.27, Y:-5.75, Z:-2.76 [[ 9.95823512e-01 9.10267044e-02 7.04785145e-03 1.55265171e+02] [-9.10253055e-02 9.95848444e-01 -5.19678850e-04 -5.74676410e+00] [-7.06589655e-03 -1.24024413e-04 9.99975029e-01 -2.75624551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754391418 meters 0.02108736690518198 Centerline is valid? [True, True] Translation: X:155.29, Y:-5.75, Z:-2.76 [[ 9.95581736e-01 9.36871988e-02 6.30211615e-03 1.55293316e+02] [-9.36861344e-02 9.95601674e-01 -4.64554201e-04 -5.74561180e+00] [-6.31792016e-03 -1.27919222e-04 9.99980034e-01 -2.75751002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784391418 meters 0.023429795433437664 Centerline is valid? [True, True] Translation: X:155.32, Y:-5.75, Z:-2.76 [[ 9.95150030e-01 9.81765427e-02 6.14691708e-03 1.55322758e+02] [-9.81756242e-02 9.95169002e-01 -4.51709778e-04 -5.74572452e+00] [-6.16156864e-03 -1.53958422e-04 9.99981006e-01 -2.75717227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814391418 meters 0.025341323605699885 Centerline is valid? [True, True] Translation: X:155.35, Y:-5.75, Z:-2.76 [[ 9.95010772e-01 9.95576237e-02 6.46870426e-03 1.55350537e+02] [-9.95566293e-02 9.95031784e-01 -4.76350465e-04 -5.74662103e+00] [-6.48399066e-03 -1.70028548e-04 9.99978964e-01 -2.75784665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84439141800001 meters 0.025680698260658403 Centerline is valid? [True, True] Translation: X:155.38, Y:-5.75, Z:-2.76 [[ 9.94879467e-01 1.00809191e-01 7.23550280e-03 1.55379226e+02] [-1.00807996e-01 9.94905758e-01 -5.30563475e-04 -5.75031689e+00] [-7.25212907e-03 -2.01549831e-04 9.99973683e-01 -2.75705474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87439141800002 meters 0.027137495928480037 Centerline is valid? [True, True] Translation: X:155.41, Y:-5.76, Z:-2.76 [[ 9.94657403e-01 1.02835671e-01 9.02634434e-03 1.55407910e+02] [-1.02833906e-01 9.94698322e-01 -6.60733568e-04 -5.75546142e+00] [-9.04643654e-03 -2.71010707e-04 9.99959043e-01 -2.75522610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90439141800002 meters 0.02558951774777106 Centerline is valid? [True, True] Translation: X:155.44, Y:-5.76, Z:-2.75 [[ 9.94583831e-01 1.03459660e-01 9.95503283e-03 1.55436468e+02] [-1.03457553e-01 9.94633603e-01 -7.27757423e-04 -5.76238777e+00] [-9.97690372e-03 -3.06107571e-04 9.99950183e-01 -2.75409543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93439141800002 meters 0.026027278615869273 Centerline is valid? [True, True] Translation: X:155.47, Y:-5.77, Z:-2.75 [[ 9.94474795e-01 1.04455055e-01 1.04414767e-02 1.55465389e+02] [-1.04452803e-01 9.94529553e-01 -7.62306212e-04 -5.76688087e+00] [-1.04639839e-02 -3.32547195e-04 9.99945196e-01 -2.75395756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96439141800002 meters 0.027078186568660203 Centerline is valid? [True, True] Translation: X:155.49, Y:-5.77, Z:-2.75 [[ 9.94297938e-01 1.06098271e-01 1.07129231e-02 1.55493880e+02] [-1.06096006e-01 9.94355584e-01 -7.81122519e-04 -5.77423554e+00] [-1.07353307e-02 -3.59929845e-04 9.99942310e-01 -2.75451884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994391418 meters 0.03102208889750678 Centerline is valid? [True, True] Translation: X:155.52, Y:-5.77, Z:-2.76 [[ 9.94270938e-01 1.06385000e-01 1.03698562e-02 1.55521681e+02] [-1.06382901e-01 9.94324951e-01 -7.55387635e-04 -5.77420885e+00] [-1.03913686e-02 -3.52115412e-04 9.99945946e-01 -2.75681284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters 0.028759621019204942 Centerline is valid? [True, True] Translation: X:155.55, Y:-5.78, Z:-2.76 [[ 9.94209194e-01 1.06997786e-01 9.97763857e-03 1.55550250e+02] [-1.06995885e-01 9.94259199e-01 -7.25573860e-04 -5.78334517e+00] [-9.99799373e-03 -3.46194071e-04 9.99949959e-01 -2.75713843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054391418 meters 0.02997832368445449 Centerline is valid? [True, True] Translation: X:155.58, Y:-5.79, Z:-2.76 [[ 9.94182097e-01 1.07305983e-01 9.34798235e-03 1.55577434e+02] [-1.07304334e-01 9.94225990e-01 -6.79241449e-04 -5.79227766e+00] [-9.36689367e-03 -3.27789334e-04 9.99956076e-01 -2.75854778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters 0.028846365149790477 Centerline is valid? [True, True] Translation: X:155.61, Y:-5.80, Z:-2.76 [[ 9.94203235e-01 1.07114241e-01 9.29880265e-03 1.55606007e+02] [-1.07112612e-01 9.94246666e-01 -6.74475911e-04 -5.80035485e+00] [-9.31754951e-03 -3.25452909e-04 9.99956538e-01 -2.75858527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114391418 meters 0.02975144316755157 Centerline is valid? [True, True] Translation: X:155.63, Y:-5.81, Z:-2.76 [[ 9.94212613e-01 1.06993980e-01 9.67310559e-03 1.55633425e+02] [-1.06992219e-01 9.94259611e-01 -7.00873369e-04 -5.80538159e+00] [-9.69256743e-03 -3.38129885e-04 9.99952969e-01 -2.75935498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters 0.02900005277929611 Centerline is valid? [True, True] Translation: X:155.66, Y:-5.82, Z:-2.76 [[ 9.94285735e-01 1.06259122e-01 1.02409432e-02 1.55661398e+02] [-1.06257123e-01 9.94338411e-01 -7.40593528e-04 -5.81680348e+00] [-1.02616580e-02 -3.51811588e-04 9.99947286e-01 -2.75860054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174391418 meters 0.02902554296749737 Centerline is valid? [True, True] Translation: X:155.69, Y:-5.82, Z:-2.76 [[ 9.94316287e-01 1.05878099e-01 1.11781213e-02 1.55689559e+02] [-1.05875706e-01 9.94379044e-01 -8.07231750e-04 -5.82284084e+00] [-1.12007577e-02 -3.80847812e-04 9.99937197e-01 -2.75845736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters 0.02935394996668135 Centerline is valid? [True, True] Translation: X:155.72, Y:-5.83, Z:-2.76 [[ 9.94328821e-01 1.05747251e-01 1.13011273e-02 1.55716735e+02] [-1.05744806e-01 9.94392966e-01 -8.15303790e-04 -5.82832757e+00] [-1.13239776e-02 -3.84355460e-04 9.99935808e-01 -2.75882650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234391418 meters 0.029718367089568605 Centerline is valid? [True, True] Translation: X:155.74, Y:-5.84, Z:-2.76 [[ 9.94396598e-01 1.05174909e-01 1.06603921e-02 1.55743874e+02] [-1.05172714e-01 9.94453674e-01 -7.67877370e-04 -5.83851419e+00] [-1.06820275e-02 -3.57607719e-04 9.99942882e-01 -2.76060624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264391418 meters 0.0294583087618817 Centerline is valid? [True, True] Translation: X:155.77, Y:-5.85, Z:-2.76 [[ 9.94478820e-01 1.04481327e-01 9.77390211e-03 1.55772207e+02] [-1.04479459e-01 9.94526796e-01 -7.02947778e-04 -5.84534891e+00] [-9.79385247e-03 -3.22105327e-04 9.99951987e-01 -2.76250110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.294391418 meters 0.029291448873127138 Centerline is valid? [True, True] Translation: X:155.80, Y:-5.85, Z:-2.76 [[ 9.94584015e-01 1.03575110e-01 8.65067532e-03 1.55800364e+02] [-1.03573618e-01 9.94621596e-01 -6.21593714e-04 -5.85177782e+00] [-8.66853013e-03 -2.77754567e-04 9.99962389e-01 -2.76446914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.324391418 meters 0.028916830660321035 Centerline is valid? [True, True] Translation: X:155.83, Y:-5.86, Z:-2.77 [[ 9.94658346e-01 1.02930170e-01 7.75600743e-03 1.55828627e+02] [-1.02928954e-01 9.94688554e-01 -5.56809973e-04 -5.85875765e+00] [-7.77212436e-03 -2.44482044e-04 9.99969767e-01 -2.76583506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.354391418 meters 0.025925116017482645 Centerline is valid? [True, True] Translation: X:155.86, Y:-5.87, Z:-2.77 [[ 9.94827090e-01 1.01293223e-01 7.66444124e-03 1.55856193e+02] [-1.01291992e-01 9.94856588e-01 -5.49662732e-04 -5.87307262e+00] [-7.68069697e-03 -2.29527142e-04 9.99970477e-01 -2.76518169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.384391418 meters 0.0257955714732497 Centerline is valid? [True, True] Translation: X:155.88, Y:-5.88, Z:-2.77 [[ 9.94895938e-01 1.00563507e-01 8.30985772e-03 1.55884443e+02] [-1.00562043e-01 9.94930611e-01 -5.94845556e-04 -5.87927750e+00] [-8.32755158e-03 -2.43846844e-04 9.99965296e-01 -2.76506397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414391418 meters 0.027225574042057 Centerline is valid? [True, True] Translation: X:155.91, Y:-5.88, Z:-2.77 [[ 9.95031308e-01 9.91911366e-02 8.59154154e-03 1.55913403e+02] [-9.91895280e-02 9.95068370e-01 -6.14184318e-04 -5.88317191e+00] [-8.61009288e-03 -2.41058325e-04 9.99962903e-01 -2.76571033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444391418 meters 0.027225574042057 Centerline is valid? [True, True] Translation: X:155.94, Y:-5.89, Z:-2.77 [[ 9.95035346e-01 9.91506227e-02 8.59157035e-03 1.55942504e+02] [-9.91490161e-02 9.95072407e-01 -6.13780855e-04 -5.88519714e+00] [-8.61009135e-03 -2.41112102e-04 9.99962903e-01 -2.76623632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474391418 meters 0.02445942210736111 Centerline is valid? [True, True] Translation: X:155.97, Y:-5.90, Z:-2.77 [[ 9.95468885e-01 9.46705269e-02 8.89891703e-03 1.55970529e+02] [-9.46686279e-02 9.95508637e-01 -6.35343761e-04 -5.90006187e+00] [-8.91909709e-03 -2.09983319e-04 9.99960202e-01 -2.76560938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504391418 meters 0.021258451652857023 Centerline is valid? [True, True] Translation: X:156.00, Y:-5.91, Z:-2.76 [[ 9.95704588e-01 9.21338929e-02 9.14980891e-03 1.56000020e+02] [-9.21317850e-02 9.95746609e-01 -6.52506812e-04 -5.91159715e+00] [-9.17100919e-03 -1.93284202e-04 9.99957927e-01 -2.76432484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534391418 meters 0.018245462786216183 Centerline is valid? [True, True] Translation: X:156.03, Y:-5.93, Z:-2.76 [[ 9.96159483e-01 8.69396308e-02 1.03819504e-02 1.56029886e+02] [-8.69366383e-02 9.96213568e-01 -7.40051755e-04 -5.92785410e+00] [-1.04069797e-02 -1.65362292e-04 9.99945832e-01 -2.76312516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564391418 meters 0.017110176499330842 Centerline is valid? [True, True] Translation: X:156.06, Y:-5.94, Z:-2.76 [[ 9.96336453e-01 8.48496686e-02 1.06866826e-02 1.56061856e+02] [-8.48463921e-02 9.96393753e-01 -7.60422270e-04 -5.93687426e+00] [-1.07126654e-02 -1.49090036e-04 9.99942607e-01 -2.76313413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59439141800001 meters 0.016040812636576713 Centerline is valid? [True, True] Translation: X:156.09, Y:-5.95, Z:-2.76 [[ 9.96513024e-01 8.27192894e-02 1.09230063e-02 1.56093971e+02] [-8.27156874e-02 9.96572879e-01 -7.81891017e-04 -5.94558916e+00] [-1.09502493e-02 -1.24339395e-04 9.99940036e-01 -2.76360279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62439141800002 meters 0.014618952698920542 Centerline is valid? [True, True] Translation: X:156.12, Y:-5.96, Z:-2.76 [[ 9.96828271e-01 7.88538225e-02 1.07457965e-02 1.56124322e+02] [-7.88501127e-02 9.96886186e-01 -7.69122286e-04 -5.95945203e+00] [-1.07729843e-02 -8.06244254e-05 9.99941966e-01 -2.76464769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65439141800002 meters 0.014029711969075794 Centerline is valid? [True, True] Translation: X:156.16, Y:-5.97, Z:-2.77 [[ 9.96974579e-01 7.70746642e-02 1.00590508e-02 1.56156721e+02] [-7.70713036e-02 9.97025322e-01 -7.21875042e-04 -5.96792497e+00] [-1.00847666e-02 -5.55730891e-05 9.99949146e-01 -2.76601225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68439141800002 meters 0.013690586384420488 Centerline is valid? [True, True] Translation: X:156.19, Y:-5.98, Z:-2.77 [[ 9.97105415e-01 7.54957302e-02 9.01032184e-03 1.56189622e+02] [-7.54929481e-02 9.97146125e-01 -6.48974875e-04 -5.97604820e+00] [-9.03360234e-03 -3.31193968e-05 9.99959196e-01 -2.76718661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71439141800002 meters 0.013597952205078404 Centerline is valid? [True, True] Translation: X:156.22, Y:-5.98, Z:-2.77 [[ 9.97166847e-01 7.46757664e-02 9.04481474e-03 1.56222565e+02] [-7.46729020e-02 9.97207867e-01 -6.54460260e-04 -5.98345638e+00] [-9.06843273e-03 -2.27964905e-05 9.99958881e-01 -2.76760107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters 0.013553418330200425 Centerline is valid? [True, True] Translation: X:156.25, Y:-5.99, Z:-2.77 [[ 9.97226581e-01 7.39603620e-02 8.30733492e-03 1.56253525e+02] [-7.39579009e-02 9.97261182e-01 -6.03499251e-04 -5.99259918e+00] [-8.32921766e-03 -1.25675581e-05 9.99965311e-01 -2.76807377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774391418 meters 0.013659599475461678 Centerline is valid? [True, True] Translation: X:156.29, Y:-6.00, Z:-2.77 [[ 9.97176555e-01 7.45867607e-02 8.70253401e-03 1.56286763e+02] [-7.45840597e-02 9.97214528e-01 -6.34946977e-04 -5.99728067e+00] [-8.72565199e-03 -1.59160777e-05 9.99961931e-01 -2.76795727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters 0.013588060434009548 Centerline is valid? [True, True] Translation: X:156.32, Y:-6.00, Z:-2.77 [[ 9.97076996e-01 7.58198904e-02 9.42376911e-03 1.56319965e+02] [-7.58167458e-02 9.97121529e-01 -6.91007835e-04 -6.00118538e+00] [-9.44903521e-03 -2.54914908e-05 9.99955357e-01 -2.76759604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834391418 meters 0.013911056933810473 Centerline is valid? [True, True] Translation: X:156.35, Y:-6.00, Z:-2.77 [[ 9.96853203e-01 7.86218143e-02 1.01144422e-02 1.56353116e+02] [-7.86182994e-02 9.96904513e-01 -7.45261275e-04 -6.00469719e+00] [-1.01417268e-02 -5.22641530e-05 9.99948570e-01 -2.76696625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters 0.014358045045390023 Centerline is valid? [True, True] Translation: X:156.39, Y:-6.01, Z:-2.77 [[ 9.96732800e-01 8.01025212e-02 1.03591597e-02 1.56385073e+02] [-8.00988775e-02 9.96786628e-01 -7.66816190e-04 -6.00763279e+00] [-1.03872958e-02 -6.54462161e-05 9.99946048e-01 -2.76765522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894391418 meters 0.014524048140299426 Centerline is valid? [True, True] Translation: X:156.42, Y:-6.01, Z:-2.77 [[ 9.96674976e-01 8.08629585e-02 1.00087449e-02 1.56418042e+02] [-8.08595696e-02 9.96725227e-01 -7.43461520e-04 -6.01141763e+00] [-1.00360871e-02 -6.83133150e-05 9.99949635e-01 -2.76901897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters 0.013874596290569594 Centerline is valid? [True, True] Translation: X:156.45, Y:-6.02, Z:-2.77 [[ 9.96709950e-01 8.05186065e-02 9.27525151e-03 1.56450154e+02] [-8.05156608e-02 9.96753104e-01 -6.91161544e-04 -6.01943316e+00] [-9.30078710e-03 -5.79154172e-05 9.99956745e-01 -2.76986023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954391418 meters 0.01346580693147518 Centerline is valid? [True, True] Translation: X:156.48, Y:-6.03, Z:-2.77 [[ 9.96805915e-01 7.93456003e-02 9.06882608e-03 1.56483009e+02] [-7.93427099e-02 9.96847167e-01 -6.78624983e-04 -6.02560048e+00] [-9.09407949e-03 -4.30878398e-05 9.99958647e-01 -2.77077788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters 0.01297113832646465 Centerline is valid? [True, True] Translation: X:156.52, Y:-6.03, Z:-2.77 [[ 9.96947204e-01 7.75686660e-02 8.90923710e-03 1.56516078e+02] [-7.75657811e-02 9.96987012e-01 -6.69401990e-04 -6.03246786e+00] [-8.93431829e-03 -2.36934932e-05 9.99960088e-01 -2.77062818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014391418 meters 0.013331759206190688 Centerline is valid? [True, True] Translation: X:156.55, Y:-6.04, Z:-2.77 [[ 9.97348853e-01 7.22764306e-02 8.44886434e-03 1.56546966e+02] [-7.22736212e-02 9.97384638e-01 -6.37770320e-04 -6.04428211e+00] [-8.47286327e-03 2.54494763e-05 9.99964104e-01 -2.77206152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.044391418 meters 0.013617277417096504 Centerline is valid? [True, True] Translation: X:156.58, Y:-6.05, Z:-2.77 [[ 9.97541066e-01 6.94957557e-02 9.06427693e-03 1.56579340e+02] [-6.94923781e-02 9.97582246e-01 -6.87435903e-04 -6.05113815e+00] [-9.09013562e-03 5.58473842e-05 9.99958682e-01 -2.77092542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.074391418 meters 0.015251526586104514 Centerline is valid? [True, True] Translation: X:156.61, Y:-6.06, Z:-2.77 [[ 9.97860155e-01 6.46571330e-02 9.72449573e-03 1.56609904e+02] [-6.46529709e-02 9.97907532e-01 -7.42089619e-04 -6.06145453e+00] [-9.75212892e-03 1.11784124e-04 9.99952441e-01 -2.77020788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.104391418 meters 0.017435698073905753 Centerline is valid? [True, True] Translation: X:156.64, Y:-6.07, Z:-2.77 [[ 9.97967245e-01 6.28774984e-02 1.03826184e-02 1.56640775e+02] [-6.28726220e-02 9.98021242e-01 -7.95727839e-04 -6.06899646e+00] [-1.04121071e-02 1.41327877e-04 9.99945783e-01 -2.77107741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.134391418 meters 0.018127474454485062 Centerline is valid? [True, True] Translation: X:156.67, Y:-6.07, Z:-2.77 [[ 9.98020774e-01 6.19076326e-02 1.10444755e-02 1.56673539e+02] [-6.19020185e-02 9.98081869e-01 -8.49770836e-04 -6.07451344e+00] [-1.10758980e-02 1.64413621e-04 9.99938647e-01 -2.77087016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164391418 meters 0.018968503725786408 Centerline is valid? [True, True] Translation: X:156.71, Y:-6.08, Z:-2.77 [[ 9.98056190e-01 6.13173571e-02 1.11365770e-02 1.56705331e+02] [-6.13115698e-02 9.98118305e-01 -8.60659136e-04 -6.07978167e+00] [-1.11683947e-02 1.76185161e-04 9.99937616e-01 -2.77159459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194391418 meters 0.019630397952739395 Centerline is valid? [True, True] Translation: X:156.74, Y:-6.08, Z:-2.77 [[ 9.98087142e-01 6.08699575e-02 1.08123082e-02 1.56736719e+02] [-6.08644393e-02 9.98145689e-01 -8.38993624e-04 -6.08407624e+00] [-1.08433283e-02 1.79303674e-04 9.99941193e-01 -2.77282121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224391418 meters 0.017385750122573793 Centerline is valid? [True, True] Translation: X:156.77, Y:-6.08, Z:-2.77 [[ 9.98069445e-01 6.13218555e-02 9.84948092e-03 1.56769630e+02] [-6.13172857e-02 9.98118031e-01 -7.65558926e-04 -6.08302591e+00] [-9.87789000e-03 1.60137536e-04 9.99951200e-01 -2.77330875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254391418 meters 0.02018929545807179 Centerline is valid? [True, True] Translation: X:156.80, Y:-6.09, Z:-2.78 [[ 9.98072354e-01 6.14633196e-02 8.59279676e-03 1.56800064e+02] [-6.14598122e-02 9.98109333e-01 -6.71901508e-04 -6.08931883e+00] [-8.61784794e-03 1.42494645e-04 9.99962856e-01 -2.77767692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284391418 meters 0.02096428344647518 Centerline is valid? [True, True] Translation: X:156.83, Y:-6.09, Z:-2.78 [[ 9.98106459e-01 6.11595172e-02 6.55825772e-03 1.56832485e+02] [-6.11574723e-02 9.98127998e-01 -5.12093352e-04 -6.09214347e+00] [-6.57730004e-03 1.10037217e-04 9.99978363e-01 -2.78117403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314391418 meters 0.018643432642225673 Centerline is valid? [True, True] Translation: X:156.86, Y:-6.09, Z:-2.78 [[ 9.98121401e-01 6.10344711e-02 5.33495515e-03 1.56864884e+02] [-6.10331159e-02 9.98135655e-01 -4.16611058e-04 -6.09112481e+00] [-5.35043659e-03 9.02194765e-05 9.99985682e-01 -2.77996043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34439141800001 meters 0.01902245826970124 Centerline is valid? [True, True] Translation: X:156.90, Y:-6.09, Z:-2.78 [[ 9.98139616e-01 6.07568355e-02 5.09060534e-03 1.56897781e+02] [-6.07555941e-02 9.98152593e-01 -3.98286990e-04 -6.09434736e+00] [-5.10539958e-03 8.82632714e-05 9.99986963e-01 -2.78036624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37439141800002 meters 0.02020703980309942 Centerline is valid? [True, True] Translation: X:156.93, Y:-6.10, Z:-2.78 [[ 9.98212148e-01 5.94628404e-02 6.05624538e-03 1.56929209e+02] [-5.94610343e-02 9.98230513e-01 -4.78006007e-04 -6.09820792e+00] [-6.07395253e-03 1.17040789e-04 9.99981547e-01 -2.77885040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40439141800002 meters 0.020648862138806765 Centerline is valid? [True, True] Translation: X:156.96, Y:-6.10, Z:-2.78 [[ 9.98232302e-01 5.90841146e-02 6.42947446e-03 1.56961928e+02] [-5.90820619e-02 9.98252999e-01 -5.08904557e-04 -6.10119512e+00] [-6.44831034e-03 1.28138359e-04 9.99979201e-01 -2.77816260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43439141800002 meters 0.021213031460896124 Centerline is valid? [True, True] Translation: X:156.99, Y:-6.10, Z:-2.78 [[ 9.98255622e-01 5.85718414e-02 7.41971912e-03 1.56993402e+02] [-5.85690656e-02 9.98283184e-01 -5.91037136e-04 -6.10420446e+00] [-7.44159896e-03 1.55440128e-04 9.99972299e-01 -2.77750961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46439141800002 meters 0.022946627985247665 Centerline is valid? [True, True] Translation: X:157.02, Y:-6.11, Z:-2.78 [[ 9.98347339e-01 5.68776282e-02 8.21737971e-03 1.57024822e+02] [-5.68741355e-02 9.98381139e-01 -6.58281343e-04 -6.10742522e+00] [-8.24151840e-03 1.89837060e-04 9.99966020e-01 -2.77688192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494391418 meters 0.023468046851242298 Centerline is valid? [True, True] Translation: X:157.06, Y:-6.11, Z:-2.78 [[ 9.98383940e-01 5.62731493e-02 7.92717184e-03 1.57057112e+02] [-5.62698657e-02 9.98415393e-01 -6.36825539e-04 -6.10999368e+00] [-7.95044656e-03 1.89735496e-04 9.99968377e-01 -2.77751449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters 0.024146372492860946 Centerline is valid? [True, True] Translation: X:157.09, Y:-6.11, Z:-2.78 [[ 9.98419437e-01 5.55966674e-02 8.22425449e-03 1.57089145e+02] [-5.55930885e-02 9.98453288e-01 -6.63311860e-04 -6.11264080e+00] [-8.24841186e-03 2.05051746e-04 9.99965960e-01 -2.77798843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554391418 meters 0.02404657547627108 Centerline is valid? [True, True] Translation: X:157.12, Y:-6.11, Z:-2.78 [[ 9.98483999e-01 5.45715179e-02 7.18705736e-03 1.57121055e+02] [-5.45687488e-02 9.98509847e-01 -5.80982011e-04 -6.11271726e+00] [-7.20805261e-03 1.87912515e-04 9.99974004e-01 -2.77828401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters 0.025560310928439363 Centerline is valid? [True, True] Translation: X:157.15, Y:-6.12, Z:-2.78 [[ 9.98443953e-01 5.52697605e-02 7.41128419e-03 1.57151744e+02] [-5.52668155e-02 9.98471440e-01 -6.01745052e-04 -6.11596353e+00] [-7.43321390e-03 1.91210633e-04 9.99972355e-01 -2.77950894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614391418 meters 0.0255327276171907 Centerline is valid? [True, True] Translation: X:157.18, Y:-6.12, Z:-2.78 [[ 9.98399823e-01 5.61062172e-02 7.06295373e-03 1.57184496e+02] [-5.61035547e-02 9.98424790e-01 -5.74687848e-04 -6.11659806e+00] [-7.08407166e-03 1.77511435e-04 9.99974892e-01 -2.77996916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters 0.02124816213086154 Centerline is valid? [True, True] Translation: X:157.22, Y:-6.11, Z:-2.78 [[ 9.98214957e-01 5.92875709e-02 7.20307686e-03 1.57217517e+02] [-5.92848657e-02 9.98240932e-01 -5.88691194e-04 -6.10945696e+00] [-7.22530823e-03 1.60606910e-04 9.99973884e-01 -2.77778078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674391418 meters 0.02056806582114925 Centerline is valid? [True, True] Translation: X:157.25, Y:-6.11, Z:-2.78 [[ 9.98115001e-01 6.08761252e-02 7.78093642e-03 1.57249966e+02] [-6.08729948e-02 9.98145315e-01 -6.38737833e-04 -6.10932400e+00] [-7.80538912e-03 1.63884910e-04 9.99969524e-01 -2.77757921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters 0.02006726730745838 Centerline is valid? [True, True] Translation: X:157.28, Y:-6.11, Z:-2.78 [[ 9.98031474e-01 6.21847156e-02 8.13863419e-03 1.57281085e+02] [-6.21813101e-02 9.98064644e-01 -6.71049016e-04 -6.10932807e+00] [-8.16461203e-03 1.63657102e-04 9.99966656e-01 -2.77758408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734391418 meters 0.02068502271328077 Centerline is valid? [True, True] Translation: X:157.31, Y:-6.11, Z:-2.78 [[ 9.98036755e-01 6.20987126e-02 8.14777039e-03 1.57313305e+02] [-6.20952811e-02 9.98069999e-01 -6.73701678e-04 -6.10897776e+00] [-8.17388119e-03 1.66440944e-04 9.99966579e-01 -2.77842979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764391418 meters 0.022935264930700645 Centerline is valid? [True, True] Translation: X:157.34, Y:-6.11, Z:-2.78 [[ 9.98087777e-01 6.13083394e-02 7.87887880e-03 1.57344510e+02] [-6.13050752e-02 9.98118860e-01 -6.55370951e-04 -6.11314732e+00] [-7.90423723e-03 1.71102479e-04 9.99968746e-01 -2.78068030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.794391418 meters 0.022445990319046778 Centerline is valid? [True, True] Translation: X:157.38, Y:-6.11, Z:-2.78 [[ 9.98279707e-01 5.82271113e-02 6.87237209e-03 1.57376400e+02] [-5.82245492e-02 9.98303348e-01 -5.72456752e-04 -6.11216930e+00] [-6.89404457e-03 1.71331192e-04 9.99976221e-01 -2.78157200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.824391418 meters 0.023484769871254144 Centerline is valid? [True, True] Translation: X:157.41, Y:-6.11, Z:-2.78 [[ 9.98400162e-01 5.61470762e-02 6.67998057e-03 1.57408069e+02] [-5.61446144e-02 9.98422493e-01 -5.55642549e-04 -6.11465047e+00] [-6.70064055e-03 1.79708678e-04 9.99977534e-01 -2.78263786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.854391418 meters 0.025254364976412435 Centerline is valid? [True, True] Translation: X:157.44, Y:-6.12, Z:-2.78 [[ 9.98516884e-01 5.41409526e-02 5.72615228e-03 1.57439689e+02] [-5.41391048e-02 9.98533289e-01 -4.77320279e-04 -6.11837354e+00] [-5.74359625e-03 1.66603600e-04 9.99983492e-01 -2.78418450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.884391418 meters 0.026672258461602864 Centerline is valid? [True, True] Translation: X:157.47, Y:-6.12, Z:-2.79 [[ 9.98615137e-01 5.23209199e-02 5.50718139e-03 1.57471823e+02] [-5.23191747e-02 9.98630308e-01 -4.60574506e-04 -6.12135077e+00] [-5.52373593e-03 1.71805488e-04 9.99984729e-01 -2.78578632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914391418 meters 0.02979020705577358 Centerline is valid? [True, True] Translation: X:157.50, Y:-6.12, Z:-2.79 [[ 9.98777762e-01 4.92348776e-02 4.34852176e-03 1.57502622e+02] [-4.92337580e-02 9.98787217e-01 -3.64203531e-04 -6.12361321e+00] [-4.36117946e-03 1.49664320e-04 9.99990479e-01 -2.78786339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944391418 meters 0.030491999176426515 Centerline is valid? [True, True] Translation: X:157.53, Y:-6.13, Z:-2.79 [[ 9.98799269e-01 4.88131611e-02 4.15884577e-03 1.57534642e+02] [-4.88121306e-02 9.98807917e-01 -3.48993172e-04 -6.12545996e+00] [-4.17092353e-03 1.45572002e-04 9.99991291e-01 -2.78874141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974391418 meters 0.028139398914078195 Centerline is valid? [True, True] Translation: X:157.57, Y:-6.12, Z:-2.79 [[ 9.98810197e-01 4.85912441e-02 4.13307910e-03 1.57566968e+02] [-4.85902205e-02 9.98818737e-01 -3.47769053e-04 -6.12327969e+00] [-4.14509538e-03 1.46528052e-04 9.99991398e-01 -2.78802598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004391418 meters 0.028467427218144534 Centerline is valid? [True, True] Translation: X:157.60, Y:-6.12, Z:-2.79 [[ 9.98798400e-01 4.88127355e-02 4.36717191e-03 1.57599581e+02] [-4.88115899e-02 9.98807936e-01 -3.68577260e-04 -6.12433175e+00] [-4.37995722e-03 1.54965774e-04 9.99990396e-01 -2.78832579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034391418 meters 0.03057772621611569 Centerline is valid? [True, True] Translation: X:157.63, Y:-6.12, Z:-2.79 [[ 9.98705994e-01 5.04978071e-02 6.02571396e-03 1.57630673e+02] [-5.04956238e-02 9.98724150e-01 -5.14023144e-04 -6.12445971e+00] [-6.04398309e-03 2.09085809e-04 9.99981713e-01 -2.78886850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064391418 meters 0.027077182139143428 Centerline is valid? [True, True] Translation: X:157.66, Y:-6.12, Z:-2.79 [[ 9.98625022e-01 5.19596226e-02 6.94710230e-03 1.57663360e+02] [-5.19567378e-02 9.98649159e-01 -5.95200795e-04 -6.12003613e+00] [-6.96864428e-03 2.33433634e-04 9.99975691e-01 -2.78717054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09439141800001 meters 0.025482472190871686 Centerline is valid? [True, True] Translation: X:157.69, Y:-6.11, Z:-2.79 [[ 9.98400539e-01 5.58175439e-02 8.98698025e-03 1.57694939e+02] [-5.58128113e-02 9.98440948e-01 -7.76748879e-04 -6.11451922e+00] [-9.01632529e-03 2.73917867e-04 9.99959315e-01 -2.78595727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12439141800002 meters 0.024249334418940432 Centerline is valid? [True, True] Translation: X:157.73, Y:-6.11, Z:-2.79 [[ 9.98263775e-01 5.80646338e-02 9.89615192e-03 1.57728003e+02] [-5.80590102e-02 9.98312787e-01 -8.54850868e-04 -6.11229838e+00] [-9.92909161e-03 2.78805869e-04 9.99950666e-01 -2.78577340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15439141800002 meters 0.022832050949128508 Centerline is valid? [True, True] Translation: X:157.76, Y:-6.11, Z:-2.79 [[ 9.98077142e-01 6.10833435e-02 1.05282746e-02 1.57760039e+02] [-6.10771362e-02 9.98132634e-01 -9.10408596e-04 -6.11024938e+00] [-1.05642253e-02 2.65621147e-04 9.99944162e-01 -2.78594905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18439141800002 meters 0.021113548214315228 Centerline is valid? [True, True] Translation: X:157.79, Y:-6.11, Z:-2.79 [[ 9.97883391e-01 6.41058471e-02 1.09168939e-02 1.57792620e+02] [-6.40993154e-02 9.97943075e-01 -9.47511933e-04 -6.10783872e+00] [-1.09551797e-02 2.45740996e-04 9.99939960e-01 -2.78636323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21439141800002 meters 0.019757238154087482 Centerline is valid? [True, True] Translation: X:157.82, Y:-6.11, Z:-2.79 [[ 9.97665757e-01 6.74226923e-02 1.08266825e-02 1.57824077e+02] [-6.74164267e-02 9.97724479e-01 -9.43053432e-04 -6.10610408e+00] [-1.08656293e-02 2.10955870e-04 9.99940945e-01 -2.78746754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters 0.01651330669927028 Centerline is valid? [True, True] Translation: X:157.86, Y:-6.10, Z:-2.79 [[ 9.97203191e-01 7.40001471e-02 1.04773427e-02 1.57857058e+02] [-7.39946145e-02 9.97258221e-01 -9.15253236e-04 -6.09774174e+00] [-1.05163450e-02 1.37426512e-04 9.99944692e-01 -2.78882339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274391418 meters 0.015118157100060642 Centerline is valid? [True, True] Translation: X:157.89, Y:-6.10, Z:-2.79 [[ 9.96922949e-01 7.76310937e-02 1.08649410e-02 1.57889111e+02] [-7.76253221e-02 9.96982147e-01 -9.52553449e-04 -6.09518708e+00] [-1.09061000e-02 1.06227847e-04 9.99940521e-01 -2.79014670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters 0.015118157100060642 Centerline is valid? [True, True] Translation: X:157.92, Y:-6.10, Z:-2.79 [[ 9.96896996e-01 7.79637001e-02 1.08646835e-02 1.57921479e+02] [-7.79579164e-02 9.96956193e-01 -9.55478868e-04 -6.09827558e+00] [-1.09061062e-02 1.05525925e-04 9.99940521e-01 -2.79073296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334391418 meters 0.01362026077689563 Centerline is valid? [True, True] Translation: X:157.95, Y:-6.09, Z:-2.79 [[ 9.96586367e-01 8.18401190e-02 1.08539278e-02 1.57953652e+02] [-8.18345349e-02 9.96645469e-01 -9.58352098e-04 -6.09495003e+00] [-1.08959496e-02 6.68545056e-05 9.99940635e-01 -2.79120603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters 0.012819358330934075 Centerline is valid? [True, True] Translation: X:157.98, Y:-6.09, Z:-2.79 [[ 9.95947595e-01 8.91943186e-02 1.15222269e-02 1.57984968e+02] [-8.91884505e-02 9.96014244e-01 -1.02315580e-03 -6.08747905e+00] [-1.15675618e-02 -8.64000572e-06 9.99933093e-01 -2.79180628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394391418 meters 0.013135624537968259 Centerline is valid? [True, True] Translation: X:158.02, Y:-6.09, Z:-2.79 [[ 9.95623547e-01 9.27206149e-02 1.16893069e-02 1.58016749e+02] [-9.27148168e-02 9.95692164e-01 -1.03811671e-03 -6.08525675e+00] [-1.17352061e-02 -5.01985058e-05 9.99931139e-01 -2.79231701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters 0.013950564873236473 Centerline is valid? [True, True] Translation: X:158.05, Y:-6.08, Z:-2.79 [[ 9.95292591e-01 9.61667175e-02 1.20258172e-02 1.58047362e+02] [-9.61608223e-02 9.95365236e-01 -1.06882347e-03 -6.08311537e+00] [-1.20728656e-02 -9.26203946e-05 9.99927116e-01 -2.79293055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454391418 meters 0.01622529135216738 Centerline is valid? [True, True] Translation: X:158.08, Y:-6.08, Z:-2.79 [[ 9.94675552e-01 1.02238439e-01 1.29556087e-02 1.58077653e+02] [-1.02232112e-01 9.94759905e-01 -1.15142549e-03 -6.07710991e+00] [-1.30054400e-02 -1.79184455e-04 9.99915410e-01 -2.79398242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters 0.01765021198010333 Centerline is valid? [True, True] Translation: X:158.11, Y:-6.08, Z:-2.80 [[ 9.94391153e-01 1.04947173e-01 1.31272665e-02 1.58107429e+02] [-1.04940909e-01 9.94477774e-01 -1.16701999e-03 -6.07597193e+00] [-1.31772503e-02 -2.17112922e-04 9.99913153e-01 -2.79508721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514391418 meters 0.02036743036352876 Centerline is valid? [True, True] Translation: X:158.14, Y:-6.07, Z:-2.80 [[ 9.93924257e-01 1.09186710e-01 1.38864531e-02 1.58136620e+02] [-1.09180122e-01 9.94021216e-01 -1.23395074e-03 -6.07382328e+00] [-1.39381600e-02 -2.89671067e-04 9.99902817e-01 -2.79644306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.544391418 meters 0.021666678661105335 Centerline is valid? [True, True] Translation: X:158.17, Y:-6.08, Z:-2.80 [[ 9.93727315e-01 1.11040229e-01 1.32698923e-02 1.58166527e+02] [-1.11034390e-01 9.93815866e-01 -1.17825543e-03 -6.07501231e+00] [-1.33186632e-02 -3.02549787e-04 9.99911257e-01 -2.79786717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.574391418 meters 0.022544860627039396 Centerline is valid? [True, True] Translation: X:158.20, Y:-6.08, Z:-2.80 [[ 9.93566758e-01 1.12441162e-01 1.34938109e-02 1.58196486e+02] [-1.12435261e-01 9.93658331e-01 -1.19754616e-03 -6.07682102e+00] [-1.35428911e-02 -3.27338095e-04 9.99908237e-01 -2.79887904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.604391418 meters 0.024674337282902928 Centerline is valid? [True, True] Translation: X:158.23, Y:-6.08, Z:-2.80 [[ 9.93312551e-01 1.14638523e-01 1.37180401e-02 1.58225535e+02] [-1.14632641e-01 9.93407206e-01 -1.21693389e-03 -6.07833169e+00] [-1.37671074e-02 -3.63739453e-04 9.99905163e-01 -2.79987288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.634391418 meters 0.02494031074070495 Centerline is valid? [True, True] Translation: X:158.25, Y:-6.08, Z:-2.80 [[ 9.93230220e-01 1.15312046e-01 1.40307888e-02 1.58254631e+02] [-1.15305974e-01 9.93329243e-01 -1.24367433e-03 -6.08197571e+00] [-1.40806034e-02 -3.82578835e-04 9.99900790e-01 -2.80030706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664391418 meters 0.025033628479407394 Centerline is valid? [True, True] Translation: X:158.28, Y:-6.09, Z:-2.80 [[ 9.93173552e-01 1.15729855e-01 1.45909558e-02 1.58284468e+02] [-1.15723343e-01 9.93280644e-01 -1.29268382e-03 -6.08622163e+00] [-1.46425160e-02 -4.04654802e-04 9.99892711e-01 -2.80020116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694391418 meters 0.024761684921762114 Centerline is valid? [True, True] Translation: X:158.31, Y:-6.09, Z:-2.80 [[ 9.93085849e-01 1.16305163e-01 1.59249958e-02 1.58313318e+02] [-1.16297491e-01 9.93213424e-01 -1.41013705e-03 -6.09153128e+00] [-1.59809258e-02 -4.51649914e-04 9.99872195e-01 -2.79971813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724391418 meters 0.026732747800452494 Centerline is valid? [True, True] Translation: X:158.34, Y:-6.10, Z:-2.80 [[ 9.92906516e-01 1.17465311e-01 1.83997507e-02 1.58341522e+02] [-1.17455285e-01 9.93076837e-01 -1.62835657e-03 -6.09625085e+00] [-1.84636417e-02 -5.44342122e-04 9.99829384e-01 -2.79776577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754391418 meters 0.025068256739503008 Centerline is valid? [True, True] Translation: X:158.37, Y:-6.10, Z:-2.80 [[ 9.92822148e-01 1.17974583e-01 1.96514855e-02 1.58371890e+02] [-1.17963271e-01 9.93016438e-01 -1.73791267e-03 -6.10365531e+00] [-1.97192777e-02 -5.92715321e-04 9.99805380e-01 -2.79738117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784391418 meters 0.028119031011988246 Centerline is valid? [True, True] Translation: X:158.40, Y:-6.10, Z:-2.80 [[ 9.92716423e-01 1.18776665e-01 2.01545719e-02 1.58401874e+02] [-1.18764932e-01 9.92920799e-01 -1.78235628e-03 -6.10450929e+00] [-2.02235960e-02 -6.24282016e-04 9.99795287e-01 -2.79759869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814391418 meters 0.02856846864140992 Centerline is valid? [True, True] Translation: X:158.43, Y:-6.11, Z:-2.80 [[ 9.92628810e-01 1.19346882e-01 2.10800294e-02 1.58432353e+02] [-1.19334183e-01 9.92852395e-01 -1.86379097e-03 -6.10914158e+00] [-2.11517954e-02 -6.65515491e-04 9.99776054e-01 -2.79792252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84439141800001 meters 0.030500526832867417 Centerline is valid? [True, True] Translation: X:158.46, Y:-6.12, Z:-2.80 [[ 9.92417918e-01 1.21229946e-01 2.02478920e-02 1.58461762e+02] [-1.21218622e-01 9.92624219e-01 -1.79021753e-03 -6.11544355e+00] [-2.03155760e-02 -6.77777624e-04 9.99793388e-01 -2.80095160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87439141800002 meters 0.02672256953621918 Centerline is valid? [True, True] Translation: X:158.49, Y:-6.13, Z:-2.80 [[ 9.92292921e-01 1.22324324e-01 1.97868445e-02 1.58493244e+02] [-1.22313716e-01 9.92489946e-01 -1.75002793e-03 -6.12680456e+00] [-1.98523152e-02 -6.83662153e-04 9.99802690e-01 -2.80314546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90439141800002 meters 0.03167737459548638 Centerline is valid? [True, True] Translation: X:158.52, Y:-6.13, Z:-2.81 [[ 9.92261153e-01 1.22756155e-01 1.86743555e-02 1.58524307e+02] [-1.22746680e-01 9.92436651e-01 -1.65707390e-03 -6.12660031e+00] [-1.87365309e-02 -6.47965092e-04 9.99824246e-01 -2.80504127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93439141800002 meters 0.03128420663680251 Centerline is valid? [True, True] Translation: X:158.55, Y:-6.14, Z:-2.81 [[ 9.92368046e-01 1.22063545e-01 1.74972305e-02 1.58554816e+02] [-1.22055070e-01 9.92522111e-01 -1.55540100e-03 -6.13712538e+00] [-1.75562459e-02 -5.92095443e-04 9.99845702e-01 -2.80763183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96439141800002 meters 0.025519161490884616 Centerline is valid? [True, True] Translation: X:158.59, Y:-6.15, Z:-2.81 [[ 9.92479245e-01 1.21138010e-01 1.76219033e-02 1.58585690e+02] [-1.21129189e-01 9.92635508e-01 -1.57100468e-03 -6.15170898e+00] [-1.76824353e-02 -5.75337318e-04 9.99843488e-01 -2.80850317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994391418 meters 0.02419495496929567 Centerline is valid? [True, True] Translation: X:158.62, Y:-6.16, Z:-2.81 [[ 9.93053267e-01 1.16247954e-01 1.82104701e-02 1.58615115e+02] [-1.16237606e-01 9.93220099e-01 -1.62926439e-03 -6.16453336e+00] [-1.82764036e-02 -4.98795128e-04 9.99832848e-01 -2.80858811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters 0.020064188829673434 Centerline is valid? [True, True] Translation: X:158.65, Y:-6.18, Z:-2.81 [[ 9.93425582e-01 1.12855469e-01 1.92160303e-02 1.58645973e+02] [-1.12843296e-01 9.93611308e-01 -1.72005390e-03 -6.17787778e+00] [-1.92873825e-02 -4.59654653e-04 9.99813875e-01 -2.80831923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054391418 meters 0.01810708759931801 Centerline is valid? [True, True] Translation: X:158.68, Y:-6.19, Z:-2.81 [[ 9.93870717e-01 1.08732775e-01 1.99544832e-02 1.58676384e+02] [-1.08718689e-01 9.94070940e-01 -1.79262980e-03 -6.18834114e+00] [-2.00310895e-02 -3.87782989e-04 9.99799282e-01 -2.80782832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters 0.013778085079233256 Centerline is valid? [True, True] Translation: X:158.71, Y:-6.21, Z:-2.81 [[ 9.94925233e-01 9.84106206e-02 2.09554602e-02 1.58705063e+02] [-9.83926771e-02 9.95145877e-01 -1.88810820e-03 -6.20768310e+00] [-2.10395497e-02 -1.83337335e-04 9.99778627e-01 -2.80747566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114391418 meters 0.012475452864768642 Centerline is valid? [True, True] Translation: X:158.74, Y:-6.22, Z:-2.81 [[ 9.95412648e-01 9.32901898e-02 2.12273788e-02 1.58736430e+02] [-9.32705824e-02 9.95638958e-01 -1.91404040e-03 -6.21988793e+00] [-2.13133665e-02 -7.46299658e-05 9.99772842e-01 -2.80812148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters 0.012394199835229327 Centerline is valid? [True, True] Translation: X:158.77, Y:-6.23, Z:-2.81 [[ 9.95872312e-01 8.83193050e-02 2.09293794e-02 1.58768561e+02] [-8.82990075e-02 9.96092214e-01 -1.89376562e-03 -6.23165936e+00] [-2.10148479e-02 3.79053147e-05 9.99779163e-01 -2.80887541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174391418 meters 0.015787032280232458 Centerline is valid? [True, True] Translation: X:158.80, Y:-6.25, Z:-2.81 [[ 9.96783397e-01 7.75676427e-02 2.01524071e-02 1.58797787e+02] [-7.75464928e-02 9.96987057e-01 -1.83001934e-03 -6.25201772e+00] [-2.02336394e-02 2.61384398e-04 9.99795245e-01 -2.81058786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters 0.018175941561211384 Centerline is valid? [True, True] Translation: X:158.83, Y:-6.26, Z:-2.81 [[ 9.97151989e-01 7.27961349e-02 1.97137692e-02 1.58828811e+02] [-7.27748970e-02 9.97346779e-01 -1.79353501e-03 -6.26263453e+00] [-1.97920267e-02 3.53759484e-04 9.99804056e-01 -2.81135850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234391418 meters 0.021328855048507178 Centerline is valid? [True, True] Translation: X:158.86, Y:-6.27, Z:-2.81 [[ 9.97460236e-01 6.83840811e-02 1.99171844e-02 1.58859477e+02] [-6.83614001e-02 9.97658966e-01 -1.81820008e-03 -6.27353025e+00] [-1.99948936e-02 4.52015674e-04 9.99799980e-01 -2.81112704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264391418 meters 0.024806056188622593 Centerline is valid? [True, True] Translation: X:158.89, Y:-6.28, Z:-2.81 [[ 9.97741927e-01 6.38177992e-02 2.09364472e-02 1.58889465e+02] [-6.37916169e-02 9.97961400e-01 -1.91672951e-03 -6.28351540e+00] [-2.10160876e-02 5.76831572e-04 9.99778971e-01 -2.81048670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.294391418 meters 0.030453072753118753 Centerline is valid? [True, True] Translation: X:158.92, Y:-6.30, Z:-2.81 [[ 9.98165914e-01 5.61601918e-02 2.26017895e-02 1.58918462e+02] [-5.61276971e-02 9.98421452e-01 -2.07001984e-03 -6.29641993e+00] [-2.26823642e-02 7.97636849e-04 9.99742404e-01 -2.80819494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.324391418 meters 0.03207549874321975 Centerline is valid? [True, True] Translation: X:158.95, Y:-6.30, Z:-2.81 [[ 9.98310473e-01 5.33139304e-02 2.31046274e-02 1.58949922e+02] [-5.32791797e-02 9.98577411e-01 -2.11747773e-03 -6.30202315e+00] [-2.31846500e-02 8.82904604e-04 9.99730810e-01 -2.80790357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.354391418 meters 0.03428577969265336 Centerline is valid? [True, True] Translation: X:158.98, Y:-6.31, Z:-2.81 [[ 9.98409383e-01 5.11179477e-02 2.37836014e-02 1.58980377e+02] [-5.10803442e-02 9.98692154e-01 -2.18631354e-03 -6.30820229e+00] [-2.38642560e-02 9.67961401e-04 9.99714739e-01 -2.80752150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.384391418 meters 0.030705542815277452 Centerline is valid? [True, True] Translation: X:159.01, Y:-6.31, Z:-2.81 [[ 9.98506772e-01 4.90645193e-02 2.40187226e-02 1.59012343e+02] [-4.90254137e-02 9.98795076e-01 -2.21463226e-03 -6.30611104e+00] [-2.40984417e-02 1.03379750e-03 9.99709056e-01 -2.80872635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414391418 meters 0.031978348577302466 Centerline is valid? [True, True] Translation: X:159.04, Y:-6.31, Z:-2.81 [[ 9.98641738e-01 4.65165252e-02 2.34710791e-02 1.59043882e+02] [-4.64783175e-02 9.98916940e-01 -2.17106332e-03 -6.30908274e+00] [-2.35466489e-02 1.07721818e-03 9.99722159e-01 -2.80984141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444391418 meters 0.034633711561008 Centerline is valid? [True, True] Translation: X:159.07, Y:-6.31, Z:-2.81 [[ 9.98675563e-01 4.62366267e-02 2.25675683e-02 1.59074911e+02] [-4.62010838e-02 9.98929965e-01 -2.09408968e-03 -6.31391572e+00] [-2.26402439e-02 1.04867007e-03 9.99743127e-01 -2.81121397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474391418 meters 0.03214768038199338 Centerline is valid? [True, True] Translation: X:159.11, Y:-6.31, Z:-2.81 [[ 9.98682744e-01 4.65563096e-02 2.15704969e-02 1.59108099e+02] [-4.65237725e-02 9.98915165e-01 -2.00805810e-03 -6.31149022e+00] [-2.16405842e-02 1.00187209e-03 9.99765313e-01 -2.81358584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504391418 meters 0.03513659005604858 Centerline is valid? [True, True] Translation: X:159.14, Y:-6.31, Z:-2.82 [[ 9.98691881e-01 4.74954712e-02 1.89395800e-02 1.59139313e+02] [-4.74704392e-02 9.98871076e-01 -1.76932217e-03 -6.31223277e+00] [-1.90022334e-02 8.67937502e-04 9.99819065e-01 -2.81727644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534391418 meters 0.033239329997075885 Centerline is valid? [True, True] Translation: X:159.17, Y:-6.31, Z:-2.82 [[ 9.98649826e-01 4.86590088e-02 1.81885982e-02 1.59171592e+02] [-4.86360198e-02 9.98815114e-01 -1.70440379e-03 -6.30960413e+00] [-1.82499814e-02 8.17481529e-04 9.99833121e-01 -2.81897313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564391418 meters 0.03493838817404974 Centerline is valid? [True, True] Translation: X:159.20, Y:-6.31, Z:-2.82 [[ 9.98600669e-01 4.99046142e-02 1.74995438e-02 1.59202823e+02] [-4.98834320e-02 9.98753692e-01 -1.64513957e-03 -6.31149901e+00] [-1.75598341e-02 7.69900176e-04 9.99845518e-01 -2.82027648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59439141800001 meters 0.03310886798063649 Centerline is valid? [True, True] Translation: X:159.24, Y:-6.31, Z:-2.82 [[ 9.98529814e-01 5.14843579e-02 1.69579035e-02 1.59235968e+02] [-5.14646135e-02 9.98673539e-01 -1.59895347e-03 -6.30505266e+00] [-1.70177306e-02 7.23870766e-04 9.99854926e-01 -2.82069990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62439141800002 meters 0.03223313866242692 Centerline is valid? [True, True] Translation: X:159.27, Y:-6.30, Z:-2.82 [[ 9.98481277e-01 5.24149721e-02 1.69649896e-02 1.59268681e+02] [-5.23952564e-02 9.98625136e-01 -1.60484173e-03 -6.30327986e+00] [-1.70257827e-02 7.13519444e-04 9.99854796e-01 -2.82053857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65439141800002 meters 0.030743344251941324 Centerline is valid? [True, True] Translation: X:159.30, Y:-6.30, Z:-2.82 [[ 9.98427015e-01 5.32525470e-02 1.75402888e-02 1.59301075e+02] [-5.32315012e-02 9.98580811e-01 -1.66489215e-03 -6.30036799e+00] [-1.76040555e-02 7.28577400e-04 9.99844771e-01 -2.82007384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68439141800002 meters 0.030084674114562518 Centerline is valid? [True, True] Translation: X:159.33, Y:-6.30, Z:-2.82 [[ 9.98359170e-01 5.43976226e-02 1.78847897e-02 1.59333303e+02] [-5.43758211e-02 9.98519088e-01 -1.70339220e-03 -6.29850806e+00] [-1.79509643e-02 7.28097097e-04 9.99838603e-01 -2.81961036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71439141800002 meters 0.030482159170218646 Centerline is valid? [True, True] Translation: X:159.36, Y:-6.30, Z:-2.82 [[ 9.98316884e-01 5.50266893e-02 1.83156549e-02 1.59364915e+02] [-5.50038204e-02 9.98484610e-01 -1.75040177e-03 -6.29756582e+00] [-1.83842183e-02 7.40024653e-04 9.99830722e-01 -2.81954255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters 0.03015979097690548 Centerline is valid? [True, True] Translation: X:159.40, Y:-6.29, Z:-2.82 [[ 9.98226603e-01 5.62005459e-02 1.96251977e-02 1.59397958e+02] [-5.61743944e-02 9.98419199e-01 -1.88172094e-03 -6.29157123e+00] [-1.96999279e-02 7.75950308e-04 9.99805636e-01 -2.81889884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774391418 meters 0.02997924643162546 Centerline is valid? [True, True] Translation: X:159.43, Y:-6.29, Z:-2.82 [[ 9.98188552e-01 5.67522910e-02 1.99697569e-02 1.59431152e+02] [-5.67251944e-02 9.98387981e-01 -1.92118495e-03 -6.29055702e+00] [-2.00465969e-02 7.84916485e-04 9.99798739e-01 -2.81920475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters 0.028960459858446475 Centerline is valid? [True, True] Translation: X:159.46, Y:-6.28, Z:-2.82 [[ 9.98101636e-01 5.82562966e-02 1.99831983e-02 1.59464387e+02] [-5.82293237e-02 9.98301369e-01 -1.92949156e-03 -6.28395742e+00] [-2.00616592e-02 7.62220564e-04 9.99798454e-01 -2.81986592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834391418 meters 0.02956624401021234 Centerline is valid? [True, True] Translation: X:159.50, Y:-6.28, Z:-2.82 [[ 9.98057204e-01 5.91768745e-02 1.94914067e-02 1.59495903e+02] [-5.91512727e-02 9.98247245e-01 -1.88791247e-03 -6.28330099e+00] [-1.95689638e-02 7.31303130e-04 9.99808242e-01 -2.82096016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters 0.029143004065590793 Centerline is valid? [True, True] Translation: X:159.53, Y:-6.28, Z:-2.82 [[ 9.98002478e-01 6.03107832e-02 1.88059535e-02 1.59527883e+02] [-6.02870529e-02 9.98179410e-01 -1.82675225e-03 -6.28124967e+00] [-1.88818884e-02 6.89347759e-04 9.99821484e-01 -2.82236066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894391418 meters 0.028849003803351602 Centerline is valid? [True, True] Translation: X:159.56, Y:-6.28, Z:-2.82 [[ 9.97942392e-01 6.14910318e-02 1.81613628e-02 1.59560750e+02] [-6.14689977e-02 9.98107425e-01 -1.76951429e-03 -6.27925964e+00] [-1.82358003e-02 6.49512557e-04 9.99833503e-01 -2.82393558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters 0.0274744928172362 Centerline is valid? [True, True] Translation: X:159.59, Y:-6.27, Z:-2.83 [[ 9.97806039e-01 6.39331466e-02 1.71948285e-02 1.59593519e+02] [-6.39136733e-02 9.97954017e-01 -1.68022840e-03 -6.27129169e+00] [-1.72670704e-02 5.77557394e-04 9.99850746e-01 -2.82545498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954391418 meters 0.027115309069887877 Centerline is valid? [True, True] Translation: X:159.63, Y:-6.27, Z:-2.83 [[ 9.97722621e-01 6.51996737e-02 1.72792744e-02 1.59626474e+02] [-6.51801048e-02 9.97872078e-01 -1.69386825e-03 -6.26981256e+00] [-1.73529452e-02 5.63745753e-04 9.99849267e-01 -2.82539530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984391418 meters 0.02662169950131166 Centerline is valid? [True, True] Translation: X:159.66, Y:-6.27, Z:-2.83 [[ 9.97621787e-01 6.67376950e-02 1.72293134e-02 1.59657891e+02] [-6.67184385e-02 9.97770410e-01 -1.69069439e-03 -6.26809442e+00] [-1.73037321e-02 5.37160678e-04 9.99850135e-01 -2.82542133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014391418 meters 0.025401773166482025 Centerline is valid? [True, True] Translation: X:159.69, Y:-6.26, Z:-2.82 [[ 9.97414030e-01 6.95649037e-02 1.80548147e-02 1.59691028e+02] [-6.95441252e-02 9.97577294e-01 -1.77692967e-03 -6.26178764e+00] [-1.81346851e-02 5.16728289e-04 9.99835420e-01 -2.82449045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.044391418 meters 0.0249290915671115 Centerline is valid? [True, True] Translation: X:159.72, Y:-6.26, Z:-2.82 [[ 9.97328925e-01 7.08212518e-02 1.78707910e-02 1.59723442e+02] [-7.08010032e-02 9.97488900e-01 -1.76400644e-03 -6.26059059e+00] [-1.79508448e-02 4.94024714e-04 9.99838749e-01 -2.82497688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.074391418 meters 0.024453251524084476 Centerline is valid? [True, True] Translation: X:159.76, Y:-6.26, Z:-2.83 [[ 9.97225411e-01 7.22350461e-02 1.79882487e-02 1.59755575e+02] [-7.22146643e-02 9.97387523e-01 -1.78090172e-03 -6.25946913e+00] [-1.80698983e-02 4.76945112e-04 9.99836612e-01 -2.82573553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.104391418 meters 0.023145791257337164 Centerline is valid? [True, True] Translation: X:159.79, Y:-6.25, Z:-2.83 [[ 9.97032748e-01 7.52871610e-02 1.60481420e-02 1.59787128e+02] [-7.52712672e-02 9.97161822e-01 -1.59297147e-03 -6.25356877e+00] [-1.61225248e-02 3.80280739e-04 9.99869951e-01 -2.82872549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.134391418 meters 0.02060273301508887 Centerline is valid? [True, True] Translation: X:159.82, Y:-6.25, Z:-2.83 [[ 9.96905669e-01 7.70653345e-02 1.54926323e-02 1.59819724e+02] [-7.70506763e-02 9.97025986e-01 -1.54170563e-03 -6.24914876e+00] [-1.55653690e-02 3.43217292e-04 9.99878793e-01 -2.82986578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164391418 meters 0.021396647152257656 Centerline is valid? [True, True] Translation: X:159.85, Y:-6.25, Z:-2.83 [[ 9.96751567e-01 7.91321912e-02 1.49803005e-02 1.59851259e+02] [-7.91186519e-02 9.96864085e-01 -1.49523750e-03 -6.25034867e+00] [-1.50516449e-02 3.05159147e-04 9.99886671e-01 -2.83142464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194391418 meters 0.019043750200120384 Centerline is valid? [True, True] Translation: X:159.88, Y:-6.24, Z:-2.83 [[ 9.96404903e-01 8.33891650e-02 1.49504516e-02 1.59883621e+02] [-8.33760833e-02 9.96517028e-01 -1.49725565e-03 -6.24314566e+00] [-1.50232345e-02 2.45362767e-04 9.99887115e-01 -2.83178447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224391418 meters 0.017951932970935596 Centerline is valid? [True, True] Translation: X:159.91, Y:-6.24, Z:-2.83 [[ 9.96207606e-01 8.56412090e-02 1.53619171e-02 1.59914884e+02] [-8.56276551e-02 9.96326019e-01 -1.53909613e-03 -6.24160057e+00] [-1.54372877e-02 2.17854339e-04 9.99880814e-01 -2.83158800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254391418 meters 0.017951932970935596 Centerline is valid? [True, True] Translation: X:159.95, Y:-6.24, Z:-2.83 [[ 9.96204228e-01 8.56805112e-02 1.53618565e-02 1.59945560e+02] [-8.56669527e-02 9.96322640e-01 -1.53970032e-03 -6.24472598e+00] [-1.54372877e-02 2.17852531e-04 9.99880814e-01 -2.83214393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284391418 meters 0.016239873184568838 Centerline is valid? [True, True] Translation: X:159.98, Y:-6.24, Z:-2.83 [[ 9.96060109e-01 8.72776138e-02 1.57123314e-02 1.59977195e+02] [-8.72636181e-02 9.96184009e-01 -1.57546147e-03 -6.24158849e+00] [-1.57898758e-02 1.98139434e-04 9.99875313e-01 -2.83145335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314391418 meters 0.015443938330636396 Centerline is valid? [True, True] Translation: X:160.01, Y:-6.24, Z:-2.83 [[ 9.95884887e-01 8.91162965e-02 1.64796316e-02 1.60008380e+02] [-8.91011384e-02 9.96021212e-01 -1.65322257e-03 -6.23794185e+00] [-1.65613917e-02 1.78065444e-04 9.99862835e-01 -2.83055252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34439141800001 meters 0.015302695785369361 Centerline is valid? [True, True] Translation: X:160.04, Y:-6.24, Z:-2.83 [[ 9.95863151e-01 8.93557654e-02 1.64964148e-02 1.60038888e+02] [-8.93406092e-02 9.95999757e-01 -1.65490625e-03 -6.23850851e+00] [-1.65783005e-02 1.74260409e-04 9.99862555e-01 -2.83083500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37439141800002 meters 0.015249992564354772 Centerline is valid? [True, True] Translation: X:160.07, Y:-6.24, Z:-2.83 [[ 9.95882867e-01 8.91799847e-02 1.62556570e-02 1.60069538e+02] [-8.91652443e-02 9.96015512e-01 -1.63075364e-03 -6.23944923e+00] [-1.63363172e-02 1.74599980e-04 9.99866538e-01 -2.83147937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40439141800002 meters 0.015328674712809702 Centerline is valid? [True, True] Translation: X:160.10, Y:-6.24, Z:-2.83 [[ 9.95922456e-01 8.87483377e-02 1.61924031e-02 1.60099580e+02] [-8.87336548e-02 9.96054065e-01 -1.62440806e-03 -6.24077124e+00] [-1.62726724e-02 1.80973357e-04 9.99867575e-01 -2.83239753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43439141800002 meters 0.015905072880515538 Centerline is valid? [True, True] Translation: X:160.13, Y:-6.24, Z:-2.83 [[ 9.96024497e-01 8.78076181e-02 1.50007906e-02 1.60129303e+02] [-8.77949092e-02 9.96137435e-01 -1.50493053e-03 -6.24183180e+00] [-1.50749934e-02 1.81954630e-04 9.99886349e-01 -2.83472124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46439141800002 meters 0.016028860474048157 Centerline is valid? [True, True] Translation: X:160.16, Y:-6.24, Z:-2.84 [[ 9.96086194e-01 8.72167623e-02 1.43363423e-02 1.60159248e+02] [-8.72050986e-02 9.96189341e-01 -1.43789702e-03 -6.24430619e+00] [-1.44071202e-02 1.82067222e-04 9.99896195e-01 -2.83663421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494391418 meters 0.01635915292843923 Centerline is valid? [True, True] Translation: X:160.19, Y:-6.25, Z:-2.84 [[ 9.96196177e-01 8.61538532e-02 1.30648218e-02 1.60189764e+02] [-8.61440754e-02 9.96281828e-01 -1.31036689e-03 -6.24731321e+00] [-1.31291377e-02 1.79925493e-04 9.99913793e-01 -2.83862660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters 0.018270249427818252 Centerline is valid? [True, True] Translation: X:160.22, Y:-6.25, Z:-2.84 [[ 9.96467674e-01 8.33586749e-02 1.01737495e-02 1.60218941e+02] [-8.33525985e-02 9.96519595e-01 -1.02056755e-03 -6.25234325e+00] [-1.02234139e-02 1.68954117e-04 9.99947725e-01 -2.84249356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554391418 meters 0.018212118511135 Centerline is valid? [True, True] Translation: X:160.25, Y:-6.25, Z:-2.84 [[ 9.96600603e-01 8.18420661e-02 9.44004667e-03 1.60248221e+02] [-8.18367664e-02 9.96645296e-01 -9.46982289e-04 -6.25449121e+00] [-9.48588110e-03 1.71220226e-04 9.99954993e-01 -2.84297073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters 0.01887460427339676 Centerline is valid? [True, True] Translation: X:160.28, Y:-6.26, Z:-2.84 [[ 9.96710264e-01 8.05578485e-02 8.89284649e-03 1.60277956e+02] [-8.05530973e-02 9.96749920e-01 -8.91739435e-04 -6.25803641e+00] [-8.93578064e-03 1.72459519e-04 9.99960060e-01 -2.84373491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614391418 meters 0.020461155242779947 Centerline is valid? [True, True] Translation: X:160.31, Y:-6.26, Z:-2.84 [[ 9.96816924e-01 7.92345123e-02 8.82678613e-03 1.60306120e+02] [-7.92297824e-02 9.96855987e-01 -8.84796803e-04 -6.26277029e+00] [-8.86914104e-03 1.82636083e-04 9.99960652e-01 -2.84487278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters 0.01998488925025248 Centerline is valid? [True, True] Translation: X:160.34, Y:-6.26, Z:-2.84 [[ 9.96932563e-01 7.77923456e-02 8.59166833e-03 1.60335689e+02] [-7.77878149e-02 9.96969566e-01 -8.60762568e-04 -6.26406961e+00] [-8.63259259e-03 1.89795127e-04 9.99962720e-01 -2.84359498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674391418 meters 0.021056164985184915 Centerline is valid? [True, True] Translation: X:160.36, Y:-6.27, Z:-2.84 [[ 9.96920514e-01 7.79559457e-02 8.50641595e-03 1.60363914e+02] [-7.79515118e-02 9.96956787e-01 -8.52057486e-04 -6.26805782e+00] [-8.54695206e-03 1.86345604e-04 9.99963457e-01 -2.84476069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters 0.020152789380101246 Centerline is valid? [True, True] Translation: X:160.39, Y:-6.27, Z:-2.84 [[ 9.96924476e-01 7.79189660e-02 8.38000858e-03 1.60393105e+02] [-7.79146643e-02 9.96959679e-01 -8.39070604e-04 -6.26871963e+00] [-8.41991018e-03 1.83564466e-04 9.99964535e-01 -2.84470820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734391418 meters 0.019706112432366026 Centerline is valid? [True, True] Translation: X:160.42, Y:-6.27, Z:-2.84 [[ 9.96775312e-01 7.97678085e-02 8.72201576e-03 1.60422035e+02] [-7.97632283e-02 9.96813456e-01 -8.72281705e-04 -6.26925564e+00] [-8.76380268e-03 1.73772734e-04 9.99961582e-01 -2.84470576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764391418 meters 0.018984232908356255 Centerline is valid? [True, True] Translation: X:160.45, Y:-6.27, Z:-2.84 [[ 9.96686033e-01 8.08146103e-02 9.27092377e-03 1.60451059e+02] [-8.08094853e-02 9.96729135e-01 -9.26682196e-04 -6.26973670e+00] [-9.31548928e-03 1.74432624e-04 9.99956595e-01 -2.84453642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.794391418 meters 0.017649900011302663 Centerline is valid? [True, True] Translation: X:160.48, Y:-6.27, Z:-2.84 [[ 9.96574786e-01 8.21604578e-02 9.39972948e-03 1.60479662e+02] [-8.21552568e-02 9.96619101e-01 -9.38765583e-04 -6.26914619e+00] [-9.44507936e-03 1.63312921e-04 9.99955381e-01 -2.84399280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.824391418 meters 0.01705562202561619 Centerline is valid? [True, True] Translation: X:160.51, Y:-6.27, Z:-2.84 [[ 9.96445076e-01 8.36818207e-02 9.72441306e-03 1.60508850e+02] [-8.36763355e-02 9.96492513e-01 -9.70275153e-04 -6.27007256e+00] [-9.77149920e-03 1.53122649e-04 9.99952246e-01 -2.84402685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.854391418 meters 0.015944737369486373 Centerline is valid? [True, True] Translation: X:160.54, Y:-6.27, Z:-2.84 [[ 9.96157852e-01 8.70254763e-02 9.80307101e-03 1.60537267e+02] [-8.70200708e-02 9.96206079e-01 -9.77414797e-04 -6.26850594e+00] [-9.85093893e-03 1.20595491e-04 9.99951471e-01 -2.84389571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.884391418 meters 0.015290457269162722 Centerline is valid? [True, True] Translation: X:160.57, Y:-6.27, Z:-2.84 [[ 9.96001286e-01 8.88139142e-02 9.67095705e-03 1.60566720e+02] [-8.88087454e-02 9.96048231e-01 -9.63450028e-04 -6.26872168e+00] [-9.71830743e-03 1.00731904e-04 9.99952771e-01 -2.84392396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914391418 meters 0.014740021230064456 Centerline is valid? [True, True] Translation: X:160.60, Y:-6.27, Z:-2.84 [[ 9.95826142e-01 9.07203800e-02 1.00053617e-02 1.60595898e+02] [-9.07149627e-02 9.95876401e-01 -9.94883964e-04 -6.26894180e+00] [-1.00543599e-02 8.30954422e-05 9.99949450e-01 -2.84401343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944391418 meters 0.01433753164049045 Centerline is valid? [True, True] Translation: X:160.62, Y:-6.27, Z:-2.84 [[ 9.95643141e-01 9.26831156e-02 1.02262038e-02 1.60623897e+02] [-9.26775679e-02 9.95695654e-01 -1.01607755e-03 -6.26915652e+00] [-1.02763599e-02 6.39109400e-05 9.99947195e-01 -2.84398581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974391418 meters 0.013836309523013375 Centerline is valid? [True, True] Translation: X:160.65, Y:-6.27, Z:-2.84 [[ 9.95316995e-01 9.61337851e-02 1.01180372e-02 1.60653248e+02] [-9.61285449e-02 9.95368422e-01 -1.00409600e-03 -6.26785445e+00] [-1.01677023e-02 2.67616186e-05 9.99948307e-01 -2.84388676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004391418 meters 0.013809325631444755 Centerline is valid? [True, True] Translation: X:160.68, Y:-6.27, Z:-2.84 [[ 9.95221873e-01 9.71203784e-02 1.00526654e-02 1.60682451e+02] [-9.71152648e-02 9.95272642e-01 -9.96743440e-04 -6.26954013e+00] [-1.01019469e-02 1.57136137e-05 9.99948974e-01 -2.84426465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034391418 meters 0.013790374147905918 Centerline is valid? [True, True] Translation: X:160.71, Y:-6.27, Z:-2.85 [[ 9.95161449e-01 9.77296397e-02 1.01295198e-02 1.60709776e+02] [-9.77244868e-02 9.95213001e-01 -1.00361139e-03 -6.27190679e+00] [-1.01791124e-02 8.85324339e-06 9.99948191e-01 -2.84503647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064391418 meters 0.013988159815941259 Centerline is valid? [True, True] Translation: X:160.74, Y:-6.28, Z:-2.85 [[ 9.95272390e-01 9.67500508e-02 8.50281862e-03 1.60737926e+02] [-9.67463914e-02 9.95308710e-01 -8.41607437e-04 -6.27651615e+00] [-8.54435499e-03 1.50116267e-05 9.99963496e-01 -2.84781126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09439141800001 meters 0.014200622147406642 Centerline is valid? [True, True] Translation: X:160.77, Y:-6.28, Z:-2.85 [[ 9.95421843e-01 9.53081812e-02 7.19060606e-03 1.60766751e+02] [-9.53055294e-02 9.95447814e-01 -7.11329107e-04 -6.28105631e+00] [-7.22566857e-03 2.27680137e-05 9.99973894e-01 -2.84953241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12439141800002 meters 0.01453817258240335 Centerline is valid? [True, True] Translation: X:160.80, Y:-6.29, Z:-2.85 [[ 9.95569107e-01 9.38660112e-02 5.59693638e-03 1.60795004e+02] [-9.38643826e-02 9.95584839e-01 -5.53533142e-04 -6.28554012e+00] [-5.62418295e-03 2.57275186e-05 9.99984184e-01 -2.85151621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15439141800002 meters 0.01509236484500578 Centerline is valid? [True, True] Translation: X:160.82, Y:-6.29, Z:-2.85 [[ 9.95789312e-01 9.15937261e-02 3.77286178e-03 1.60823337e+02] [-9.15929690e-02 9.95796459e-01 -3.73331699e-04 -6.29145941e+00] [-3.79119725e-03 2.61921037e-05 9.99992813e-01 -2.85314371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18439141800002 meters 0.015388170354327336 Centerline is valid? [True, True] Translation: X:160.85, Y:-6.30, Z:-2.85 [[ 9.95895648e-01 9.04444023e-02 3.41588080e-03 1.60851218e+02] [-9.04437744e-02 9.95901506e-01 -3.38168840e-04 -6.29582873e+00] [-3.43246631e-03 2.78357239e-05 9.99994109e-01 -2.85397562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21439141800002 meters 0.015591827705379611 Centerline is valid? [True, True] Translation: X:160.88, Y:-6.30, Z:-2.85 [[ 9.95985455e-01 8.94773153e-02 2.60432095e-03 1.60879596e+02] [-8.94769474e-02 9.95988860e-01 -2.57683693e-04 -6.29980727e+00] [-2.61693150e-03 2.36225211e-05 9.99996576e-01 -2.85401613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters 0.015535979876842822 Centerline is valid? [True, True] Translation: X:160.91, Y:-6.30, Z:-2.85 [[ 9.96040698e-01 8.88572688e-02 2.70432679e-03 1.60908471e+02] [-8.88568706e-02 9.96044369e-01 -2.67292614e-04 -6.30342087e+00] [-2.71738036e-03 2.59363066e-05 9.99996308e-01 -2.85364720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274391418 meters 0.015972577873491198 Centerline is valid? [True, True] Translation: X:160.94, Y:-6.31, Z:-2.85 [[ 9.96068868e-01 8.85426296e-02 2.64801325e-03 1.60936104e+02] [-8.85422464e-02 9.96072388e-01 -2.61843554e-04 -6.30736620e+00] [-2.66079719e-03 2.63531714e-05 9.99996460e-01 -2.85409905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters 0.015582042632619869 Centerline is valid? [True, True] Translation: X:160.97, Y:-6.31, Z:-2.85 [[ 9.96014380e-01 8.91218069e-02 3.55776493e-03 1.60965129e+02] [-8.91211239e-02 9.96020734e-01 -3.50368617e-04 -6.31079003e+00] [-3.57483312e-03 3.19001712e-05 9.99993610e-01 -2.85288512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334391418 meters 0.015349332464835544 Centerline is valid? [True, True] Translation: X:160.99, Y:-6.31, Z:-2.85 [[ 9.95984476e-01 8.94543478e-02 3.58380051e-03 1.60993512e+02] [-8.94536580e-02 9.95990923e-01 -3.52622658e-04 -6.31353897e+00] [-3.60097641e-03 3.06226276e-05 9.99993516e-01 -2.85246996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters 0.015251724579763933 Centerline is valid? [True, True] Translation: X:161.02, Y:-6.32, Z:-2.85 [[ 9.95955040e-01 8.97644538e-02 3.98772890e-03 1.61022652e+02] [-8.97636056e-02 9.95963022e-01 -3.91519200e-04 -6.31679081e+00] [-4.00677503e-03 3.19825964e-05 9.99991972e-01 -2.85283354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394391418 meters 0.015164838764072867 Centerline is valid? [True, True] Translation: X:161.05, Y:-6.32, Z:-2.85 [[ 9.95989368e-01 8.93414447e-02 4.82537114e-03 1.61051179e+02] [-8.93401992e-02 9.96001057e-01 -4.73485613e-04 -6.32116090e+00] [-4.84837665e-03 4.04870179e-05 9.99988246e-01 -2.85191169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters 0.015523550685065274 Centerline is valid? [True, True] Translation: X:161.08, Y:-6.33, Z:-2.85 [[ 9.96013168e-01 8.90625184e-02 5.06337021e-03 1.61078386e+02] [-8.90611446e-02 9.96026037e-01 -4.96594425e-04 -6.32565875e+00] [-5.08747651e-03 4.36650399e-05 9.99987058e-01 -2.85331201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454391418 meters 0.015346874061545059 Centerline is valid? [True, True] Translation: X:161.11, Y:-6.33, Z:-2.85 [[ 9.96060742e-01 8.85317357e-02 5.01289708e-03 1.61106947e+02] [-8.85303866e-02 9.96073356e-01 -4.90811276e-04 -6.32923620e+00] [-5.03666559e-03 4.50841276e-05 9.99987315e-01 -2.85245098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484391418 meters 0.015203543705713595 Centerline is valid? [True, True] Translation: X:161.14, Y:-6.33, Z:-2.85 [[ 9.96087252e-01 8.82539599e-02 4.62865827e-03 1.61135562e+02] [-8.82528078e-02 9.96098006e-01 -4.52957955e-04 -6.33404311e+00] [-4.65057260e-03 4.26935560e-05 9.99989185e-01 -2.85200146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514391418 meters 0.015283531597565268 Centerline is valid? [True, True] Translation: X:161.16, Y:-6.34, Z:-2.85 [[ 9.96060979e-01 8.85141605e-02 5.26959364e-03 1.61163233e+02] [-8.85126731e-02 9.96074917e-01 -5.15255977e-04 -6.33757996e+00] [-5.29451750e-03 4.68005538e-05 9.99985983e-01 -2.85239253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.544391418 meters 0.015100837518420975 Centerline is valid? [True, True] Translation: X:161.19, Y:-6.34, Z:-2.85 [[ 9.96002734e-01 8.91575843e-02 5.42951157e-03 1.61192234e+02] [-8.91560200e-02 9.96017532e-01 -5.29939441e-04 -6.34053574e+00] [-5.45513684e-03 4.37474897e-05 9.99985120e-01 -2.85282748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.574391418 meters 0.014796142445513846 Centerline is valid? [True, True] Translation: X:161.22, Y:-6.34, Z:-2.85 [[ 9.95900817e-01 9.02864296e-02 5.47029626e-03 1.61221345e+02] [-9.02848615e-02 9.95915839e-01 -5.33429918e-04 -6.34318442e+00] [-5.49611618e-03 3.73583503e-05 9.99984896e-01 -2.85333997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.604391418 meters 0.01451982352414805 Centerline is valid? [True, True] Translation: X:161.25, Y:-6.35, Z:-2.85 [[ 9.95657183e-01 9.29429911e-02 5.32670468e-03 1.61250459e+02] [-9.29415446e-02 9.95671432e-01 -5.18998334e-04 -6.34579432e+00] [-5.35188493e-03 2.16722592e-05 9.99985678e-01 -2.85451228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.634391418 meters 0.014441141857103683 Centerline is valid? [True, True] Translation: X:161.28, Y:-6.35, Z:-2.86 [[ 9.95544324e-01 9.41436842e-02 5.33532275e-03 1.61278305e+02] [-9.41422513e-02 9.95558620e-01 -5.19640271e-04 -6.34837806e+00] [-5.36054741e-03 1.50456270e-05 9.99985632e-01 -2.85563509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664391418 meters 0.014222998329964688 Centerline is valid? [True, True] Translation: X:161.31, Y:-6.35, Z:-2.86 [[ 9.95494237e-01 9.46623827e-02 5.50069636e-03 1.61306679e+02] [-9.46608726e-02 9.95509434e-01 -5.34832956e-04 -6.35154829e+00] [-5.52662368e-03 1.17224088e-05 9.99984728e-01 -2.85591865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694391418 meters 0.014305915738751757 Centerline is valid? [True, True] Translation: X:161.33, Y:-6.36, Z:-2.86 [[ 9.95484020e-01 9.47664911e-02 5.55677134e-03 1.61334421e+02] [-9.47649530e-02 9.95499529e-01 -5.40037095e-04 -6.35641756e+00] [-5.58294067e-03 1.10111232e-05 9.99984415e-01 -2.85743516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724391418 meters 0.01439849300214808 Centerline is valid? [True, True] Translation: X:161.36, Y:-6.36, Z:-2.86 [[ 9.95538075e-01 9.42152340e-02 5.23740243e-03 1.61363392e+02] [-9.42138641e-02 9.95551852e-01 -5.08234733e-04 -6.36068059e+00] [-5.26198915e-03 1.25311072e-05 9.99986156e-01 -2.85848169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754391418 meters 0.014587660395139082 Centerline is valid? [True, True] Translation: X:161.39, Y:-6.37, Z:-2.86 [[ 9.95620694e-01 9.33620448e-02 4.79199990e-03 1.61392005e+02] [-9.33608894e-02 9.95632225e-01 -4.64732369e-04 -6.36507304e+00] [-4.81445789e-03 1.53117914e-05 9.99988410e-01 -2.85944011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784391418 meters 0.014832621724923254 Centerline is valid? [True, True] Translation: X:161.42, Y:-6.37, Z:-2.86 [[ 9.95715514e-01 9.23665582e-02 4.36285416e-03 1.61419723e+02] [-9.23655901e-02 9.95725072e-01 -4.23292295e-04 -6.36958267e+00] [-4.38330132e-03 1.85011058e-05 9.99990393e-01 -2.86056813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814391418 meters 0.015385142079511282 Centerline is valid? [True, True] Translation: X:161.45, Y:-6.38, Z:-2.86 [[ 9.95957733e-01 8.97326883e-02 4.02972176e-03 1.61446789e+02] [-8.97318428e-02 9.95965885e-01 -3.90497823e-04 -6.37675578e+00] [-4.04850581e-03 2.73249674e-05 9.99991804e-01 -2.86178538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84439141800001 meters 0.015701106634191487 Centerline is valid? [True, True] Translation: X:161.48, Y:-6.38, Z:-2.86 [[ 9.96084076e-01 8.83242076e-02 3.91770919e-03 1.61475427e+02] [-8.83234002e-02 9.96091780e-01 -3.78983080e-04 -6.38190806e+00] [-3.93587130e-03 3.14736145e-05 9.99992254e-01 -2.86223819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87439141800002 meters 0.01622115184506634 Centerline is valid? [True, True] Translation: X:161.50, Y:-6.39, Z:-2.86 [[ 9.96243753e-01 8.64716650e-02 4.58638597e-03 1.61502495e+02] [-8.64705405e-02 9.96254309e-01 -4.43289589e-04 -6.38745706e+00] [-4.60753877e-03 4.50372112e-05 9.99989384e-01 -2.86231621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90439141800002 meters 0.017022104644405196 Centerline is valid? [True, True] Translation: X:161.53, Y:-6.40, Z:-2.86 [[ 9.96587188e-01 8.22922420e-02 6.47798428e-03 1.61532049e+02] [-8.22899245e-02 9.96608237e-01 -6.23942827e-04 -6.39520502e+00] [-6.50735815e-03 8.87405898e-05 9.99978823e-01 -2.85971972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93439141800002 meters 0.017770316606614434 Centerline is valid? [True, True] Translation: X:161.56, Y:-6.40, Z:-2.86 [[ 9.96761343e-01 8.00534563e-02 7.63336442e-03 1.61561519e+02] [-8.00501763e-02 9.96790564e-01 -7.34744772e-04 -6.40081661e+00] [-7.66768448e-03 1.21313019e-04 9.99970596e-01 -2.85898429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96439141800002 meters 0.018619430029145928 Centerline is valid? [True, True] Translation: X:161.59, Y:-6.41, Z:-2.86 [[ 9.96906072e-01 7.80744972e-02 9.09156955e-03 1.61589510e+02] [-7.80697654e-02 9.96947514e-01 -8.74738065e-04 -6.40626265e+00] [-9.13211240e-03 1.62254987e-04 9.99958288e-01 -2.85870533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994391418 meters 0.01948519000143386 Centerline is valid? [True, True] Translation: X:161.62, Y:-6.41, Z:-2.86 [[ 9.97013522e-01 7.66141019e-02 9.71167124e-03 1.61619453e+02] [-7.66086456e-02 9.97060803e-01 -9.33145108e-04 -6.41146012e+00] [-9.75461880e-03 1.86360310e-04 9.99952405e-01 -2.85849823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters 0.01947225367171828 Centerline is valid? [True, True] Translation: X:161.65, Y:-6.42, Z:-2.86 [[ 9.97058264e-01 7.58349890e-02 1.11298224e-02 1.61649641e+02] [-7.58277742e-02 9.97120356e-01 -1.06940805e-03 -6.41514575e+00] [-1.11788711e-02 2.22312466e-04 9.99937490e-01 -2.85782586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054391418 meters 0.019595250248479096 Centerline is valid? [True, True] Translation: X:161.68, Y:-6.42, Z:-2.86 [[ 9.96994729e-01 7.66138044e-02 1.14819894e-02 1.61679616e+02] [-7.66061856e-02 9.97060819e-01 -1.10253510e-03 -6.41920873e+00] [-1.15327111e-02 2.19630270e-04 9.99933472e-01 -2.85841231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters 0.018670819923017598 Centerline is valid? [True, True] Translation: X:161.71, Y:-6.42, Z:-2.86 [[ 9.96912112e-01 7.76815471e-02 1.14812521e-02 1.61711387e+02] [-7.76739805e-02 9.96978201e-01 -1.10415703e-03 -6.42065101e+00] [-1.15323307e-02 2.08952965e-04 9.99933479e-01 -2.85942836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114391418 meters 0.018670819923017598 Centerline is valid? [True, True] Translation: X:161.74, Y:-6.42, Z:-2.86 [[ 9.96908768e-01 7.77244554e-02 1.14812044e-02 1.61742079e+02] [-7.77168861e-02 9.96974857e-01 -1.10465234e-03 -6.42365263e+00] [-1.15323306e-02 2.08954147e-04 9.99933479e-01 -2.85998434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters 0.018110801423163875 Centerline is valid? [True, True] Translation: X:161.77, Y:-6.43, Z:-2.86 [[ 9.96812822e-01 7.90435823e-02 1.07846935e-02 1.61773023e+02] [-7.90369744e-02 9.96871145e-01 -1.03821526e-03 -6.42549755e+00] [-1.08330140e-02 1.82516744e-04 9.99941305e-01 -2.86157289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174391418 meters 0.016827091310534326 Centerline is valid? [True, True] Translation: X:161.80, Y:-6.43, Z:-2.86 [[ 9.96601511e-01 8.18188498e-02 9.54482236e-03 1.61803554e+02] [-8.18137979e-02 9.96647208e-01 -9.19200127e-04 -6.42564980e+00] [-9.58802846e-03 1.35178068e-04 9.99954025e-01 -2.86385291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters 0.016524480359239074 Centerline is valid? [True, True] Translation: X:161.83, Y:-6.43, Z:-2.87 [[ 9.96445857e-01 8.37347535e-02 9.17308954e-03 1.61833435e+02] [-8.37301668e-02 9.96488072e-01 -8.83594811e-04 -6.42751154e+00] [-9.21486191e-03 1.12390070e-04 9.99957536e-01 -2.86508034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234391418 meters 0.01572075685511914 Centerline is valid? [True, True] Translation: X:161.86, Y:-6.43, Z:-2.87 [[ 9.96286201e-01 8.56259845e-02 9.05523794e-03 1.61862999e+02] [-8.56215931e-02 9.96327347e-01 -8.72233523e-04 -6.42833797e+00] [-9.09666704e-03 9.36703248e-05 9.99958620e-01 -2.86554320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264391418 meters 0.01481743659091655 Centerline is valid? [True, True] Translation: X:161.89, Y:-6.43, Z:-2.87 [[ 9.96091474e-01 8.78502496e-02 9.17111144e-03 1.61892613e+02] [-8.78458429e-02 9.96133690e-01 -8.83004522e-04 -6.42879815e+00] [-9.21322524e-03 7.39092614e-05 9.99957555e-01 -2.86534801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.294391418 meters 0.014360884471078255 Centerline is valid? [True, True] Translation: X:161.92, Y:-6.43, Z:-2.87 [[ 9.95867084e-01 9.03138935e-02 9.59961074e-03 1.61920938e+02] [-9.03091826e-02 9.95913349e-01 -9.23977170e-04 -6.42949120e+00] [-9.64382845e-03 5.32254506e-05 9.99953496e-01 -2.86584270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.324391418 meters 0.013827345743910695 Centerline is valid? [True, True] Translation: X:161.95, Y:-6.43, Z:-2.87 [[ 9.95413424e-01 9.51496517e-02 9.93271992e-03 1.61950638e+02] [-9.51448497e-02 9.95462980e-01 -9.55941426e-04 -6.42700485e+00] [-9.97861246e-03 6.50978373e-06 9.99950212e-01 -2.86521978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.354391418 meters 0.013825006813893986 Centerline is valid? [True, True] Translation: X:161.98, Y:-6.43, Z:-2.87 [[ 9.95210782e-01 9.72013338e-02 1.03633656e-02 1.61979149e+02] [-9.71962383e-02 9.95264739e-01 -9.95405757e-04 -6.42733781e+00] [-1.04110471e-02 -1.66416080e-05 9.99945803e-01 -2.86561974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.384391418 meters 0.014162760512381772 Centerline is valid? [True, True] Translation: X:162.01, Y:-6.43, Z:-2.87 [[ 9.95013721e-01 9.91996299e-02 1.03502645e-02 1.62007249e+02] [-9.91946625e-02 9.95067551e-01 -9.93463383e-04 -6.42778292e+00] [-1.03977636e-02 -3.81812985e-05 9.99945941e-01 -2.86685218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414391418 meters 0.014746862689329607 Centerline is valid? [True, True] Translation: X:162.04, Y:-6.43, Z:-2.87 [[ 9.94752811e-01 1.01869908e-01 9.45342736e-03 1.62035911e+02] [-1.01865896e-01 9.94797727e-01 -9.06176982e-04 -6.42850558e+00] [-9.49656022e-03 -6.15597461e-05 9.99954905e-01 -2.86848882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444391418 meters 0.01486699427535092 Centerline is valid? [True, True] Translation: X:162.06, Y:-6.43, Z:-2.87 [[ 9.94693881e-01 1.02482830e-01 9.01958591e-03 1.62064616e+02] [-1.02479209e-01 9.94734771e-01 -8.63894395e-04 -6.43097337e+00] [-9.06063007e-03 -6.50095623e-05 9.99958950e-01 -2.86939810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474391418 meters 0.015246468159727793 Centerline is valid? [True, True] Translation: X:162.09, Y:-6.43, Z:-2.87 [[ 9.94637828e-01 1.03071112e-01 8.48157738e-03 1.62092639e+02] [-1.03067936e-01 9.94673987e-01 -8.11908133e-04 -6.43310376e+00] [-8.52008867e-03 -6.66241333e-05 9.99963701e-01 -2.87079757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504391418 meters 0.014935016304838582 Centerline is valid? [True, True] Translation: X:162.12, Y:-6.44, Z:-2.87 [[ 9.94687479e-01 1.02568943e-01 8.74253407e-03 1.62121300e+02] [-1.02565559e-01 9.94725896e-01 -8.35675252e-04 -6.43694718e+00] [-8.78213936e-03 -6.54471853e-05 9.99961434e-01 -2.87083509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534391418 meters 0.014601522584906566 Centerline is valid? [True, True] Translation: X:162.15, Y:-6.44, Z:-2.87 [[ 9.94943408e-01 1.00030772e-01 9.02554622e-03 1.62148753e+02] [-1.00027067e-01 9.94984343e-01 -8.62059296e-04 -6.44363345e+00] [-9.06650963e-03 -4.50987059e-05 9.99958897e-01 -2.87168092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564391418 meters 0.013985660121280644 Centerline is valid? [True, True] Translation: X:162.18, Y:-6.45, Z:-2.87 [[ 9.95197116e-01 9.73846382e-02 9.94650489e-03 1.62177603e+02] [-9.73800251e-02 9.95246819e-01 -9.48199973e-04 -6.45058162e+00] [-9.99156746e-03 -2.49450170e-05 9.99950083e-01 -2.87006864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59439141800001 meters 0.013628700630677858 Centerline is valid? [True, True] Translation: X:162.21, Y:-6.46, Z:-2.87 [[ 9.95488679e-01 9.41994893e-02 1.13466260e-02 1.62206644e+02] [-9.41932860e-02 9.95553342e-01 -1.08106795e-03 -6.45769551e+00] [-1.13980075e-02 7.41491257e-06 9.99935041e-01 -2.86883551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62439141800002 meters 0.013788547627690152 Centerline is valid? [True, True] Translation: X:162.24, Y:-6.47, Z:-2.87 [[ 9.95782444e-01 9.08083887e-02 1.30828740e-02 1.62235900e+02] [-9.07998597e-02 9.95868382e-01 -1.24566898e-03 -6.46527293e+00] [-1.31419378e-02 5.24921804e-05 9.99913640e-01 -2.86770920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65439141800002 meters 0.016029045086149447 Centerline is valid? [True, True] Translation: X:162.27, Y:-6.48, Z:-2.87 [[ 9.96365753e-01 8.37681279e-02 1.54332772e-02 1.62265406e+02] [-8.37554306e-02 9.96485259e-01 -1.46838327e-03 -6.47936119e+00] [-1.55020370e-02 1.70426024e-04 9.99879822e-01 -2.86585024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68439141800002 meters 0.01740112743068559 Centerline is valid? [True, True] Translation: X:162.30, Y:-6.49, Z:-2.87 [[ 9.96646605e-01 8.00853221e-02 1.67894856e-02 1.62297098e+02] [-8.00696987e-02 9.96787980e-01 -1.60178215e-03 -6.48712468e+00] [-1.68638367e-02 2.52081685e-04 9.99857764e-01 -2.86541899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71439141800002 meters 0.019281934665124886 Centerline is valid? [True, True] Translation: X:162.33, Y:-6.50, Z:-2.87 [[ 9.96911614e-01 7.67286843e-02 1.67314748e-02 1.62328313e+02] [-7.67126112e-02 9.97051960e-01 -1.60129630e-03 -6.49530719e+00] [-1.68050151e-02 3.12835763e-04 9.99858737e-01 -2.86592671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters 0.023357294752065456 Centerline is valid? [True, True] Translation: X:162.36, Y:-6.51, Z:-2.87 [[ 9.97416195e-01 7.00870519e-02 1.57714675e-02 1.62357919e+02] [-7.00718607e-02 9.97540797e-01 -1.51444343e-03 -6.50688120e+00] [-1.58388251e-02 4.05394331e-04 9.99874476e-01 -2.86823160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774391418 meters 0.025392934966984946 Centerline is valid? [True, True] Translation: X:162.39, Y:-6.51, Z:-2.87 [[ 9.97606310e-01 6.74883901e-02 1.50654265e-02 1.62389846e+02] [-6.74742397e-02 9.97719969e-01 -1.44616862e-03 -6.51374283e+00] [-1.51286764e-02 4.26178740e-04 9.99885464e-01 -2.87023282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters 0.026740867385331622 Centerline is valid? [True, True] Translation: X:162.42, Y:-6.52, Z:-2.87 [[ 9.97740473e-01 6.57962307e-02 1.35942628e-02 1.62421169e+02] [-6.57845037e-02 9.97832995e-01 -1.30850283e-03 -6.51904486e+00] [-1.36508985e-02 4.11254406e-04 9.99906738e-01 -2.87257217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834391418 meters 0.028869635431530764 Centerline is valid? [True, True] Translation: X:162.45, Y:-6.52, Z:-2.88 [[ 9.97909298e-01 6.35284449e-02 1.18815006e-02 1.62452210e+02] [-6.35192865e-02 9.97979952e-01 -1.14697749e-03 -6.52450061e+00] [-1.19303651e-02 3.89875053e-04 9.99928755e-01 -2.87507098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters 0.029481431372755884 Centerline is valid? [True, True] Translation: X:162.48, Y:-6.53, Z:-2.88 [[ 9.97939290e-01 6.31270237e-02 1.14957249e-02 1.62483861e+02] [-6.31184151e-02 9.98005427e-01 -1.11049416e-03 -6.52790791e+00] [-1.15428981e-02 3.82613818e-04 9.99933305e-01 -2.87564336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894391418 meters 0.029955200915692076 Centerline is valid? [True, True] Translation: X:162.52, Y:-6.53, Z:-2.88 [[ 9.97923961e-01 6.33065724e-02 1.18340987e-02 1.62515302e+02] [-6.32974143e-02 9.97994049e-01 -1.14719995e-03 -6.53085043e+00] [-1.18829854e-02 3.95750475e-04 9.99929317e-01 -2.87567262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters 0.028708786314973016 Centerline is valid? [True, True] Translation: X:162.55, Y:-6.53, Z:-2.87 [[ 9.97857273e-01 6.40976291e-02 1.31284609e-02 1.62548020e+02] [-6.40863916e-02 9.97943539e-01 -1.27530960e-03 -6.53113453e+00] [-1.31832071e-02 4.31221269e-04 9.99913005e-01 -2.87471888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954391418 meters 0.028826361115584585 Centerline is valid? [True, True] Translation: X:162.58, Y:-6.53, Z:-2.87 [[ 9.97719162e-01 6.58639214e-02 1.47789279e-02 1.62579301e+02] [-6.58498000e-02 9.97828507e-01 -1.44062980e-03 -6.53122520e+00] [-1.48417211e-02 4.64154508e-04 9.99889748e-01 -2.87327172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984391418 meters 0.02800738371411572 Centerline is valid? [True, True] Translation: X:162.61, Y:-6.53, Z:-2.87 [[ 9.97666650e-01 6.65653262e-02 1.51760744e-02 1.62612111e+02] [-6.65504464e-02 9.97781958e-01 -1.48395324e-03 -6.53166727e+00] [-1.52411931e-02 4.70516129e-04 9.99883736e-01 -2.87346727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014391418 meters 0.027764001662580442 Centerline is valid? [True, True] Translation: X:162.64, Y:-6.53, Z:-2.87 [[ 9.97602106e-01 6.75536812e-02 1.50511625e-02 1.62643707e+02] [-6.75391420e-02 9.97715538e-01 -1.47278444e-03 -6.53292177e+00] [-1.51162707e-02 4.52710256e-04 9.99885640e-01 -2.87409577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.044391418 meters 0.02796778463244229 Centerline is valid? [True, True] Translation: X:162.67, Y:-6.53, Z:-2.88 [[ 9.97562954e-01 6.83520659e-02 1.40053104e-02 1.62674674e+02] [-6.83395089e-02 9.97661177e-01 -1.37377821e-03 -6.53248175e+00] [-1.40664550e-02 4.13314214e-04 9.99900977e-01 -2.87601829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.074391418 meters 0.028873414582215037 Centerline is valid? [True, True] Translation: X:162.71, Y:-6.54, Z:-2.88 [[ 9.97570271e-01 6.84793911e-02 1.28111859e-02 1.62706970e+02] [-6.84688598e-02 9.97652459e-01 -1.25935835e-03 -6.53536061e+00] [-1.28673512e-02 3.79131167e-04 9.99917140e-01 -2.87788954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.104391418 meters 0.02907773252287592 Centerline is valid? [True, True] Translation: X:162.74, Y:-6.54, Z:-2.88 [[ 9.97613409e-01 6.79950512e-02 1.20066067e-02 1.62739166e+02] [-6.79857263e-02 9.97685592e-01 -1.18357671e-03 -6.53684649e+00] [-1.20592959e-02 3.64474115e-04 9.99927218e-01 -2.87911791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.134391418 meters 0.03030061160505369 Centerline is valid? [True, True] Translation: X:162.77, Y:-6.54, Z:-2.88 [[ 9.97702752e-01 6.68258067e-02 1.11144100e-02 1.62770663e+02] [-6.68177125e-02 9.97764595e-01 -1.09842136e-03 -6.53946306e+00] [-1.11629677e-02 3.53258557e-04 9.99937630e-01 -2.88024921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164391418 meters 0.03307350576945312 Centerline is valid? [True, True] Translation: X:162.80, Y:-6.54, Z:-2.88 [[ 9.97914358e-01 6.36116390e-02 1.09769971e-02 1.62801866e+02] [-6.36035107e-02 9.97974653e-01 -1.08835719e-03 -6.54186599e+00] [-1.10239971e-02 3.87911712e-04 9.99939159e-01 -2.88007784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194391418 meters 0.03469659757216541 Centerline is valid? [True, True] Translation: X:162.83, Y:-6.54, Z:-2.88 [[ 9.97983295e-01 6.23815742e-02 1.17423163e-02 1.62833993e+02] [-6.23721768e-02 9.98052280e-01 -1.16517239e-03 -6.54488306e+00] [-1.17921308e-02 4.30428759e-04 9.99930378e-01 -2.87927310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224391418 meters 0.027859100166532074 Centerline is valid? [True, True] Translation: X:162.87, Y:-6.54, Z:-2.88 [[ 9.98057841e-01 6.09848759e-02 1.27039398e-02 1.62867579e+02] [-6.09737188e-02 9.98138571e-01 -1.26407811e-03 -6.53665098e+00] [-1.27573819e-02 4.87016618e-04 9.99918503e-01 -2.87676095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254391418 meters 0.029903498434141692 Centerline is valid? [True, True] Translation: X:162.90, Y:-6.54, Z:-2.88 [[ 9.98134853e-01 5.95329078e-02 1.35147601e-02 1.62898047e+02] [-5.95200691e-02 9.98226195e-01 -1.35057197e-03 -6.53999528e+00] [-1.35711910e-02 5.43653500e-04 9.99907759e-01 -2.87650390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284391418 meters 0.031064943031742263 Centerline is valid? [True, True] Translation: X:162.93, Y:-6.54, Z:-2.88 [[ 9.98267554e-01 5.70297035e-02 1.44742489e-02 1.62930216e+02] [-5.70147062e-02 9.98372290e-01 -1.44701247e-03 -6.53909460e+00] [-1.45332117e-02 6.19260546e-04 9.99894196e-01 -2.87623203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314391418 meters 0.031915916510410154 Centerline is valid? [True, True] Translation: X:162.96, Y:-6.54, Z:-2.88 [[ 9.98296453e-01 5.66232201e-02 1.40713461e-02 1.62961638e+02] [-5.66089932e-02 9.98395433e-01 -1.40762569e-03 -6.54034988e+00] [-1.41284719e-02 6.08663004e-04 9.99900003e-01 -2.87755893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34439141800001 meters 0.032396169793509365 Centerline is valid? [True, True] Translation: X:162.99, Y:-6.54, Z:-2.88 [[ 9.98301439e-01 5.66837407e-02 1.34606639e-02 1.62994564e+02] [-5.66707099e-02 9.98392014e-01 -1.34783825e-03 -6.54092904e+00] [-1.35154198e-02 5.82723486e-04 9.99908493e-01 -2.87949535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37439141800002 meters 0.042499992746179195 Centerline is valid? [True, True] Translation: X:163.03, Y:-6.55, Z:-2.88 [[ 9.98286958e-01 5.71174567e-02 1.26785246e-02 1.63025282e+02] [-5.71058786e-02 9.98367315e-01 -1.27365206e-03 -6.55362989e+00] [-1.27305723e-02 5.47451949e-04 9.99918813e-01 -2.88323571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40439141800002 meters 0.03243776234945882 Centerline is valid? [True, True] Translation: X:163.06, Y:-6.54, Z:-2.89 [[ 9.98196284e-01 5.92031333e-02 9.95831303e-03 1.63058717e+02] [-5.91960525e-02 9.98245871e-01 -1.00455741e-03 -6.53538410e+00] [-1.00003178e-02 4.13252649e-04 9.99949910e-01 -2.88551961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43439141800002 meters 0.029955301259644972 Centerline is valid? [True, True] Translation: X:163.09, Y:-6.53, Z:-2.89 [[ 9.98102246e-01 6.09253826e-02 8.94450989e-03 1.63089801e+02] [-6.09197332e-02 9.98142260e-01 -9.02960744e-04 -6.53069440e+00] [-8.98290654e-03 3.56349990e-04 9.99959589e-01 -2.88640395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46439141800002 meters 0.029294404691389733 Centerline is valid? [True, True] Translation: X:163.12, Y:-6.53, Z:-2.89 [[ 9.97976430e-01 6.29282876e-02 9.11454458e-03 1.63119424e+02] [-6.29225013e-02 9.98017992e-01 -9.20503999e-04 -6.52840135e+00] [-9.15440522e-03 3.45131352e-04 9.99958038e-01 -2.88724232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494391418 meters 0.027059704097616166 Centerline is valid? [True, True] Translation: X:163.15, Y:-6.52, Z:-2.89 [[ 9.97648932e-01 6.77115618e-02 1.05712782e-02 1.63149651e+02] [-6.77040522e-02 9.97704878e-01 -1.06704181e-03 -6.52013600e+00] [-1.06192669e-02 3.48814748e-04 9.99943553e-01 -2.88568986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters 0.024280663363856102 Centerline is valid? [True, True] Translation: X:163.18, Y:-6.52, Z:-2.88 [[ 9.97476978e-01 6.99770067e-02 1.19539103e-02 1.63180466e+02] [-6.99675754e-02 9.97548537e-01 -1.20587963e-03 -6.51536429e+00] [-1.20089896e-02 3.66451053e-04 9.99927822e-01 -2.88444911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554391418 meters 0.024685368528737078 Centerline is valid? [True, True] Translation: X:163.21, Y:-6.51, Z:-2.88 [[ 9.97337666e-01 7.17361118e-02 1.30961612e-02 1.63209301e+02] [-7.17249448e-02 9.97423575e-01 -1.32099151e-03 -6.51496850e+00] [-1.31571828e-02 3.78153145e-04 9.99913369e-01 -2.88422305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters 0.022444576661768887 Centerline is valid? [True, True] Translation: X:163.24, Y:-6.51, Z:-2.88 [[ 9.97217932e-01 7.31669563e-02 1.42475691e-02 1.63239676e+02] [-7.31539010e-02 9.97319630e-01 -1.43602965e-03 -6.51130789e+00] [-1.43144503e-02 3.89769260e-04 9.99897467e-01 -2.88373741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614391418 meters 0.021919829608958663 Centerline is valid? [True, True] Translation: X:163.27, Y:-6.51, Z:-2.88 [[ 9.97082021e-01 7.48634263e-02 1.49302219e-02 1.63269195e+02] [-7.48492893e-02 9.97193723e-01 -1.50421063e-03 -6.50642012e+00] [-1.50009339e-02 3.82304870e-04 9.99887407e-01 -2.88459789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters 0.022404260632273517 Centerline is valid? [True, True] Translation: X:163.30, Y:-6.51, Z:-2.89 [[ 9.97043396e-01 7.54630813e-02 1.44840988e-02 1.63298051e+02] [-7.54498530e-02 9.97148531e-01 -1.45835830e-03 -6.50633255e+00] [-1.45528501e-02 3.61223385e-04 9.99894036e-01 -2.88624349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674391418 meters 0.021527147008649404 Centerline is valid? [True, True] Translation: X:163.33, Y:-6.50, Z:-2.89 [[ 9.96985838e-01 7.63270265e-02 1.39076607e-02 1.63327113e+02] [-7.63149248e-02 9.97082782e-01 -1.39956339e-03 -6.50439532e+00] [-1.39739135e-02 3.33982804e-04 9.99902304e-01 -2.88785735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters 0.02040739795225121 Centerline is valid? [True, True] Translation: X:163.36, Y:-6.50, Z:-2.89 [[ 9.96951130e-01 7.69850626e-02 1.27178831e-02 1.63356451e+02] [-7.69750083e-02 9.97032202e-01 -1.27890952e-03 -6.50211388e+00] [-1.27785959e-02 2.96051137e-04 9.99918307e-01 -2.88984405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734391418 meters 0.019478321896314914 Centerline is valid? [True, True] Translation: X:163.39, Y:-6.50, Z:-2.89 [[ 9.96806108e-01 7.91576172e-02 1.05667240e-02 1.63386225e+02] [-7.91508056e-02 9.96862088e-01 -1.06193112e-03 -6.49697068e+00] [-1.06176265e-02 2.22174711e-04 9.99943607e-01 -2.89269565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764391418 meters 0.01880122570616182 Centerline is valid? [True, True] Translation: X:163.42, Y:-6.50, Z:-2.89 [[ 9.96683629e-01 8.07002257e-02 1.04507379e-02 1.63415556e+02] [-8.06936568e-02 9.96738397e-01 -1.04939142e-03 -6.49515210e+00] [-1.05013379e-02 2.02602990e-04 9.99944839e-01 -2.89336297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.794391418 meters 0.017028583620465828 Centerline is valid? [True, True] Translation: X:163.45, Y:-6.49, Z:-2.89 [[ 9.96445098e-01 8.34796705e-02 1.13274324e-02 1.63445028e+02] [-8.34721450e-02 9.96509463e-01 -1.13634735e-03 -6.48868961e+00] [-1.13827555e-02 1.86782664e-04 9.99935197e-01 -2.89262247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.824391418 meters 0.016501372607850038 Centerline is valid? [True, True] Translation: X:163.47, Y:-6.49, Z:-2.89 [[ 9.96320777e-01 8.48784644e-02 1.18556437e-02 1.63472976e+02] [-8.48703315e-02 9.96391296e-01 -1.18834013e-03 -6.48816702e+00] [-1.19137247e-02 1.77775551e-04 9.99929013e-01 -2.89225656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.854391418 meters 0.016276380878151635 Centerline is valid? [True, True] Translation: X:163.50, Y:-6.49, Z:-2.89 [[ 9.96249491e-01 8.55833338e-02 1.27453884e-02 1.63500729e+02] [-8.55740119e-02 9.96330999e-01 -1.27597511e-03 -6.48786425e+00] [-1.28078277e-02 1.80515541e-04 9.99917960e-01 -2.89218962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.884391418 meters 0.0161527901893881 Centerline is valid? [True, True] Translation: X:163.53, Y:-6.49, Z:-2.89 [[ 9.96218632e-01 8.58027282e-02 1.36502145e-02 1.63529853e+02] [-8.57920797e-02 9.96312128e-01 -1.36484594e-03 -6.48834887e+00] [-1.37169817e-02 1.88604668e-04 9.99905900e-01 -2.89183493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914391418 meters 0.01685643432158744 Centerline is valid? [True, True] Translation: X:163.56, Y:-6.49, Z:-2.89 [[ 9.96331532e-01 8.43721961e-02 1.43112309e-02 1.63557750e+02] [-8.43603608e-02 9.96434286e-01 -1.42974812e-03 -6.48851331e+00] [-1.43808322e-02 2.17202529e-04 9.99896567e-01 -2.89237321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944391418 meters 0.017070378267863187 Centerline is valid? [True, True] Translation: X:163.59, Y:-6.49, Z:-2.89 [[ 9.96459349e-01 8.28405221e-02 1.43601586e-02 1.63586842e+02] [-8.28284726e-02 9.96562788e-01 -1.43284597e-03 -6.49007965e+00] [-1.44294974e-02 2.38342755e-04 9.99895861e-01 -2.89322561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974391418 meters 0.018687342326883398 Centerline is valid? [True, True] Translation: X:163.61, Y:-6.49, Z:-2.89 [[ 9.96634285e-01 8.07163684e-02 1.43167818e-02 1.63614708e+02] [-8.07041892e-02 9.96737075e-01 -1.42735213e-03 -6.49415521e+00] [-1.43852779e-02 2.67123806e-04 9.99896491e-01 -2.89406328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004391418 meters 0.01830709121844583 Centerline is valid? [True, True] Translation: X:163.64, Y:-6.50, Z:-2.89 [[ 9.96773382e-01 7.89269368e-02 1.46069443e-02 1.63643231e+02] [-7.89140912e-02 9.96880359e-01 -1.45461601e-03 -6.49523292e+00] [-1.46761843e-02 2.97228783e-04 9.99892255e-01 -2.89433430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034391418 meters 0.0212554900261145 Centerline is valid? [True, True] Translation: X:163.67, Y:-6.50, Z:-2.90 [[ 9.97106838e-01 7.45924218e-02 1.46261753e-02 1.63671420e+02] [-7.45790964e-02 9.97214040e-01 -1.45515419e-03 -6.50080208e+00] [-1.46939708e-02 3.60137252e-04 9.99891973e-01 -2.89529684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064391418 meters 0.0212554900261145 Centerline is valid? [True, True] Translation: X:163.70, Y:-6.50, Z:-2.90 [[ 9.97113122e-01 7.45083468e-02 1.46262641e-02 1.63699611e+02] [-7.44950255e-02 9.97220325e-01 -1.45426142e-03 -6.50351213e+00] [-1.46939624e-02 3.60479234e-04 9.99891973e-01 -2.89580764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09439141800001 meters 0.02200857380444261 Centerline is valid? [True, True] Translation: X:163.73, Y:-6.51, Z:-2.90 [[ 9.97275927e-01 7.22291188e-02 1.49559424e-02 1.63728285e+02] [-7.22149535e-02 9.97387985e-01 -1.48573584e-03 -6.50667484e+00] [-1.50241906e-02 4.01645904e-04 9.99887050e-01 -2.89608758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12439141800002 meters 0.02310409355022076 Centerline is valid? [True, True] Translation: X:163.76, Y:-6.51, Z:-2.90 [[ 9.97416281e-01 7.02233233e-02 1.51474903e-02 1.63756624e+02] [-7.02085819e-02 9.97531200e-01 -1.50343737e-03 -6.51064626e+00] [-1.52156705e-02 4.36069102e-04 9.99884140e-01 -2.89619370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15439141800002 meters 0.025690863403406577 Centerline is valid? [True, True] Translation: X:163.79, Y:-6.52, Z:-2.90 [[ 9.97645795e-01 6.66035217e-02 1.63351780e-02 1.63785062e+02] [-6.65859183e-02 9.97779380e-01 -1.61976858e-03 -6.51545503e+00] [-1.64067861e-02 5.28262487e-04 9.99865260e-01 -2.89552692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18439141800002 meters 0.026514596958705852 Centerline is valid? [True, True] Translation: X:163.81, Y:-6.52, Z:-2.90 [[ 9.97704477e-01 6.56012687e-02 1.68003042e-02 1.63812339e+02] [-6.55825242e-02 9.97845760e-01 -1.66483935e-03 -6.51857524e+00] [-1.68733279e-02 5.59211313e-04 9.99857479e-01 -2.89550325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21439141800002 meters 0.026633827236396342 Centerline is valid? [True, True] Translation: X:163.84, Y:-6.52, Z:-2.90 [[ 9.97722416e-01 6.52640345e-02 1.70466043e-02 1.63841376e+02] [-6.52447185e-02 9.97867867e-01 -1.68741833e-03 -6.52104136e+00] [-1.71203864e-02 5.71374192e-04 9.99853272e-01 -2.89578938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters 0.026844505943818413 Centerline is valid? [True, True] Translation: X:163.87, Y:-6.52, Z:-2.90 [[ 9.97691409e-01 6.55489267e-02 1.77536122e-02 1.63870483e+02] [-6.55280474e-02 9.97849183e-01 -1.75586626e-03 -6.52312180e+00] [-1.78305226e-02 5.88453137e-04 9.99840850e-01 -2.89613612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274391418 meters 0.02255935018786895 Centerline is valid? [True, True] Translation: X:163.90, Y:-6.52, Z:-2.90 [[ 9.97505971e-01 6.83333380e-02 1.76746094e-02 1.63900976e+02] [-6.83131066e-02 9.97662402e-01 -1.74659525e-03 -6.51808880e+00] [-1.77526440e-02 5.34831713e-04 9.99842266e-01 -2.89728190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters 0.022243434007308684 Centerline is valid? [True, True] Translation: X:163.93, Y:-6.52, Z:-2.90 [[ 9.97339045e-01 7.09405634e-02 1.68007629e-02 1.63929406e+02] [-7.09226637e-02 9.97480437e-01 -1.65959668e-03 -6.51928086e+00] [-1.68761650e-02 4.63625710e-04 9.99857480e-01 -2.89902697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334391418 meters 0.021528662885335673 Centerline is valid? [True, True] Translation: X:163.96, Y:-6.52, Z:-2.90 [[ 9.97114912e-01 7.42635788e-02 1.57090314e-02 1.63958917e+02] [-7.42483523e-02 9.97238575e-01 -1.55109572e-03 -6.51949399e+00] [-1.57808420e-02 3.80250975e-04 9.99875402e-01 -2.90087119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters 0.0195880651367648 Centerline is valid? [True, True] Translation: X:163.99, Y:-6.52, Z:-2.90 [[ 9.96822433e-01 7.83144619e-02 1.45562038e-02 1.63986989e+02] [-7.83018498e-02 9.96928664e-01 -1.43522587e-03 -6.51752379e+00] [-1.46238958e-02 2.90887653e-04 9.99893023e-01 -2.90255415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394391418 meters 0.015447544117941785 Centerline is valid? [True, True] Translation: X:164.02, Y:-6.51, Z:-2.90 [[ 9.96082423e-01 8.74780155e-02 1.29384290e-02 1.64015700e+02] [-8.74688377e-02 9.96166441e-01 -1.27461819e-03 -6.50949567e+00] [-1.30003299e-02 1.37915430e-04 9.99915483e-01 -2.90487309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters 0.014134083491726925 Centerline is valid? [True, True] Translation: X:164.04, Y:-6.51, Z:-2.91 [[ 9.95708184e-01 9.16486894e-02 1.28735908e-02 1.64043540e+02] [-9.16399709e-02 9.95791399e-01 -1.26675501e-03 -6.50747727e+00] [-1.29355074e-02 8.15828488e-05 9.99916329e-01 -2.90566607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454391418 meters 0.013439286925847276 Centerline is valid? [True, True] Translation: X:164.07, Y:-6.51, Z:-2.91 [[ 9.95314822e-01 9.57785219e-02 1.32242183e-02 1.64073095e+02] [-9.57697059e-02 9.95402669e-01 -1.29977800e-03 -6.50570054e+00] [-1.32879131e-02 2.72088121e-05 9.99911711e-01 -2.90534238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484391418 meters 0.01342323838066497 Centerline is valid? [True, True] Translation: X:164.10, Y:-6.50, Z:-2.90 [[ 9.94693021e-01 1.01762594e-01 1.51713281e-02 1.64101636e+02] [-1.01751706e-01 9.94808711e-01 -1.48984510e-03 -6.50231563e+00] [-1.52441799e-02 -6.17699896e-05 9.99883799e-01 -2.90363953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514391418 meters 0.014066930827320396 Centerline is valid? [True, True] Translation: X:164.13, Y:-6.50, Z:-2.90 [[ 9.94433062e-01 1.04148740e-01 1.59976551e-02 1.64129353e+02] [-1.04136977e-01 9.94561727e-01 -1.56879437e-03 -6.50219834e+00] [-1.60740434e-02 -1.05886453e-04 9.99870799e-01 -2.90346202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.544391418 meters 0.014387786922708127 Centerline is valid? [True, True] Translation: X:164.16, Y:-6.50, Z:-2.90 [[ 9.94216010e-01 1.06113815e-01 1.65645485e-02 1.64158078e+02] [-1.06101508e-01 9.94353980e-01 -1.62256178e-03 -6.50424956e+00] [-1.66432009e-02 -1.44346675e-04 9.99861482e-01 -2.90339772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.574391418 meters 0.014987383836441331 Centerline is valid? [True, True] Translation: X:164.19, Y:-6.51, Z:-2.90 [[ 9.94044890e-01 1.07687250e-01 1.66797311e-02 1.64187037e+02] [-1.07675016e-01 9.94184805e-01 -1.63244287e-03 -6.50613631e+00] [-1.67585285e-02 -1.73268816e-04 9.99859551e-01 -2.90403434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.604391418 meters 0.015691603374514227 Centerline is valid? [True, True] Translation: X:164.22, Y:-6.51, Z:-2.91 [[ 9.93862894e-01 1.09435504e-01 1.61374954e-02 1.64215001e+02] [-1.09424303e-01 9.93993879e-01 -1.57812652e-03 -6.50916734e+00] [-1.62132748e-02 -1.97392799e-04 9.99868537e-01 -2.90618204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.634391418 meters 0.015755242110745266 Centerline is valid? [True, True] Translation: X:164.24, Y:-6.51, Z:-2.91 [[ 9.93901909e-01 1.09173731e-01 1.54949135e-02 1.64241400e+02] [-1.09163394e-01 9.94022667e-01 -1.51387436e-03 -6.51357196e+00] [-1.55675705e-02 -1.86834735e-04 9.99878801e-01 -2.90788195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664391418 meters 0.01512182219670469 Centerline is valid? [True, True] Translation: X:164.27, Y:-6.52, Z:-2.91 [[ 9.94059534e-01 1.07830141e-01 1.47751146e-02 1.64269479e+02] [-1.07820626e-01 9.94169319e-01 -1.44137213e-03 -6.51935358e+00] [-1.48443890e-02 -1.60252407e-04 9.99889803e-01 -2.90968413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694391418 meters 0.014625070468342397 Centerline is valid? [True, True] Translation: X:164.30, Y:-6.53, Z:-2.91 [[ 9.94277338e-01 1.05988378e-01 1.33805333e-02 1.64297515e+02] [-1.05980421e-01 9.94367361e-01 -1.30437895e-03 -6.52571814e+00] [-1.34434146e-02 -1.21160124e-04 9.99909626e-01 -2.91176416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724391418 meters 0.013896125946506074 Centerline is valid? [True, True] Translation: X:164.33, Y:-6.53, Z:-2.91 [[ 9.94537696e-01 1.03617703e-01 1.25755220e-02 1.64325283e+02] [-1.03610496e-01 9.94617195e-01 -1.22498108e-03 -6.53316992e+00] [-1.26347602e-02 -8.46662186e-05 9.99920175e-01 -2.91307631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754391418 meters 0.012727557628548108 Centerline is valid? [True, True] Translation: X:164.35, Y:-6.55, Z:-2.91 [[ 9.95006878e-01 9.90079596e-02 1.25990556e-02 1.64352300e+02] [-9.90003678e-02 9.95086641e-01 -1.22636938e-03 -6.54516546e+00] [-1.26585723e-02 -2.70651704e-05 9.99919877e-01 -2.91291959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784391418 meters 0.012467683335083522 Centerline is valid? [True, True] Translation: X:164.38, Y:-6.55, Z:-2.91 [[ 9.95186156e-01 9.71451658e-02 1.29357108e-02 1.64380659e+02] [-9.71370239e-02 9.95270223e-01 -1.25771486e-03 -6.55222189e+00] [-1.29967087e-02 -4.87603582e-06 9.99915539e-01 -2.91258213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814391418 meters 0.012445359410973418 Centerline is valid? [True, True] Translation: X:164.41, Y:-6.56, Z:-2.91 [[ 9.95350204e-01 9.52762438e-02 1.41566018e-02 1.64408725e+02] [-9.52663210e-02 9.95450871e-01 -1.37518418e-03 -6.55925855e+00] [-1.42232239e-02 2.01424897e-05 9.99898845e-01 -2.91175247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84439141800001 meters 0.012495853140397669 Centerline is valid? [True, True] Translation: X:164.44, Y:-6.57, Z:-2.91 [[ 9.95438178e-01 9.42885263e-02 1.45776677e-02 1.64436115e+02] [-9.42779137e-02 9.95544912e-01 -1.41504009e-03 -6.56547918e+00] [-1.46461449e-02 3.42328301e-05 9.99892739e-01 -2.91132427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87439141800002 meters 0.012515981725232973 Centerline is valid? [True, True] Translation: X:164.46, Y:-6.57, Z:-2.91 [[ 9.95513543e-01 9.32637497e-02 1.59579991e-02 1.64462386e+02] [-9.32509314e-02 9.95641437e-01 -1.54709372e-03 -6.57371059e+00] [-1.60327330e-02 5.20544721e-05 9.99871466e-01 -2.90996352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90439141800002 meters 0.012329274611363598 Centerline is valid? [True, True] Translation: X:164.49, Y:-6.58, Z:-2.91 [[ 9.95478754e-01 9.36020359e-02 1.61464776e-02 1.64490510e+02] [-9.35890056e-02 9.95609691e-01 -1.56240581e-03 -6.57873014e+00] [-1.62218339e-02 4.42090105e-05 9.99868416e-01 -2.91044254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93439141800002 meters 0.012202120718812187 Centerline is valid? [True, True] Translation: X:164.52, Y:-6.58, Z:-2.91 [[ 9.95483116e-01 9.35392360e-02 1.62412262e-02 1.64519250e+02] [-9.35260641e-02 9.95615593e-01 -1.57033777e-03 -6.58424418e+00] [-1.63169063e-02 4.42667699e-05 9.99866869e-01 -2.91134583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96439141800002 meters 0.012291970726896738 Centerline is valid? [True, True] Translation: X:164.55, Y:-6.59, Z:-2.91 [[ 9.95567754e-01 9.27772631e-02 1.54021437e-02 1.64547488e+02] [-9.27653429e-02 9.95686887e-01 -1.48811682e-03 -6.59346925e+00] [-1.54737759e-02 5.27359855e-05 9.99880273e-01 -2.91355488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994391418 meters 0.012538326243342515 Centerline is valid? [True, True] Translation: X:164.58, Y:-6.60, Z:-2.91 [[ 9.95686883e-01 9.15086629e-02 1.52903756e-02 1.64575366e+02] [-9.14967828e-02 9.95804278e-01 -1.47618679e-03 -6.60008849e+00] [-1.53613053e-02 7.07996539e-05 9.99882006e-01 -2.91438784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters 0.013113211850294957 Centerline is valid? [True, True] Translation: X:164.60, Y:-6.61, Z:-2.92 [[ 9.95839587e-01 8.98823340e-02 1.49894437e-02 1.64602615e+02] [-8.98707483e-02 9.95952387e-01 -1.44609904e-03 -6.60727296e+00] [-1.50587510e-02 9.29701540e-05 9.99886606e-01 -2.91516205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054391418 meters 0.014094001968331295 Centerline is valid? [True, True] Translation: X:164.63, Y:-6.62, Z:-2.92 [[ 9.96037398e-01 8.75601441e-02 1.55796003e-02 1.64630702e+02] [-8.75473682e-02 9.96159226e-01 -1.50148940e-03 -6.61522776e+00] [-1.56512332e-02 1.31586585e-04 9.99877503e-01 -2.91525125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters 0.017029956177492853 Centerline is valid? [True, True] Translation: X:164.66, Y:-6.63, Z:-2.91 [[ 9.96428097e-01 8.27429623e-02 1.68715436e-02 1.64657975e+02] [-8.27273120e-02 9.96570897e-01 -1.62462955e-03 -6.62943687e+00] [-1.69481160e-02 2.23089077e-04 9.99856345e-01 -2.91378480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114391418 meters 0.016732427457181957 Centerline is valid? [True, True] Translation: X:164.69, Y:-6.63, Z:-2.91 [[ 9.96616738e-01 8.01878468e-02 1.80273693e-02 1.64687245e+02] [-8.01695765e-02 9.96779729e-01 -1.73505176e-03 -6.63432788e+00] [-1.81084463e-02 2.83935063e-04 9.99835988e-01 -2.91306918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters 0.017952684817024635 Centerline is valid? [True, True] Translation: X:164.72, Y:-6.64, Z:-2.91 [[ 9.96781922e-01 7.80150956e-02 1.84240558e-02 1.64716290e+02] [-7.79956553e-02 9.96952123e-01 -1.77246687e-03 -6.64174905e+00] [-1.85061807e-02 3.29766627e-04 9.99828692e-01 -2.91324782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174391418 meters 0.01832900482866381 Centerline is valid? [True, True] Translation: X:164.74, Y:-6.65, Z:-2.91 [[ 9.96922060e-01 7.60618598e-02 1.90000084e-02 1.64744990e+02] [-7.60408459e-02 9.97103030e-01 -1.82705701e-03 -6.64740433e+00] [-1.90839353e-02 3.76656731e-04 9.99817814e-01 -2.91383621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters 0.021267129232696153 Centerline is valid? [True, True] Translation: X:164.77, Y:-6.66, Z:-2.92 [[ 9.97141026e-01 7.33445713e-02 1.81754842e-02 1.64774101e+02] [-7.33249105e-02 9.97306576e-01 -1.74668526e-03 -6.65877576e+00] [-1.82546398e-02 4.08975781e-04 9.99833287e-01 -2.91597955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234391418 meters 0.02056716501638865 Centerline is valid? [True, True] Translation: X:164.80, Y:-6.66, Z:-2.92 [[ 9.97199727e-01 7.27727117e-02 1.72289722e-02 1.64804669e+02] [-7.27549540e-02 9.97348472e-01 -1.65608060e-03 -6.66211624e+00] [-1.73038066e-02 3.97950042e-04 9.99850199e-01 -2.91788638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264391418 meters 0.019486120658494546 Centerline is valid? [True, True] Translation: X:164.83, Y:-6.66, Z:-2.92 [[ 9.97216902e-01 7.27490415e-02 1.63103700e-02 1.64834891e+02] [-7.27331239e-02 9.97350207e-01 -1.56778286e-03 -6.66473219e+00] [-1.63812056e-02 3.77115405e-04 9.99865748e-01 -2.91980670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.294391418 meters 0.020315942479092693 Centerline is valid? [True, True] Translation: X:164.86, Y:-6.67, Z:-2.92 [[ 9.97187456e-01 7.36584226e-02 1.38424797e-02 1.64863523e+02] [-7.36470441e-02 9.97283481e-01 -1.33065279e-03 -6.67027810e+00] [-1.39028901e-02 3.07452562e-04 9.99903303e-01 -2.92315051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.324391418 meters 0.019866243925057522 Centerline is valid? [True, True] Translation: X:164.89, Y:-6.67, Z:-2.92 [[ 9.97112332e-01 7.47841211e-02 1.32034834e-02 1.64893370e+02] [-7.47738699e-02 9.97199708e-01 -1.26905254e-03 -6.67266588e+00] [-1.32614147e-02 2.78112396e-04 9.99912025e-01 -2.92442800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.354391418 meters 0.01924786951398801 Centerline is valid? [True, True] Translation: X:164.92, Y:-6.67, Z:-2.92 [[ 9.97000990e-01 7.62910139e-02 1.29887208e-02 1.64921604e+02] [-7.62812254e-02 9.97085561e-01 -1.24809246e-03 -6.67434743e+00] [-1.30460842e-02 2.53553884e-04 9.99914864e-01 -2.92483584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.384391418 meters 0.016152084663841753 Centerline is valid? [True, True] Translation: X:164.95, Y:-6.67, Z:-2.92 [[ 9.96725838e-01 7.98767117e-02 1.25425045e-02 1.64951360e+02] [-7.98678827e-02 9.96804731e-01 -1.20405040e-03 -6.67118649e+00] [-1.25986034e-02 1.98364867e-04 9.99920615e-01 -2.92402131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414391418 meters 0.015451524067560687 Centerline is valid? [True, True] Translation: X:164.98, Y:-6.67, Z:-2.92 [[ 9.96572107e-01 8.16667004e-02 1.32130594e-02 1.64979743e+02] [-8.16570648e-02 9.96659679e-01 -1.26800843e-03 -6.67242762e+00] [-1.32724776e-02 1.84722181e-04 9.99911900e-01 -2.92408664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444391418 meters 0.015414274367129846 Centerline is valid? [True, True] Translation: X:165.01, Y:-6.67, Z:-2.92 [[ 9.96482937e-01 8.26995409e-02 1.35108509e-02 1.65007156e+02] [-8.26895760e-02 9.96574511e-01 -1.29547674e-03 -6.67473117e+00] [-1.35717050e-02 1.73713939e-04 9.99907885e-01 -2.92411644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474391418 meters 0.014948497474437761 Centerline is valid? [True, True] Translation: X:165.03, Y:-6.68, Z:-2.92 [[ 9.96392010e-01 8.37243483e-02 1.38994628e-02 1.65034609e+02] [-8.37139234e-02 9.96488940e-01 -1.33117268e-03 -6.67671770e+00] [-1.39621125e-02 1.62791263e-04 9.99902512e-01 -2.92410388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504391418 meters 0.014286655203623653 Centerline is valid? [True, True] Translation: X:165.06, Y:-6.68, Z:-2.92 [[ 9.96316394e-01 8.44256928e-02 1.50314719e-02 1.65063755e+02] [-8.44136067e-02 9.96429765e-01 -1.43784782e-03 -6.67800016e+00] [-1.50991973e-02 1.63690597e-04 9.99885987e-01 -2.92327599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534391418 meters 0.014525153508500775 Centerline is valid? [True, True] Translation: X:165.09, Y:-6.68, Z:-2.92 [[ 9.96376472e-01 8.37307615e-02 1.49360538e-02 1.65092709e+02] [-8.37187691e-02 9.96488399e-01 -1.42746604e-03 -6.68117980e+00] [-1.50031272e-02 1.71865538e-04 9.99887432e-01 -2.92395613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564391418 meters 0.014607891026190882 Centerline is valid? [True, True] Translation: X:165.12, Y:-6.68, Z:-2.92 [[ 9.96447417e-01 8.29372738e-02 1.46271684e-02 1.65121850e+02] [-8.29257043e-02 9.96554753e-01 -1.39675652e-03 -6.68411697e+00] [-1.46926174e-02 1.78826189e-04 9.99892042e-01 -2.92485742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59439141800001 meters 0.015015981064281531 Centerline is valid? [True, True] Translation: X:165.15, Y:-6.69, Z:-2.93 [[ 9.96520785e-01 8.21067693e-02 1.43109863e-02 1.65150087e+02] [-8.20956261e-02 9.96623522e-01 -1.36536797e-03 -6.68746719e+00] [-1.43747715e-02 1.85748175e-04 9.99896660e-01 -2.92563892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62439141800002 meters 0.01554769072929546 Centerline is valid? [True, True] Translation: X:165.18, Y:-6.69, Z:-2.93 [[ 9.96674994e-01 8.02871258e-02 1.38900869e-02 1.65179818e+02] [-8.02764700e-02 9.96771757e-01 -1.32390675e-03 -6.69078412e+00] [-1.39515390e-02 2.04457601e-04 9.99902652e-01 -2.92545571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65439141800002 meters 0.015393373344247169 Centerline is valid? [True, True] Translation: X:165.21, Y:-6.69, Z:-2.93 [[ 9.96705498e-01 7.98341762e-02 1.43057547e-02 1.65208875e+02] [-7.98228332e-02 9.96808135e-01 -1.36305044e-03 -6.69287514e+00] [-1.43689107e-02 2.16633999e-04 9.99896738e-01 -2.92508136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68439141800002 meters 0.016800646055760766 Centerline is valid? [True, True] Translation: X:165.24, Y:-6.70, Z:-2.93 [[ 9.96740047e-01 7.93267340e-02 1.47155971e-02 1.65237277e+02] [-7.93146978e-02 9.96848643e-01 -1.40066089e-03 -6.69790098e+00] [-1.47803329e-02 2.28931658e-04 9.99890739e-01 -2.92531522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71439141800002 meters 0.015830684538825097 Centerline is valid? [True, True] Translation: X:165.27, Y:-6.70, Z:-2.92 [[ 9.96778520e-01 7.87303553e-02 1.53007819e-02 1.65266173e+02] [-7.87172879e-02 9.96895918e-01 -1.45535126e-03 -6.69795653e+00] [-1.53678674e-02 2.46226817e-04 9.99881877e-01 -2.92400413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters 0.016063924840067703 Centerline is valid? [True, True] Translation: X:165.29, Y:-6.70, Z:-2.92 [[ 9.96810987e-01 7.82661106e-02 1.55651129e-02 1.65294647e+02] [-7.82525536e-02 9.96932470e-01 -1.47906712e-03 -6.70016827e+00] [-1.56331273e-02 2.56340526e-04 9.99877762e-01 -2.92384895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774391418 meters 0.01623385826735324 Centerline is valid? [True, True] Translation: X:165.32, Y:-6.70, Z:-2.92 [[ 9.96823547e-01 7.81027834e-02 1.55811255e-02 1.65324236e+02] [-7.80892019e-02 9.96945279e-01 -1.47909265e-03 -6.70243436e+00] [-1.56490508e-02 2.57676729e-04 9.99877513e-01 -2.92397707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters 0.016375481089397754 Centerline is valid? [True, True] Translation: X:165.35, Y:-6.70, Z:-2.92 [[ 9.96832963e-01 7.79154822e-02 1.59129374e-02 1.65354136e+02] [-7.79013037e-02 9.96959933e-01 -1.50987074e-03 -6.70461185e+00] [-1.59822033e-02 2.65450354e-04 9.99872241e-01 -2.92442183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834391418 meters 0.01653140415542204 Centerline is valid? [True, True] Translation: X:165.38, Y:-6.71, Z:-2.93 [[ 9.96838611e-01 7.79345743e-02 1.54591826e-02 1.65383618e+02] [-7.79212054e-02 9.96958443e-01 -1.46616066e-03 -6.70592352e+00] [-1.55264272e-02 2.56927416e-04 9.99879425e-01 -2.92512610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters 0.016401125020334976 Centerline is valid? [True, True] Translation: X:165.41, Y:-6.71, Z:-2.93 [[ 9.96844174e-01 7.79414477e-02 1.50606416e-02 1.65412705e+02] [-7.79287678e-02 9.96957907e-01 -1.42785501e-03 -6.70775254e+00] [-1.51261148e-02 2.49691705e-04 9.99885563e-01 -2.92641693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894391418 meters 0.01661620544836764 Centerline is valid? [True, True] Translation: X:165.44, Y:-6.71, Z:-2.93 [[ 9.96861874e-01 7.78481562e-02 1.43551094e-02 1.65441148e+02] [-7.78366439e-02 9.96965199e-01 -1.35978459e-03 -6.70917936e+00] [-1.44174012e-02 2.38163877e-04 9.99896036e-01 -2.92735377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters 0.01661620544836764 Centerline is valid? [True, True] Translation: X:165.47, Y:-6.71, Z:-2.93 [[ 9.96868727e-01 7.77603211e-02 1.43552291e-02 1.65469350e+02] [-7.77488179e-02 9.96972054e-01 -1.35852006e-03 -6.71175544e+00] [-1.44174012e-02 2.38164073e-04 9.99896036e-01 -2.92786454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954391418 meters 0.01704111035453847 Centerline is valid? [True, True] Translation: X:165.50, Y:-6.71, Z:-2.93 [[ 9.96897576e-01 7.74830392e-02 1.38420095e-02 1.65496958e+02] [-7.74723322e-02 9.96993643e-01 -1.30886462e-03 -6.71442102e+00] [-1.39018103e-02 2.32431206e-04 9.99903338e-01 -2.92893076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984391418 meters 0.01700850180693326 Centerline is valid? [True, True] Translation: X:165.53, Y:-6.71, Z:-2.93 [[ 9.97016126e-01 7.61979135e-02 1.23580650e-02 1.65525891e+02] [-7.61892964e-02 9.97092688e-01 -1.16727244e-03 -6.71493525e+00] [-1.24110800e-02 2.22237171e-04 9.99922955e-01 -2.93072652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014391418 meters 0.019072976595424035 Centerline is valid? [True, True] Translation: X:165.55, Y:-6.72, Z:-2.93 [[ 9.97154699e-01 7.44407149e-02 1.18779822e-02 1.65553372e+02] [-7.44326387e-02 9.97225413e-01 -1.12117495e-03 -6.72008383e+00] [-1.19284868e-02 2.33875313e-04 9.99928826e-01 -2.93259851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.044391418 meters 0.01909866531077645 Centerline is valid? [True, True] Translation: X:165.58, Y:-6.72, Z:-2.93 [[ 9.97334907e-01 7.19842693e-02 1.18890359e-02 1.65582533e+02] [-7.19760241e-02 9.97405733e-01 -1.12049870e-03 -6.72225889e+00] [-1.19388508e-02 2.61786936e-04 9.99928695e-01 -2.93256833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.074391418 meters 0.022131870260286703 Centerline is valid? [True, True] Translation: X:165.61, Y:-6.73, Z:-2.93 [[ 9.97729592e-01 6.61690914e-02 1.25424192e-02 1.65611509e+02] [-6.61594720e-02 9.97808363e-01 -1.18078322e-03 -6.72805362e+00] [-1.25930621e-02 3.48302531e-04 9.99920644e-01 -2.93215925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.104391418 meters 0.023743816597662382 Centerline is valid? [True, True] Translation: X:165.64, Y:-6.73, Z:-2.93 [[ 9.97899034e-01 6.34581600e-02 1.30606030e-02 1.65641288e+02] [-6.34475117e-02 9.97984421e-01 -1.22845948e-03 -6.73219765e+00] [-1.31122341e-02 3.97215772e-04 9.99913952e-01 -2.93217780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.134391418 meters 0.02522627884434772 Centerline is valid? [True, True] Translation: X:165.67, Y:-6.74, Z:-2.93 [[ 9.98012094e-01 6.15146399e-02 1.37043429e-02 1.65669689e+02] [-6.15027347e-02 9.98106083e-01 -1.28887576e-03 -6.73573440e+00] [-1.37576727e-02 4.43459029e-04 9.99905260e-01 -2.93187004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164391418 meters 0.026300750733737367 Centerline is valid? [True, True] Translation: X:165.70, Y:-6.74, Z:-2.93 [[ 9.98080127e-01 6.02863459e-02 1.41991425e-02 1.65698966e+02] [-6.02734559e-02 9.98181011e-01 -1.33438302e-03 -6.73787526e+00] [-1.42537595e-02 4.75989792e-04 9.99898297e-01 -2.93152032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194391418 meters 0.026401710448810446 Centerline is valid? [True, True] Translation: X:165.73, Y:-6.74, Z:-2.93 [[ 9.98009131e-01 6.12013458e-02 1.52371123e-02 1.65728349e+02] [-6.11866202e-02 9.98125317e-01 -1.43117690e-03 -6.73610879e+00] [-1.52961375e-02 4.96020211e-04 9.99882884e-01 -2.93036505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224391418 meters 0.02531545629578806 Centerline is valid? [True, True] Translation: X:165.76, Y:-6.74, Z:-2.93 [[ 9.97859790e-01 6.33142469e-02 1.63445622e-02 1.65758404e+02] [-6.32975914e-02 9.97993517e-01 -1.53486211e-03 -6.73509594e+00] [-1.64089457e-02 4.97005771e-04 9.99865241e-01 -2.93024316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254391418 meters 0.023835396067294904 Centerline is valid? [True, True] Translation: X:165.79, Y:-6.73, Z:-2.93 [[ 9.97689043e-01 6.59413800e-02 1.63801328e-02 1.65788297e+02] [-6.59250166e-02 9.97823395e-01 -1.53753191e-03 -6.73344001e+00] [-1.64458667e-02 4.54118219e-04 9.99864654e-01 -2.93062227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284391418 meters 0.02212470247990807 Centerline is valid? [True, True] Translation: X:165.82, Y:-6.73, Z:-2.93 [[ 9.97481236e-01 6.89228616e-02 1.67577796e-02 1.65818280e+02] [-6.89061670e-02 9.97621906e-01 -1.57228313e-03 -6.73114572e+00] [-1.68262943e-02 4.13608558e-04 9.99858342e-01 -2.93099095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314391418 meters 0.01908749924745792 Centerline is valid? [True, True] Translation: X:165.85, Y:-6.72, Z:-2.93 [[ 9.97062117e-01 7.47396073e-02 1.67668207e-02 1.65848219e+02] [-7.47237277e-02 9.97203034e-01 -1.57245379e-03 -6.72368732e+00] [-1.68374491e-02 3.14954763e-04 9.99858191e-01 -2.93202394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34439141800001 meters 0.018243051286386782 Centerline is valid? [True, True] Translation: X:165.88, Y:-6.72, Z:-2.93 [[ 9.96921213e-01 7.65542908e-02 1.69568980e-02 1.65876919e+02] [-7.65383224e-02 9.97065373e-01 -1.58963463e-03 -6.72217663e+00] [-1.70288291e-02 2.86887957e-04 9.99854958e-01 -2.93285586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37439141800002 meters 0.015921929059329296 Centerline is valid? [True, True] Translation: X:165.91, Y:-6.72, Z:-2.93 [[ 9.96768762e-01 7.85613785e-02 1.67375146e-02 1.65906682e+02] [-7.85461254e-02 9.96909248e-01 -1.56776781e-03 -6.71609403e+00] [-1.68089491e-02 2.48035063e-04 9.99858689e-01 -2.93391384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40439141800002 meters 0.01783933645803259 Centerline is valid? [True, True] Translation: X:165.93, Y:-6.72, Z:-2.94 [[ 9.96828841e-01 7.78191964e-02 1.66262986e-02 1.65933965e+02] [-7.78040656e-02 9.96967455e-01 -1.55594608e-03 -6.71977591e+00] [-1.66969611e-02 2.57418304e-04 9.99860563e-01 -2.93506868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43439141800002 meters 0.016703280736703914 Centerline is valid? [True, True] Translation: X:165.96, Y:-6.72, Z:-2.94 [[ 9.96930258e-01 7.65116005e-02 1.66143042e-02 1.65962704e+02] [-7.64963448e-02 9.97068653e-01 -1.55273612e-03 -6.71837574e+00] [-1.66844042e-02 2.77036085e-04 9.99860767e-01 -2.93549334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46439141800002 meters 0.020052116118063065 Centerline is valid? [True, True] Translation: X:165.99, Y:-6.73, Z:-2.94 [[ 9.97083249e-01 7.45195482e-02 1.64873208e-02 1.65989693e+02] [-7.45042759e-02 9.97219506e-01 -1.53946076e-03 -6.72503743e+00] [-1.65561979e-02 3.06594635e-04 9.99862890e-01 -2.93668581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494391418 meters 0.020134181615196412 Centerline is valid? [True, True] Translation: X:166.02, Y:-6.73, Z:-2.94 [[ 9.97440444e-01 6.97058434e-02 1.59265738e-02 1.66019612e+02] [-6.96910077e-02 9.97567520e-01 -1.48530034e-03 -6.72560912e+00] [-1.59913668e-02 3.71559653e-04 9.99872061e-01 -2.93784155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters 0.021586116815382587 Centerline is valid? [True, True] Translation: X:166.05, Y:-6.73, Z:-2.94 [[ 9.97625021e-01 6.71507327e-02 1.53328537e-02 1.66047903e+02] [-6.71366901e-02 9.97742763e-01 -1.42933281e-03 -6.72925874e+00] [-1.53942245e-02 3.96541132e-04 9.99881423e-01 -2.93913566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554391418 meters 0.022372021806745232 Centerline is valid? [True, True] Translation: X:166.08, Y:-6.73, Z:-2.94 [[ 9.97796318e-01 6.46811212e-02 1.47939067e-02 1.66077754e+02] [-6.46677903e-02 9.97905896e-01 -1.37821240e-03 -6.73179659e+00] [-1.48520710e-02 4.18486009e-04 9.99889614e-01 -2.94034407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters 0.02411590611046723 Centerline is valid? [True, True] Translation: X:166.11, Y:-6.73, Z:-2.94 [[ 9.97911820e-01 6.30134030e-02 1.41883986e-02 1.66106748e+02] [-6.30009798e-02 9.98012590e-01 -1.32129974e-03 -6.73435532e+00] [-1.42434600e-02 4.24657620e-04 9.99898467e-01 -2.94170481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614391418 meters 0.026802292750391584 Centerline is valid? [True, True] Translation: X:166.13, Y:-6.74, Z:-2.94 [[ 9.98089442e-01 6.01730138e-02 1.40240404e-02 1.66134655e+02] [-6.01606120e-02 9.98187857e-01 -1.30490724e-03 -6.73873551e+00] [-1.40771470e-02 4.58719291e-04 9.99900807e-01 -2.94297725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters 0.02699674228541206 Centerline is valid? [True, True] Translation: X:166.16, Y:-6.74, Z:-2.94 [[ 9.98110223e-01 5.98175047e-02 1.40658784e-02 1.66163180e+02] [-5.98049937e-02 9.98209221e-01 -1.30878381e-03 -6.73971232e+00] [-1.41189777e-02 4.65100734e-04 9.99900214e-01 -2.94327837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674391418 meters 0.025836013328969558 Centerline is valid? [True, True] Translation: X:166.19, Y:-6.74, Z:-2.94 [[ 9.98087614e-01 6.01492330e-02 1.42542818e-02 1.66192098e+02] [-6.01364353e-02 9.98189287e-01 -1.32513088e-03 -6.73866943e+00] [-1.43081770e-02 4.65395026e-04 9.99897524e-01 -2.94313047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704391418 meters 0.024583992396006935 Centerline is valid? [True, True] Translation: X:166.22, Y:-6.74, Z:-2.94 [[ 9.97991328e-01 6.12776248e-02 1.60736496e-02 1.66221487e+02] [-6.12615225e-02 9.98120633e-01 -1.49272500e-03 -6.73506071e+00] [-1.61349119e-02 5.05030356e-04 9.99869696e-01 -2.94176466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734391418 meters 0.024309781477555508 Centerline is valid? [True, True] Translation: X:166.25, Y:-6.74, Z:-2.94 [[ 9.97924582e-01 6.21055138e-02 1.70127690e-02 1.66250790e+02] [-6.20876212e-02 9.98069454e-01 -1.57839581e-03 -6.73507841e+00] [-1.70779522e-02 5.18837620e-04 9.99854027e-01 -2.94090306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764391418 meters 0.025249092786807578 Centerline is valid? [True, True] Translation: X:166.28, Y:-6.74, Z:-2.94 [[ 9.97850193e-01 6.30325775e-02 1.79411793e-02 1.66279446e+02] [-6.30128571e-02 9.98011330e-01 -1.66292522e-03 -6.73715206e+00] [-1.80103187e-02 5.28825280e-04 9.99837661e-01 -2.94020082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.794391418 meters 0.02475943580880991 Centerline is valid? [True, True] Translation: X:166.31, Y:-6.74, Z:-2.94 [[ 9.97774630e-01 6.39818184e-02 1.87647366e-02 1.66308865e+02] [-6.39604367e-02 9.97950922e-01 -1.73802597e-03 -6.73701522e+00] [-1.88374883e-02 5.33957465e-04 9.99822416e-01 -2.93966180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.824391418 meters 0.020590785319100392 Centerline is valid? [True, True] Translation: X:166.34, Y:-6.73, Z:-2.94 [[ 9.97591729e-01 6.67236824e-02 1.89391669e-02 1.66339433e+02] [-6.67024166e-02 9.97771374e-01 -1.75304143e-03 -6.72958565e+00] [-1.90139279e-02 4.85531435e-04 9.99819101e-01 -2.94020635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.854391418 meters 0.022609278447644786 Centerline is valid? [True, True] Translation: X:166.37, Y:-6.73, Z:-2.94 [[ 9.97516203e-01 6.80864695e-02 1.80459976e-02 1.66367193e+02] [-6.80673983e-02 9.97679328e-01 -1.66964476e-03 -6.73317528e+00] [-1.81177990e-02 4.37153599e-04 9.99835764e-01 -2.94127778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.884391418 meters 0.021961467270350626 Centerline is valid? [True, True] Translation: X:166.40, Y:-6.73, Z:-2.94 [[ 9.97381468e-01 7.02496597e-02 1.71811868e-02 1.66396990e+02] [-7.02327168e-02 9.97529369e-01 -1.58828253e-03 -6.72873133e+00] [-1.72503148e-02 3.77442129e-04 9.99851131e-01 -2.94304682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914391418 meters 0.0181334160630266 Centerline is valid? [True, True] Translation: X:166.43, Y:-6.73, Z:-2.94 [[ 9.97360097e-01 7.08475194e-02 1.59206311e-02 1.66425997e+02] [-7.08330616e-02 9.97487100e-01 -1.47088717e-03 -6.72679662e+00] [-1.59848328e-02 3.39297131e-04 9.99872177e-01 -2.94385299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944391418 meters 0.01699940124711011 Centerline is valid? [True, True] Translation: X:166.45, Y:-6.72, Z:-2.95 [[ 9.97185900e-01 7.36204379e-02 1.41531731e-02 1.66454721e+02] [-7.36093054e-02 9.97286299e-01 -1.30660575e-03 -6.72413843e+00] [-1.42109585e-02 2.61123589e-04 9.99898985e-01 -2.94567635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974391418 meters 0.017770326693555424 Centerline is valid? [True, True] Translation: X:166.48, Y:-6.73, Z:-2.95 [[ 9.97121117e-01 7.45864148e-02 1.36507888e-02 1.66482504e+02] [-7.45761634e-02 9.97214526e-01 -1.25918145e-03 -6.72681245e+00] [-1.37066827e-02 2.37532954e-04 9.99906031e-01 -2.94692734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004391418 meters 0.01976752398843591 Centerline is valid? [True, True] Translation: X:166.51, Y:-6.73, Z:-2.95 [[ 9.97005485e-01 7.62084955e-02 1.31273753e-02 1.66511740e+02] [-7.61991699e-02 9.97091883e-01 -1.20983102e-03 -6.72750552e+00] [-1.31813988e-02 2.05913063e-04 9.99913100e-01 -2.94783541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034391418 meters 0.017102511910824857 Centerline is valid? [True, True] Translation: X:166.54, Y:-6.73, Z:-2.95 [[ 9.96937250e-01 7.71585865e-02 1.27543334e-02 1.66539767e+02] [-7.71498721e-02 9.97018815e-01 -1.17459237e-03 -6.72668609e+00] [-1.28069403e-02 1.86999689e-04 9.99917970e-01 -2.94839616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064391418 meters 0.016698888456853363 Centerline is valid? [True, True] Translation: X:166.57, Y:-6.73, Z:-2.95 [[ 9.96901382e-01 7.76696927e-02 1.24520417e-02 1.66569111e+02] [-7.76614473e-02 9.96979131e-01 -1.14508739e-03 -6.72713002e+00] [-1.25033643e-02 1.74495621e-04 9.99921815e-01 -2.94878641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09439141800001 meters 0.016823150159005762 Centerline is valid? [True, True] Translation: X:166.60, Y:-6.73, Z:-2.95 [[ 9.96896640e-01 7.77611352e-02 1.22595049e-02 1.66595677e+02] [-7.77531578e-02 9.96972004e-01 -1.12672929e-03 -6.72832950e+00] [-1.23099989e-02 1.70017424e-04 9.99924215e-01 -2.94991760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12439141800002 meters 0.01818708280791733 Centerline is valid? [True, True] Translation: X:166.62, Y:-6.73, Z:-2.95 [[ 9.96927065e-01 7.74741635e-02 1.15836480e-02 1.66624233e+02] [-7.74670446e-02 9.96994347e-01 -1.06267687e-03 -6.72861126e+00] [-1.16311615e-02 1.62060357e-04 9.99932343e-01 -2.95097103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15439141800002 meters 0.016175882346804785 Centerline is valid? [True, True] Translation: X:166.65, Y:-6.73, Z:-2.95 [[ 9.97032219e-01 7.60701458e-02 1.18358674e-02 1.66653182e+02] [-7.60626266e-02 9.97102452e-01 -1.08479535e-03 -6.72908079e+00] [-1.18840930e-02 1.81308750e-04 9.99929365e-01 -2.95048557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18439141800002 meters 0.017556652687146873 Centerline is valid? [True, True] Translation: X:166.68, Y:-6.73, Z:-2.95 [[ 9.97103358e-01 7.51054837e-02 1.20024905e-02 1.66680969e+02] [-7.50976942e-02 9.97175576e-01 -1.09901090e-03 -6.73390110e+00] [-1.20511321e-02 1.94468104e-04 9.99927364e-01 -2.95167827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21439141800002 meters 0.01793276501790281 Centerline is valid? [True, True] Translation: X:166.71, Y:-6.74, Z:-2.95 [[ 9.97167238e-01 7.41008680e-02 1.29058106e-02 1.66709517e+02] [-7.40917932e-02 9.97250727e-01 -1.18052935e-03 -6.73702647e+00] [-1.29578072e-02 2.20970543e-04 9.99916020e-01 -2.95137697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters 0.017402508517245258 Centerline is valid? [True, True] Translation: X:166.74, Y:-6.74, Z:-2.95 [[ 9.97294366e-01 7.20435307e-02 1.46177340e-02 1.66738484e+02] [-7.20316884e-02 9.97401450e-01 -1.33570318e-03 -6.73717384e+00] [-1.46759778e-02 2.79149202e-04 9.99892263e-01 -2.94881961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274391418 meters 0.01781322289379924 Centerline is valid? [True, True] Translation: X:166.77, Y:-6.74, Z:-2.95 [[ 9.97346138e-01 7.11317300e-02 1.55228325e-02 1.66767348e+02] [-7.11182875e-02 9.97466882e-01 -1.41698178e-03 -6.73995946e+00] [-1.55843037e-02 3.09264043e-04 9.99878510e-01 -2.94825400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters 0.018662113676494216 Centerline is valid? [True, True] Translation: X:166.80, Y:-6.74, Z:-2.95 [[ 9.97424185e-01 6.98477108e-02 1.63184752e-02 1.66795309e+02] [-6.98327044e-02 9.97557607e-01 -1.48831057e-03 -6.74337100e+00] [-1.63825741e-02 3.44913700e-04 9.99865737e-01 -2.94826174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334391418 meters 0.019273977625246755 Centerline is valid? [True, True] Translation: X:166.82, Y:-6.75, Z:-2.95 [[ 9.97513736e-01 6.84056349e-02 1.69415296e-02 1.66824081e+02] [-6.83892859e-02 9.97657518e-01 -1.54318477e-03 -6.74677467e+00] [-1.70074069e-02 3.80728898e-04 9.99855291e-01 -2.94811801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters 0.02041992182174133 Centerline is valid? [True, True] Translation: X:166.85, Y:-6.75, Z:-2.95 [[ 9.97659492e-01 6.60853086e-02 1.75576365e-02 1.66852400e+02] [-6.60674144e-02 9.97813882e-01 -1.59789484e-03 -6.75145303e+00] [-1.76248508e-02 4.34167304e-04 9.99844576e-01 -2.94837236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394391418 meters 0.021300831265255133 Centerline is valid? [True, True] Translation: X:166.88, Y:-6.76, Z:-2.95 [[ 9.97728736e-01 6.50016544e-02 1.76678845e-02 1.66880349e+02] [-6.49833892e-02 9.97885053e-01 -1.60656302e-03 -6.75539782e+00] [-1.77349471e-02 4.54795071e-04 9.99842620e-01 -2.94918023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters 0.021365045541165285 Centerline is valid? [True, True] Translation: X:166.91, Y:-6.76, Z:-2.95 [[ 9.97762240e-01 6.45337104e-02 1.74903477e-02 1.66909130e+02] [-6.45157705e-02 9.97915423e-01 -1.58860536e-03 -6.75825728e+00] [-1.75564063e-02 4.56647187e-04 9.99845770e-01 -2.94979587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454391418 meters 0.020612457138943358 Centerline is valid? [True, True] Translation: X:166.94, Y:-6.76, Z:-2.95 [[ 9.97760793e-01 6.47198913e-02 1.68741373e-02 1.66938202e+02] [-6.47032410e-02 9.97903375e-01 -1.53139063e-03 -6.75942728e+00] [-1.69378700e-02 4.36150150e-04 9.99856449e-01 -2.95096622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484391418 meters 0.0205177235462561 Centerline is valid? [True, True] Translation: X:166.97, Y:-6.76, Z:-2.95 [[ 9.97721633e-01 6.54000120e-02 1.65644586e-02 1.66966914e+02] [-6.53840822e-02 9.97859041e-01 -1.50200672e-03 -6.76153601e+00] [-1.66272260e-02 4.15532672e-04 9.99861672e-01 -2.95197322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514391418 meters 0.019993611640330495 Centerline is valid? [True, True] Translation: X:167.00, Y:-6.76, Z:-2.95 [[ 9.97670408e-01 6.64140241e-02 1.55863502e-02 1.66995493e+02] [-6.64000616e-02 9.97792081e-01 -1.41217984e-03 -6.76275122e+00] [-1.56457254e-02 3.73955418e-04 9.99877528e-01 -2.95315824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.544391418 meters 0.019519320792935006 Centerline is valid? [True, True] Translation: X:167.02, Y:-6.76, Z:-2.95 [[ 9.97565733e-01 6.80742678e-02 1.51163189e-02 1.67024647e+02] [-6.80613426e-02 9.97680200e-01 -1.36845201e-03 -6.76464742e+00] [-1.51744085e-02 3.36283871e-04 9.99884805e-01 -2.95459430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.574391418 meters 0.018325600900275858 Centerline is valid? [True, True] Translation: X:167.05, Y:-6.76, Z:-2.96 [[ 9.97355862e-01 7.13011141e-02 1.40511693e-02 1.67052899e+02] [-7.12902793e-02 9.97454801e-01 -1.27111061e-03 -6.76409539e+00] [-1.41060379e-02 2.66037835e-04 9.99900470e-01 -2.95686211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.604391418 meters 0.01779998315908426 Centerline is valid? [True, True] Translation: X:167.08, Y:-6.77, Z:-2.96 [[ 9.97246760e-01 7.28772832e-02 1.37040756e-02 1.67081104e+02] [-7.28671438e-02 9.97340887e-01 -1.23840264e-03 -6.76528646e+00] [-1.37578864e-02 2.36416170e-04 9.99905328e-01 -2.95809743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.634391418 meters 0.017824388811389966 Centerline is valid? [True, True] Translation: X:167.11, Y:-6.77, Z:-2.96 [[ 9.97130748e-01 7.44334410e-02 1.37816302e-02 1.67109825e+02] [-7.44233552e-02 9.97225961e-01 -1.24396006e-03 -6.76726441e+00] [-1.38359916e-02 2.14715672e-04 9.99904255e-01 -2.95885911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664391418 meters 0.016955030807732953 Centerline is valid? [True, True] Translation: X:167.14, Y:-6.77, Z:-2.96 [[ 9.96985331e-01 7.62463316e-02 1.43786926e-02 1.67139083e+02] [-7.62355538e-02 9.97088992e-01 -1.29699227e-03 -6.76777211e+00] [-1.44357271e-02 1.96914671e-04 9.99895780e-01 -2.95903882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694391418 meters 0.01556319857990977 Centerline is valid? [True, True] Translation: X:167.17, Y:-6.76, Z:-2.96 [[ 9.96610251e-01 8.07997135e-02 1.54729774e-02 1.67167887e+02] [-8.07878029e-02 9.96730348e-01 -1.39430776e-03 -6.76479890e+00] [-1.55350458e-02 1.39553565e-04 9.99879314e-01 -2.95861039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724391418 meters 0.01508999400992436 Centerline is valid? [True, True] Translation: X:167.20, Y:-6.77, Z:-2.96 [[ 9.96383078e-01 8.34404558e-02 1.60764325e-02 1.67195294e+02] [-8.34279637e-02 9.96512760e-01 -1.44731483e-03 -6.76549333e+00] [-1.61411347e-02 1.00855982e-04 9.99869718e-01 -2.95867961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754391418 meters 0.014353506822219645 Centerline is valid? [True, True] Translation: X:167.22, Y:-6.76, Z:-2.96 [[ 9.95926789e-01 8.85340275e-02 1.70750589e-02 1.67224194e+02] [-8.85207160e-02 9.96073153e-01 -1.53530697e-03 -6.76296862e+00] [-1.71439347e-02 1.75568943e-05 9.99853032e-01 -2.95782639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784391418 meters 0.01449798095674094 Centerline is valid? [True, True] Translation: X:167.25, Y:-6.76, Z:-2.96 [[ 9.95716072e-01 9.08814461e-02 1.70313684e-02 1.67251468e+02] [-9.08685691e-02 9.95861718e-01 -1.53002156e-03 -6.76324879e+00] [-1.70999384e-02 -2.41490159e-05 9.99853785e-01 -2.95815336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814391418 meters 0.01472784826813481 Centerline is valid? [True, True] Translation: X:167.28, Y:-6.76, Z:-2.96 [[ 9.95556405e-01 9.26235761e-02 1.69799015e-02 1.67280013e+02] [-9.26110729e-02 9.95701195e-01 -1.52289274e-03 -6.76426611e+00] [-1.70479640e-02 -5.64012750e-05 9.99854671e-01 -2.95862098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84439141800001 meters 0.014710016089694432 Centerline is valid? [True, True] Translation: X:167.31, Y:-6.77, Z:-2.96 [[ 9.95493370e-01 9.33512398e-02 1.66882058e-02 1.67308979e+02] [-9.33392868e-02 9.95633236e-01 -1.49541563e-03 -6.76671423e+00] [-1.67549312e-02 -6.89888786e-05 9.99859624e-01 -2.95887055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87439141800002 meters 0.014710016089694432 Centerline is valid? [True, True] Translation: X:167.34, Y:-6.77, Z:-2.96 [[ 9.95505016e-01 9.32269410e-02 1.66883256e-02 1.67336346e+02] [-9.32149930e-02 9.95644883e-01 -1.49407677e-03 -6.76902416e+00] [-1.67549342e-02 -6.82412334e-05 9.99859624e-01 -2.95936605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90439141800002 meters 0.014816610568514263 Centerline is valid? [True, True] Translation: X:167.36, Y:-6.77, Z:-2.96 [[ 9.95553534e-01 9.27197807e-02 1.66193467e-02 1.67362924e+02] [-9.27078934e-02 9.95692241e-01 -1.48593888e-03 -6.77327629e+00] [-1.66855305e-02 -6.14129238e-05 9.99860785e-01 -2.96003991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93439141800002 meters 0.014686527446555363 Centerline is valid? [True, True] Translation: X:167.39, Y:-6.78, Z:-2.96 [[ 9.95662467e-01 9.15234962e-02 1.67242894e-02 1.67391403e+02] [-9.15113532e-02 9.95802916e-01 -1.49152575e-03 -6.77834848e+00] [-1.67906058e-02 -4.54061483e-05 9.99859027e-01 -2.96039528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters 0.014519229538691449 Centerline is valid? [True, True] Translation: X:167.42, Y:-6.78, Z:-2.96 [[ 9.95845770e-01 8.94851930e-02 1.68405043e-02 1.67419360e+02] [-8.94726117e-02 9.95988153e-01 -1.50055785e-03 -6.78430055e+00] [-1.69072205e-02 -1.24397158e-05 9.99857063e-01 -2.96078033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994391418 meters 0.014550687149315915 Centerline is valid? [True, True] Translation: X:167.45, Y:-6.79, Z:-2.96 [[ 9.96055938e-01 8.71731057e-02 1.65353782e-02 1.67446775e+02] [-8.71606907e-02 9.96193179e-01 -1.47137584e-03 -6.79070903e+00] [-1.66006954e-02 2.43376580e-05 9.99862199e-01 -2.96140898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters 0.014748077138856277 Centerline is valid? [True, True] Translation: X:167.48, Y:-6.80, Z:-2.96 [[ 9.96292603e-01 8.43748881e-02 1.67906783e-02 1.67475020e+02] [-8.43617251e-02 9.96434079e-01 -1.49196687e-03 -6.79733637e+00] [-1.68566886e-02 6.99449626e-05 9.99857913e-01 -2.96198461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054391418 meters 0.016136600947329927 Centerline is valid? [True, True] Translation: X:167.50, Y:-6.81, Z:-2.96 [[ 9.96816468e-01 7.81619591e-02 1.57364681e-02 1.67503301e+02] [-7.81496421e-02 9.96940661e-01 -1.39707025e-03 -6.80821819e+00] [-1.57975226e-02 1.62823284e-04 9.99875198e-01 -2.96317422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters 0.017281456421593372 Centerline is valid? [True, True] Translation: X:167.53, Y:-6.82, Z:-2.96 [[ 9.97078293e-01 7.48550077e-02 1.52186154e-02 1.67530721e+02] [-7.48431208e-02 9.97194407e-01 -1.34991960e-03 -6.81505280e+00] [-1.52769664e-02 2.06966866e-04 9.99883279e-01 -2.96395320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114391418 meters 0.019408622078438006 Centerline is valid? [True, True] Translation: X:167.56, Y:-6.82, Z:-2.97 [[ 9.97330051e-01 7.15872240e-02 1.44235707e-02 1.67557463e+02] [-7.15762243e-02 9.97434314e-01 -1.27806302e-03 -6.82290505e+00] [-1.44780573e-02 2.42265924e-04 9.99895158e-01 -2.96544735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters 0.021086205679145657 Centerline is valid? [True, True] Translation: X:167.59, Y:-6.83, Z:-2.97 [[ 9.97739478e-01 6.56880176e-02 1.41781056e-02 1.67586529e+02] [-6.56768222e-02 9.97840158e-01 -1.25430168e-03 -6.83127987e+00] [-1.42298757e-02 3.20293380e-04 9.99898699e-01 -2.96611737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174391418 meters 0.02272952286844564 Centerline is valid? [True, True] Translation: X:167.62, Y:-6.84, Z:-2.97 [[ 9.97908244e-01 6.30818154e-02 1.41357829e-02 1.67615236e+02] [-6.30704315e-02 9.98008295e-01 -1.25012284e-03 -6.83745366e+00] [-1.41864886e-02 3.55957963e-04 9.99899303e-01 -2.96670790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204391418 meters 0.024259760403841202 Centerline is valid? [True, True] Translation: X:167.64, Y:-6.84, Z:-2.97 [[ 9.98058991e-01 6.05829695e-02 1.44206378e-02 1.67642710e+02] [-6.05708777e-02 9.98163085e-01 -1.27419146e-03 -6.84325528e+00] [-1.44713426e-02 3.98247557e-04 9.99895205e-01 -2.96682967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234391418 meters 0.027360668211733646 Centerline is valid? [True, True] Translation: X:167.67, Y:-6.85, Z:-2.97 [[ 9.98268084e-01 5.67267089e-02 1.55856811e-02 1.67670944e+02] [-5.67121465e-02 9.98389624e-01 -1.37509319e-03 -6.85186308e+00] [-1.56385869e-02 4.88814209e-04 9.99877590e-01 -2.96604551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264391418 meters 0.02822440814061949 Centerline is valid? [True, True] Translation: X:167.70, Y:-6.86, Z:-2.97 [[ 9.98354297e-01 5.50515319e-02 1.60631925e-02 1.67700042e+02] [-5.50358645e-02 9.98483374e-01 -1.41612799e-03 -6.85627824e+00] [-1.61167906e-02 5.29745783e-04 9.99869976e-01 -2.96617574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.294391418 meters 0.028497192680414205 Centerline is valid? [True, True] Translation: X:167.73, Y:-6.86, Z:-2.97 [[ 9.98432982e-01 5.35316734e-02 1.63076779e-02 1.67729323e+02] [-5.35153337e-02 9.98565994e-01 -1.43701570e-03 -6.85978018e+00] [-1.63612184e-02 5.62053048e-04 9.99865988e-01 -2.96672466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.324391418 meters 0.030382178871397665 Centerline is valid? [True, True] Translation: X:167.76, Y:-6.87, Z:-2.97 [[ 9.98486438e-01 5.23610840e-02 1.68270549e-02 1.67757200e+02] [-5.23435326e-02 9.98628038e-01 -1.48208680e-03 -6.86524491e+00] [-1.68815724e-02 5.99056075e-04 9.99857317e-01 -2.96692588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.354391418 meters 0.02938431033214495 Centerline is valid? [True, True] Translation: X:167.79, Y:-6.87, Z:-2.97 [[ 9.98544947e-01 5.08760017e-02 1.78779277e-02 1.67787183e+02] [-5.08559703e-02 9.98704758e-01 -1.57360767e-03 -6.86724412e+00] [-1.79348303e-02 6.62118634e-04 9.99838939e-01 -2.96710750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.384391418 meters 0.029822923584763163 Centerline is valid? [True, True] Translation: X:167.82, Y:-6.87, Z:-2.97 [[ 9.98549793e-01 5.06054418e-02 1.83684295e-02 1.67817291e+02] [-5.05842643e-02 9.98718489e-01 -1.61601648e-03 -6.87066787e+00] [-1.84266694e-02 6.84519434e-04 9.99829980e-01 -2.96764922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414391418 meters 0.02801266773967936 Centerline is valid? [True, True] Translation: X:167.85, Y:-6.87, Z:-2.97 [[ 9.98579719e-01 4.99535695e-02 1.85252883e-02 1.67848355e+02] [-4.99319168e-02 9.98751294e-01 -1.62981660e-03 -6.87049424e+00] [-1.85835708e-02 7.02498647e-04 9.99827064e-01 -2.96862299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444391418 meters 0.031406963839554256 Centerline is valid? [True, True] Translation: X:167.88, Y:-6.88, Z:-2.97 [[ 9.98604478e-01 4.97074161e-02 1.78401098e-02 1.67877584e+02] [-4.96872963e-02 9.98763590e-01 -1.56953601e-03 -6.87695207e+00] [-1.78960697e-02 6.80918866e-04 9.99839621e-01 -2.97040124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474391418 meters 0.031402543770769405 Centerline is valid? [True, True] Translation: X:167.91, Y:-6.88, Z:-2.97 [[ 9.98596888e-01 4.99255620e-02 1.76548296e-02 1.67908260e+02] [-4.99058922e-02 9.98752717e-01 -1.55323544e-03 -6.87877947e+00] [-1.77103552e-02 6.69976056e-04 9.99842935e-01 -2.97094365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504391418 meters 0.029430136498097486 Centerline is valid? [True, True] Translation: X:167.94, Y:-6.88, Z:-2.97 [[ 9.98548992e-01 5.07371517e-02 1.80458081e-02 1.67939442e+02] [-5.07167332e-02 9.98711816e-01 -1.58763476e-03 -6.87794807e+00] [-1.81031139e-02 6.70106654e-04 9.99835901e-01 -2.97090658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534391418 meters 0.029339230321352255 Centerline is valid? [True, True] Translation: X:167.97, Y:-6.88, Z:-2.97 [[ 9.98503960e-01 5.15351792e-02 1.82747776e-02 1.67968951e+02] [-5.15143658e-02 9.98670959e-01 -1.60815103e-03 -6.87894419e+00] [-1.83333660e-02 6.64331593e-04 9.99831709e-01 -2.97121037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564391418 meters 0.026689521114514524 Centerline is valid? [True, True] Translation: X:168.00, Y:-6.87, Z:-2.97 [[ 9.98394776e-01 5.36389124e-02 1.81862387e-02 1.67999694e+02] [-5.36186555e-02 9.98560203e-01 -1.59998588e-03 -6.87378623e+00] [-1.82458757e-02 6.22295877e-04 9.99833336e-01 -2.97203734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59439141800001 meters 0.024985169791323463 Centerline is valid? [True, True] Translation: X:168.03, Y:-6.87, Z:-2.97 [[ 9.98356335e-01 5.44357517e-02 1.79270030e-02 1.68028849e+02] [-5.44162035e-02 9.98517096e-01 -1.57679589e-03 -6.87276008e+00] [-1.79862531e-02 5.98684723e-04 9.99838055e-01 -2.97219603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62439141800002 meters 0.025477984845897743 Centerline is valid? [True, True] Translation: X:168.06, Y:-6.87, Z:-2.97 [[ 9.98344926e-01 5.48347058e-02 1.73367566e-02 1.68057092e+02] [-5.48165028e-02 9.98495282e-01 -1.52379112e-03 -6.87369872e+00] [-1.73942263e-02 5.70928766e-04 9.99848546e-01 -2.97305341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65439141800002 meters 0.02448268352016091 Centerline is valid? [True, True] Translation: X:168.09, Y:-6.87, Z:-2.97 [[ 9.98339779e-01 5.51667637e-02 1.65624197e-02 1.68086846e+02] [-5.51502122e-02 9.98477009e-01 -1.45477511e-03 -6.87142700e+00] [-1.66174505e-02 5.38938901e-04 9.99861775e-01 -2.97364544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68439141800002 meters 0.02479142202417337 Centerline is valid? [True, True] Translation: X:168.12, Y:-6.87, Z:-2.97 [[ 9.98352253e-01 5.48916343e-02 1.67238374e-02 1.68116233e+02] [-5.48747313e-02 9.98492167e-01 -1.46827973e-03 -6.87276758e+00] [-1.67792170e-02 5.48144287e-04 9.99859069e-01 -2.97386343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714391418 meters 0.025240473248561792 Centerline is valid? [True, True] Translation: X:168.15, Y:-6.87, Z:-2.97 [[ 9.98392863e-01 5.42591861e-02 1.63594838e-02 1.68145958e+02] [-5.42429373e-02 9.98526736e-01 -1.43565859e-03 -6.87436655e+00] [-1.64132796e-02 5.45964837e-04 9.99865144e-01 -2.97425658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters 0.02579767032682164 Centerline is valid? [True, True] Translation: X:168.18, Y:-6.88, Z:-2.97 [[ 9.98458316e-01 5.32039492e-02 1.58218765e-02 1.68175939e+02] [-5.31886281e-02 9.98583519e-01 -1.38787905e-03 -6.87614927e+00] [-1.58733058e-02 5.44195470e-04 9.99873863e-01 -2.97496208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774391418 meters 0.0274727916618171 Centerline is valid? [True, True] Translation: X:168.20, Y:-6.88, Z:-2.98 [[ 9.98610905e-01 5.06421317e-02 1.45476578e-02 1.68204663e+02] [-5.06289144e-02 9.98716719e-01 -1.27563877e-03 -6.87774326e+00] [-1.45935901e-02 5.37334664e-04 9.99893364e-01 -2.97609791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters 0.027410956538990755 Centerline is valid? [True, True] Translation: X:168.23, Y:-6.88, Z:-2.98 [[ 9.98686517e-01 4.93259274e-02 1.38633907e-02 1.68234221e+02] [-4.93138082e-02 9.98782595e-01 -1.21488477e-03 -6.87889595e+00] [-1.39064386e-02 5.29632455e-04 9.99903161e-01 -2.97699545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834391418 meters 0.03003745228698662 Centerline is valid? [True, True] Translation: X:168.26, Y:-6.88, Z:-2.98 [[ 9.98781620e-01 4.76856608e-02 1.27024758e-02 1.68262053e+02] [-4.76753570e-02 9.98862264e-01 -1.11291205e-03 -6.88331079e+00] [-1.27410937e-02 5.05961030e-04 9.99918701e-01 -2.97850630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters 0.030417609061069835 Centerline is valid? [True, True] Translation: X:168.29, Y:-6.88, Z:-2.98 [[ 9.98925382e-01 4.48731184e-02 1.15967314e-02 1.68291767e+02] [-4.48643534e-02 9.98992572e-01 -1.01499174e-03 -6.88299447e+00] [-1.16305944e-02 4.93621160e-04 9.99932241e-01 -2.97882971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894391418 meters 0.03164852140422121 Centerline is valid? [True, True] Translation: X:168.32, Y:-6.89, Z:-2.98 [[ 9.98954867e-01 4.42132864e-02 1.15913075e-02 1.68320070e+02] [-4.42044900e-02 9.99021989e-01 -1.01410704e-03 -6.88574509e+00] [-1.16248081e-02 5.00659327e-04 9.99932304e-01 -2.97904687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters 0.031555271923579285 Centerline is valid? [True, True] Translation: X:168.35, Y:-6.89, Z:-2.98 [[ 9.98982399e-01 4.36368095e-02 1.14015078e-02 1.68349380e+02] [-4.36282649e-02 9.99047336e-01 -9.97201429e-04 -6.88638869e+00] [-1.14341606e-02 4.98758676e-04 9.99934503e-01 -2.97933420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954391418 meters 0.03208560694925113 Centerline is valid? [True, True] Translation: X:168.38, Y:-6.89, Z:-2.98 [[ 9.98969392e-01 4.41157075e-02 1.06751134e-02 1.68378443e+02] [-4.41082537e-02 9.99026322e-01 -9.32785626e-04 -6.88567953e+00] [-1.07058698e-02 4.60963680e-04 9.99942584e-01 -2.97944866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984391418 meters 0.03196279165062337 Centerline is valid? [True, True] Translation: X:168.41, Y:-6.89, Z:-2.98 [[ 9.98956331e-01 4.44438640e-02 1.05352855e-02 1.68407061e+02] [-4.44366273e-02 9.99011781e-01 -9.20110889e-04 -6.88626348e+00] [-1.05657676e-02 4.50998041e-04 9.99944079e-01 -2.97963910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014391418 meters 0.03151287568248196 Centerline is valid? [True, True] Translation: X:168.44, Y:-6.89, Z:-2.98 [[ 9.98906732e-01 4.55214362e-02 1.06367269e-02 1.68436156e+02] [-4.55141292e-02 9.98963264e-01 -9.28145500e-04 -6.88589682e+00] [-1.06679499e-02 4.43009425e-04 9.99942998e-01 -2.97981693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.044391418 meters 0.031106258036344776 Centerline is valid? [True, True] Translation: X:168.46, Y:-6.89, Z:-2.98 [[ 9.98854914e-01 4.67738611e-02 1.00531980e-02 1.68464503e+02] [-4.67674027e-02 9.98905422e-01 -8.76680792e-04 -6.88536760e+00] [-1.00831997e-02 4.05514959e-04 9.99949081e-01 -2.98036427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.074391418 meters 0.02956606034693145 Centerline is valid? [True, True] Translation: X:168.49, Y:-6.88, Z:-2.98 [[ 9.98685657e-01 5.01361366e-02 1.06454995e-02 1.68493787e+02] [-5.01291001e-02 9.98742316e-01 -9.26951295e-04 -6.88156717e+00] [-1.06785846e-02 3.92083654e-04 9.99942905e-01 -2.97964172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.104391418 meters 0.028799774497682295 Centerline is valid? [True, True] Translation: X:168.52, Y:-6.88, Z:-2.98 [[ 9.98581385e-01 5.20737380e-02 1.11149828e-02 1.68522808e+02] [-5.20661931e-02 9.98643167e-01 -9.67284790e-04 -6.88081177e+00] [-1.11502718e-02 3.87197744e-04 9.99937759e-01 -2.97959396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.134391418 meters 0.02751054796145408 Centerline is valid? [True, True] Translation: X:168.55, Y:-6.88, Z:-2.98 [[ 9.98454022e-01 5.43240451e-02 1.17670494e-02 1.68551863e+02] [-5.43157563e-02 9.98523286e-01 -1.02308651e-03 -6.87901199e+00] [-1.18052511e-02 3.82368650e-04 9.99930242e-01 -2.97978089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164391418 meters 0.025486030342982358 Centerline is valid? [True, True] Translation: X:168.58, Y:-6.87, Z:-2.98 [[ 9.98156100e-01 5.96903535e-02 1.10209478e-02 1.68581298e+02] [-5.96834186e-02 9.98216897e-01 -9.57364185e-04 -6.87261223e+00] [-1.10584417e-02 2.97831061e-04 9.99938809e-01 -2.98080400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194391418 meters 0.023738476077738168 Centerline is valid? [True, True] Translation: X:168.61, Y:-6.87, Z:-2.98 [[ 9.98047063e-01 6.14513939e-02 1.12154817e-02 1.68610494e+02] [-6.14443289e-02 9.98110037e-01 -9.73756863e-04 -6.87132693e+00] [-1.12541236e-02 2.82727430e-04 9.99936630e-01 -2.98129154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224391418 meters 0.022780376357746535 Centerline is valid? [True, True] Translation: X:168.64, Y:-6.87, Z:-2.98 [[ 9.97929236e-01 6.34469449e-02 1.05699694e-02 1.68638823e+02] [-6.34407868e-02 9.97985183e-01 -9.17218760e-04 -6.87042408e+00] [-1.06068675e-02 2.44752244e-04 9.99943716e-01 -2.98286276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254391418 meters 0.021201704012433372 Centerline is valid? [True, True] Translation: X:168.67, Y:-6.87, Z:-2.98 [[ 9.97734210e-01 6.65730982e-02 9.71947370e-03 1.68667292e+02] [-6.65680482e-02 9.97781532e-01 -8.42526967e-04 -6.86725387e+00] [-9.75400098e-03 1.93611585e-04 9.99952410e-01 -2.98472527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284391418 meters 0.020768568921005162 Centerline is valid? [True, True] Translation: X:168.70, Y:-6.87, Z:-2.99 [[ 9.97670284e-01 6.75866871e-02 9.27603699e-03 1.68696096e+02] [-6.75821396e-02 9.97713390e-01 -8.03183904e-04 -6.86744069e+00] [-9.30911085e-03 1.74418287e-04 9.99956654e-01 -2.98574470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314391418 meters 0.018331349962099376 Centerline is valid? [True, True] Translation: X:168.72, Y:-6.86, Z:-2.98 [[ 9.97593777e-01 6.87673091e-02 8.81550633e-03 1.68724949e+02] [-6.87632522e-02 9.97632715e-01 -7.62828061e-04 -6.86302934e+00] [-8.84709515e-03 1.54809641e-04 9.99960852e-01 -2.98483439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34439141800001 meters 0.020484642340912688 Centerline is valid? [True, True] Translation: X:168.75, Y:-6.87, Z:-2.99 [[ 9.97616225e-01 6.85047922e-02 8.30422853e-03 1.68752416e+02] [-6.85011864e-02 9.97650776e-01 -7.18199102e-04 -6.86816993e+00] [-8.33392013e-03 1.47637571e-04 9.99965261e-01 -2.98750328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37439141800002 meters 0.01844095670478687 Centerline is valid? [True, True] Translation: X:168.78, Y:-6.87, Z:-2.99 [[ 9.97612230e-01 6.85848973e-02 8.12093987e-03 1.68780939e+02] [-6.85814561e-02 9.97645273e-01 -7.01790565e-04 -6.86578796e+00] [-8.14994951e-03 1.43168969e-04 9.99966778e-01 -2.98583850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40439141800002 meters 0.01887088526288852 Centerline is valid? [True, True] Translation: X:168.81, Y:-6.87, Z:-2.99 [[ 9.97651305e-01 6.80689516e-02 7.64791226e-03 1.68808500e+02] [-6.80658919e-02 9.97680610e-01 -6.59941037e-04 -6.86780221e+00] [-7.67509526e-03 1.37829068e-04 9.99970537e-01 -2.98659844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43439141800002 meters 0.018795667703809055 Centerline is valid? [True, True] Translation: X:168.84, Y:-6.87, Z:-2.99 [[ 9.97699762e-01 6.74001556e-02 7.23903505e-03 1.68837252e+02] [-6.73974025e-02 9.97726015e-01 -6.23863214e-04 -6.86822186e+00] [-7.26462207e-03 1.34536021e-04 9.99973603e-01 -2.98656183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters 0.019167951431537253 Centerline is valid? [True, True] Translation: X:168.87, Y:-6.87, Z:-2.99 [[ 9.97737037e-01 6.68611788e-02 7.09840969e-03 1.68865823e+02] [-6.68585218e-02 9.97762279e-01 -6.11215686e-04 -6.87039592e+00] [-7.12339202e-03 1.35243350e-04 9.99974619e-01 -2.98722334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494391418 meters 0.019890989681655192 Centerline is valid? [True, True] Translation: X:168.89, Y:-6.87, Z:-2.99 [[ 9.97781761e-01 6.61591268e-02 7.38431672e-03 1.68893179e+02] [-6.61562354e-02 9.97809074e-01 -6.35403392e-04 -6.87363626e+00] [-7.41017596e-03 1.45475320e-04 9.99972534e-01 -2.98823538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters 0.019589943136307564 Centerline is valid? [True, True] Translation: X:168.92, Y:-6.88, Z:-2.99 [[ 9.97826407e-01 6.54776858e-02 7.42523312e-03 1.68921651e+02] [-6.54747503e-02 9.97854022e-01 -6.37998552e-04 -6.87521779e+00] [-7.45107340e-03 1.50446518e-04 9.99972229e-01 -2.98850943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554391418 meters 0.02027510611092351 Centerline is valid? [True, True] Translation: X:168.95, Y:-6.88, Z:-2.99 [[ 9.97951117e-01 6.35159211e-02 7.70035014e-03 1.68950003e+02] [-6.35127105e-02 9.97980811e-01 -6.61002307e-04 -6.87801534e+00] [-7.72678585e-03 1.70577881e-04 9.99970133e-01 -2.98847754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters 0.02101840362404049 Centerline is valid? [True, True] Translation: X:168.98, Y:-6.88, Z:-2.99 [[ 9.98030832e-01 6.22244008e-02 7.91092260e-03 1.68977918e+02] [-6.22209754e-02 9.98062167e-01 -6.78619699e-04 -6.88117767e+00] [-7.93781926e-03 1.85058062e-04 9.99968478e-01 -2.98924558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614391418 meters 0.021119411341666113 Centerline is valid? [True, True] Translation: X:169.01, Y:-6.88, Z:-2.99 [[ 9.98104907e-01 6.10302846e-02 7.86764901e-03 1.69006185e+02] [-6.10268668e-02 9.98135896e-01 -6.73977199e-04 -6.88365301e+00] [-7.89411592e-03 1.92561981e-04 9.99968822e-01 -2.98963847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters 0.022476937402956795 Centerline is valid? [True, True] Translation: X:169.03, Y:-6.89, Z:-2.99 [[ 9.98232519e-01 5.89008075e-02 7.90774399e-03 1.69033431e+02] [-5.88972914e-02 9.98263818e-01 -6.76981097e-04 -6.88692618e+00] [-7.93388944e-03 2.10039844e-04 9.99968504e-01 -2.99051769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674391418 meters 0.02343369141710412 Centerline is valid? [True, True] Translation: X:169.06, Y:-6.89, Z:-2.99 [[ 9.98297546e-01 5.77916596e-02 7.88252037e-03 1.69061328e+02] [-5.77881374e-02 9.98328642e-01 -6.74066330e-04 -6.89057861e+00] [-7.90830127e-03 2.17402593e-04 9.99968705e-01 -2.99134042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704391418 meters 0.02364037814831823 Centerline is valid? [True, True] Translation: X:169.09, Y:-6.89, Z:-2.99 [[ 9.98332346e-01 5.71288188e-02 8.29605308e-03 1.69089842e+02] [-5.71249032e-02 9.98366788e-01 -7.08375121e-04 -6.89293170e+00] [-8.32297250e-03 2.33282568e-04 9.99965336e-01 -2.99173296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734391418 meters 0.02364037814831823 Centerline is valid? [True, True] Translation: X:169.12, Y:-6.90, Z:-2.99 [[ 9.98338728e-01 5.70171876e-02 8.29607482e-03 1.69117228e+02] [-5.70132702e-02 9.98373170e-01 -7.08120765e-04 -6.89514087e+00] [-8.32295356e-03 2.33958028e-04 9.99965336e-01 -2.99222866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764391418 meters 0.023782596229336067 Centerline is valid? [True, True] Translation: X:169.14, Y:-6.90, Z:-2.99 [[ 9.98326433e-01 5.72127640e-02 8.42806778e-03 1.69144856e+02] [-5.72087378e-02 9.98361981e-01 -7.18219555e-04 -6.89673606e+00] [-8.45535377e-03 2.34858447e-04 9.99964225e-01 -2.99307273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.794391418 meters 0.021587831063232064 Centerline is valid? [True, True] Translation: X:169.17, Y:-6.90, Z:-2.99 [[ 9.98289982e-01 5.78484982e-02 8.40612424e-03 1.69173852e+02] [-5.78445232e-02 9.98325347e-01 -7.15432554e-04 -6.89500440e+00] [-8.43343360e-03 2.27960903e-04 9.99964412e-01 -2.99257750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.824391418 meters 0.01982433598884687 Centerline is valid? [True, True] Translation: X:169.20, Y:-6.89, Z:-2.99 [[ 9.98091806e-01 6.10324079e-02 9.36968497e-03 1.69202767e+02] [-6.10276179e-02 9.98135760e-01 -7.96553739e-04 -6.89296533e+00] [-9.40083322e-03 2.23224206e-04 9.99955786e-01 -2.99234420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.854391418 meters 0.018869606632729505 Centerline is valid? [True, True] Translation: X:169.23, Y:-6.89, Z:-2.99 [[ 9.97933410e-01 6.34299877e-02 1.02735364e-02 1.69231782e+02] [-6.34243658e-02 9.97986267e-01 -8.72434583e-04 -6.89284695e+00] [-1.03081868e-02 2.19039088e-04 9.99946845e-01 -2.99265622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.884391418 meters 0.017780595524114477 Centerline is valid? [True, True] Translation: X:169.26, Y:-6.89, Z:-2.99 [[ 9.97771593e-01 6.58338639e-02 1.08513377e-02 1.69261168e+02] [-6.58277457e-02 9.97830577e-01 -9.20411973e-04 -6.89228952e+00] [-1.08883909e-02 2.04041818e-04 9.99940699e-01 -2.99280236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914391418 meters 0.01731406378689757 Centerline is valid? [True, True] Translation: X:169.29, Y:-6.89, Z:-2.99 [[ 9.97603569e-01 6.83470032e-02 1.07613702e-02 1.69289255e+02] [-6.83411361e-02 9.97661594e-01 -9.12421533e-04 -6.89289483e+00] [-1.07985671e-02 1.74790709e-04 9.99941678e-01 -2.99399766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944391418 meters 0.01640707006524547 Centerline is valid? [True, True] Translation: X:169.32, Y:-6.89, Z:-3.00 [[ 9.97324485e-01 7.23131128e-02 1.07091188e-02 1.69318665e+02] [-7.23075458e-02 9.97381971e-01 -9.06621751e-04 -6.89206213e+00] [-1.07466426e-02 1.29845976e-04 9.99942245e-01 -2.99583996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974391418 meters 0.01584912800307993 Centerline is valid? [True, True] Translation: X:169.35, Y:-6.89, Z:-3.00 [[ 9.97215957e-01 7.38267945e-02 1.04851828e-02 1.69347464e+02] [-7.38215462e-02 9.97271073e-01 -8.87221465e-04 -6.89298224e+00] [-1.05220703e-02 1.10718992e-04 9.99944635e-01 -2.99689527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004391418 meters 0.015613647330449265 Centerline is valid? [True, True] Translation: X:169.38, Y:-6.89, Z:-3.00 [[ 9.97134466e-01 7.50028564e-02 9.87053140e-03 1.69375963e+02] [-7.49982699e-02 9.97183315e-01 -8.34513545e-04 -6.89422424e+00] [-9.90532012e-03 9.18494410e-05 9.99950937e-01 -2.99823152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034391418 meters 0.015288234287391076 Centerline is valid? [True, True] Translation: X:169.40, Y:-6.89, Z:-3.00 [[ 9.97054517e-01 7.60835985e-02 9.67346337e-03 1.69404793e+02] [-7.60792511e-02 9.97101439e-01 -8.17139805e-04 -6.89481623e+00] [-9.70759518e-03 7.87830840e-05 9.99952877e-01 -2.99913317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064391418 meters 0.015372377115876936 Centerline is valid? [True, True] Translation: X:169.43, Y:-6.90, Z:-3.00 [[ 9.97051218e-01 7.61689248e-02 9.33615904e-03 1.69431711e+02] [-7.61648809e-02 9.97094925e-01 -7.88452864e-04 -6.89724308e+00] [-9.36909241e-03 7.50404461e-05 9.99956106e-01 -3.00030892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09439141800001 meters 0.015288320794400066 Centerline is valid? [True, True] Translation: X:169.46, Y:-6.90, Z:-3.00 [[ 9.97065611e-01 7.60216059e-02 8.99352723e-03 1.69460408e+02] [-7.60178628e-02 9.97106168e-01 -7.57805021e-04 -6.89990481e+00] [-9.02511103e-03 7.19126065e-05 9.99959270e-01 -3.00115491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12439141800002 meters 0.01525958374913648 Centerline is valid? [True, True] Translation: X:169.49, Y:-6.90, Z:-3.00 [[ 9.97094157e-01 7.56543224e-02 8.92556553e-03 1.69489196e+02] [-7.56506273e-02 9.97134102e-01 -7.51367282e-04 -6.90301072e+00] [-8.95682995e-03 7.39592947e-05 9.99959884e-01 -3.00228277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15439141800002 meters 0.015215613946549777 Centerline is valid? [True, True] Translation: X:169.52, Y:-6.91, Z:-3.00 [[ 9.97131259e-01 7.52395623e-02 8.26205455e-03 1.69518027e+02] [-7.52363864e-02 9.97165484e-01 -6.94970330e-04 -6.90644844e+00] [-8.29092489e-03 7.13695115e-05 9.99965627e-01 -3.00303165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18439141800002 meters 0.01656317107260441 Centerline is valid? [True, True] Translation: X:169.55, Y:-6.91, Z:-3.00 [[ 9.97113909e-01 7.55024223e-02 7.95218690e-03 1.69546267e+02] [-7.54994901e-02 9.97145616e-01 -6.68710754e-04 -6.90927743e+00] [-7.97997759e-03 6.63947369e-05 9.99968157e-01 -3.00380693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214391418 meters 0.015063190129791086 Centerline is valid? [True, True] Translation: X:169.57, Y:-6.91, Z:-3.00 [[ 9.97122027e-01 7.52808124e-02 8.97008666e-03 1.69574667e+02] [-7.52770879e-02 9.97162371e-01 -7.52596473e-04 -6.91178776e+00] [-9.00128895e-03 7.51885188e-05 9.99959485e-01 -3.00379492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters 0.01509976150785322 Centerline is valid? [True, True] Translation: X:169.60, Y:-6.91, Z:-3.00 [[ 9.97048918e-01 7.61883785e-02 9.42263410e-03 1.69602812e+02] [-7.61843170e-02 9.97093439e-01 -7.89737037e-04 -6.91468732e+00] [-9.45541542e-03 6.95495149e-05 9.99955294e-01 -3.00423373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274391418 meters 0.014849364484564333 Centerline is valid? [True, True] Translation: X:169.63, Y:-6.92, Z:-3.00 [[ 9.97002466e-01 7.67540238e-02 9.74182321e-03 1.69631277e+02] [-7.67497176e-02 9.97050057e-01 -8.15665928e-04 -6.91733746e+00] [-9.77569103e-03 6.55387609e-05 9.99952215e-01 -3.00452597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters 0.014761617772338052 Centerline is valid? [True, True] Translation: X:169.66, Y:-6.92, Z:-3.01 [[ 9.96954955e-01 7.73639735e-02 9.77924505e-03 1.69659749e+02] [-7.73596710e-02 9.97002915e-01 -8.18035412e-04 -6.92031679e+00] [-9.81322229e-03 5.90252768e-05 9.99951847e-01 -3.00515827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334391418 meters 0.01446853407416804 Centerline is valid? [True, True] Translation: X:169.69, Y:-6.92, Z:-3.00 [[ 9.96883368e-01 7.81289009e-02 1.09281834e-02 1.69688340e+02] [-7.81235852e-02 9.96943264e-01 -9.13117311e-04 -6.92417408e+00] [-1.09661196e-02 5.65225962e-05 9.99939869e-01 -3.00464045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters 0.01428491927579904 Centerline is valid? [True, True] Translation: X:169.72, Y:-6.93, Z:-3.00 [[ 9.96870846e-01 7.82384982e-02 1.12806853e-02 1.69716618e+02] [-7.82328483e-02 9.96934669e-01 -9.41928610e-04 -6.92712498e+00] [-1.13198014e-02 5.64610263e-05 9.99935927e-01 -3.00445421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394391418 meters 0.014490810311154581 Centerline is valid? [True, True] Translation: X:169.74, Y:-6.93, Z:-3.01 [[ 9.96882486e-01 7.80671774e-02 1.14379099e-02 1.69743838e+02] [-7.80613670e-02 9.96948099e-01 -9.54240015e-04 -6.93064502e+00] [-1.14774973e-02 5.84062772e-05 9.99934130e-01 -3.00517065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters 0.014514880631541138 Centerline is valid? [True, True] Translation: X:169.77, Y:-6.94, Z:-3.01 [[ 9.96964631e-01 7.70901323e-02 1.08920302e-02 1.69771844e+02] [-7.70848392e-02 9.97024126e-01 -9.05572521e-04 -6.93620325e+00] [-1.09294275e-02 6.32133809e-05 9.99940270e-01 -3.00604063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454391418 meters 0.014532420914906434 Centerline is valid? [True, True] Translation: X:169.80, Y:-6.94, Z:-3.01 [[ 9.97033539e-01 7.62737406e-02 1.03168643e-02 1.69800176e+02] [-7.62689556e-02 9.97086913e-01 -8.57024134e-04 -6.94072440e+00] [-1.03521788e-02 6.76253438e-05 9.99946412e-01 -3.00713796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484391418 meters 0.01479701613792927 Centerline is valid? [True, True] Translation: X:169.83, Y:-6.95, Z:-3.01 [[ 9.97151303e-01 7.47580700e-02 1.00254146e-02 1.69828870e+02] [-7.47534823e-02 9.97201697e-01 -8.32083717e-04 -6.94575777e+00] [-1.00595654e-02 8.02787094e-05 9.99949398e-01 -3.00834917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514391418 meters 0.01507163668581673 Centerline is valid? [True, True] Translation: X:169.86, Y:-6.95, Z:-3.01 [[ 9.97261776e-01 7.33256851e-02 9.60698304e-03 1.69857189e+02] [-7.33214124e-02 9.97308045e-01 -7.96679708e-04 -6.95089284e+00] [-9.63953856e-03 9.01006552e-05 9.99953535e-01 -3.00915256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.544391418 meters 0.015907668680008407 Centerline is valid? [True, True] Translation: X:169.88, Y:-6.96, Z:-3.01 [[ 9.97520441e-01 6.97281812e-02 9.53675271e-03 1.69884399e+02] [-6.97238119e-02 9.97566021e-01 -7.90269630e-04 -6.95956752e+00] [-9.56864451e-03 1.23371358e-04 9.99954212e-01 -3.01025513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.574391418 meters 0.01661628884557613 Centerline is valid? [True, True] Translation: X:169.91, Y:-6.97, Z:-3.01 [[ 9.97641650e-01 6.79650497e-02 9.58590636e-03 1.69912214e+02] [-6.79605598e-02 9.97687693e-01 -7.93724778e-04 -6.96521122e+00] [-9.61768634e-03 1.40389335e-04 9.99953739e-01 -3.01108262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.604391418 meters 0.017056699305644386 Centerline is valid? [True, True] Translation: X:169.94, Y:-6.97, Z:-3.01 [[ 9.97760853e-01 6.61481124e-02 9.88468093e-03 1.69941153e+02] [-6.61432683e-02 9.97809802e-01 -8.16529226e-04 -6.96967602e+00] [-9.91704339e-03 1.60895794e-04 9.99950812e-01 -3.01109273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.634391418 meters 0.0181754855157013 Centerline is valid? [True, True] Translation: X:169.97, Y:-6.98, Z:-3.01 [[ 9.97950697e-01 6.31663869e-02 1.02182861e-02 1.69968868e+02] [-6.31610611e-02 9.98002991e-01 -8.43391569e-04 -6.97682234e+00] [-1.02511541e-02 1.96265408e-04 9.99947436e-01 -3.01141917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664391418 meters 0.01902072393865593 Centerline is valid? [True, True] Translation: X:170.00, Y:-6.98, Z:-3.01 [[ 9.98047041e-01 6.15589867e-02 1.06110618e-02 1.69996561e+02] [-6.15531645e-02 9.98103423e-01 -8.74716446e-04 -6.98144294e+00] [-1.06447837e-02 2.19863730e-04 9.99943319e-01 -3.01197316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694391418 meters 0.019444335162028068 Centerline is valid? [True, True] Translation: X:170.02, Y:-6.99, Z:-3.01 [[ 9.98097768e-01 6.06126481e-02 1.12673126e-02 1.70024686e+02] [-6.06060379e-02 9.98161334e-01 -9.27511851e-04 -6.98565499e+00] [-1.13028147e-02 2.42880335e-04 9.99936092e-01 -3.01218690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724391418 meters 0.020827304267640564 Centerline is valid? [True, True] Translation: X:170.05, Y:-6.99, Z:-3.01 [[ 9.98217458e-01 5.83585043e-02 1.24976436e-02 1.70052028e+02] [-5.83502074e-02 9.98295646e-01 -1.02779693e-03 -6.99163545e+00] [-1.25363239e-02 2.96724744e-04 9.99921373e-01 -3.01177929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754391418 meters 0.02179064945792857 Centerline is valid? [True, True] Translation: X:170.08, Y:-7.00, Z:-3.01 [[ 9.98289658e-01 5.70976293e-02 1.25546949e-02 1.70079258e+02] [-5.70891710e-02 9.98368551e-01 -1.03136377e-03 -6.99565818e+00] [-1.25931010e-02 3.12862665e-04 9.99920655e-01 -3.01231124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784391418 meters 0.02239994715613251 Centerline is valid? [True, True] Translation: X:170.11, Y:-7.00, Z:-3.01 [[ 9.98336056e-01 5.61614839e-02 1.30769773e-02 1.70108216e+02] [-5.61522479e-02 9.98421642e-01 -1.07266651e-03 -6.99965288e+00] [-1.31165797e-02 3.36579984e-04 9.99913917e-01 -3.01258874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814391418 meters 0.023931448153723146 Centerline is valid? [True, True] Translation: X:170.14, Y:-7.00, Z:-3.01 [[ 9.98468154e-01 5.37679103e-02 1.30520931e-02 1.70135698e+02] [-5.37585155e-02 9.98553392e-01 -1.06982748e-03 -7.00499557e+00] [-1.30907343e-02 3.66527523e-04 9.99914245e-01 -3.01324084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84439141800001 meters 0.025108526276600568 Centerline is valid? [True, True] Translation: X:170.16, Y:-7.01, Z:-3.01 [[ 9.98545862e-01 5.22975173e-02 1.30817091e-02 1.70164084e+02] [-5.22879743e-02 9.98631474e-01 -1.07069377e-03 -7.00934903e+00] [-1.31198010e-02 3.85120764e-04 9.99913858e-01 -3.01401856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87439141800002 meters 0.02658271940155287 Centerline is valid? [True, True] Translation: X:170.19, Y:-7.01, Z:-3.01 [[ 9.98650605e-01 5.01840993e-02 1.33613560e-02 1.70192892e+02] [-5.01739682e-02 9.98739896e-01 -1.09258774e-03 -7.01435505e+00] [-1.33993499e-02 4.20721158e-04 9.99910136e-01 -3.01473251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90439141800002 meters 0.028086544733335973 Centerline is valid? [True, True] Translation: X:170.22, Y:-7.02, Z:-3.02 [[ 9.98748420e-01 4.81520599e-02 1.35267033e-02 1.70221566e+02] [-4.81415036e-02 9.98839914e-01 -1.10511945e-03 -7.01953649e+00] [-1.35642250e-02 4.52540468e-04 9.99907899e-01 -3.01513079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93439141800002 meters 0.02630490776329264 Centerline is valid? [True, True] Translation: X:170.25, Y:-7.02, Z:-3.02 [[ 9.98948091e-01 4.38162517e-02 1.35221216e-02 1.70251475e+02] [-4.38053209e-02 9.99039477e-01 -1.10363799e-03 -7.02008968e+00] [-1.35574906e-02 5.10136182e-04 9.99907963e-01 -3.01519484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters 0.024660600548773032 Centerline is valid? [True, True] Translation: X:170.28, Y:-7.02, Z:-3.02 [[ 9.99032954e-01 4.17451750e-02 1.38020716e-02 1.70281502e+02] [-4.17335970e-02 9.99128140e-01 -1.12593744e-03 -7.02050120e+00] [-1.38370406e-02 5.48838509e-04 9.99904113e-01 -3.01538662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994391418 meters 0.027209504519583663 Centerline is valid? [True, True] Translation: X:170.31, Y:-7.03, Z:-3.02 [[ 9.99122295e-01 3.95924459e-02 1.36776582e-02 1.70309576e+02] [-3.95808809e-02 9.99215747e-01 -1.11530752e-03 -7.02637033e+00] [-1.37110892e-02 5.72954852e-04 9.99905834e-01 -3.01624008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters 0.031886368775804697 Centerline is valid? [True, True] Translation: X:170.34, Y:-7.03, Z:-3.02 [[ 9.99241986e-01 3.65682229e-02 1.33498230e-02 1.70337969e+02] [-3.65569485e-02 9.99330979e-01 -1.08766814e-03 -7.03453552e+00] [-1.33806658e-02 5.98814885e-04 9.99910296e-01 -3.01706744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054391418 meters 0.031337346283890226 Centerline is valid? [True, True] Translation: X:170.37, Y:-7.04, Z:-3.02 [[ 9.99287086e-01 3.52365838e-02 1.35536830e-02 1.70367645e+02] [-3.52248478e-02 9.99378803e-01 -1.10371616e-03 -7.03571667e+00] [-1.35841546e-02 6.25502884e-04 9.99907535e-01 -3.01748182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters 0.03173765233586099 Centerline is valid? [True, True] Translation: X:170.40, Y:-7.04, Z:-3.02 [[ 9.99321136e-01 3.43840352e-02 1.32289186e-02 1.70396835e+02] [-3.43727870e-02 9.99408501e-01 -1.07676851e-03 -7.03834968e+00] [-1.32581173e-02 6.21322726e-04 9.99911914e-01 -3.01840169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114391418 meters 0.030420380021084287 Centerline is valid? [True, True] Translation: X:170.43, Y:-7.04, Z:-3.02 [[ 9.99349777e-01 3.35528634e-02 1.31995327e-02 1.70426773e+02] [-3.35415996e-02 9.99436745e-01 -1.07386564e-03 -7.03837027e+00] [-1.32281293e-02 6.30433948e-04 9.99912306e-01 -3.01874783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters 0.02994662810418058 Centerline is valid? [True, True] Translation: X:170.46, Y:-7.04, Z:-3.02 [[ 9.99375470e-01 3.29016221e-02 1.28900228e-02 1.70456536e+02] [-3.28908328e-02 9.99458401e-01 -1.04818145e-03 -7.03884568e+00] [-1.29175284e-02 6.23563243e-04 9.99916371e-01 -3.01913379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174391418 meters 0.035144358223417854 Centerline is valid? [True, True] Translation: X:170.49, Y:-7.05, Z:-3.02 [[ 9.99378329e-01 3.27621068e-02 1.30230194e-02 1.70485336e+02] [-3.27510903e-02 9.99462979e-01 -1.05835281e-03 -7.04709444e+00] [-1.30506997e-02 6.31176781e-04 9.99914637e-01 -3.02042728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204391418 meters 0.03177463047200107 Centerline is valid? [True, True] Translation: X:170.52, Y:-7.04, Z:-3.02 [[ 9.99381674e-01 3.26025024e-02 1.31661288e-02 1.70515236e+02] [-3.25912309e-02 9.99468192e-01 -1.06980695e-03 -7.04376816e+00] [-1.31940053e-02 6.40045115e-04 9.99912750e-01 -3.02033197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234391418 meters 0.030688800338191744 Centerline is valid? [True, True] Translation: X:170.55, Y:-7.04, Z:-3.02 [[ 9.99393653e-01 3.22712123e-02 1.30727193e-02 1.70545093e+02] [-3.22600787e-02 9.99478944e-01 -1.06170127e-03 -7.04313070e+00] [-1.31001700e-02 6.39330555e-04 9.99913985e-01 -3.02035189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264391418 meters 0.03094140348460779 Centerline is valid? [True, True] Translation: X:170.57, Y:-7.04, Z:-3.02 [[ 9.99395008e-01 3.21527550e-02 1.32596409e-02 1.70574445e+02] [-3.21412977e-02 9.99482755e-01 -1.07632782e-03 -7.04320319e+00] [-1.32873893e-02 6.49494586e-04 9.99911508e-01 -3.02093775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.294391418 meters 0.03041212467252277 Centerline is valid? [True, True] Translation: X:170.60, Y:-7.04, Z:-3.02 [[ 9.99389307e-01 3.22318810e-02 1.34951276e-02 1.70603713e+02] [-3.22200278e-02 9.99480200e-01 -1.09487955e-03 -7.04361571e+00] [-1.35234028e-02 6.59397527e-04 9.99908337e-01 -3.02099787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.324391418 meters 0.030721768526741907 Centerline is valid? [True, True] Translation: X:170.63, Y:-7.05, Z:-3.02 [[ 9.99374113e-01 3.24382730e-02 1.41117015e-02 1.70633290e+02] [-3.24253411e-02 9.99473505e-01 -1.14429153e-03 -7.04520011e+00] [-1.41413906e-02 6.85998601e-04 9.99899770e-01 -3.02157625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.354391418 meters 0.034440943080971655 Centerline is valid? [True, True] Translation: X:170.66, Y:-7.05, Z:-3.02 [[ 9.99364323e-01 3.24332989e-02 1.47996745e-02 1.70662988e+02] [-3.24190851e-02 9.99473644e-01 -1.19937736e-03 -7.04967837e+00] [-1.48307844e-02 7.18823038e-04 9.99889759e-01 -3.02167948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.384391418 meters 0.034526982289656775 Centerline is valid? [True, True] Translation: X:170.69, Y:-7.05, Z:-3.02 [[ 9.99354098e-01 3.25143609e-02 1.53036674e-02 1.70693179e+02] [-3.24991777e-02 9.99470993e-01 -1.23984797e-03 -7.05077682e+00] [-1.53358846e-02 7.41690543e-04 9.99882123e-01 -3.02191896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414391418 meters 0.0315264224354438 Centerline is valid? [True, True] Translation: X:170.72, Y:-7.05, Z:-3.02 [[ 9.99359714e-01 3.22154504e-02 1.55668789e-02 1.70724150e+02] [-3.21997041e-02 9.99480659e-01 -1.26117241e-03 -7.04761641e+00] [-1.55994236e-02 7.59116005e-04 9.99878033e-01 -3.02184403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444391418 meters 0.03017595428692971 Centerline is valid? [True, True] Translation: X:170.75, Y:-7.05, Z:-3.02 [[ 9.99365625e-01 3.19017041e-02 1.58312653e-02 1.70754542e+02] [-3.18853791e-02 9.99490709e-01 -1.28259204e-03 -7.04676406e+00] [-1.58641194e-02 7.76992505e-04 9.99873855e-01 -3.02193288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474391418 meters 0.031233201739961556 Centerline is valid? [True, True] Translation: X:170.79, Y:-7.05, Z:-3.02 [[ 9.99406109e-01 3.09077856e-02 1.52360922e-02 1.70785363e+02] [-3.08925499e-02 9.99521949e-01 -1.23437327e-03 -7.04845865e+00] [-1.52669603e-02 7.62958446e-04 9.99883162e-01 -3.02300844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504391418 meters 0.03241834781163076 Centerline is valid? [True, True] Translation: X:170.82, Y:-7.05, Z:-3.02 [[ 9.99440911e-01 2.99622000e-02 1.48368470e-02 1.70815035e+02] [-2.99476488e-02 9.99550746e-01 -1.20200348e-03 -7.05116995e+00] [-1.48661962e-02 7.57002770e-04 9.99889205e-01 -3.02443349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534391418 meters 0.03263382338275219 Centerline is valid? [True, True] Translation: X:170.85, Y:-7.05, Z:-3.03 [[ 9.99475963e-01 2.92108105e-02 1.39473259e-02 1.70845335e+02] [-2.91978772e-02 9.99573012e-01 -1.13007068e-03 -7.05264166e+00] [-1.39743809e-02 7.22246168e-04 9.99902093e-01 -3.02577848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564391418 meters 0.03398418497698323 Centerline is valid? [True, True] Translation: X:170.88, Y:-7.05, Z:-3.03 [[ 9.99526706e-01 2.79554033e-02 1.28397895e-02 1.70875120e+02] [-2.79443459e-02 9.99608940e-01 -1.03981953e-03 -7.05371164e+00] [-1.28638370e-02 6.80527871e-04 9.99917026e-01 -3.02715559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59439141800001 meters 0.034451390650893095 Centerline is valid? [True, True] Translation: X:170.90, Y:-7.05, Z:-3.03 [[ 9.99537580e-01 2.76775770e-02 1.25928094e-02 1.70904580e+02] [-2.76668940e-02 9.99616676e-01 -1.02179822e-03 -7.05486919e+00] [-1.26162631e-02 6.72921798e-04 9.99920185e-01 -3.02779781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62439141800002 meters 0.03333980597658074 Centerline is valid? [True, True] Translation: X:170.93, Y:-7.05, Z:-3.03 [[ 9.99538276e-01 2.76863944e-02 1.25179379e-02 1.70934212e+02] [-2.76758449e-02 9.99616435e-01 -1.01523189e-03 -7.05383976e+00] [-1.25412446e-02 6.68318627e-04 9.99921132e-01 -3.02792347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65439141800002 meters 0.03503763612591613 Centerline is valid? [True, True] Translation: X:170.96, Y:-7.05, Z:-3.03 [[ 9.99481759e-01 2.92611448e-02 1.34163642e-02 1.70963968e+02] [-2.92491772e-02 9.99571560e-01 -1.08740841e-03 -7.05402950e+00] [-1.34424349e-02 6.94427256e-04 9.99909405e-01 -3.02762766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68439141800002 meters 0.03503763612591613 Centerline is valid? [True, True] Translation: X:170.99, Y:-7.06, Z:-3.03 [[ 9.99482888e-01 2.92225552e-02 1.34163790e-02 1.70993066e+02] [-2.92105866e-02 9.99572688e-01 -1.08722635e-03 -7.05634643e+00] [-1.34424175e-02 6.94763833e-04 9.99909405e-01 -3.02815404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714391418 meters 0.03487148484339756 Centerline is valid? [True, True] Translation: X:171.02, Y:-7.06, Z:-3.03 [[ 9.99441785e-01 3.03985894e-02 1.38579971e-02 1.71022611e+02] [-3.03859404e-02 9.99537610e-01 -1.12245095e-03 -7.05624835e+00] [-1.38857102e-02 7.00736112e-04 9.99903343e-01 -3.02817777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters 0.03446690060876381 Centerline is valid? [True, True] Translation: X:171.05, Y:-7.06, Z:-3.03 [[ 9.99387355e-01 3.19033863e-02 1.43905527e-02 1.71052785e+02] [-3.18899113e-02 9.99490709e-01 -1.16493548e-03 -7.05576405e+00] [-1.44203891e-02 7.05308339e-04 9.99895772e-01 -3.02814638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774391418 meters 0.03370233131708248 Centerline is valid? [True, True] Translation: X:171.08, Y:-7.05, Z:-3.03 [[ 9.99332291e-01 3.34644773e-02 1.46663534e-02 1.71082720e+02] [-3.34506518e-02 9.99439665e-01 -1.18703744e-03 -7.05476144e+00] [-1.46978589e-02 6.95645765e-04 9.99891739e-01 -3.02814726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters 0.03326553437952228 Centerline is valid? [True, True] Translation: X:171.11, Y:-7.05, Z:-3.03 [[ 9.99284504e-01 3.50253813e-02 1.42724165e-02 1.71111314e+02] [-3.50124539e-02 9.99386209e-01 -1.15469630e-03 -7.05399031e+00] [-1.43040999e-02 6.54157798e-04 9.99897477e-01 -3.02902045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834391418 meters 0.03213933817342305 Centerline is valid? [True, True] Translation: X:171.14, Y:-7.05, Z:-3.03 [[ 9.99197164e-01 3.74210147e-02 1.43071481e-02 1.71140590e+02] [-3.74082821e-02 9.99299396e-01 -1.15662320e-03 -7.05097154e+00] [-1.43404065e-02 6.20488793e-04 9.99896979e-01 -3.02927193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters 0.03237264840145802 Centerline is valid? [True, True] Translation: X:171.17, Y:-7.05, Z:-3.03 [[ 9.99189133e-01 3.77930273e-02 1.38838993e-02 1.71169789e+02] [-3.77810777e-02 9.99285410e-01 -1.12205752e-03 -7.05159591e+00] [-1.39163840e-02 5.96599003e-04 9.99902984e-01 -3.03042247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894391418 meters 0.03277226748955949 Centerline is valid? [True, True] Translation: X:171.20, Y:-7.05, Z:-3.03 [[ 9.99184069e-01 3.80461145e-02 1.35532086e-02 1.71197853e+02] [-3.80347628e-02 9.99275817e-01 -1.09443609e-03 -7.05127757e+00] [-1.35850327e-02 5.78050027e-04 9.99907552e-01 -3.03094834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters 0.02934322222333958 Centerline is valid? [True, True] Translation: X:171.23, Y:-7.05, Z:-3.03 [[ 9.99203705e-01 3.77741227e-02 1.28480263e-02 1.71226587e+02] [-3.77639142e-02 9.99286152e-01 -1.03632535e-03 -7.04746318e+00] [-1.28780011e-02 5.50308367e-04 9.99916924e-01 -3.03129538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954391418 meters 0.026466973415288243 Centerline is valid? [True, True] Translation: X:171.26, Y:-7.04, Z:-3.03 [[ 9.99218333e-01 3.74365962e-02 1.26974011e-02 1.71255964e+02] [-3.74266106e-02 9.99298855e-01 -1.02322045e-03 -7.04434449e+00] [-1.27268043e-02 5.47199944e-04 9.99918861e-01 -3.03155469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984391418 meters 0.026353241364541036 Centerline is valid? [True, True] Translation: X:171.28, Y:-7.05, Z:-3.03 [[ 9.99231536e-01 3.72689963e-02 1.21391931e-02 1.71284897e+02] [-3.72598686e-02 9.99305132e-01 -9.77292220e-04 -7.04535232e+00] [-1.21671807e-02 5.24236466e-04 9.99925840e-01 -3.03217111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014391418 meters 0.026805540957648963 Centerline is valid? [True, True] Translation: X:171.31, Y:-7.04, Z:-3.03 [[ 9.99239196e-01 3.73670761e-02 1.11682551e-02 1.71312617e+02] [-3.73593639e-02 9.99301491e-01 -8.98449248e-04 -7.04486374e+00] [-1.11940264e-02 4.80526797e-04 9.99937229e-01 -3.03283793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.044391418 meters 0.027122404409375037 Centerline is valid? [True, True] Translation: X:171.34, Y:-7.05, Z:-3.03 [[ 9.99236381e-01 3.75829004e-02 1.06855529e-02 1.71340909e+02] [-3.75758655e-02 9.99293409e-01 -8.58432548e-04 -7.04596651e+00] [-1.07102650e-02 4.56258135e-04 9.99942539e-01 -3.03334301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.074391418 meters 0.026923390259924542 Centerline is valid? [True, True] Translation: X:171.37, Y:-7.05, Z:-3.03 [[ 9.99220512e-01 3.80960719e-02 1.03468558e-02 1.71370052e+02] [-3.80895117e-02 9.99273986e-01 -8.30421368e-04 -7.04664172e+00] [-1.03709797e-02 4.35667378e-04 9.99946125e-01 -3.03384651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.104391418 meters 0.02678413945776996 Centerline is valid? [True, True] Translation: X:171.40, Y:-7.05, Z:-3.03 [[ 9.99193187e-01 3.88355022e-02 1.02361758e-02 1.71399001e+02] [-3.88291288e-02 9.99245528e-01 -8.20716025e-04 -7.04742730e+00] [-1.02603258e-02 4.22592073e-04 9.99947272e-01 -3.03458729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.134391418 meters 0.02729743780655272 Centerline is valid? [True, True] Translation: X:171.43, Y:-7.05, Z:-3.04 [[ 9.99128876e-01 4.05611451e-02 9.81234883e-03 1.71427213e+02] [-4.05553773e-02 9.99176983e-01 -7.86156978e-04 -7.04782249e+00] [-9.83616052e-03 3.87528628e-04 9.99951549e-01 -3.03536139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164391418 meters 0.026065014577019537 Centerline is valid? [True, True] Translation: X:171.46, Y:-7.05, Z:-3.04 [[ 9.99078290e-01 4.17820247e-02 9.84035223e-03 1.71456561e+02] [-4.17762946e-02 9.99126679e-01 -7.87237212e-04 -7.04662401e+00] [-9.86465081e-03 3.75418155e-04 9.99951273e-01 -3.03537904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194391418 meters 0.025841834768883284 Centerline is valid? [True, True] Translation: X:171.48, Y:-7.05, Z:-3.04 [[ 9.99015967e-01 4.31771451e-02 1.01406303e-02 1.71484168e+02] [-4.31711388e-02 9.99067363e-01 -8.10558198e-04 -7.04688469e+00] [-1.01661703e-02 3.71978024e-04 9.99948254e-01 -3.03547670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224391418 meters 0.024275127764431116 Centerline is valid? [True, True] Translation: X:171.51, Y:-7.04, Z:-3.04 [[ 9.98860582e-01 4.66521595e-02 1.00555198e-02 1.71513828e+02] [-4.66464425e-02 9.98911140e-01 -8.02461078e-04 -7.04355189e+00] [-1.00820073e-02 3.32492516e-04 9.99949120e-01 -3.03528580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254391418 meters 0.022846136083267344 Centerline is valid? [True, True] Translation: X:171.54, Y:-7.04, Z:-3.04 [[ 9.98765883e-01 4.86504325e-02 9.99233383e-03 1.71542571e+02] [-4.86448911e-02 9.98815819e-01 -7.97009056e-04 -7.04218359e+00] [-1.00192759e-02 3.09949462e-04 9.99949758e-01 -3.03540608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284391418 meters 0.021956088561815478 Centerline is valid? [True, True] Translation: X:171.57, Y:-7.04, Z:-3.04 [[ 9.98670937e-01 5.05855484e-02 9.87230141e-03 1.71571891e+02] [-5.05802412e-02 9.98719691e-01 -7.86682734e-04 -7.04159665e+00] [-9.89945659e-03 2.86293796e-04 9.99950958e-01 -3.03563096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314391418 meters 0.021111051869676115 Centerline is valid? [True, True] Translation: X:171.60, Y:-7.04, Z:-3.04 [[ 9.98593307e-01 5.21831349e-02 9.39825614e-03 1.71600739e+02] [-5.21784022e-02 9.98637499e-01 -7.48237104e-04 -7.04102042e+00] [-9.42449637e-03 2.56798575e-04 9.99955555e-01 -3.03600917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34439141800001 meters 0.018726976794341835 Centerline is valid? [True, True] Translation: X:171.63, Y:-7.04, Z:-3.04 [[ 9.98423649e-01 5.55188477e-02 8.23855010e-03 1.71629591e+02] [-5.55153283e-02 9.98457620e-01 -6.55448094e-04 -7.03742648e+00] [-8.26223285e-03 1.97049064e-04 9.99965848e-01 -3.03604287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37439141800002 meters 0.018597719092088495 Centerline is valid? [True, True] Translation: X:171.66, Y:-7.04, Z:-3.04 [[ 9.98356032e-01 5.67626409e-02 7.95216118e-03 1.71656969e+02] [-5.67594045e-02 9.98387685e-01 -6.32260376e-04 -7.03834569e+00] [-7.97522856e-03 1.79861027e-04 9.99968181e-01 -3.03695216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40439141800002 meters 0.017804216684823404 Centerline is valid? [True, True] Translation: X:171.69, Y:-7.04, Z:-3.04 [[ 9.98287440e-01 5.80468959e-02 7.26259248e-03 1.71685850e+02] [-5.80442361e-02 9.98313846e-01 -5.76658855e-04 -7.03852869e+00] [-7.28381988e-03 1.54119659e-04 9.99973461e-01 -3.03727987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43439141800002 meters 0.017426358646733624 Centerline is valid? [True, True] Translation: X:171.71, Y:-7.04, Z:-3.04 [[ 9.98172326e-01 6.00174872e-02 7.06468395e-03 1.71713787e+02] [-6.00150219e-02 9.98197317e-01 -5.60623693e-04 -7.03896656e+00] [-7.08559578e-03 1.35611893e-04 9.99974888e-01 -3.03818384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters 0.017169670337265137 Centerline is valid? [True, True] Translation: X:171.74, Y:-7.04, Z:-3.04 [[ 9.98126847e-01 6.08006362e-02 6.78815416e-03 1.71742240e+02] [-6.07983841e-02 9.98149922e-01 -5.37829072e-04 -7.04026654e+00] [-6.80829589e-03 1.24112832e-04 9.99976816e-01 -3.03833724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494391418 meters 0.016585847928230712 Centerline is valid? [True, True] Translation: X:171.77, Y:-7.04, Z:-3.04 [[ 9.98059729e-01 6.18395786e-02 7.25563038e-03 1.71770601e+02] [-6.18370379e-02 9.98086094e-01 -5.74197092e-04 -7.04164032e+00] [-7.27725189e-03 1.24416303e-04 9.99973513e-01 -3.03862826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters 0.01721742285970436 Centerline is valid? [True, True] Translation: X:171.80, Y:-7.04, Z:-3.04 [[ 9.97994961e-01 6.29431200e-02 6.64994960e-03 1.71799519e+02] [-6.29410129e-02 9.98017110e-01 -5.25870407e-04 -7.04293115e+00] [-6.66986341e-03 1.06261452e-04 9.99977751e-01 -3.03902684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554391418 meters 0.01592114720748431 Centerline is valid? [True, True] Translation: X:171.83, Y:-7.04, Z:-3.04 [[ 9.98010197e-01 6.27314418e-02 6.35713655e-03 1.71828025e+02] [-6.27295146e-02 9.98030438e-01 -5.02292289e-04 -7.04464372e+00] [-6.37612529e-03 1.02512737e-04 9.99979667e-01 -3.03842461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters 0.01578172113105895 Centerline is valid? [True, True] Translation: X:171.86, Y:-7.05, Z:-3.04 [[ 9.98013706e-01 6.26541419e-02 6.56511562e-03 1.71855730e+02] [-6.26520856e-02 9.98035294e-01 -5.18619366e-04 -7.04695180e+00] [-6.58471075e-03 1.06271049e-04 9.99978315e-01 -3.03881924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614391418 meters 0.016719336132176157 Centerline is valid? [True, True] Translation: X:171.88, Y:-7.05, Z:-3.04 [[ 9.98053420e-01 6.20693010e-02 6.06410821e-03 1.71883336e+02] [-6.20675371e-02 9.98071837e-01 -4.78811910e-04 -7.05171435e+00] [-6.08213514e-03 1.01495603e-04 9.99981498e-01 -3.04060617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters 0.0163812843980928 Centerline is valid? [True, True] Translation: X:171.91, Y:-7.05, Z:-3.04 [[ 9.98165270e-01 6.02507361e-02 5.99521812e-03 1.71912342e+02] [-6.02489897e-02 9.98183268e-01 -4.71635886e-04 -7.05497939e+00] [-6.01274283e-03 1.09564727e-04 9.99981917e-01 -3.04006153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674391418 meters 0.017913115217850304 Centerline is valid? [True, True] Translation: X:171.94, Y:-7.06, Z:-3.04 [[ 9.98253507e-01 5.88061082e-02 5.63721677e-03 1.71939879e+02] [-5.88045419e-02 9.98269417e-01 -4.43339267e-04 -7.06073410e+00] [-5.65353215e-03 1.11071028e-04 9.99984012e-01 -3.04200437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704391418 meters 0.017310712721965556 Centerline is valid? [True, True] Translation: X:171.97, Y:-7.06, Z:-3.04 [[ 9.98340911e-01 5.73423037e-02 5.22363345e-03 1.71968303e+02] [-5.73409422e-02 9.98354570e-01 -4.10164264e-04 -7.06321026e+00] [-5.23855809e-03 1.09955701e-04 9.99986273e-01 -3.04169939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734391418 meters 0.01800760620921556 Centerline is valid? [True, True] Translation: X:172.00, Y:-7.07, Z:-3.04 [[ 9.98439463e-01 5.55986511e-02 5.23729495e-03 1.71996977e+02] [-5.55972607e-02 9.98453192e-01 -4.10803536e-04 -7.06789091e+00] [-5.25203398e-03 1.18983209e-04 9.99986201e-01 -3.04257226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764391418 meters 0.020251045437566402 Centerline is valid? [True, True] Translation: X:172.02, Y:-7.08, Z:-3.04 [[ 9.98668298e-01 5.13274637e-02 5.20784987e-03 1.72024593e+02] [-5.13260330e-02 9.98681867e-01 -4.08085913e-04 -7.07595687e+00] [-5.22193125e-03 1.40244190e-04 9.99986356e-01 -3.04400519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.794391418 meters 0.02059511531627997 Centerline is valid? [True, True] Translation: X:172.05, Y:-7.08, Z:-3.04 [[ 9.98782440e-01 4.90780021e-02 4.99867396e-03 1.72053072e+02] [-4.90766576e-02 9.98794938e-01 -3.91344766e-04 -7.07996817e+00] [-5.01185666e-03 1.45550070e-04 9.99987430e-01 -3.04422122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.824391418 meters 0.021822100131042042 Centerline is valid? [True, True] Translation: X:172.08, Y:-7.09, Z:-3.04 [[ 9.98885551e-01 4.69172894e-02 5.14033411e-03 1.72079967e+02] [-4.69158388e-02 9.98898765e-01 -4.02483205e-04 -7.08514519e+00] [-5.15355682e-03 1.60871572e-04 9.99986707e-01 -3.04489476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.854391418 meters 0.02215814235157137 Centerline is valid? [True, True] Translation: X:172.11, Y:-7.09, Z:-3.05 [[ 9.98981718e-01 4.47976546e-02 5.35701826e-03 1.72108977e+02] [-4.47960553e-02 9.98996065e-01 -4.18223766e-04 -7.08868119e+00] [-5.37037560e-03 1.77824610e-04 9.99985564e-01 -3.04519596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.884391418 meters 0.02477853241725877 Centerline is valid? [True, True] Translation: X:172.14, Y:-7.10, Z:-3.05 [[ 9.99164295e-01 4.05927921e-02 4.78924613e-03 1.72137051e+02] [-4.05914680e-02 9.99175757e-01 -3.73388225e-04 -7.09681910e+00] [-4.80045549e-03 1.78673652e-04 9.99988462e-01 -3.04681811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914391418 meters 0.02746127687858384 Centerline is valid? [True, True] Translation: X:172.16, Y:-7.10, Z:-3.05 [[ 9.99249282e-01 3.84364908e-02 4.84848689e-03 1.72164657e+02] [-3.84351074e-02 9.99261027e-01 -3.78213611e-04 -7.10361955e+00] [-4.85944119e-03 1.91577565e-04 9.99988174e-01 -3.04831559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944391418 meters 0.0262292113745314 Centerline is valid? [True, True] Translation: X:172.19, Y:-7.10, Z:-3.05 [[ 9.99328757e-01 3.62823161e-02 5.06259114e-03 1.72193262e+02] [-3.62807844e-02 9.99341558e-01 -3.94095875e-04 -7.10493265e+00] [-5.07355643e-03 2.10156563e-04 9.99987107e-01 -3.04776141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974391418 meters 0.028849928005905634 Centerline is valid? [True, True] Translation: X:172.22, Y:-7.11, Z:-3.05 [[ 9.99471184e-01 3.20590239e-02 5.43788469e-03 1.72221655e+02] [-3.20571971e-02 9.99485947e-01 -4.22803591e-04 -7.11242223e+00] [-5.44864399e-03 2.48256665e-04 9.99985125e-01 -3.04821376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004391418 meters 0.03242209379194708 Centerline is valid? [True, True] Translation: X:172.25, Y:-7.12, Z:-3.05 [[ 9.99531008e-01 3.00151945e-02 6.07064591e-03 1.72248391e+02] [-3.00128830e-02 9.99549401e-01 -4.71532029e-04 -7.11993708e+00] [-6.08206361e-03 2.89113298e-04 9.99981462e-01 -3.04920172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034391418 meters 0.030270234887495612 Centerline is valid? [True, True] Translation: X:172.28, Y:-7.12, Z:-3.05 [[ 9.99589578e-01 2.78719353e-02 6.62054478e-03 1.72278071e+02] [-2.78691495e-02 9.99611448e-01 -5.12688678e-04 -7.11956005e+00] [-6.63226198e-03 3.27969307e-04 9.99977953e-01 -3.04812133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064391418 meters 0.03181071652810257 Centerline is valid? [True, True] Translation: X:172.31, Y:-7.12, Z:-3.05 [[ 9.99639005e-01 2.58470801e-02 7.33404365e-03 1.72307833e+02] [-2.58436099e-02 9.99665837e-01 -5.67560900e-04 -7.12410994e+00] [-7.34626267e-03 3.77817851e-04 9.99972944e-01 -3.04852102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09439141800001 meters 0.035047274893751916 Centerline is valid? [True, True] Translation: X:172.34, Y:-7.13, Z:-3.05 [[ 9.99732789e-01 2.17354934e-02 7.86880199e-03 1.72336614e+02] [-2.17313773e-02 9.99763661e-01 -6.08228191e-04 -7.13106146e+00] [-7.88016242e-03 4.37065761e-04 9.99968856e-01 -3.04934867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12439141800002 meters 0.037630017863324046 Centerline is valid? [True, True] Translation: X:172.36, Y:-7.14, Z:-3.05 [[ 9.99771170e-01 1.98829041e-02 7.89167777e-03 1.72364733e+02] [-1.98787026e-02 9.99802213e-01 -6.10482418e-04 -7.13671716e+00] [-7.90225506e-03 4.53466406e-04 9.99968674e-01 -3.05057321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15439141800002 meters 0.03800108659744533 Centerline is valid? [True, True] Translation: X:172.39, Y:-7.14, Z:-3.05 [[ 9.99806004e-01 1.80584034e-02 7.86433821e-03 1.72393669e+02] [-1.80541783e-02 9.99836825e-01 -6.07904409e-04 -7.13953892e+00] [-7.87403273e-03 4.65802314e-04 9.99968891e-01 -3.05135149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18439141800002 meters 0.046446586175726244 Centerline is valid? [True, True] Translation: X:172.42, Y:-7.15, Z:-3.05 [[ 9.99841955e-01 1.61500867e-02 7.43233360e-03 1.72422237e+02] [-1.61462666e-02 9.99869476e-01 -5.73712348e-04 -7.15238365e+00] [-7.44062900e-03 4.53617236e-04 9.99972215e-01 -3.05407759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214391418 meters 0.03836910649193971 Centerline is valid? [True, True] Translation: X:172.45, Y:-7.14, Z:-3.05 [[ 9.99892994e-01 1.30557075e-02 6.59911057e-03 1.72453691e+02] [-1.30526308e-02 9.99914681e-01 -5.09083077e-04 -7.14326859e+00] [-6.60519398e-03 4.22892848e-04 9.99978096e-01 -3.05331740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters 0.041725517264948664 Centerline is valid? [True, True] Translation: X:172.48, Y:-7.15, Z:-3.05 [[ 9.99907637e-01 1.19071406e-02 6.55270789e-03 1.72482444e+02] [-1.19040809e-02 9.99929016e-01 -5.05734846e-04 -7.14935291e+00] [-6.55826461e-03 4.27684170e-04 9.99978403e-01 -3.05496535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274391418 meters 0.04537758589747969 Centerline is valid? [True, True] Translation: X:172.51, Y:-7.16, Z:-3.06 [[ 9.99927015e-01 1.04686586e-02 6.03088550e-03 1.72511954e+02] [-1.04660498e-02 9.99945122e-01 -4.63958004e-04 -7.15525749e+00] [-6.03541156e-03 4.00804594e-04 9.99981706e-01 -3.05653310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters 0.04175807345987755 Centerline is valid? [True, True] Translation: X:172.54, Y:-7.15, Z:-3.06 [[ 9.99926079e-01 1.03472486e-02 6.38514915e-03 1.72542839e+02] [-1.03443101e-02 9.99946375e-01 -4.93072078e-04 -7.15205012e+00] [-6.38990869e-03 4.26985668e-04 9.99979493e-01 -3.05607165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334391418 meters 0.0441957120528153 Centerline is valid? [True, True] Translation: X:172.57, Y:-7.16, Z:-3.06 [[ 9.99915714e-01 1.09291951e-02 7.00845985e-03 1.72572595e+02] [-1.09256705e-02 9.99940167e-01 -5.40988141e-04 -7.15664132e+00] [-7.01395308e-03 4.64370420e-04 9.99975294e-01 -3.05663555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters 0.04268792360051649 Centerline is valid? [True, True] Translation: X:172.60, Y:-7.16, Z:-3.06 [[ 9.99894598e-01 1.19954042e-02 8.17942013e-03 1.72603305e+02] [-1.19906356e-02 9.99927910e-01 -6.31790660e-04 -7.15576508e+00] [-8.18640906e-03 5.33647622e-04 9.99966348e-01 -3.05597046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394391418 meters 0.0363003443186017 Centerline is valid? [True, True] Translation: X:172.63, Y:-7.15, Z:-3.05 [[ 9.99820863e-01 1.59700311e-02 1.01587135e-02 1.72634812e+02] [-1.59628813e-02 9.99872277e-01 -7.84513227e-04 -7.14610660e+00] [-1.01699447e-02 6.22210355e-04 9.99948091e-01 -3.05392166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters 0.0382645285687873 Centerline is valid? [True, True] Translation: X:172.66, Y:-7.15, Z:-3.05 [[ 9.99764524e-01 1.87218910e-02 1.09720790e-02 1.72664645e+02] [-1.87137110e-02 9.99824524e-01 -8.47725902e-04 -7.14864682e+00] [-1.09860247e-02 6.42197967e-04 9.99939446e-01 -3.05421321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454391418 meters 0.03698643804071855 Centerline is valid? [True, True] Translation: X:172.70, Y:-7.15, Z:-3.05 [[ 9.99699809e-01 2.15017235e-02 1.17459857e-02 1.72695256e+02] [-2.14925401e-02 9.99768597e-01 -9.07519560e-04 -7.14670724e+00] [-1.17627808e-02 6.54796062e-04 9.99930602e-01 -3.05413308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484391418 meters 0.03524910601402309 Centerline is valid? [True, True] Translation: X:172.73, Y:-7.14, Z:-3.05 [[ 9.99615571e-01 2.47702898e-02 1.24556470e-02 1.72725201e+02] [-2.47602134e-02 9.99692956e-01 -9.62564023e-04 -7.14460401e+00] [-1.24756656e-02 6.53789506e-04 9.99921962e-01 -3.05430711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514391418 meters 0.03237682971398468 Centerline is valid? [True, True] Translation: X:172.75, Y:-7.14, Z:-3.05 [[ 9.99434854e-01 3.09266620e-02 1.31724877e-02 1.72754810e+02] [-3.09159339e-02 9.99521471e-01 -1.01733215e-03 -7.13937212e+00] [-1.31976470e-02 6.09517448e-04 9.99912721e-01 -3.05498778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.544391418 meters 0.03237682971398468 Centerline is valid? [True, True] Translation: X:172.78, Y:-7.14, Z:-3.06 [[ 9.99437204e-01 3.08506102e-02 1.31724912e-02 1.72783065e+02] [-3.08398761e-02 9.99523820e-01 -1.01728734e-03 -7.14147136e+00] [-1.31976027e-02 6.10476819e-04 9.99912721e-01 -3.05549875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.574391418 meters 0.028101042665763354 Centerline is valid? [True, True] Translation: X:172.81, Y:-7.14, Z:-3.06 [[ 9.99330452e-01 3.37747354e-02 1.40682332e-02 1.72813074e+02] [-3.37627993e-02 9.99429285e-01 -1.08515121e-03 -7.13646246e+00] [-1.40968550e-02 6.09441717e-04 9.99900449e-01 -3.05539027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.604391418 meters 0.029865876013659493 Centerline is valid? [True, True] Translation: X:172.84, Y:-7.14, Z:-3.06 [[ 9.99241972e-01 3.62159202e-02 1.42789646e-02 1.72841709e+02] [-3.62038799e-02 9.99343818e-01 -1.10089352e-03 -7.13963100e+00] [-1.43094649e-02 5.83105095e-04 9.99897444e-01 -3.05633501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.634391418 meters 0.02370656152884284 Centerline is valid? [True, True] Translation: X:172.87, Y:-7.13, Z:-3.06 [[ 9.99061541e-01 4.08034771e-02 1.45297467e-02 1.72872830e+02] [-4.07915078e-02 9.99167053e-01 -1.11931115e-03 -7.13009448e+00] [-1.45633160e-02 5.25570446e-04 9.99893811e-01 -3.05666756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664391418 meters 0.02472262261941832 Centerline is valid? [True, True] Translation: X:172.90, Y:-7.13, Z:-3.06 [[ 9.98967487e-01 4.31328186e-02 1.42660377e-02 1.72900840e+02] [-4.31215246e-02 9.99069231e-01 -1.09846597e-03 -7.13230933e+00] [-1.43001393e-02 4.82158492e-04 9.99897632e-01 -3.05808175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694391418 meters 0.022582798653315233 Centerline is valid? [True, True] Translation: X:172.93, Y:-7.13, Z:-3.06 [[ 9.98859206e-01 4.55871033e-02 1.42162970e-02 1.72930007e+02] [-4.55761573e-02 9.98960269e-01 -1.09316089e-03 -7.12998215e+00] [-1.42513499e-02 4.43989630e-04 9.99898346e-01 -3.05895260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724391418 meters 0.022513166350896556 Centerline is valid? [True, True] Translation: X:172.96, Y:-7.13, Z:-3.06 [[ 9.98745720e-01 4.82654084e-02 1.33205850e-02 1.72958203e+02] [-4.82560492e-02 9.98834474e-01 -1.02331990e-03 -7.13081093e+00] [-1.33544505e-02 3.79237560e-04 9.99910753e-01 -3.06053287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754391418 meters 0.017998287788554387 Centerline is valid? [True, True] Translation: X:172.99, Y:-7.12, Z:-3.06 [[ 9.98451841e-01 5.41780598e-02 1.25959963e-02 1.72988192e+02] [-5.41701752e-02 9.98531250e-01 -9.66544738e-04 -7.12337553e+00] [-1.26298614e-02 2.82721047e-04 9.99920200e-01 -3.06197668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784391418 meters 0.01691614373562378 Centerline is valid? [True, True] Translation: X:173.02, Y:-7.12, Z:-3.06 [[ 9.98288967e-01 5.72154061e-02 1.20638507e-02 1.73017557e+02] [-5.72083994e-02 9.98361830e-01 -9.25368466e-04 -7.12252666e+00] [-1.20970333e-02 2.33631543e-04 9.99926801e-01 -3.06316983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814391418 meters 0.01577829558789744 Centerline is valid? [True, True] Translation: X:173.05, Y:-7.12, Z:-3.06 [[ 9.98098912e-01 6.03934767e-02 1.22959113e-02 1.73046185e+02] [-6.03864469e-02 9.98174628e-01 -9.42524395e-04 -7.12102068e+00] [-1.23303890e-02 1.98226182e-04 9.99923958e-01 -3.06360774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84439141800001 meters 0.014470434465292524 Centerline is valid? [True, True] Translation: X:173.07, Y:-7.12, Z:-3.06 [[ 9.97722100e-01 6.63022864e-02 1.24345268e-02 1.73074271e+02] [-6.62955674e-02 9.97799575e-01 -9.52221567e-04 -7.11742376e+00] [-1.24703000e-02 1.25698492e-04 9.99922235e-01 -3.06387575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87439141800002 meters 0.014079662703421772 Centerline is valid? [True, True] Translation: X:173.10, Y:-7.12, Z:-3.06 [[ 9.97550559e-01 6.87090806e-02 1.31127627e-02 1.73103433e+02] [-6.87018367e-02 9.97636734e-01 -1.00262614e-03 -7.11689450e+00] [-1.31506633e-02 9.92993872e-05 9.99913521e-01 -3.06415216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90439141800002 meters 0.013714761243008099 Centerline is valid? [True, True] Translation: X:173.13, Y:-7.12, Z:-3.06 [[ 9.97398216e-01 7.08170404e-02 1.34813238e-02 1.73131750e+02] [-7.08095900e-02 9.97489319e-01 -1.02976679e-03 -7.11698343e+00] [-1.35204015e-02 7.24805523e-05 9.99908593e-01 -3.06442732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93439141800002 meters 0.013473485365592433 Centerline is valid? [True, True] Translation: X:173.16, Y:-7.12, Z:-3.06 [[ 9.97184774e-01 7.35223850e-02 1.47304150e-02 1.73160754e+02] [-7.35138102e-02 9.97293566e-01 -1.12347690e-03 -7.11658266e+00] [-1.47731488e-02 3.74251297e-05 9.99890870e-01 -3.06414221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters 0.01334635562764055 Centerline is valid? [True, True] Translation: X:173.19, Y:-7.12, Z:-3.06 [[ 9.97163647e-01 7.37349958e-02 1.50934297e-02 1.73187908e+02] [-7.37260338e-02 9.97277870e-01 -1.15008980e-03 -7.11861263e+00] [-1.51371453e-02 3.40490249e-05 9.99885426e-01 -3.06444252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994391418 meters 0.01345878091170683 Centerline is valid? [True, True] Translation: X:173.22, Y:-7.12, Z:-3.07 [[ 9.97203037e-01 7.31920495e-02 1.51336475e-02 1.73215925e+02] [-7.31830101e-02 9.97317864e-01 -1.15098209e-03 -7.12130012e+00] [-1.51772997e-02 4.02369612e-05 9.99884817e-01 -3.06514857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters 0.01364418918755761 Centerline is valid? [True, True] Translation: X:173.24, Y:-7.13, Z:-3.07 [[ 9.97452039e-01 6.96786141e-02 1.53075329e-02 1.73243859e+02] [-6.96689783e-02 9.97569487e-01 -1.16249173e-03 -7.12701435e+00] [-1.53513286e-02 9.30695728e-05 9.99882157e-01 -3.06544367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054391418 meters 0.01422653026815755 Centerline is valid? [True, True] Translation: X:173.27, Y:-7.13, Z:-3.07 [[ 9.97633864e-01 6.70092288e-02 1.53765149e-02 1.73271262e+02] [-6.69992261e-02 9.97752347e-01 -1.16531743e-03 -7.13275925e+00] [-1.54200409e-02 1.32345536e-04 9.99881095e-01 -3.06647808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters 0.014705690241499371 Centerline is valid? [True, True] Translation: X:173.30, Y:-7.14, Z:-3.07 [[ 9.97840425e-01 6.38349632e-02 1.54784708e-02 1.73299525e+02] [-6.38244697e-02 9.97960452e-01 -1.17147770e-03 -7.13749663e+00] [-1.55216830e-02 1.81042608e-04 9.99879515e-01 -3.06707962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114391418 meters 0.01582672627413185 Centerline is valid? [True, True] Translation: X:173.33, Y:-7.14, Z:-3.07 [[ 9.98077594e-01 6.01453344e-02 1.49550839e-02 1.73327134e+02] [-6.01351389e-02 9.98189604e-01 -1.13090783e-03 -7.14404760e+00] [-1.49960281e-02 2.29407714e-04 9.99887527e-01 -3.06851337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters 0.0186365878258687 Centerline is valid? [True, True] Translation: X:173.36, Y:-7.15, Z:-3.07 [[ 9.98524726e-01 5.23908269e-02 1.42679231e-02 1.73355510e+02] [-5.23807871e-02 9.98626604e-01 -1.07671071e-03 -7.15462277e+00] [-1.43047374e-02 3.27757225e-04 9.99897628e-01 -3.07010559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174391418 meters 0.020610167514918055 Centerline is valid? [True, True] Translation: X:173.39, Y:-7.16, Z:-3.07 [[ 9.98731715e-01 4.83750119e-02 1.39577588e-02 1.73385053e+02] [-4.83650243e-02 9.98829173e-01 -1.05242074e-03 -7.16119734e+00] [-1.39923275e-02 3.76018633e-04 9.99902032e-01 -3.07099528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204391418 meters 0.021144584991346548 Centerline is valid? [True, True] Translation: X:173.41, Y:-7.17, Z:-3.07 [[ 9.98898346e-01 4.48928210e-02 1.36648656e-02 1.73414427e+02] [-4.48829297e-02 9.98991723e-01 -1.02982236e-03 -7.16563068e+00] [-1.36973193e-02 4.15368652e-04 9.99906101e-01 -3.07174905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234391418 meters 0.02413840723579931 Centerline is valid? [True, True] Translation: X:173.44, Y:-7.17, Z:-3.07 [[ 9.99053472e-01 4.13881908e-02 1.33857220e-02 1.73442553e+02] [-4.13783901e-02 9.99143039e-01 -1.00842000e-03 -7.17348230e+00] [-1.34159877e-02 4.53585875e-04 9.99909899e-01 -3.07270561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264391418 meters 0.025794590541961305 Centerline is valid? [True, True] Translation: X:173.47, Y:-7.18, Z:-3.07 [[ 9.99264557e-01 3.58285753e-02 1.36623088e-02 1.73472102e+02] [-3.58178643e-02 9.99357806e-01 -1.02794610e-03 -7.17999318e+00] [-1.36903648e-02 5.37835380e-04 9.99906138e-01 -3.07265634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.294391418 meters 0.026936135565908074 Centerline is valid? [True, True] Translation: X:173.50, Y:-7.18, Z:-3.07 [[ 9.99330171e-01 3.39692065e-02 1.36125878e-02 1.73500604e+02] [-3.39584013e-02 9.99422722e-01 -1.02419423e-03 -7.18445243e+00] [-1.36395206e-02 5.61246477e-04 9.99906820e-01 -3.07279645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.324391418 meters 0.026901857464092096 Centerline is valid? [True, True] Translation: X:173.53, Y:-7.19, Z:-3.07 [[ 9.99378263e-01 3.24393024e-02 1.38122823e-02 1.73529343e+02] [-3.24280474e-02 9.99473533e-01 -1.03809433e-03 -7.18687754e+00] [-1.38386857e-02 5.89543557e-04 9.99904067e-01 -3.07297236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.354391418 meters 0.02944671881393266 Centerline is valid? [True, True] Translation: X:173.56, Y:-7.19, Z:-3.07 [[ 9.99415898e-01 3.12504586e-02 1.38300955e-02 1.73557291e+02] [-3.12390778e-02 9.99511402e-01 -1.03821783e-03 -7.19297524e+00] [-1.38557829e-02 6.05571975e-04 9.99903821e-01 -3.07354237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.384391418 meters 0.028823618873508254 Centerline is valid? [True, True] Translation: X:173.59, Y:-7.19, Z:-3.07 [[ 9.99433995e-01 3.08170254e-02 1.34907956e-02 1.73585865e+02] [-3.08061664e-02 9.99524865e-01 -1.01204285e-03 -7.19403475e+00] [-1.35155738e-02 5.95870331e-04 9.99908483e-01 -3.07394317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414391418 meters 0.029832633313252973 Centerline is valid? [True, True] Translation: X:173.61, Y:-7.20, Z:-3.08 [[ 9.99436331e-01 3.07943537e-02 1.33689248e-02 1.73614646e+02] [-3.07837034e-02 9.99525568e-01 -1.00175138e-03 -7.19741872e+00] [-1.33934304e-02 5.89641706e-04 9.99910130e-01 -3.07504579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444391418 meters 0.030289499125504646 Centerline is valid? [True, True] Translation: X:173.64, Y:-7.20, Z:-3.08 [[ 9.99447670e-01 3.06849835e-02 1.27587836e-02 1.73643729e+02] [-3.06752821e-02 9.99528946e-01 -9.55420615e-04 -7.19944714e+00] [-1.27820906e-02 5.63513621e-04 9.99918147e-01 -3.07598481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474391418 meters 0.029384924463036893 Centerline is valid? [True, True] Translation: X:173.67, Y:-7.20, Z:-3.08 [[ 9.99449879e-01 3.10761312e-02 1.15850662e-02 1.73672850e+02] [-3.10681678e-02 9.99516892e-01 -8.66761467e-04 -7.19960740e+00] [-1.16064050e-02 5.06357861e-04 9.99932515e-01 -3.07737128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504391418 meters 0.027905326159319913 Centerline is valid? [True, True] Translation: X:173.70, Y:-7.20, Z:-3.08 [[ 9.99447018e-01 3.13356860e-02 1.11235334e-02 1.73701748e+02] [-3.13283695e-02 9.99508800e-01 -8.31423094e-04 -7.19914586e+00] [-1.11441227e-02 4.82481167e-04 9.99937786e-01 -3.07810989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534391418 meters 0.029744750717471336 Centerline is valid? [True, True] Translation: X:173.73, Y:-7.20, Z:-3.08 [[ 9.99444915e-01 3.14903212e-02 1.08730150e-02 1.73729422e+02] [-3.14833475e-02 9.99503947e-01 -8.11985463e-04 -7.20332321e+00] [-1.08931910e-02 4.69215833e-04 9.99940557e-01 -3.07928497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564391418 meters 0.029395550041367305 Centerline is valid? [True, True] Translation: X:173.76, Y:-7.20, Z:-3.08 [[ 9.99428222e-01 3.21978504e-02 1.03212246e-02 1.73758102e+02] [-3.21916159e-02 9.99481419e-01 -7.69658270e-04 -7.20408021e+00] [-1.03406535e-02 4.36961300e-04 9.99946439e-01 -3.08020377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59439141800001 meters 0.028820951419580337 Centerline is valid? [True, True] Translation: X:173.79, Y:-7.20, Z:-3.08 [[ 9.99423924e-01 3.24785707e-02 9.84698813e-03 1.73787332e+02] [-3.24729164e-02 9.99472347e-01 -7.33596212e-04 -7.20497355e+00] [-9.86561849e-03 4.13413182e-04 9.99951248e-01 -3.08100225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62439141800002 meters 0.028021606653223802 Centerline is valid? [True, True] Translation: X:173.82, Y:-7.21, Z:-3.08 [[ 9.99410085e-01 3.30102011e-02 9.47678491e-03 1.73816573e+02] [-3.30049944e-02 9.99454938e-01 -7.05329416e-04 -7.20563524e+00] [-9.49490254e-03 3.92132098e-04 9.99954846e-01 -3.08170984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65439141800002 meters 0.026608812354466396 Centerline is valid? [True, True] Translation: X:173.85, Y:-7.20, Z:-3.08 [[ 9.99383061e-01 3.40737688e-02 8.51325273e-03 1.73845672e+02] [-3.40696100e-02 9.99419262e-01 -6.33100931e-04 -7.20370112e+00] [-8.52988089e-03 3.42667146e-04 9.99963561e-01 -3.08241295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68439141800002 meters 0.02774243422462226 Centerline is valid? [True, True] Translation: X:173.87, Y:-7.21, Z:-3.08 [[ 9.99344030e-01 3.52552932e-02 8.28096857e-03 1.73873194e+02] [-3.52514024e-02 9.99378287e-01 -6.15383910e-04 -7.20641263e+00] [-8.29751573e-03 3.23064480e-04 9.99965523e-01 -3.08337686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714391418 meters 0.02671943590900395 Centerline is valid? [True, True] Translation: X:173.90, Y:-7.21, Z:-3.08 [[ 9.99281946e-01 3.70021092e-02 8.15084357e-03 1.73902217e+02] [-3.69984060e-02 9.99315142e-01 -6.04701798e-04 -7.20641843e+00] [-8.16763664e-03 3.02699369e-04 9.99966598e-01 -3.08376833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters 0.024148312810212957 Centerline is valid? [True, True] Translation: X:173.93, Y:-7.20, Z:-3.08 [[ 9.99223227e-01 3.85994243e-02 7.93894067e-03 1.73931180e+02] [-3.85959659e-02 9.99254725e-01 -5.88436623e-04 -7.20320184e+00] [-7.95573729e-03 2.81568458e-04 9.99968313e-01 -3.08327545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774391418 meters 0.02262667577354228 Centerline is valid? [True, True] Translation: X:173.96, Y:-7.20, Z:-3.08 [[ 9.98999271e-01 4.39044032e-02 8.53577586e-03 1.73960285e+02] [-4.39006088e-02 9.99035704e-01 -6.31484448e-04 -7.20038104e+00] [-8.55526979e-03 2.56126747e-04 9.99963370e-01 -3.08319707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters 0.021215243729121147 Centerline is valid? [True, True] Translation: X:173.99, Y:-7.20, Z:-3.08 [[ 9.98861609e-01 4.68120435e-02 9.17161763e-03 1.73989504e+02] [-4.68077859e-02 9.98903685e-01 -6.78443203e-04 -7.19873807e+00] [-9.19332195e-03 2.48367756e-04 9.99957710e-01 -3.08288310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834391418 meters 0.018465357746147913 Centerline is valid? [True, True] Translation: X:174.02, Y:-7.19, Z:-3.08 [[ 9.98513424e-01 5.33843070e-02 1.10026059e-02 1.74019809e+02] [-5.33785940e-02 9.98574016e-01 -8.12458672e-04 -7.19323112e+00] [-1.10302889e-02 2.23947259e-04 9.99939139e-01 -3.08157906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters 0.01778323731695413 Centerline is valid? [True, True] Translation: X:174.05, Y:-7.19, Z:-3.08 [[ 9.98340770e-01 5.64791184e-02 1.12167361e-02 1.74048244e+02] [-5.64733783e-02 9.98403762e-01 -8.28073636e-04 -7.19278904e+00] [-1.12456004e-02 1.93252692e-04 9.99936748e-01 -3.08163170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894391418 meters 0.0166316081291397 Centerline is valid? [True, True] Translation: X:174.08, Y:-7.19, Z:-3.08 [[ 9.98171567e-01 5.93210860e-02 1.15988013e-02 1.74077766e+02] [-5.93151526e-02 9.98238940e-01 -8.55196931e-04 -7.19082297e+00] [-1.16291063e-02 1.65648593e-04 9.99932366e-01 -3.08137127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924391418 meters 0.01598116728172558 Centerline is valid? [True, True] Translation: X:174.11, Y:-7.19, Z:-3.08 [[ 9.98018658e-01 6.18202358e-02 1.17054518e-02 1.74107117e+02] [-6.18143663e-02 9.98087291e-01 -8.62918597e-04 -7.19016774e+00] [-1.17364085e-02 1.37643776e-04 9.99931117e-01 -3.08194809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954391418 meters 0.01536270357971833 Centerline is valid? [True, True] Translation: X:174.14, Y:-7.19, Z:-3.08 [[ 9.97791225e-01 6.54705711e-02 1.12372212e-02 1.74135742e+02] [-6.54654161e-02 9.97854497e-01 -8.26362750e-04 -7.18762412e+00] [-1.12672142e-02 8.88881379e-05 9.99936519e-01 -3.08320216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984391418 meters 0.015147511936219655 Centerline is valid? [True, True] Translation: X:174.16, Y:-7.19, Z:-3.08 [[ 9.97707432e-01 6.68214424e-02 1.07132784e-02 1.74163262e+02] [-6.68168418e-02 9.97764947e-01 -7.87177999e-04 -7.18898351e+00] [-1.07419340e-02 6.95459159e-05 9.99942301e-01 -3.08475495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014391418 meters 0.015046769576744397 Centerline is valid? [True, True] Translation: X:174.19, Y:-7.19, Z:-3.09 [[ 9.97687376e-01 6.72246408e-02 1.00373276e-02 1.74191165e+02] [-6.72206305e-02 9.97737863e-01 -7.36753436e-04 -7.19015994e+00] [-1.00641498e-02 6.03341114e-05 9.99949353e-01 -3.08591862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.044391418 meters 0.015065843115329791 Centerline is valid? [True, True] Translation: X:174.22, Y:-7.19, Z:-3.09 [[ 9.97685467e-01 6.74087366e-02 8.93144399e-03 1.74220265e+02] [-6.74055788e-02 9.97725443e-01 -6.54452354e-04 -7.19171154e+00] [-8.95524472e-03 5.09084511e-05 9.99959900e-01 -3.08698100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.074391418 meters 0.015313018408123356 Centerline is valid? [True, True] Translation: X:174.25, Y:-7.19, Z:-3.09 [[ 9.97753201e-01 6.65149330e-02 8.01952112e-03 1.74247993e+02] [-6.65123567e-02 9.97785428e-01 -5.87821735e-04 -7.19467562e+00] [-8.04086024e-03 5.31037688e-05 9.99967670e-01 -3.08905738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.104391418 meters 0.015410202908517585 Centerline is valid? [True, True] Translation: X:174.28, Y:-7.20, Z:-3.09 [[ 9.97826026e-01 6.55227955e-02 7.06994791e-03 1.74276200e+02] [-6.55207790e-02 9.97851071e-01 -5.16704973e-04 -7.19773008e+00] [-7.08861105e-03 5.23531752e-05 9.99974874e-01 -3.09014366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.134391418 meters 0.015566836273822167 Centerline is valid? [True, True] Translation: X:174.30, Y:-7.20, Z:-3.09 [[ 9.97900118e-01 6.44225482e-02 6.71483391e-03 1.74304894e+02] [-6.44207073e-02 9.97922708e-01 -4.90303594e-04 -7.20087389e+00] [-6.73247185e-03 5.66996643e-05 9.99977335e-01 -3.09072161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164391418 meters 0.01579133272873851 Centerline is valid? [True, True] Translation: X:174.33, Y:-7.21, Z:-3.09 [[ 9.98057295e-01 6.19342278e-02 6.76662648e-03 1.74333746e+02] [-6.19322897e-02 9.98080230e-01 -4.95786231e-04 -7.20522600e+00] [-6.78434225e-03 7.57503926e-05 9.99976983e-01 -3.09090764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194391418 meters 0.01608180457213281 Centerline is valid? [True, True] Translation: X:174.36, Y:-7.21, Z:-3.09 [[ 9.98116236e-01 6.08990741e-02 7.43514375e-03 1.74360110e+02] [-6.08967356e-02 9.98143925e-01 -5.40710623e-04 -7.20806692e+00] [-7.45427234e-03 8.69160694e-05 9.99972213e-01 -3.09122880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224391418 meters 0.016679546265396725 Centerline is valid? [True, True] Translation: X:174.39, Y:-7.21, Z:-3.09 [[ 9.98184408e-01 5.97271657e-02 7.78157606e-03 1.74388107e+02] [-5.97245813e-02 9.98214734e-01 -5.64291500e-04 -7.21128523e+00] [-7.80138741e-03 9.85156055e-05 9.99969564e-01 -3.09143138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254391418 meters 0.017158403775644534 Centerline is valid? [True, True] Translation: X:174.42, Y:-7.21, Z:-3.09 [[ 9.98274235e-01 5.80277979e-02 9.01810842e-03 1.74416527e+02] [-5.80242696e-02 9.98314959e-01 -6.52621714e-04 -7.21468582e+00] [-9.04078275e-03 1.28226288e-04 9.99959123e-01 -3.09061070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284391418 meters 0.01682656691216148 Centerline is valid? [True, True] Translation: X:174.45, Y:-7.22, Z:-3.09 [[ 9.98309895e-01 5.73201493e-02 9.57887021e-03 1.74445449e+02] [-5.73161435e-02 9.98355839e-01 -6.92412583e-04 -7.21663650e+00] [-9.60281019e-03 1.42218434e-04 9.99953882e-01 -3.09038753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314391418 meters 0.0172884105930789 Centerline is valid? [True, True] Translation: X:174.47, Y:-7.22, Z:-3.09 [[ 9.98369710e-01 5.61601494e-02 1.01960712e-02 1.74473474e+02] [-5.61555580e-02 9.98421760e-01 -7.36273966e-04 -7.21971592e+00] [-1.02213286e-02 1.62507557e-04 9.99947748e-01 -3.09072819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34439141800001 meters 0.01817749888318061 Centerline is valid? [True, True] Translation: X:174.50, Y:-7.22, Z:-3.09 [[ 9.98511624e-01 5.35243139e-02 1.04730554e-02 1.74502068e+02] [-5.35193375e-02 9.98566528e-01 -7.55046992e-04 -7.22471839e+00] [-1.04984559e-02 1.93412211e-04 9.99944871e-01 -3.09104168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37439141800002 meters 0.018561186559388845 Centerline is valid? [True, True] Translation: X:174.53, Y:-7.23, Z:-3.09 [[ 9.98603468e-01 5.17337924e-02 1.07111699e-02 1.74530478e+02] [-5.17284934e-02 9.98660887e-01 -7.71357186e-04 -7.22802934e+00] [-1.07367317e-02 2.16207278e-04 9.99942336e-01 -3.09143645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40439141800002 meters 0.01910339821361858 Centerline is valid? [True, True] Translation: X:174.56, Y:-7.23, Z:-3.09 [[ 9.98712823e-01 4.95918023e-02 1.06465967e-02 1.74558710e+02] [-4.95864542e-02 9.98769541e-01 -7.65881972e-04 -7.23171509e+00] [-1.06714780e-02 2.36969168e-04 9.99943030e-01 -3.09203934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43439141800002 meters 0.02030618844207275 Centerline is valid? [True, True] Translation: X:174.59, Y:-7.24, Z:-3.09 [[ 9.98915707e-01 4.55220878e-02 9.75444968e-03 1.74587645e+02] [-4.55174124e-02 9.98963300e-01 -7.00893479e-04 -7.23779412e+00] [-9.77624337e-03 2.56136197e-04 9.99952179e-01 -3.09375419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters 0.02030618844207275 Centerline is valid? [True, True] Translation: X:174.62, Y:-7.24, Z:-3.09 [[ 9.98921186e-01 4.54017083e-02 9.75445631e-03 1.74615045e+02] [-4.53970280e-02 9.98968778e-01 -7.00801862e-04 -7.23964486e+00] [-9.77621490e-03 2.57222500e-04 9.99952179e-01 -3.09424967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494391418 meters 0.021500338766301346 Centerline is valid? [True, True] Translation: X:174.64, Y:-7.24, Z:-3.10 [[ 9.99013519e-01 4.34797385e-02 9.02775219e-03 1.74642087e+02] [-4.34756597e-02 9.99054277e-01 -6.47652157e-04 -7.24446837e+00] [-9.04737418e-03 2.54525779e-04 9.99959039e-01 -3.09586282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters 0.022330354359035867 Centerline is valid? [True, True] Translation: X:174.67, Y:-7.25, Z:-3.10 [[ 9.99087043e-01 4.18257814e-02 8.69964940e-03 1.74670981e+02] [-4.18219428e-02 9.99124886e-01 -6.22767616e-04 -7.24830740e+00] [-8.71808395e-03 2.58362817e-04 9.99961963e-01 -3.09703736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554391418 meters 0.022786387978503894 Centerline is valid? [True, True] Translation: X:174.70, Y:-7.25, Z:-3.10 [[ 9.99130195e-01 4.08895597e-02 8.17906194e-03 1.74699234e+02] [-4.08861401e-02 9.99163641e-01 -5.84937731e-04 -7.25132307e+00] [-8.19613915e-03 2.50018678e-04 9.99966380e-01 -3.09799004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters 0.02260050850224502 Centerline is valid? [True, True] Translation: X:174.73, Y:-7.25, Z:-3.10 [[ 9.99124441e-01 4.10734794e-02 7.95741382e-03 1.74728224e+02] [-4.10702531e-02 9.99156099e-01 -5.68496163e-04 -7.25294347e+00] [-7.97404867e-03 2.41185411e-04 9.99968178e-01 -3.09894771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614391418 meters 0.022403299051866863 Centerline is valid? [True, True] Translation: X:174.76, Y:-7.25, Z:-3.10 [[ 9.99102950e-01 4.16575537e-02 7.61209116e-03 1.74756957e+02] [-4.16546225e-02 9.99131922e-01 -5.43280742e-04 -7.25438081e+00] [-7.62811502e-03 2.25714608e-04 9.99970880e-01 -3.09978176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters 0.021185957450724758 Centerline is valid? [True, True] Translation: X:174.79, Y:-7.25, Z:-3.10 [[ 9.98959120e-01 4.49731798e-02 7.62166986e-03 1.74785679e+02] [-4.49703422e-02 9.98988175e-01 -5.43354068e-04 -7.25386474e+00] [-7.63839442e-03 2.00039400e-04 9.99970807e-01 -3.10080986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674391418 meters 0.01982576546410796 Centerline is valid? [True, True] Translation: X:174.81, Y:-7.25, Z:-3.10 [[ 9.98841911e-01 4.75026324e-02 7.63790505e-03 1.74814572e+02] [-4.74998612e-02 9.98871096e-01 -5.43915444e-04 -7.25332679e+00] [-7.65512001e-03 1.80486111e-04 9.99970683e-01 -3.10128369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704391418 meters 0.01871381102394618 Centerline is valid? [True, True] Translation: X:174.84, Y:-7.25, Z:-3.10 [[ 9.98698758e-01 5.04416860e-02 7.51180422e-03 1.74844068e+02] [-5.04390945e-02 9.98726996e-01 -5.34157793e-04 -7.25226478e+00] [-7.52918548e-03 1.54574122e-04 9.99971643e-01 -3.10158843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734391418 meters 0.017189589039923934 Centerline is valid? [True, True] Translation: X:174.87, Y:-7.25, Z:-3.10 [[ 9.98519945e-01 5.38338959e-02 7.73503153e-03 1.74873535e+02] [-5.38312535e-02 9.98549896e-01 -5.49552928e-04 -7.25041038e+00] [-7.75339951e-03 1.32353116e-04 9.99969933e-01 -3.10131083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764391418 meters 0.015925181140904 Centerline is valid? [True, True] Translation: X:174.90, Y:-7.25, Z:-3.10 [[ 9.98157567e-01 6.02339458e-02 7.30362104e-03 1.74901952e+02] [-6.02317609e-02 9.98184284e-01 -5.18942000e-04 -7.24644472e+00] [-7.32161766e-03 7.80759285e-05 9.99973194e-01 -3.10152567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.794391418 meters 0.015470904970181621 Centerline is valid? [True, True] Translation: X:174.93, Y:-7.25, Z:-3.10 [[ 9.97976500e-01 6.31907807e-02 7.05902456e-03 1.74930595e+02] [-6.31888199e-02 9.98001464e-01 -5.00677823e-04 -7.24558302e+00] [-7.07655507e-03 5.36132700e-05 9.99974959e-01 -3.10210535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.824391418 meters 0.015116299192386677 Centerline is valid? [True, True] Translation: X:174.96, Y:-7.25, Z:-3.10 [[ 9.97800233e-01 6.59136387e-02 7.07729677e-03 1.74958063e+02] [-6.59117387e-02 9.97825331e-01 -5.01614071e-04 -7.24545476e+00] [-7.09496920e-03 3.40337004e-05 9.99974830e-01 -3.10298333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.854391418 meters 0.01503667921431021 Centerline is valid? [True, True] Translation: X:174.99, Y:-7.25, Z:-3.10 [[ 9.97666927e-01 6.78954361e-02 7.13533983e-03 1.74986193e+02] [-6.78935442e-02 9.97692442e-01 -5.07317813e-04 -7.24595794e+00] [-7.15331918e-03 2.16906939e-05 9.99974414e-01 -3.10376867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.884391418 meters 0.014959847487088215 Centerline is valid? [True, True] Translation: X:175.01, Y:-7.25, Z:-3.10 [[ 9.97505700e-01 7.01994445e-02 7.37681250e-03 1.75014116e+02] [-7.01975031e-02 9.97532976e-01 -5.22087827e-04 -7.24660967e+00] [-7.39526400e-03 2.95176514e-06 9.99972655e-01 -3.10416970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914391418 meters 0.014954366669662619 Centerline is valid? [True, True] Translation: X:175.04, Y:-7.25, Z:-3.11 [[ 9.97470270e-01 7.06704765e-02 7.66448181e-03 1.75040850e+02] [-7.06684235e-02 9.97499716e-01 -5.38695238e-04 -7.24851558e+00] [-7.68338828e-03 -4.30436182e-06 9.99970482e-01 -3.10595194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944391418 meters 0.01494552017882078 Centerline is valid? [True, True] Translation: X:175.07, Y:-7.25, Z:-3.11 [[ 9.97489991e-01 7.04022790e-02 7.56548787e-03 1.75068852e+02] [-7.04002752e-02 9.97518681e-01 -5.31183910e-04 -7.25099413e+00] [-7.58411204e-03 -2.76179390e-06 9.99971240e-01 -3.10594784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974391418 meters 0.014869242717319353 Centerline is valid? [True, True] Translation: X:175.10, Y:-7.26, Z:-3.11 [[ 9.97548761e-01 6.96062080e-02 7.17247234e-03 1.75097665e+02] [-6.96044190e-02 9.97574546e-01 -4.99036729e-04 -7.25511409e+00] [-7.18981189e-03 -1.42229885e-06 9.99974153e-01 -3.10699240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004391418 meters 0.015015864663387866 Centerline is valid? [True, True] Translation: X:175.12, Y:-7.26, Z:-3.11 [[ 9.97615144e-01 6.86300044e-02 7.34490851e-03 1.75124696e+02] [-6.86281019e-02 9.97642182e-01 -5.11037840e-04 -7.25833520e+00] [-7.36266308e-03 5.75195796e-06 9.99972895e-01 -3.10828875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034391418 meters 0.01499941878995693 Centerline is valid? [True, True] Translation: X:175.15, Y:-7.26, Z:-3.11 [[ 9.97668171e-01 6.78154866e-02 7.69938131e-03 1.75152875e+02] [-6.78133825e-02 9.97697880e-01 -5.34318471e-04 -7.26193778e+00] [-7.71789147e-03 1.09514421e-05 9.99970217e-01 -3.10858221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064391418 meters 0.015072848933955274 Centerline is valid? [True, True] Translation: X:175.18, Y:-7.27, Z:-3.11 [[ 9.97799766e-01 6.58149215e-02 8.00147973e-03 1.75180374e+02] [-6.58125927e-02 9.97831847e-01 -5.54283982e-04 -7.26738396e+00] [-8.02061146e-03 2.64663012e-05 9.99967834e-01 -3.10805477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09439141800001 meters 0.015060655806616289 Centerline is valid? [True, True] Translation: X:175.21, Y:-7.27, Z:-3.11 [[ 9.97853373e-01 6.48743255e-02 8.94244788e-03 1.75208449e+02] [-6.48713943e-02 9.97893441e-01 -6.17771747e-04 -7.27146208e+00] [-8.96368762e-03 3.63365595e-05 9.99959825e-01 -3.10874590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12439141800002 meters 0.015186331776058111 Centerline is valid? [True, True] Translation: X:175.24, Y:-7.28, Z:-3.11 [[ 9.97987297e-01 6.26461411e-02 9.83955592e-03 1.75237321e+02] [-6.26424929e-02 9.98035800e-01 -6.78823781e-04 -7.27756755e+00] [-9.86275475e-03 6.10831984e-05 9.99951360e-01 -3.10795253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15439141800002 meters 0.015188620178170492 Centerline is valid? [True, True] Translation: X:175.27, Y:-7.28, Z:-3.11 [[ 9.98051870e-01 6.15431559e-02 1.02422622e-02 1.75265817e+02] [-6.15391538e-02 9.98104421e-01 -7.05746981e-04 -7.28168227e+00] [-1.02662811e-02 7.40719441e-05 9.99947298e-01 -3.10809876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18439141800002 meters 0.015426176589441318 Centerline is valid? [True, True] Translation: X:175.29, Y:-7.29, Z:-3.11 [[ 9.98128429e-01 6.02057362e-02 1.07195848e-02 1.75293385e+02] [-6.02012838e-02 9.98185985e-01 -7.37839255e-04 -7.28616735e+00] [-1.07445615e-02 9.11255675e-05 9.99942271e-01 -3.10879200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214391418 meters 0.015572635568863177 Centerline is valid? [True, True] Translation: X:175.32, Y:-7.29, Z:-3.11 [[ 9.98192600e-01 5.90510751e-02 1.11581434e-02 1.75322462e+02] [-5.90461937e-02 9.98254957e-01 -7.66692512e-04 -7.29020605e+00] [-1.11839460e-02 1.06460895e-04 9.99937452e-01 -3.10888667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters 0.016170278562231494 Centerline is valid? [True, True] Translation: X:175.35, Y:-7.30, Z:-3.11 [[ 9.98359406e-01 5.61285512e-02 1.13173033e-02 1.75350969e+02] [-5.61233523e-02 9.98423540e-01 -7.76695175e-04 -7.29775562e+00] [-1.13430568e-02 1.40255933e-04 9.99935656e-01 -3.10989631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274391418 meters 0.017056287859369898 Centerline is valid? [True, True] Translation: X:175.38, Y:-7.30, Z:-3.11 [[ 9.98452063e-01 5.44400494e-02 1.13911979e-02 1.75378218e+02] [-5.44346783e-02 9.98517028e-01 -7.81266106e-04 -7.30420803e+00] [-1.14168373e-02 1.59980561e-04 9.99934813e-01 -3.11136803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters 0.01730719038055038 Centerline is valid? [True, True] Translation: X:175.41, Y:-7.31, Z:-3.11 [[ 9.98557693e-01 5.24485341e-02 1.14753870e-02 1.75406498e+02] [-5.24429757e-02 9.98623612e-01 -7.84961571e-04 -7.30862934e+00] [-1.15007625e-02 1.82025975e-04 9.99933847e-01 -3.11174554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334391418 meters 0.018097152362090366 Centerline is valid? [True, True] Translation: X:175.43, Y:-7.31, Z:-3.11 [[ 9.98667696e-01 5.03317109e-02 1.13820519e-02 1.75433921e+02] [-5.03261137e-02 9.98732535e-01 -7.77818160e-04 -7.31417840e+00] [-1.14067745e-02 2.03967430e-04 9.99934920e-01 -3.11235780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters 0.019627820308874378 Centerline is valid? [True, True] Translation: X:175.46, Y:-7.32, Z:-3.11 [[ 9.98857213e-01 4.65618921e-02 1.07823392e-02 1.75462005e+02] [-4.65566616e-02 9.98915380e-01 -7.35738840e-04 -7.32240166e+00] [-1.08049018e-02 2.32908330e-04 9.99941598e-01 -3.11309318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394391418 meters 0.01986316204600842 Centerline is valid? [True, True] Translation: X:175.49, Y:-7.33, Z:-3.11 [[ 9.98947978e-01 4.47113037e-02 1.01900179e-02 1.75490351e+02] [-4.47065429e-02 9.98999921e-01 -6.94622396e-04 -7.32611487e+00] [-1.02108846e-02 2.38331165e-04 9.99947839e-01 -3.11359632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424391418 meters 0.021010077877731036 Centerline is valid? [True, True] Translation: X:175.52, Y:-7.33, Z:-3.11 [[ 9.99045872e-01 4.25909896e-02 9.66192834e-03 1.75518108e+02] [-4.25866156e-02 9.99092562e-01 -6.58087671e-04 -7.33307617e+00] [-9.68118934e-03 2.45990943e-04 9.99953106e-01 -3.11499993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454391418 meters 0.020921674101285967 Centerline is valid? [True, True] Translation: X:175.55, Y:-7.34, Z:-3.12 [[ 9.99062721e-01 4.23177206e-02 9.10440622e-03 1.75546938e+02] [-4.23138343e-02 9.99104177e-01 -6.19146628e-04 -7.33601462e+00] [-9.12245116e-03 2.33323979e-04 9.99958362e-01 -3.11553458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484391418 meters 0.02047084144725135 Centerline is valid? [True, True] Translation: X:175.58, Y:-7.34, Z:-3.12 [[ 9.98997018e-01 4.38313396e-02 9.15273281e-03 1.75575725e+02] [-4.38274822e-02 9.99038921e-01 -6.21700790e-04 -7.33882948e+00] [-9.17118629e-03 2.19936001e-04 9.99957920e-01 -3.11622642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514391418 meters 0.019760348145570157 Centerline is valid? [True, True] Translation: X:175.60, Y:-7.34, Z:-3.12 [[ 9.98946207e-01 4.49908764e-02 9.07175160e-03 1.75604187e+02] [-4.49871410e-02 9.98987376e-01 -6.15505115e-04 -7.33982267e+00] [-9.09025745e-03 2.06744332e-04 9.99958661e-01 -3.11647527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.544391418 meters 0.019679771491657335 Centerline is valid? [True, True] Translation: X:175.63, Y:-7.34, Z:-3.12 [[ 9.98875631e-01 4.65730613e-02 8.85569641e-03 1.75631629e+02] [-4.65695683e-02 9.98914869e-01 -6.00341554e-04 -7.34209048e+00] [-8.87404656e-03 1.87260589e-04 9.99960607e-01 -3.11745239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.574391418 meters 0.019282606120285668 Centerline is valid? [True, True] Translation: X:175.66, Y:-7.34, Z:-3.12 [[ 9.98789830e-01 4.84214654e-02 8.61605685e-03 1.75658996e+02] [-4.84182349e-02 9.98826979e-01 -5.83262661e-04 -7.34361538e+00] [-8.63419247e-03 1.65382550e-04 9.99962711e-01 -3.11831402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.604391418 meters 0.017406213207608243 Centerline is valid? [True, True] Translation: X:175.69, Y:-7.34, Z:-3.12 [[ 9.98593258e-01 5.23513092e-02 8.41700458e-03 1.75687832e+02] [-5.23483736e-02 9.98628722e-01 -5.68856434e-04 -7.34243801e+00] [-8.43524291e-03 1.27439700e-04 9.99964415e-01 -3.11843559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.634391418 meters 0.0169879424154076 Centerline is valid? [True, True] Translation: X:175.72, Y:-7.34, Z:-3.12 [[ 9.98508813e-01 5.39509043e-02 8.33364436e-03 1.75716707e+02] [-5.39480877e-02 9.98543583e-01 -5.62575302e-04 -7.34354037e+00] [-8.35185854e-03 1.12152220e-04 9.99965116e-01 -3.11875846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664391418 meters 0.0166020126695908 Centerline is valid? [True, True] Translation: X:175.75, Y:-7.34, Z:-3.12 [[ 9.98432880e-01 5.53726391e-02 8.10275387e-03 1.75745709e+02] [-5.53700282e-02 9.98465754e-01 -5.46380540e-04 -7.34497579e+00] [-8.12057678e-03 9.68745861e-05 9.99967023e-01 -3.11906415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694391418 meters 0.016328576571758367 Centerline is valid? [True, True] Translation: X:175.77, Y:-7.35, Z:-3.12 [[ 9.98301643e-01 5.76470606e-02 8.40509880e-03 1.75773910e+02] [-5.76443379e-02 9.98337022e-01 -5.66029162e-04 -7.34704554e+00] [-8.42375122e-03 8.05614872e-05 9.99964516e-01 -3.11943542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724391418 meters 0.016079257033239886 Centerline is valid? [True, True] Translation: X:175.80, Y:-7.35, Z:-3.12 [[ 9.98270104e-01 5.82105841e-02 8.26601858e-03 1.75802869e+02] [-5.82079755e-02 9.98304324e-01 -5.56020130e-04 -7.34879774e+00] [-8.28436835e-03 7.39100657e-05 9.99965681e-01 -3.11954680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754391418 meters 0.016007158140342034 Centerline is valid? [True, True] Translation: X:175.83, Y:-7.35, Z:-3.12 [[ 9.98252415e-01 5.85194506e-02 8.22133434e-03 1.75829870e+02] [-5.85168812e-02 9.98286266e-01 -5.52937866e-04 -7.35143538e+00] [-8.23960278e-03 7.08847152e-05 9.99966051e-01 -3.12043975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784391418 meters 0.01592128186910694 Centerline is valid? [True, True] Translation: X:175.86, Y:-7.35, Z:-3.12 [[ 9.98256428e-01 5.85157958e-02 7.74632613e-03 1.75858171e+02] [-5.85135265e-02 9.98286481e-01 -5.19455333e-04 -7.35486305e+00] [-7.76344899e-03 6.52847656e-05 9.99969862e-01 -3.12059407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814391418 meters 0.016103805130318494 Centerline is valid? [True, True] Translation: X:175.89, Y:-7.36, Z:-3.12 [[ 9.98301220e-01 5.77183504e-02 7.95406628e-03 1.75886317e+02] [-5.77159377e-02 9.98332904e-01 -5.32720021e-04 -7.35831368e+00] [-7.97155380e-03 7.27386527e-05 9.99968224e-01 -3.12120077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84439141800001 meters 0.016226029152781277 Centerline is valid? [True, True] Translation: X:175.91, Y:-7.36, Z:-3.12 [[ 9.98376525e-01 5.64235003e-02 7.79116067e-03 1.75914049e+02] [-5.64211491e-02 9.98406922e-01 -5.21418683e-04 -7.36220917e+00] [-7.80816901e-03 8.09859352e-05 9.99969513e-01 -3.12199988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87439141800002 meters 0.017492560697583252 Centerline is valid? [True, True] Translation: X:175.94, Y:-7.37, Z:-3.12 [[ 9.98589778e-01 5.26039111e-02 7.16133264e-03 1.75941794e+02] [-5.26018306e-02 9.98615451e-01 -4.78702718e-04 -7.36879902e+00] [-7.17659906e-03 1.01328434e-04 9.99974243e-01 -3.12338587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90439141800002 meters 0.018289871197539595 Centerline is valid? [True, True] Translation: X:175.97, Y:-7.37, Z:-3.12 [[ 9.98711582e-01 5.02951609e-02 6.75074879e-03 1.75968962e+02] [-5.02932631e-02 9.98734391e-01 -4.50694532e-04 -7.37343365e+00] [-6.76487274e-03 1.10596664e-04 9.99977112e-01 -3.12436818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93439141800002 meters 0.019042052659385765 Centerline is valid? [True, True] Translation: X:176.00, Y:-7.38, Z:-3.13 [[ 9.98832962e-01 4.79232861e-02 6.00600020e-03 1.75997615e+02] [-4.79217448e-02 9.98851013e-01 -4.00360273e-04 -7.37793110e+00] [-6.01828596e-03 1.12075029e-04 9.99981884e-01 -3.12504182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters 0.021728864311322257 Centerline is valid? [True, True] Translation: X:176.03, Y:-7.39, Z:-3.13 [[ 9.99074104e-01 4.26564392e-02 5.60029053e-03 1.76025170e+02] [-4.26550182e-02 9.99089791e-01 -3.72974007e-04 -7.38612668e+00] [-5.61110284e-03 1.33748177e-04 9.99984249e-01 -3.12603112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994391418 meters 0.024097873697735844 Centerline is valid? [True, True] Translation: X:176.05, Y:-7.39, Z:-3.13 [[ 9.99190042e-01 3.98257594e-02 5.75919173e-03 1.76052211e+02] [-3.98242110e-02 9.99206628e-01 -3.83322833e-04 -7.39238451e+00] [-5.76988867e-03 1.53657091e-04 9.99983342e-01 -3.12690998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters 0.024600039178634046 Centerline is valid? [True, True] Translation: X:176.08, Y:-7.40, Z:-3.13 [[ 9.99299088e-01 3.69868397e-02 5.77111845e-03 1.76080392e+02] [-3.69852401e-02 9.99315738e-01 -3.83674720e-04 -7.39564071e+00] [-5.78136041e-03 1.69959596e-04 9.99983273e-01 -3.12612096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054391418 meters 0.026502353381257827 Centerline is valid? [True, True] Translation: X:176.11, Y:-7.40, Z:-3.13 [[ 9.99409652e-01 3.38212341e-02 6.03923479e-03 1.76109372e+02] [-3.38194326e-02 9.99427879e-01 -4.00197289e-04 -7.40057818e+00] [-6.04931478e-03 1.95717539e-04 9.99981684e-01 -3.12621122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters 0.031128981741600708 Centerline is valid? [True, True] Translation: X:176.14, Y:-7.41, Z:-3.13 [[ 9.99601473e-01 2.75001466e-02 6.37466976e-03 1.76137722e+02] [-2.74980151e-02 9.99621769e-01 -4.21796611e-04 -7.41020183e+00] [-6.38385813e-03 2.46337749e-04 9.99979593e-01 -3.12638364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114391418 meters 0.0335574178058497 Centerline is valid? [True, True] Translation: X:176.17, Y:-7.42, Z:-3.13 [[ 9.99689533e-01 2.41099166e-02 6.28884769e-03 1.76167021e+02] [-2.41077766e-02 9.99709279e-01 -4.15889597e-04 -7.41584898e+00] [-6.29704645e-03 2.64150342e-04 9.99980139e-01 -3.12669023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters 0.03883624582239138 Centerline is valid? [True, True] Translation: X:176.20, Y:-7.43, Z:-3.13 [[ 9.99831210e-01 1.74443873e-02 5.76577783e-03 1.76195643e+02] [-1.74424813e-02 9.99847796e-01 -3.80688424e-04 -7.42522513e+00] [-5.77154113e-03 2.80054696e-04 9.99983305e-01 -3.12751071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174391418 meters 0.041149627600955564 Centerline is valid? [True, True] Translation: X:176.23, Y:-7.43, Z:-3.13 [[ 9.99877529e-01 1.46496121e-02 5.50597477e-03 1.76226053e+02] [-1.46478316e-02 9.99892649e-01 -3.63550349e-04 -7.43039142e+00] [-5.51070957e-03 2.82855233e-04 9.99984776e-01 -3.12841939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204391418 meters 0.043142799029377225 Centerline is valid? [True, True] Translation: X:176.26, Y:-7.43, Z:-3.13 [[ 9.99910831e-01 1.21957712e-02 5.44000656e-03 1.76256537e+02] [-1.21939970e-02 9.99925586e-01 -3.59194577e-04 -7.43474885e+00] [-5.44398240e-03 2.92827125e-04 9.99985139e-01 -3.12949476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234391418 meters 0.04495443256997734 Centerline is valid? [True, True] Translation: X:176.29, Y:-7.44, Z:-3.13 [[ 9.99936211e-01 9.99777820e-03 5.25527128e-03 1.76286384e+02] [-9.99609098e-03 9.99949978e-01 -3.47223013e-04 -7.43860066e+00] [-5.25847986e-03 2.94668694e-04 9.99986131e-01 -3.12997233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264391418 meters 0.04838393680941068 Centerline is valid? [True, True] Translation: X:176.32, Y:-7.44, Z:-3.13 [[ 9.99961622e-01 6.69699967e-03 5.64840311e-03 1.76316229e+02] [-6.69500544e-03 9.99977519e-01 -3.71894555e-04 -7.44411910e+00] [-5.65076670e-03 3.34064193e-04 9.99983978e-01 -3.13048756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.294391418 meters 0.04992317292329551 Centerline is valid? [True, True] Translation: X:176.35, Y:-7.45, Z:-3.13 [[ 9.99971676e-01 5.26972391e-03 5.37367022e-03 1.76347432e+02] [-5.26789365e-03 9.99986062e-01 -3.54695046e-04 -7.44753467e+00] [-5.37546446e-03 3.26377077e-04 9.99985499e-01 -3.13113832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.324391418 meters 0.05256331711996023 Centerline is valid? [True, True] Translation: X:176.38, Y:-7.45, Z:-3.13 [[ 9.99978000e-01 3.50494021e-03 5.63152501e-03 1.76378014e+02] [-3.50290092e-03 9.99993796e-01 -3.71943984e-04 -7.45181494e+00] [-5.63279372e-03 3.52209127e-04 9.99984074e-01 -3.13179421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.354391418 meters 0.053014813329905354 Centerline is valid? [True, True] Translation: X:176.41, Y:-7.45, Z:-3.13 [[ 9.99979239e-01 3.50102959e-03 5.40959872e-03 1.76410036e+02] [-3.49916099e-03 9.99993815e-01 -3.54849572e-04 -7.45372465e+00] [-5.41080760e-03 3.35913149e-04 9.99985305e-01 -3.13262736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.384391418 meters 0.053014813329905354 Centerline is valid? [True, True] Translation: X:176.44, Y:-7.46, Z:-3.13 [[ 9.99978369e-01 3.74151502e-03 5.40951246e-03 1.76441752e+02] [-3.73964289e-03 9.99992944e-01 -3.56154233e-04 -7.45597708e+00] [-5.41080685e-03 3.35916884e-04 9.99985305e-01 -3.13319967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414391418 meters 0.05304257554274484 Centerline is valid? [True, True] Translation: X:176.47, Y:-7.46, Z:-3.13 [[ 9.99977781e-01 4.27890818e-03 5.11168971e-03 1.76473659e+02] [-4.27723837e-03 9.99990796e-01 -3.37552409e-04 -7.45733333e+00] [-5.11308701e-03 3.15680993e-04 9.99986878e-01 -3.13431828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444391418 meters 0.05195716171274662 Centerline is valid? [True, True] Translation: X:176.50, Y:-7.46, Z:-3.14 [[ 9.99963163e-01 6.96464069e-03 5.01668137e-03 1.76503765e+02] [-6.96304473e-03 9.99975701e-01 -3.35527446e-04 -7.45503249e+00] [-5.01889630e-03 3.00583709e-04 9.99987360e-01 -3.13585132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474391418 meters 0.050134847201782684 Centerline is valid? [True, True] Translation: X:176.53, Y:-7.45, Z:-3.14 [[ 9.99943457e-01 9.59914288e-03 4.57587265e-03 1.76534477e+02] [-9.59784255e-03 9.99953893e-01 -3.06045122e-04 -7.45244411e+00] [-4.57859944e-03 2.62109312e-04 9.99989484e-01 -3.13710144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504391418 meters 0.047735954351580824 Centerline is valid? [True, True] Translation: X:176.57, Y:-7.45, Z:-3.14 [[ 9.99903410e-01 1.30686484e-02 4.73081889e-03 1.76565257e+02] [-1.30672972e-02 9.99914569e-01 -3.16408291e-04 -7.44909917e+00] [-4.73454976e-03 2.54558713e-04 9.99988760e-01 -3.13768579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534391418 meters 0.044968284852804706 Centerline is valid? [True, True] Translation: X:176.60, Y:-7.45, Z:-3.14 [[ 9.99843488e-01 1.69917730e-02 4.92738276e-03 1.76596018e+02] [-1.69903533e-02 9.99855599e-01 -3.29834011e-04 -7.44502123e+00] [-4.93227571e-03 2.46064414e-04 9.99987806e-01 -3.13826090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564391418 meters 0.02941473389029724 Centerline is valid? [True, True] Translation: X:176.63, Y:-7.42, Z:-3.13 [[ 9.99623609e-01 2.66655686e-02 6.44891761e-03 1.76628126e+02] [-2.66633380e-02 9.99644377e-01 -4.31629865e-04 -7.42088399e+00] [-6.45813388e-03 2.59517733e-04 9.99979112e-01 -3.13421381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59439141800001 meters 0.02699738688053836 Centerline is valid? [True, True] Translation: X:176.66, Y:-7.42, Z:-3.13 [[ 9.99466420e-01 3.18537852e-02 7.22575345e-03 1.76658816e+02] [-3.18511225e-02 9.99492507e-01 -4.83310381e-04 -7.41669926e+00] [-7.23748170e-03 2.52904138e-04 9.99973777e-01 -3.13405452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62439141800002 meters 0.02227079258604611 Centerline is valid? [True, True] Translation: X:176.69, Y:-7.41, Z:-3.13 [[ 9.99054577e-01 4.25717777e-02 8.80882354e-03 1.76688717e+02] [-4.25682431e-02 9.99093388e-01 -5.88447846e-04 -7.40502591e+00] [-8.82588863e-03 2.12915372e-04 9.99961028e-01 -3.13298076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65439141800002 meters 0.020061344493788758 Centerline is valid? [True, True] Translation: X:176.72, Y:-7.40, Z:-3.13 [[ 9.98803427e-01 4.79444495e-02 9.64589522e-03 1.76718582e+02] [-4.79404562e-02 9.98849987e-01 -6.44915457e-04 -7.39972447e+00] [-9.66572244e-03 1.81715151e-04 9.99953269e-01 -3.13271330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68439141800002 meters 0.018292926449620384 Centerline is valid? [True, True] Translation: X:176.75, Y:-7.39, Z:-3.13 [[ 9.98543511e-01 5.29407329e-02 1.03988185e-02 1.76747895e+02] [-5.29363807e-02 9.98597646e-01 -6.93517779e-04 -7.39430898e+00] [-1.04209510e-02 1.42031864e-04 9.99945690e-01 -3.13243706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714391418 meters 0.016578430169606428 Centerline is valid? [True, True] Translation: X:176.78, Y:-7.39, Z:-3.13 [[ 9.98011657e-01 6.21476959e-02 1.05069988e-02 1.76777947e+02] [-6.21437728e-02 9.98066963e-01 -6.99765851e-04 -7.38520633e+00] [-1.05301773e-02 4.54299282e-05 9.99944555e-01 -3.13347233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters 0.01636201002008418 Centerline is valid? [True, True] Translation: X:176.81, Y:-7.38, Z:-3.13 [[ 9.97770456e-01 6.58739889e-02 1.07114742e-02 1.76806768e+02] [-6.58701316e-02 9.97827950e-01 -7.12884905e-04 -7.38279029e+00] [-1.07351689e-02 5.72927928e-06 9.99942376e-01 -3.13434301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774391418 meters 0.016439849379535704 Centerline is valid? [True, True] Translation: X:176.84, Y:-7.38, Z:-3.14 [[ 9.97555497e-01 6.89857331e-02 1.11354981e-02 1.76835159e+02] [-6.89817654e-02 9.97617646e-01 -7.40455497e-04 -7.38100568e+00] [-1.11600503e-02 -2.95008689e-05 9.99937724e-01 -3.13514607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters 0.016910918408077714 Centerline is valid? [True, True] Translation: X:176.86, Y:-7.38, Z:-3.14 [[ 9.97242647e-01 7.33574728e-02 1.12153612e-02 1.76863414e+02] [-7.33537372e-02 9.97305708e-01 -7.44635187e-04 -7.37698905e+00] [-1.12397683e-02 -8.01066960e-05 9.99936829e-01 -3.13676231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834391418 meters 0.01689509508114663 Centerline is valid? [True, True] Translation: X:176.89, Y:-7.38, Z:-3.14 [[ 9.97179869e-01 7.41813367e-02 1.13770758e-02 1.76890984e+02] [-7.41775518e-02 9.97244765e-01 -7.54873301e-04 -7.37743493e+00] [-1.14017268e-02 -9.11791687e-05 9.99934994e-01 -3.13680846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters 0.01701709245005429 Centerline is valid? [True, True] Translation: X:176.92, Y:-7.38, Z:-3.14 [[ 9.97129797e-01 7.48021291e-02 1.16965503e-02 1.76919171e+02] [-7.47982334e-02 9.97198391e-01 -7.70778332e-04 -7.37684948e+00] [-1.17214370e-02 -1.06315255e-04 9.99931296e-01 -3.13801697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894391418 meters 0.016582336806056672 Centerline is valid? [True, True] Translation: X:176.95, Y:-7.38, Z:-3.14 [[ 9.97127902e-01 7.46363604e-02 1.28592645e-02 1.76948051e+02] [-7.46316580e-02 9.97210810e-01 -8.45842650e-04 -7.37841203e+00] [-1.28865282e-02 -1.16294921e-04 9.99916958e-01 -3.13812152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924391418 meters 0.016490983784119506 Centerline is valid? [True, True] Translation: X:176.98, Y:-7.38, Z:-3.14 [[ 9.97198242e-01 7.36295430e-02 1.32044452e-02 1.76977074e+02] [-7.36245105e-02 9.97285656e-01 -8.67478946e-04 -7.38079991e+00] [-1.32324758e-02 -1.07122333e-04 9.99912441e-01 -3.13898891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954391418 meters 0.01616381624570423 Centerline is valid? [True, True] Translation: X:177.01, Y:-7.38, Z:-3.14 [[ 9.97295577e-01 7.21683790e-02 1.39017086e-02 1.77005665e+02] [-7.21626751e-02 9.97392459e-01 -9.12133677e-04 -7.38381998e+00] [-1.39312866e-02 -9.35176024e-05 9.99902951e-01 -3.13924628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984391418 meters 0.015601871538597326 Centerline is valid? [True, True] Translation: X:177.03, Y:-7.39, Z:-3.14 [[ 9.97579394e-01 6.78422169e-02 1.52573667e-02 1.77033968e+02] [-6.78348604e-02 9.97696062e-01 -9.99766346e-04 -7.38974622e+00] [-1.52900411e-02 -3.76350362e-05 9.99883100e-01 -3.13931555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014391418 meters 0.015590197685752576 Centerline is valid? [True, True] Translation: X:177.06, Y:-7.39, Z:-3.14 [[ 9.97764387e-01 6.49130632e-02 1.58909781e-02 1.77061949e+02] [-6.49047313e-02 9.97890923e-01 -1.04003731e-03 -7.39433265e+00] [-1.59249748e-02 6.31252667e-06 9.99873190e-01 -3.13982377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.044391418 meters 0.01585414398152304 Centerline is valid? [True, True] Translation: X:177.09, Y:-7.40, Z:-3.14 [[ 9.98153021e-01 5.83698837e-02 1.68375840e-02 1.77090184e+02] [-5.83596276e-02 9.98295018e-01 -1.10025382e-03 -7.40250719e+00] [-1.68730979e-02 1.15586539e-04 9.99857632e-01 -3.13979673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.074391418 meters 0.016418276601551453 Centerline is valid? [True, True] Translation: X:177.12, Y:-7.41, Z:-3.14 [[ 9.98336609e-01 5.51144579e-02 1.69236766e-02 1.77117716e+02] [-5.51036514e-02 9.98480029e-01 -1.10454482e-03 -7.40782274e+00] [-1.69588295e-02 1.70151154e-04 9.99856174e-01 -3.14025507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.104391418 meters 0.017338473662249523 Centerline is valid? [True, True] Translation: X:177.15, Y:-7.41, Z:-3.14 [[ 9.98551763e-01 5.08995493e-02 1.74244946e-02 1.77145693e+02] [-5.08874830e-02 9.98703747e-01 -1.13545850e-03 -7.41367836e+00] [-1.74597024e-02 2.47125410e-04 9.99847537e-01 -3.14090666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.134391418 meters 0.021391301356963127 Centerline is valid? [True, True] Translation: X:177.17, Y:-7.43, Z:-3.14 [[ 9.98918756e-01 4.30022445e-02 1.76670828e-02 1.77173637e+02] [-4.29886360e-02 9.99074900e-01 -1.14950143e-03 -7.42717238e+00] [-1.77001701e-02 3.88774747e-04 9.99843264e-01 -3.14248308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164391418 meters 0.02367357392122825 Centerline is valid? [True, True] Translation: X:177.20, Y:-7.43, Z:-3.14 [[ 9.99101703e-01 3.84254801e-02 1.78680905e-02 1.77202816e+02] [-3.84108474e-02 9.99261356e-01 -1.16152606e-03 -7.43430325e+00] [-1.78995245e-02 4.74154167e-04 9.99839678e-01 -3.14351999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194391418 meters 0.026517144632852215 Centerline is valid? [True, True] Translation: X:177.23, Y:-7.44, Z:-3.14 [[ 9.99252900e-01 3.42351232e-02 1.79331448e-02 1.77230801e+02] [-3.42197214e-02 9.99413655e-01 -1.16509446e-03 -7.44228032e+00] [-1.79625169e-02 5.50556799e-04 9.99838509e-01 -3.14421262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224391418 meters 0.026998426453240736 Centerline is valid? [True, True] Translation: X:177.26, Y:-7.45, Z:-3.15 [[ 9.99381501e-01 3.03903128e-02 1.76930806e-02 1.77261269e+02] [-3.03747359e-02 9.99537921e-01 -1.14852572e-03 -7.44676222e+00] [-1.77198091e-02 6.10392713e-04 9.99842806e-01 -3.14519743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254391418 meters 0.029348939591688793 Centerline is valid? [True, True] Translation: X:177.29, Y:-7.46, Z:-3.15 [[ 9.99556606e-01 2.36720178e-02 1.80617654e-02 1.77291341e+02] [-2.36546895e-02 9.99719501e-01 -1.17245908e-03 -7.45540311e+00] [-1.80844535e-02 7.44693769e-04 9.99836186e-01 -3.14600396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284391418 meters 0.033254927251964696 Centerline is valid? [True, True] Translation: X:177.32, Y:-7.46, Z:-3.15 [[ 9.99605679e-01 2.10522486e-02 1.85819823e-02 1.77321407e+02] [-2.10334524e-02 9.99778045e-01 -1.20640851e-03 -7.46377546e+00] [-1.86032556e-02 8.15089560e-04 9.99826612e-01 -3.14622813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314391418 meters 0.036766418592593865 Centerline is valid? [True, True] Translation: X:177.35, Y:-7.47, Z:-3.15 [[ 9.99661735e-01 1.73592282e-02 1.93667713e-02 1.77350892e+02] [-1.73381048e-02 9.99848892e-01 -1.25809085e-03 -7.47213562e+00] [-1.93856843e-02 9.21882174e-04 9.99811655e-01 -3.14650341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34439141800001 meters 0.032658135357124835 Centerline is valid? [True, True] Translation: X:177.38, Y:-7.47, Z:-3.15 [[ 9.99677293e-01 1.61614752e-02 1.95989128e-02 1.77383023e+02] [-1.61396045e-02 9.99868937e-01 -1.27358823e-03 -7.46913813e+00] [-1.96169272e-02 9.56858532e-04 9.99807112e-01 -3.14731147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37439141800002 meters 0.03411887888932724 Centerline is valid? [True, True] Translation: X:177.41, Y:-7.47, Z:-3.15 [[ 9.99695520e-01 1.51355542e-02 1.94880243e-02 1.77414279e+02] [-1.51136411e-02 9.99884974e-01 -1.27123715e-03 -7.47370274e+00] [-1.95050235e-02 9.76315077e-04 9.99809282e-01 -3.14842331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40439141800002 meters 0.034861986109347064 Centerline is valid? [True, True] Translation: X:177.45, Y:-7.48, Z:-3.15 [[ 9.99716929e-01 1.43521671e-02 1.89757110e-02 1.77446508e+02] [-1.43311965e-02 9.99896533e-01 -1.24065548e-03 -7.47716377e+00] [-1.89915537e-02 9.68359645e-04 9.99819175e-01 -3.14953490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43439141800002 meters 0.03512527220718026 Centerline is valid? [True, True] Translation: X:177.48, Y:-7.48, Z:-3.15 [[ 9.99743625e-01 1.23368704e-02 1.89864861e-02 1.77478204e+02] [-1.23154148e-02 9.99923385e-01 -1.24655522e-03 -7.47979326e+00] [-1.90004100e-02 1.01240918e-03 9.99818963e-01 -3.15129409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters 0.03760380580497517 Centerline is valid? [True, True] Translation: X:177.51, Y:-7.49, Z:-3.15 [[ 9.99757892e-01 1.14564515e-02 1.87858162e-02 1.77509374e+02] [-1.14352016e-02 9.99933849e-01 -1.23819871e-03 -7.48523356e+00] [-1.87987589e-02 1.02307934e-03 9.99822764e-01 -3.15257697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494391418 meters 0.03979736729486549 Centerline is valid? [True, True] Translation: X:177.54, Y:-7.49, Z:-3.15 [[ 9.99770200e-01 1.04428609e-02 1.87214631e-02 1.77540436e+02] [-1.04214895e-02 9.99944928e-01 -1.23874657e-03 -7.49021120e+00] [-1.87333681e-02 1.04335638e-03 9.99823971e-01 -3.15347823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters 0.037023395320174984 Centerline is valid? [True, True] Translation: X:177.57, Y:-7.49, Z:-3.15 [[ 9.99790947e-01 8.51220973e-03 1.85904497e-02 1.77572953e+02] [-8.49071980e-03 9.99963191e-01 -1.23459206e-03 -7.48843654e+00] [-1.86002745e-02 1.07648767e-03 9.99826420e-01 -3.15465081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554391418 meters 0.03819501333948469 Centerline is valid? [True, True] Translation: X:177.61, Y:-7.49, Z:-3.16 [[ 9.99797239e-01 7.81774655e-03 1.85570256e-02 1.77605284e+02] [-7.79618477e-03 9.99968848e-01 -1.23398007e-03 -7.49210222e+00] [-1.85660944e-02 1.08905587e-03 9.99827042e-01 -3.15563357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters 0.04013189331818852 Centerline is valid? [True, True] Translation: X:177.64, Y:-7.50, Z:-3.16 [[ 9.99813812e-01 6.58632210e-03 1.81372836e-02 1.77635905e+02] [-6.56543379e-03 9.99977714e-01 -1.21098238e-03 -7.49550999e+00] [-1.81448553e-02 1.09167778e-03 9.99834773e-01 -3.15696517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614391418 meters 0.03999678394213598 Centerline is valid? [True, True] Translation: X:177.67, Y:-7.50, Z:-3.16 [[ 9.99817872e-01 6.85713705e-03 1.78102077e-02 1.77668596e+02] [-6.83702669e-03 9.99975919e-01 -1.18979315e-03 -7.49687066e+00] [-1.78179373e-02 1.06780759e-03 9.99840678e-01 -3.15780853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters 0.04193222526433869 Centerline is valid? [True, True] Translation: X:177.70, Y:-7.50, Z:-3.16 [[ 9.99807499e-01 8.20996808e-03 1.78202505e-02 1.77699592e+02] [-8.18994872e-03 9.99965746e-01 -1.19609500e-03 -7.49922925e+00] [-1.78294600e-02 1.04991781e-03 9.99840491e-01 -3.15883387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674391418 meters 0.041296839483205124 Centerline is valid? [True, True] Translation: X:177.73, Y:-7.50, Z:-3.16 [[ 9.99787887e-01 9.60732980e-03 1.82175589e-02 1.77732363e+02] [-9.58655337e-03 9.99953295e-01 -1.22745023e-03 -7.49950984e+00] [-1.82285006e-02 1.05254627e-03 9.99833293e-01 -3.15909557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704391418 meters 0.04049496014118433 Centerline is valid? [True, True] Translation: X:177.76, Y:-7.50, Z:-3.16 [[ 9.99759814e-01 1.15230221e-02 1.86422778e-02 1.77764423e+02] [-1.15015641e-02 9.99933064e-01 -1.25785387e-03 -7.49937183e+00] [-1.86555243e-02 1.04313640e-03 9.99825426e-01 -3.15929379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734391418 meters 0.03656078997601793 Centerline is valid? [True, True] Translation: X:177.80, Y:-7.49, Z:-3.16 [[ 9.99717676e-01 1.38072065e-02 1.93372446e-02 1.77796111e+02] [-1.37845228e-02 9.99904136e-01 -1.30586017e-03 -7.49454446e+00] [-1.93534212e-02 1.03893680e-03 9.99812165e-01 -3.15949762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764391418 meters 0.03370750730634273 Centerline is valid? [True, True] Translation: X:177.83, Y:-7.49, Z:-3.16 [[ 9.99592945e-01 1.97017753e-02 2.06345350e-02 1.77826402e+02] [-1.96771831e-02 9.99805413e-01 -1.39418078e-03 -7.48903369e+00] [-2.06579877e-02 9.87583746e-04 9.99786113e-01 -3.15851420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.794391418 meters 0.03201799642384606 Centerline is valid? [True, True] Translation: X:177.86, Y:-7.49, Z:-3.16 [[ 9.99517847e-01 2.29961547e-02 2.08626400e-02 1.77858523e+02] [-2.29717343e-02 9.99735121e-01 -1.40946160e-03 -7.48692368e+00] [-2.08895262e-02 9.29531004e-04 9.99781358e-01 -3.15839848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.824391418 meters 0.025312076038731365 Centerline is valid? [True, True] Translation: X:177.89, Y:-7.48, Z:-3.16 [[ 9.99294195e-01 3.04677936e-02 2.19732851e-02 1.77890281e+02] [-3.04424813e-02 9.99535416e-01 -1.48561853e-03 -7.47560309e+00] [-2.20083402e-02 8.15648650e-04 9.99757454e-01 -3.15806690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.854391418 meters 0.02439833337002724 Centerline is valid? [True, True] Translation: X:177.92, Y:-7.47, Z:-3.16 [[ 9.99165259e-01 3.42403156e-02 2.22797034e-02 1.77921124e+02] [-3.42152226e-02 9.99413352e-01 -1.50661462e-03 -7.47460448e+00] [-2.23182200e-02 7.43051974e-04 9.99750641e-01 -3.15816484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.884391418 meters 0.022524262947707686 Centerline is valid? [True, True] Translation: X:177.95, Y:-7.47, Z:-3.16 [[ 9.99039037e-01 3.78304278e-02 2.21327924e-02 1.77952105e+02] [-3.78065284e-02 9.99283956e-01 -1.49740735e-03 -7.47212231e+00] [-2.21735919e-02 6.59204348e-04 9.99753918e-01 -3.15891376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914391418 meters 0.019638260619592892 Centerline is valid? [True, True] Translation: X:177.98, Y:-7.47, Z:-3.16 [[ 9.98770739e-01 4.48273128e-02 2.11547332e-02 1.77982580e+02] [-4.48070484e-02 9.98994635e-01 -1.43117260e-03 -7.46642864e+00] [-2.11976206e-02 4.81532160e-04 9.99775189e-01 -3.16042475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944391418 meters 0.018626421556910768 Centerline is valid? [True, True] Translation: X:178.01, Y:-7.46, Z:-3.16 [[ 9.98621848e-01 4.81440746e-02 2.08938220e-02 1.78012146e+02] [-4.81250437e-02 9.98840319e-01 -1.41299118e-03 -7.46472942e+00] [-2.09376190e-02 4.05527772e-04 9.99780702e-01 -3.16150621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974391418 meters 0.017145812324305947 Centerline is valid? [True, True] Translation: X:178.04, Y:-7.46, Z:-3.16 [[ 9.98473178e-01 5.14319458e-02 2.01511305e-02 1.78041276e+02] [-5.14149377e-02 9.98676449e-01 -1.36155019e-03 -7.46219478e+00] [-2.01944867e-02 3.23402225e-04 9.99796018e-01 -3.16287957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004391418 meters 0.016038579423876126 Centerline is valid? [True, True] Translation: X:178.07, Y:-7.46, Z:-3.16 [[ 9.98302753e-01 5.48530266e-02 1.95642387e-02 1.78070657e+02] [-5.48376816e-02 9.98494409e-01 -1.32036201e-03 -7.46076240e+00] [-1.96072089e-02 2.45263536e-04 9.99807730e-01 -3.16349294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034391418 meters 0.015015108354102037 Centerline is valid? [True, True] Translation: X:178.10, Y:-7.46, Z:-3.16 [[ 9.97945311e-01 6.12571848e-02 1.87806810e-02 1.78098379e+02] [-6.12441995e-02 9.98122009e-01 -1.26633899e-03 -7.45667887e+00] [-1.88229834e-02 1.13529283e-04 9.99822826e-01 -3.16474295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064391418 meters 0.014772814224011034 Centerline is valid? [True, True] Translation: X:178.13, Y:-7.46, Z:-3.17 [[ 9.97745296e-01 6.45065612e-02 1.85263903e-02 1.78127551e+02] [-6.44945194e-02 9.97917282e-01 -1.24734962e-03 -7.45518803e+00] [-1.85682673e-02 4.96865809e-05 9.99827594e-01 -3.16568224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09439141800001 meters 0.01498598392292123 Centerline is valid? [True, True] Translation: X:178.15, Y:-7.45, Z:-3.17 [[ 9.97389043e-01 6.99579253e-02 1.79160830e-02 1.78154505e+02] [-6.99475679e-02 9.97549942e-01 -1.20486218e-03 -7.45155257e+00] [-1.79564772e-02 -5.14700947e-05 9.99838768e-01 -3.16714217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12439141800002 meters 0.015020405890988853 Centerline is valid? [True, True] Translation: X:178.18, Y:-7.45, Z:-3.17 [[ 9.97238576e-01 7.20673302e-02 1.79310721e-02 1.78183727e+02] [-7.20573638e-02 9.97399765e-01 -1.20212311e-03 -7.45139469e+00] [-1.79710809e-02 -9.32622482e-05 9.99838503e-01 -3.16758886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15439141800002 meters 0.01562397337355387 Centerline is valid? [True, True] Translation: X:178.21, Y:-7.45, Z:-3.17 [[ 9.97066755e-01 7.43571112e-02 1.81357651e-02 1.78211926e+02] [-7.43473214e-02 9.97231669e-01 -1.21437712e-03 -7.45031832e+00] [-1.81758569e-02 -1.37530500e-04 9.99834796e-01 -3.16766163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18439141800002 meters 0.015792767350123957 Centerline is valid? [True, True] Translation: X:178.24, Y:-7.45, Z:-3.17 [[ 9.97050943e-01 7.45484223e-02 1.82194764e-02 1.78239336e+02] [-7.45386069e-02 9.97217385e-01 -1.21816752e-03 -7.45232907e+00] [-1.82595911e-02 -1.43479316e-04 9.99833269e-01 -3.16794683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214391418 meters 0.015457765280695337 Centerline is valid? [True, True] Translation: X:178.27, Y:-7.46, Z:-3.17 [[ 9.97097147e-01 7.39245823e-02 1.82328346e-02 1.78267894e+02] [-7.39146849e-02 9.97263826e-01 -1.21705442e-03 -7.45601906e+00] [-1.82729166e-02 -1.34152730e-04 9.99833027e-01 -3.16803557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters 0.015201581307733605 Centerline is valid? [True, True] Translation: X:178.30, Y:-7.46, Z:-3.17 [[ 9.97165607e-01 7.28545260e-02 1.87875077e-02 1.78296868e+02] [-7.28438558e-02 9.97342571e-01 -1.25256829e-03 -7.45951756e+00] [-1.88288365e-02 -1.19536481e-04 9.99822715e-01 -3.16802358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274391418 meters 0.015201581307733605 Centerline is valid? [True, True] Translation: X:178.32, Y:-7.46, Z:-3.17 [[ 9.97174177e-01 7.27371067e-02 1.87876082e-02 1.78324266e+02] [-7.27264440e-02 9.97351141e-01 -1.25105991e-03 -7.46122717e+00] [-1.88288409e-02 -1.18831300e-04 9.99822715e-01 -3.16851900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters 0.015013860694516839 Centerline is valid? [True, True] Translation: X:178.35, Y:-7.47, Z:-3.17 [[ 9.97446417e-01 6.88837060e-02 1.88594990e-02 1.78352232e+02] [-6.88723143e-02 9.97624695e-01 -1.25364144e-03 -7.46798124e+00] [-1.89010574e-02 -4.84571772e-05 9.99821358e-01 -3.16892424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334391418 meters 0.01474839796923173 Centerline is valid? [True, True] Translation: X:178.38, Y:-7.47, Z:-3.17 [[ 9.97639560e-01 6.61521291e-02 1.84174743e-02 1.78380114e+02] [-6.61408268e-02 9.97809549e-01 -1.22279105e-03 -7.47275553e+00] [-1.84580220e-02 1.75774140e-06 9.99829636e-01 -3.16956164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters 0.015207763861436553 Centerline is valid? [True, True] Translation: X:178.41, Y:-7.48, Z:-3.17 [[ 9.98085105e-01 5.93613466e-02 1.73883211e-02 1.78408111e+02] [-5.93502770e-02 9.98236553e-01 -1.15241448e-03 -7.48208780e+00] [-1.74260666e-02 1.18206050e-04 9.99848148e-01 -3.17098238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394391418 meters 0.015745463062805318 Centerline is valid? [True, True] Translation: X:178.44, Y:-7.49, Z:-3.17 [[ 9.98322273e-01 5.53255012e-02 1.70800272e-02 1.78435629e+02] [-5.53142534e-02 9.98468355e-01 -1.13061300e-03 -7.48855739e+00] [-1.71164184e-02 1.83947190e-04 9.99853486e-01 -3.17192648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424391418 meters 0.01663759638849906 Centerline is valid? [True, True] Translation: X:178.46, Y:-7.50, Z:-3.17 [[ 9.98549286e-01 5.12783698e-02 1.64271916e-02 1.78463395e+02] [-5.12674445e-02 9.98684370e-01 -1.08578080e-03 -7.49540510e+00] [-1.64612565e-02 2.42025510e-04 9.99864475e-01 -3.17294803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454391418 meters 0.01931808700747929 Centerline is valid? [True, True] Translation: X:178.49, Y:-7.51, Z:-3.17 [[ 9.98935429e-01 4.34594462e-02 1.54688425e-02 1.78490878e+02] [-4.34488449e-02 9.99055131e-01 -1.02090473e-03 -7.50697778e+00] [-1.54985944e-02 3.47714568e-04 9.99879829e-01 -3.17410414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484391418 meters 0.020670033860465602 Centerline is valid? [True, True] Translation: X:178.52, Y:-7.51, Z:-3.17 [[ 9.99075719e-01 4.01497565e-02 1.53526751e-02 1.78519017e+02] [-4.01389404e-02 9.99193595e-01 -1.01213027e-03 -7.51338596e+00] [-1.53809314e-02 3.94954668e-04 9.99881628e-01 -3.17475360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514391418 meters 0.021758018060142523 Centerline is valid? [True, True] Translation: X:178.55, Y:-7.52, Z:-3.18 [[ 9.99206552e-01 3.69937695e-02 1.47556033e-02 1.78547629e+02] [-3.69834510e-02 9.99315406e-01 -9.71647560e-04 -7.51889737e+00] [-1.47814466e-02 4.25163476e-04 9.99890658e-01 -3.17540844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.544391418 meters 0.0246930091991769 Centerline is valid? [True, True] Translation: X:178.58, Y:-7.53, Z:-3.18 [[ 9.99395318e-01 3.18127907e-02 1.40337137e-02 1.78575686e+02] [-3.18029627e-02 9.99493732e-01 -9.22981060e-04 -7.52835993e+00] [-1.40559715e-02 4.76109275e-04 9.99901097e-01 -3.17596187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.574391418 meters 0.025811802297764943 Centerline is valid? [True, True] Translation: X:178.61, Y:-7.53, Z:-3.18 [[ 9.99463083e-01 2.97722031e-02 1.36807066e-02 1.78605348e+02] [-2.97626845e-02 9.99556589e-01 -8.98885406e-04 -7.53341893e+00] [-1.37014022e-02 4.91228226e-04 9.99906011e-01 -3.17651717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.604391418 meters 0.027254125843044413 Centerline is valid? [True, True] Translation: X:178.63, Y:-7.54, Z:-3.18 [[ 9.99558595e-01 2.67598870e-02 1.29043875e-02 1.78634777e+02] [-2.67511734e-02 9.99641764e-01 -8.47411629e-04 -7.53983963e+00] [-1.29224413e-02 5.01830071e-04 9.99916376e-01 -3.17754960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.634391418 meters 0.027978398303602117 Centerline is valid? [True, True] Translation: X:178.66, Y:-7.54, Z:-3.18 [[ 9.99590026e-01 2.55616542e-02 1.28989149e-02 1.78664143e+02] [-2.55528549e-02 9.99673114e-01 -8.46544939e-04 -7.54378288e+00] [-1.29163375e-02 5.16593776e-04 9.99916447e-01 -3.17840399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664391418 meters 0.027906496048877634 Centerline is valid? [True, True] Translation: X:178.69, Y:-7.55, Z:-3.18 [[ 9.99628165e-01 2.44464856e-02 1.20789209e-02 1.78693663e+02] [-2.44386935e-02 9.99701017e-01 -7.92304633e-04 -7.54618242e+00] [-1.20946785e-02 4.96816982e-04 9.99926733e-01 -3.17952231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694391418 meters 0.029371497199202134 Centerline is valid? [True, True] Translation: X:178.72, Y:-7.55, Z:-3.18 [[ 9.99689154e-01 2.24288614e-02 1.08876652e-02 1.78723677e+02] [-2.24224181e-02 9.99748331e-01 -7.13520803e-04 -7.55154799e+00] [-1.09009285e-02 4.69171227e-04 9.99940473e-01 -3.18154773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724391418 meters 0.030285280562793435 Centerline is valid? [True, True] Translation: X:178.75, Y:-7.56, Z:-3.18 [[ 9.99717569e-01 2.13315932e-02 1.04759786e-02 1.78753267e+02] [-2.13255648e-02 9.99772348e-01 -6.86835175e-04 -7.55534332e+00] [-1.04882450e-02 4.63235031e-04 9.99944890e-01 -3.18278617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754391418 meters 0.03172229600042289 Centerline is valid? [True, True] Translation: X:178.78, Y:-7.56, Z:-3.18 [[ 9.99754202e-01 2.01393958e-02 9.27043697e-03 1.78782198e+02] [-2.01346281e-02 9.99797093e-01 -6.07342354e-04 -7.55972049e+00] [-9.28078745e-03 4.20536269e-04 9.99956844e-01 -3.18458795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784391418 meters 0.031056457218479973 Centerline is valid? [True, True] Translation: X:178.81, Y:-7.56, Z:-3.19 [[ 9.99811773e-01 1.79775378e-02 7.29560599e-03 1.78812595e+02] [-1.79745296e-02 9.99838331e-01 -4.77688603e-04 -7.56143168e+00] [-7.30301419e-03 3.46463603e-04 9.99973273e-01 -3.18582701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814391418 meters 0.03175483204134556 Centerline is valid? [True, True] Translation: X:178.84, Y:-7.56, Z:-3.19 [[ 9.99833441e-01 1.69888526e-02 6.66854571e-03 1.78841604e+02] [-1.69863129e-02 9.99855627e-01 -4.37307069e-04 -7.56431599e+00] [-6.67501229e-03 3.23960228e-04 9.99977669e-01 -3.18683428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84439141800001 meters 0.0318172177008138 Centerline is valid? [True, True] Translation: X:178.87, Y:-7.57, Z:-3.19 [[ 9.99846517e-01 1.62759871e-02 6.48342177e-03 1.78871307e+02] [-1.62735753e-02 9.99867486e-01 -4.24583211e-04 -7.56599973e+00] [-6.48947314e-03 3.19009592e-04 9.99978892e-01 -3.18669604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87439141800002 meters 0.03398535699868392 Centerline is valid? [True, True] Translation: X:178.90, Y:-7.57, Z:-3.19 [[ 9.99837246e-01 1.64639027e-02 7.37712391e-03 1.78899835e+02] [-1.64607883e-02 9.99864396e-01 -4.82702533e-04 -7.56995220e+00] [-7.38407070e-03 3.61190697e-04 9.99972672e-01 -3.18666824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90439141800002 meters 0.033667842278288874 Centerline is valid? [True, True] Translation: X:178.93, Y:-7.57, Z:-3.19 [[ 9.99826670e-01 1.69598656e-02 7.68064423e-03 1.78929495e+02] [-1.69565067e-02 9.99856102e-01 -5.02231290e-04 -7.57084038e+00] [-7.68805678e-03 3.71907342e-04 9.99970377e-01 -3.18666385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93439141800002 meters 0.030671821312032933 Centerline is valid? [True, True] Translation: X:178.96, Y:-7.57, Z:-3.19 [[ 9.99775962e-01 1.96872891e-02 7.77407816e-03 1.78960134e+02] [-1.96839342e-02 9.99806124e-01 -5.07842590e-04 -7.56653609e+00] [-7.78256900e-03 3.54704371e-04 9.99969652e-01 -3.18630251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters 0.0313991031547585 Centerline is valid? [True, True] Translation: X:178.99, Y:-7.57, Z:-3.19 [[ 9.99735444e-01 2.18387832e-02 7.21872802e-03 1.78988836e+02] [-2.18359443e-02 9.99761456e-01 -4.71868339e-04 -7.56838624e+00] [-7.22731107e-03 3.14115761e-04 9.99973833e-01 -3.18771309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994391418 meters 0.028951970062525163 Centerline is valid? [True, True] Translation: X:179.02, Y:-7.57, Z:-3.19 [[ 9.99681291e-01 2.43849103e-02 6.53399409e-03 1.79017969e+02] [-2.43826391e-02 9.99702608e-01 -4.27036831e-04 -7.56571475e+00] [-6.54246419e-03 2.67584711e-04 9.99978562e-01 -3.18820156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters 0.02720935817299691 Centerline is valid? [True, True] Translation: X:179.05, Y:-7.56, Z:-3.19 [[ 9.99609992e-01 2.72624271e-02 6.05172582e-03 1.79047498e+02] [-2.72605351e-02 9.99628285e-01 -3.94921347e-04 -7.56397326e+00] [-6.06024282e-03 2.29794040e-04 9.99981610e-01 -3.18879620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054391418 meters 0.02437390014556125 Centerline is valid? [True, True] Translation: X:179.08, Y:-7.56, Z:-3.19 [[ 9.99393686e-01 3.42553378e-02 6.23158333e-03 1.79076490e+02] [-3.42534699e-02 9.99413095e-01 -4.06253188e-04 -7.55820316e+00] [-6.24184233e-03 1.92553519e-04 9.99980501e-01 -3.18928058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters 0.02220180414306508 Centerline is valid? [True, True] Translation: X:179.11, Y:-7.55, Z:-3.19 [[ 9.99252413e-01 3.81600390e-02 6.19895553e-03 1.79105991e+02] [-3.81582678e-02 9.99271627e-01 -4.03777216e-04 -7.55440432e+00] [-6.20984853e-03 1.66933952e-04 9.99980705e-01 -3.18887672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114391418 meters 0.018744099402140228 Centerline is valid? [True, True] Translation: X:179.14, Y:-7.55, Z:-3.19 [[ 9.98903714e-01 4.64029424e-02 6.17554646e-03 1.79135352e+02] [-4.64013456e-02 9.98922797e-01 -4.01673079e-04 -7.54659430e+00] [-6.18753296e-03 1.14679065e-04 9.99980850e-01 -3.18890087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters 0.017468837304928136 Centerline is valid? [True, True] Translation: X:179.16, Y:-7.54, Z:-3.19 [[ 9.98706086e-01 5.04331601e-02 6.53074295e-03 1.79163741e+02] [-5.04314553e-02 9.98727434e-01 -4.25563790e-04 -7.54354532e+00] [-6.54389468e-03 9.56582758e-05 9.99978584e-01 -3.18930731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174391418 meters 0.01626572711183941 Centerline is valid? [True, True] Translation: X:179.19, Y:-7.54, Z:-3.19 [[ 9.98500875e-01 5.43460645e-02 6.51975529e-03 1.79192827e+02] [-5.43444587e-02 9.98522158e-01 -4.23333326e-04 -7.54045186e+00] [-6.53312662e-03 6.83861253e-05 9.99978657e-01 -3.18950286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204391418 meters 0.01486316523269565 Centerline is valid? [True, True] Translation: X:179.22, Y:-7.53, Z:-3.19 [[ 9.98107320e-01 6.10812267e-02 7.13172156e-03 1.79222721e+02] [-6.10794830e-02 9.98132798e-01 -4.62248310e-04 -7.53344830e+00] [-7.14663989e-03 2.57715558e-05 9.99974462e-01 -3.18852831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234391418 meters 0.014925304776959004 Centerline is valid? [True, True] Translation: X:179.25, Y:-7.53, Z:-3.19 [[ 9.97948011e-01 6.35981815e-02 7.41885420e-03 1.79250407e+02] [-6.35963613e-02 9.97975587e-01 -4.81237096e-04 -7.53238948e+00] [-7.43444118e-03 8.43747017e-06 9.99972364e-01 -3.19010748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264391418 meters 0.014859720411498191 Centerline is valid? [True, True] Translation: X:179.28, Y:-7.53, Z:-3.19 [[ 9.97845093e-01 6.52113735e-02 7.25589495e-03 1.79278963e+02] [-6.52096833e-02 9.97871473e-01 -4.69533726e-04 -7.53185996e+00] [-7.27106952e-03 -4.63268719e-06 9.99973565e-01 -3.18902170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.294391418 meters 0.014982410862578597 Centerline is valid? [True, True] Translation: X:179.31, Y:-7.53, Z:-3.19 [[ 9.97720675e-01 6.70923266e-02 7.21623224e-03 1.79306928e+02] [-6.70907119e-02 9.97746771e-01 -4.65868481e-04 -7.53104385e+00] [-7.23122862e-03 -1.93355432e-05 9.99973854e-01 -3.19026682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.324391418 meters 0.014873742762550575 Centerline is valid? [True, True] Translation: X:179.34, Y:-7.53, Z:-3.19 [[ 9.97727802e-01 6.70102946e-02 6.98959615e-03 1.79335286e+02] [-6.70087806e-02 9.97752284e-01 -4.50823587e-04 -7.53266484e+00] [-7.00409534e-03 -1.85650882e-05 9.99975471e-01 -3.19056771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.354391418 meters 0.014899185337570084 Centerline is valid? [True, True] Translation: X:179.36, Y:-7.54, Z:-3.19 [[ 9.97892092e-01 6.45589929e-02 6.59614818e-03 1.79361644e+02] [-6.45575881e-02 9.97913892e-01 -4.25894276e-04 -7.53548218e+00] [-6.60988321e-03 -8.34887142e-07 9.99978154e-01 -3.19235249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.384391418 meters 0.014989381003208081 Centerline is valid? [True, True] Translation: X:179.39, Y:-7.54, Z:-3.19 [[ 9.98024868e-01 6.24875874e-02 6.45472300e-03 1.79388013e+02] [-6.24862138e-02 9.98045741e-01 -4.14445819e-04 -7.53859083e+00] [-6.46800652e-03 1.02960327e-05 9.99979082e-01 -3.19328009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414391418 meters 0.014870435446516887 Centerline is valid? [True, True] Translation: X:179.42, Y:-7.54, Z:-3.19 [[ 9.98178242e-01 5.99745621e-02 6.57638427e-03 1.79416175e+02] [-5.99730922e-02 9.98199905e-01 -4.20667887e-04 -7.54267292e+00] [-6.58977553e-03 2.54954311e-05 9.99978287e-01 -3.19335288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444391418 meters 0.015652505843186417 Centerline is valid? [True, True] Translation: X:179.44, Y:-7.55, Z:-3.19 [[ 9.98512676e-01 5.40288604e-02 7.30190143e-03 1.79443471e+02] [-5.40268895e-02 9.98539372e-01 -4.67050379e-04 -7.54970931e+00] [-7.31647027e-03 7.18567024e-05 9.99973232e-01 -3.19395708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474391418 meters 0.01617776334058215 Centerline is valid? [True, True] Translation: X:179.47, Y:-7.55, Z:-3.19 [[ 9.98684598e-01 5.07209313e-02 7.51404734e-03 1.79471581e+02] [-5.07187630e-02 9.98712860e-01 -4.78967120e-04 -7.55377864e+00] [-7.52866937e-03 9.72338992e-05 9.99971654e-01 -3.19393505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504391418 meters 0.01709174854938747 Centerline is valid? [True, True] Translation: X:179.50, Y:-7.56, Z:-3.19 [[ 9.98841951e-01 4.74387050e-02 8.02035813e-03 1.79500556e+02] [-4.74361379e-02 9.98874143e-01 -5.10110249e-04 -7.55842004e+00] [-8.03552732e-03 1.29064702e-04 9.99967706e-01 -3.19406230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534391418 meters 0.017709415678844008 Centerline is valid? [True, True] Translation: X:179.53, Y:-7.56, Z:-3.19 [[ 9.98984448e-01 4.42366574e-02 8.55517459e-03 1.79528904e+02] [-4.42336256e-02 9.99021066e-01 -5.43364026e-04 -7.56234664e+00] [-8.57083625e-03 1.64385822e-04 9.99963256e-01 -3.19384303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564391418 meters 0.02035059167992164 Centerline is valid? [True, True] Translation: X:179.56, Y:-7.57, Z:-3.19 [[ 9.99220157e-01 3.82780839e-02 9.68844846e-03 1.79556864e+02] [-3.82739269e-02 9.99267096e-01 -6.14191716e-04 -7.57046880e+00] [-9.70485784e-03 2.42897775e-04 9.99952877e-01 -3.19392141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59439141800001 meters 0.02136597873686592 Centerline is valid? [True, True] Translation: X:179.59, Y:-7.57, Z:-3.19 [[ 9.99325312e-01 3.54069788e-02 9.76049501e-03 1.79585319e+02] [-3.54026272e-02 9.99372939e-01 -6.18318040e-04 -7.57471316e+00] [-9.77626736e-03 2.72353702e-04 9.99952174e-01 -3.19410904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62439141800002 meters 0.023833231824677562 Centerline is valid? [True, True] Translation: X:179.61, Y:-7.58, Z:-3.19 [[ 9.99483493e-01 3.04541435e-02 1.02611865e-02 1.79614026e+02] [-3.04490838e-02 9.99536108e-01 -6.48993182e-04 -7.58153949e+00] [-1.02761910e-02 3.36214243e-04 9.99947142e-01 -3.19470385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65439141800002 meters 0.026191711655640486 Centerline is valid? [True, True] Translation: X:179.64, Y:-7.59, Z:-3.20 [[ 9.99560600e-01 2.79390320e-02 9.90035223e-03 1.79641805e+02] [-2.79342026e-02 9.99609568e-01 -6.25777232e-04 -7.58724027e+00] [-9.91397043e-03 3.48943820e-04 9.99950795e-01 -3.19642548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68439141800002 meters 0.027517983507871765 Centerline is valid? [True, True] Translation: X:179.67, Y:-7.59, Z:-3.20 [[ 9.99621131e-01 2.58382963e-02 9.48562016e-03 1.79670980e+02] [-2.58337783e-02 9.99666073e-01 -5.98536301e-04 -7.59164449e+00] [-9.49791782e-03 3.53260125e-04 9.99954831e-01 -3.19740379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714391418 meters 0.028605444903546568 Centerline is valid? [True, True] Translation: X:179.70, Y:-7.60, Z:-3.20 [[ 9.99715875e-01 2.22781843e-02 8.47658709e-03 1.79700708e+02] [-2.22744507e-02 9.99751751e-01 -5.34622779e-04 -7.59533110e+00] [-8.48639320e-03 3.45659558e-04 9.99963930e-01 -3.19882806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters 0.02971277968430554 Centerline is valid? [True, True] Translation: X:179.73, Y:-7.60, Z:-3.20 [[ 9.99744474e-01 2.10599315e-02 8.21378093e-03 1.79728939e+02] [-2.10563857e-02 9.99778156e-01 -5.17935350e-04 -7.59883255e+00] [-8.22286643e-03 3.44850465e-04 9.99966132e-01 -3.19960652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774391418 meters 0.03082338102391813 Centerline is valid? [True, True] Translation: X:179.76, Y:-7.60, Z:-3.20 [[ 9.99769839e-01 1.99903821e-02 7.78806046e-03 1.79758312e+02] [-1.99871667e-02 9.99800116e-01 -4.90492265e-04 -7.60207005e+00] [-7.79630888e-03 3.34718111e-04 9.99969552e-01 -3.20101532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters 0.030848883747168425 Centerline is valid? [True, True] Translation: X:179.79, Y:-7.60, Z:-3.20 [[ 9.99773406e-01 1.99811191e-02 7.34108013e-03 1.79787933e+02] [-1.99782636e-02 9.99800308e-01 -4.62100314e-04 -7.60366958e+00] [-7.34884746e-03 3.15333570e-04 9.99972947e-01 -3.20211522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834391418 meters 0.02926404211923947 Centerline is valid? [True, True] Translation: X:179.82, Y:-7.60, Z:-3.20 [[ 9.99762491e-01 2.06027012e-02 7.10570190e-03 1.79817143e+02] [-2.06000403e-02 9.99787697e-01 -4.47470423e-04 -7.60264629e+00] [-7.11341243e-03 3.00986399e-04 9.99974654e-01 -3.20241645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters 0.028232614662697723 Centerline is valid? [True, True] Translation: X:179.85, Y:-7.60, Z:-3.20 [[ 9.99743760e-01 2.13694325e-02 7.46742705e-03 1.79845998e+02] [-2.13665200e-02 9.99771600e-01 -4.69603453e-04 -7.60233678e+00] [-7.47575665e-03 3.09930192e-04 9.99972008e-01 -3.20252069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894391418 meters 0.02792406318261169 Centerline is valid? [True, True] Translation: X:179.87, Y:-7.60, Z:-3.20 [[ 9.99714905e-01 2.26722218e-02 7.48853794e-03 1.79874380e+02] [-2.26693338e-02 9.99742907e-01 -4.70326618e-04 -7.60287471e+00] [-7.49727603e-03 3.00432365e-04 9.99971850e-01 -3.20331827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924391418 meters 0.026703818720758752 Centerline is valid? [True, True] Translation: X:179.90, Y:-7.60, Z:-3.20 [[ 9.99630730e-01 2.62736957e-02 6.93515479e-03 1.79903375e+02] [-2.62713099e-02 9.99654755e-01 -4.34908974e-04 -7.60097010e+00] [-6.94418713e-03 2.52552774e-04 9.99975857e-01 -3.20456775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954391418 meters 0.028081619323878836 Centerline is valid? [True, True] Translation: X:179.93, Y:-7.60, Z:-3.21 [[ 9.99579202e-01 2.83014314e-02 6.35994014e-03 1.79930828e+02] [-2.82994649e-02 9.99599410e-01 -3.98987660e-04 -7.60330318e+00] [-6.36868433e-03 2.18836864e-04 9.99979696e-01 -3.20662531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984391418 meters 0.02243853004236614 Centerline is valid? [True, True] Translation: X:179.96, Y:-7.59, Z:-3.21 [[ 9.99431033e-01 3.32879037e-02 5.43383815e-03 1.79961622e+02] [-3.32865486e-02 9.99445792e-01 -3.39668405e-04 -7.59468270e+00] [-5.44213352e-03 1.58601428e-04 9.99985179e-01 -3.20577654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014391418 meters 0.021914468710576278 Centerline is valid? [True, True] Translation: X:179.99, Y:-7.59, Z:-3.21 [[ 9.99342379e-01 3.58369686e-02 5.52467399e-03 1.79989797e+02] [-3.58356019e-02 9.99357639e-01 -3.46199115e-04 -7.59447517e+00] [-5.53353188e-03 1.47991429e-04 9.99984679e-01 -3.20671394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.044391418 meters 0.021206163299351176 Centerline is valid? [True, True] Translation: X:180.02, Y:-7.59, Z:-3.21 [[ 9.99243724e-01 3.85356776e-02 5.19433977e-03 1.80017749e+02] [-3.85345081e-02 9.99257217e-01 -3.25069870e-04 -7.59368091e+00] [-5.20300829e-03 1.24662699e-04 9.99986456e-01 -3.20759947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.074391418 meters 0.01830456008244745 Centerline is valid? [True, True] Translation: X:180.05, Y:-7.59, Z:-3.21 [[ 9.99024926e-01 4.38295702e-02 5.30707751e-03 1.80046768e+02] [-4.38284281e-02 9.99039018e-01 -3.31367009e-04 -7.58743786e+00] [-5.31650117e-03 9.84430365e-05 9.99985862e-01 -3.20638388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.104391418 meters 0.017429444236738957 Centerline is valid? [True, True] Translation: X:180.08, Y:-7.59, Z:-3.21 [[ 9.98894997e-01 4.67212193e-02 5.09044838e-03 1.80075889e+02] [-4.67202078e-02 9.98907964e-01 -3.17494415e-04 -7.58628061e+00] [-5.09972315e-03 7.93167764e-05 9.99986993e-01 -3.20699812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.134391418 meters 0.016799871696230977 Centerline is valid? [True, True] Translation: X:180.10, Y:-7.59, Z:-3.21 [[ 9.98772263e-01 4.93056318e-02 4.78766545e-03 1.80104876e+02] [-4.93047682e-02 9.98783736e-01 -2.98316488e-04 -7.58506373e+00] [-4.79655107e-03 6.18954986e-05 9.99988495e-01 -3.20772444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164391418 meters 0.01556664471026968 Centerline is valid? [True, True] Translation: X:180.13, Y:-7.58, Z:-3.21 [[ 9.98493058e-01 5.47099727e-02 4.29336425e-03 1.80134638e+02] [-5.47093299e-02 9.98502287e-01 -2.67110569e-04 -7.57990454e+00] [-4.30154764e-03 3.18209671e-05 9.99990748e-01 -3.20681579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194391418 meters 0.01556664471026968 Centerline is valid? [True, True] Translation: X:180.16, Y:-7.58, Z:-3.21 [[ 9.98499667e-01 5.45892072e-02 4.29332920e-03 1.80162045e+02] [-5.45885609e-02 9.98508897e-01 -2.67677887e-04 -7.58148986e+00] [-4.30153973e-03 3.29096185e-05 9.99990748e-01 -3.20731113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224391418 meters 0.015299845123055976 Centerline is valid? [True, True] Translation: X:180.19, Y:-7.58, Z:-3.21 [[ 9.98346884e-01 5.73224114e-02 4.20008936e-03 1.80190526e+02] [-5.73218213e-02 9.98355719e-01 -2.60837363e-04 -7.58023114e+00] [-4.20813506e-03 1.96493970e-05 9.99991146e-01 -3.20763584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254391418 meters 0.015240762429487445 Centerline is valid? [True, True] Translation: X:180.22, Y:-7.58, Z:-3.21 [[ 9.98193072e-01 5.99612014e-02 3.90461701e-03 1.80219032e+02] [-5.99607003e-02 9.98200708e-01 -2.45377318e-04 -7.57912490e+00] [-3.91230459e-03 1.08103680e-05 9.99992347e-01 -3.20798327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284391418 meters 0.01565421724412035 Centerline is valid? [True, True] Translation: X:180.25, Y:-7.58, Z:-3.21 [[ 9.97842543e-01 6.55335203e-02 3.95192831e-03 1.80246621e+02] [-6.55330657e-02 9.97850368e-01 -2.44545566e-04 -7.57502732e+00] [-3.95945905e-03 -1.49640087e-05 9.99992161e-01 -3.20814116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314391418 meters 0.015756839272096836 Centerline is valid? [True, True] Translation: X:180.28, Y:-7.57, Z:-3.21 [[ 9.97690841e-01 6.77805187e-02 4.33451847e-03 1.80275862e+02] [-6.77799870e-02 9.97700256e-01 -2.69625735e-04 -7.57429170e+00] [-4.34282556e-03 -2.47904797e-05 9.99990570e-01 -3.20787844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34439141800001 meters 0.016160801458134717 Centerline is valid? [True, True] Translation: X:180.30, Y:-7.57, Z:-3.21 [[ 9.97573953e-01 6.94766551e-02 4.38206548e-03 1.80304219e+02] [-6.94761336e-02 9.97583577e-01 -2.71304417e-04 -7.57403643e+00] [-4.39032588e-03 -3.38027467e-05 9.99990362e-01 -3.20815721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37439141800002 meters 0.01672727826160115 Centerline is valid? [True, True] Translation: X:180.33, Y:-7.57, Z:-3.21 [[ 9.97465031e-01 7.10433545e-02 4.04397317e-03 1.80331887e+02] [-7.10429362e-02 9.97473228e-01 -2.47181550e-04 -7.57387779e+00] [-4.05131558e-03 -4.07407756e-05 9.99991793e-01 -3.20851279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40439141800002 meters 0.0171698303483697 Centerline is valid? [True, True] Translation: X:180.36, Y:-7.57, Z:-3.21 [[ 9.97343862e-01 7.27185532e-02 4.15116154e-03 1.80360577e+02] [-7.27181189e-02 9.97352500e-01 -2.55666641e-04 -7.57345567e+00] [-4.15876305e-03 -4.68771028e-05 9.99991351e-01 -3.20851589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43439141800002 meters 0.017356624880907064 Centerline is valid? [True, True] Translation: X:180.39, Y:-7.57, Z:-3.21 [[ 9.97324576e-01 7.29612114e-02 4.51136256e-03 1.80388923e+02] [-7.29607061e-02 9.97334778e-01 -2.76702070e-04 -7.57442351e+00] [-4.51952730e-03 -5.31904233e-05 9.99989785e-01 -3.20892478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters 0.017452146209100426 Centerline is valid? [True, True] Translation: X:180.42, Y:-7.58, Z:-3.21 [[ 9.97306023e-01 7.32116572e-02 4.55523000e-03 1.80417076e+02] [-7.32111512e-02 9.97316424e-01 -2.77943909e-04 -7.57586510e+00] [-4.56335443e-03 -5.62984980e-05 9.99989586e-01 -3.20906010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494391418 meters 0.01778828354365414 Centerline is valid? [True, True] Translation: X:180.44, Y:-7.58, Z:-3.21 [[ 9.97239997e-01 7.40798423e-02 4.95634439e-03 1.80444735e+02] [-7.40792744e-02 9.97252311e-01 -2.98319725e-04 -7.57708101e+00] [-4.96482538e-03 -6.96660349e-05 9.99987673e-01 -3.20942304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters 0.017537379684652802 Centerline is valid? [True, True] Translation: X:180.47, Y:-7.58, Z:-3.21 [[ 9.97233168e-01 7.41688293e-02 4.99940614e-03 1.80472968e+02] [-7.41682454e-02 9.97245697e-01 -3.02360236e-04 -7.57972269e+00] [-5.00806197e-03 -6.92735258e-05 9.99987457e-01 -3.20917192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554391418 meters 0.017475176520788508 Centerline is valid? [True, True] Translation: X:180.50, Y:-7.58, Z:-3.21 [[ 9.97249939e-01 7.39139646e-02 5.41161960e-03 1.80500757e+02] [-7.39132882e-02 9.97264619e-01 -3.25151612e-04 -7.58342557e+00] [-5.42085000e-03 -7.57331733e-05 9.99985304e-01 -3.20954366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters 0.017557492917587358 Centerline is valid? [True, True] Translation: X:180.53, Y:-7.59, Z:-3.21 [[ 9.97283936e-01 7.34577632e-02 5.35795084e-03 1.80527239e+02] [-7.34571141e-02 9.97298326e-01 -3.18115785e-04 -7.58593784e+00] [-5.36684348e-03 -7.63278439e-05 9.99985595e-01 -3.21032431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614391418 meters 0.017534893916510766 Centerline is valid? [True, True] Translation: X:180.55, Y:-7.59, Z:-3.21 [[ 9.97360423e-01 7.24024802e-02 5.48337909e-03 1.80554464e+02] [-7.24017914e-02 9.97375494e-01 -3.24274301e-04 -7.58897717e+00] [-5.49246619e-03 -7.35881151e-05 9.99984914e-01 -3.21104787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644391418 meters 0.016281805218633275 Centerline is valid? [True, True] Translation: X:180.58, Y:-7.60, Z:-3.21 [[ 9.97518053e-01 7.01949402e-02 5.51404073e-03 1.80582763e+02] [-7.01942138e-02 9.97533291e-01 -3.25387944e-04 -7.59680540e+00] [-5.52327978e-03 -6.24734057e-05 9.99984745e-01 -3.21034832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674391418 meters 0.015860914150757088 Centerline is valid? [True, True] Translation: X:180.61, Y:-7.60, Z:-3.21 [[ 9.97613125e-01 6.88362526e-02 5.44275424e-03 1.80611381e+02] [-6.88355269e-02 9.97627970e-01 -3.20765917e-04 -7.60112250e+00] [-5.45192418e-03 -5.46545668e-05 9.99985137e-01 -3.21107448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704391418 meters 0.01526046264900398 Centerline is valid? [True, True] Translation: X:180.64, Y:-7.61, Z:-3.21 [[ 9.97856596e-01 6.52129426e-02 5.43011293e-03 1.80639192e+02] [-6.52121677e-02 9.97871370e-01 -3.19831282e-04 -7.60805916e+00] [-5.43941137e-03 -3.49636808e-05 9.99985206e-01 -3.21203320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734391418 meters 0.014769924241686397 Centerline is valid? [True, True] Translation: X:180.67, Y:-7.61, Z:-3.21 [[ 9.97979046e-01 6.33491699e-02 4.97045693e-03 1.80667496e+02] [-6.33485002e-02 9.97991424e-01 -2.92198178e-04 -7.61321341e+00] [-4.97898390e-03 -2.32633332e-05 9.99987605e-01 -3.21163939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764391418 meters 0.014832847450979781 Centerline is valid? [True, True] Translation: X:180.70, Y:-7.62, Z:-3.21 [[ 9.98108400e-01 6.12349775e-02 5.46808436e-03 1.80695814e+02] [-6.12341387e-02 9.98123378e-01 -3.20849078e-04 -7.61773500e+00] [-5.47747001e-03 -1.45912763e-05 9.99984998e-01 -3.21211249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.794391418 meters 0.014748779718759425 Centerline is valid? [True, True] Translation: X:180.72, Y:-7.62, Z:-3.21 [[ 9.98222629e-01 5.93386180e-02 5.52373371e-03 1.80723984e+02] [-5.93377202e-02 9.98237912e-01 -3.26423873e-04 -7.62211874e+00] [-5.53336994e-03 -1.92206818e-06 9.99984691e-01 -3.21265396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.824391418 meters 0.014812433345729474 Centerline is valid? [True, True] Translation: X:180.75, Y:-7.63, Z:-3.21 [[ 9.98387242e-01 5.64519426e-02 6.00778455e-03 1.80752717e+02] [-5.64508582e-02 9.98405318e-01 -3.50052629e-04 -7.62867379e+00] [-6.01796519e-03 1.03434851e-05 9.99981892e-01 -3.21232330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.854391418 meters 0.014750512370370025 Centerline is valid? [True, True] Translation: X:180.78, Y:-7.63, Z:-3.21 [[ 9.98425885e-01 5.57644920e-02 6.00611440e-03 1.80780909e+02] [-5.57633958e-02 9.98443950e-01 -3.49948987e-04 -7.63218314e+00] [-6.01628331e-03 1.44767928e-05 9.99981902e-01 -3.21272703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.884391418 meters 0.014923143051200847 Centerline is valid? [True, True] Translation: X:180.81, Y:-7.64, Z:-3.21 [[ 9.98450754e-01 5.53478643e-02 5.71886091e-03 1.80807403e+02] [-5.53468602e-02 9.98467132e-01 -3.33827375e-04 -7.63514687e+00] [-5.72857128e-03 1.67891990e-05 9.99983591e-01 -3.21343158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914391418 meters 0.01474237265516859 Centerline is valid? [True, True] Translation: X:180.84, Y:-7.64, Z:-3.21 [[ 9.98429673e-01 5.57657305e-02 5.32644861e-03 1.80836333e+02] [-5.57648795e-02 9.98443881e-01 -3.08263842e-04 -7.63910467e+00] [-5.33535058e-03 1.07510022e-05 9.99985767e-01 -3.21424777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944391418 meters 0.014768835708540854 Centerline is valid? [True, True] Translation: X:180.86, Y:-7.64, Z:-3.22 [[ 9.98415950e-01 5.60084431e-02 5.35214044e-03 1.80863241e+02] [-5.60075804e-02 9.98430295e-01 -3.11056181e-04 -7.64133847e+00] [-5.36116093e-03 1.08030163e-05 9.99985629e-01 -3.21521452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974391418 meters 0.014903601589136437 Centerline is valid? [True, True] Translation: X:180.89, Y:-7.64, Z:-3.22 [[ 9.98323802e-01 5.76320778e-02 5.30375745e-03 1.80889867e+02] [-5.76312598e-02 9.98337891e-01 -3.07071565e-04 -7.64402253e+00] [-5.31263920e-03 8.94629114e-07 9.99985888e-01 -3.21583561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004391418 meters 0.015028207472760447 Centerline is valid? [True, True] Translation: X:180.92, Y:-7.65, Z:-3.22 [[ 9.98261619e-01 5.87223525e-02 5.04237315e-03 1.80918920e+02] [-5.87216404e-02 9.98274354e-01 -2.89284683e-04 -7.64626701e+00] [-5.05065928e-03 -7.31462734e-06 9.99987245e-01 -3.21653830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034391418 meters 0.015161177520132726 Centerline is valid? [True, True] Translation: X:180.95, Y:-7.65, Z:-3.22 [[ 9.98195180e-01 5.98567778e-02 4.85261493e-03 1.80947512e+02] [-5.98561332e-02 9.98206976e-01 -2.78080182e-04 -7.64856577e+00] [-4.86055906e-03 -1.28804680e-05 9.99988187e-01 -3.21711095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064391418 meters 0.015103882936159801 Centerline is valid? [True, True] Translation: X:180.98, Y:-7.65, Z:-3.22 [[ 9.98114576e-01 6.11897141e-02 4.80750409e-03 1.80976144e+02] [-6.11890985e-02 9.98126154e-01 -2.75171982e-04 -7.65095740e+00] [-4.81533326e-03 -1.95136746e-05 9.99988406e-01 -3.21674796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09439141800001 meters 0.015446472906759982 Centerline is valid? [True, True] Translation: X:181.00, Y:-7.65, Z:-3.22 [[ 9.98053332e-01 6.21861420e-02 4.73599512e-03 1.81003637e+02] [-6.21855562e-02 9.98064569e-01 -2.70972684e-04 -7.65274405e+00] [-4.74367967e-03 -2.40653003e-05 9.99988748e-01 -3.21788666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12439141800002 meters 0.015603074333480318 Centerline is valid? [True, True] Translation: X:181.03, Y:-7.66, Z:-3.22 [[ 9.97934519e-01 6.40135060e-02 5.38211407e-03 1.81031633e+02] [-6.40127805e-02 9.97949032e-01 -3.07125746e-04 -7.65554613e+00] [-5.39073572e-03 -3.80327032e-05 9.99985469e-01 -3.21779258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15439141800002 meters 0.015506203238238817 Centerline is valid? [True, True] Translation: X:181.06, Y:-7.66, Z:-3.22 [[ 9.97895038e-01 6.45956539e-02 5.73538498e-03 1.81059593e+02] [-6.45948419e-02 9.97911519e-01 -3.26893727e-04 -7.65849677e+00] [-5.74452265e-03 -4.42706583e-05 9.99983499e-01 -3.21735575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18439141800002 meters 0.015570598692780612 Centerline is valid? [True, True] Translation: X:181.09, Y:-7.66, Z:-3.22 [[ 9.97806745e-01 6.59333228e-02 5.87342254e-03 1.81087447e+02] [-6.59325004e-02 9.97824030e-01 -3.33739364e-04 -7.66251970e+00] [-5.88264669e-03 -5.42420458e-05 9.99982696e-01 -3.21849288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214391418 meters 0.015660057200140718 Centerline is valid? [True, True] Translation: X:181.12, Y:-7.67, Z:-3.22 [[ 9.97769590e-01 6.64924478e-02 5.88218652e-03 1.81116231e+02] [-6.64916376e-02 9.97786927e-01 -3.33395615e-04 -7.66571311e+00] [-5.89133710e-03 -5.84642080e-05 9.99982644e-01 -3.21911734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters 0.015873713272668604 Centerline is valid? [True, True] Translation: X:181.15, Y:-7.67, Z:-3.22 [[ 9.97716158e-01 6.72861153e-02 5.92010623e-03 1.81145345e+02] [-6.72853115e-02 9.97733719e-01 -3.35058497e-04 -7.66861523e+00] [-5.92923439e-03 -6.40429158e-05 9.99982420e-01 -3.21996293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274391418 meters 0.015866982909950283 Centerline is valid? [True, True] Translation: X:181.17, Y:-7.67, Z:-3.22 [[ 9.97669102e-01 6.79754016e-02 5.97551430e-03 1.81174241e+02] [-6.79745979e-02 9.97686995e-01 -3.37729390e-04 -7.67320932e+00] [-5.98465020e-03 -6.92410042e-05 9.99982089e-01 -3.22002880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters 0.016155452611248147 Centerline is valid? [True, True] Translation: X:181.20, Y:-7.68, Z:-3.22 [[ 9.97648739e-01 6.82601975e-02 6.12692607e-03 1.81201304e+02] [-6.82593568e-02 9.97667550e-01 -3.46458084e-04 -7.67547027e+00] [-6.13628462e-03 -7.25765622e-05 9.99981170e-01 -3.22102485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334391418 meters 0.016333963037940085 Centerline is valid? [True, True] Translation: X:181.23, Y:-7.68, Z:-3.22 [[ 9.97645067e-01 6.82912874e-02 6.37336786e-03 1.81227690e+02] [-6.82903850e-02 9.97665422e-01 -3.59356736e-04 -7.67852979e+00] [-6.38302967e-03 -7.67292699e-05 9.99979625e-01 -3.22159230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters 0.016315601926169657 Centerline is valid? [True, True] Translation: X:181.26, Y:-7.68, Z:-3.22 [[ 9.97652953e-01 6.81559868e-02 6.58378905e-03 1.81255923e+02] [-6.81550287e-02 9.97674674e-01 -3.70030986e-04 -7.68234695e+00] [-6.59369942e-03 -7.95558257e-05 9.99978258e-01 -3.22208932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394391418 meters 0.01611722399943285 Centerline is valid? [True, True] Translation: X:181.28, Y:-7.69, Z:-3.22 [[ 9.97730886e-01 6.69718010e-02 6.91789278e-03 1.81283855e+02] [-6.69707227e-02 9.97754866e-01 -3.87655364e-04 -7.68882780e+00] [-6.92832316e-03 -7.65205494e-05 9.99975996e-01 -3.22303286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424391418 meters 0.015465946864657543 Centerline is valid? [True, True] Translation: X:181.31, Y:-7.69, Z:-3.22 [[ 9.97818679e-01 6.56508322e-02 6.91749297e-03 1.81312846e+02] [-6.56497284e-02 9.97842655e-01 -3.86764261e-04 -7.69424334e+00] [-6.92796094e-03 -6.82109305e-05 9.99975999e-01 -3.22281981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454391418 meters 0.015141723348198736 Centerline is valid? [True, True] Translation: X:181.34, Y:-7.70, Z:-3.22 [[ 9.97990256e-01 6.29249593e-02 7.47650632e-03 1.81340020e+02] [-6.29235974e-02 9.98018260e-01 -4.17485999e-04 -7.70209952e+00] [-7.48796011e-03 -5.38017144e-05 9.99971963e-01 -3.22371741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484391418 meters 0.014726219573823193 Centerline is valid? [True, True] Translation: X:181.37, Y:-7.71, Z:-3.22 [[ 9.98082051e-01 6.14018071e-02 7.87633880e-03 1.81368580e+02] [-6.14002567e-02 9.98113128e-01 -4.38730068e-04 -7.70710927e+00] [-7.88841597e-03 -4.57206183e-05 9.99968885e-01 -3.22396682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514391418 meters 0.014727872902272975 Centerline is valid? [True, True] Translation: X:181.40, Y:-7.71, Z:-3.22 [[ 9.98145139e-01 6.03089776e-02 8.31311032e-03 1.81395735e+02] [-6.03072173e-02 9.98179756e-01 -4.62494150e-04 -7.71162743e+00] [-8.32587098e-03 -3.97042627e-05 9.99965339e-01 -3.22498453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.544391418 meters 0.014506994753216875 Centerline is valid? [True, True] Translation: X:181.42, Y:-7.72, Z:-3.22 [[ 9.98206925e-01 5.91476910e-02 9.19159647e-03 1.81424007e+02] [-5.91455013e-02 9.98249242e-01 -5.10109170e-04 -7.71666144e+00] [-9.20567599e-03 -3.44470747e-05 9.99957626e-01 -3.22442247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.574391418 meters 0.014182787163950774 Centerline is valid? [True, True] Translation: X:181.45, Y:-7.72, Z:-3.23 [[ 9.98303713e-01 5.71783859e-02 1.09694341e-02 1.81451775e+02] [-5.71751597e-02 9.98363978e-01 -6.07740702e-04 -7.72381308e+00] [-1.09862375e-02 -2.04693479e-05 9.99939649e-01 -3.22511111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.604391418 meters 0.013972907504126483 Centerline is valid? [True, True] Translation: X:181.48, Y:-7.73, Z:-3.22 [[ 9.98356657e-01 5.61481859e-02 1.14614925e-02 1.81480411e+02] [-5.61446114e-02 9.98422446e-01 -6.33647227e-04 -7.72829764e+00] [-1.14789895e-02 -1.08951123e-05 9.99934114e-01 -3.22465722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.634391418 meters 0.01399598319508365 Centerline is valid? [True, True] Translation: X:181.51, Y:-7.74, Z:-3.22 [[ 9.98506887e-01 5.30283030e-02 1.31147330e-02 1.81508100e+02] [-5.30233692e-02 9.98593009e-01 -7.23868314e-04 -7.73592841e+00] [-1.31346662e-02 2.74001664e-05 9.99913736e-01 -3.22483586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664391418 meters 0.014010823762458305 Centerline is valid? [True, True] Translation: X:181.54, Y:-7.74, Z:-3.23 [[ 9.98604769e-01 5.08223070e-02 1.43390809e-02 1.81536891e+02] [-5.08162056e-02 9.98707710e-01 -7.89767933e-04 -7.74097752e+00] [-1.43606884e-02 6.00083422e-05 9.99896878e-01 -3.22503892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694391418 meters 0.014357547211578697 Centerline is valid? [True, True] Translation: X:181.56, Y:-7.75, Z:-3.23 [[ 9.98699200e-01 4.86820795e-02 1.51645015e-02 1.81564548e+02] [-4.86750281e-02 9.98814320e-01 -8.33955946e-04 -7.74693033e+00] [-1.51871200e-02 9.47385998e-05 9.99884665e-01 -3.22604174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724391418 meters 0.015141440814143458 Centerline is valid? [True, True] Translation: X:181.59, Y:-7.75, Z:-3.23 [[ 9.98927137e-01 4.35686094e-02 1.56955901e-02 1.81592786e+02] [-4.35604508e-02 9.99050422e-01 -8.61461471e-04 -7.75497215e+00] [-1.57182186e-02 1.76830259e-04 9.99876446e-01 -3.22709433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754391418 meters 0.015588922144790249 Centerline is valid? [True, True] Translation: X:181.62, Y:-7.76, Z:-3.23 [[ 9.99027179e-01 4.10237041e-02 1.61787209e-02 1.81622485e+02] [-4.10147251e-02 9.99158149e-01 -8.86544017e-04 -7.76039748e+00] [-1.62014702e-02 2.22115777e-04 9.99868723e-01 -3.22829586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784391418 meters 0.0164724087274843 Centerline is valid? [True, True] Translation: X:181.65, Y:-7.77, Z:-3.23 [[ 9.99125581e-01 3.85925035e-02 1.60839208e-02 1.81651721e+02] [-3.85833249e-02 9.99254998e-01 -8.80700946e-04 -7.76574803e+00] [-1.61059267e-02 2.59359703e-04 9.99870258e-01 -3.22931062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814391418 meters 0.016957573218318072 Centerline is valid? [True, True] Translation: X:181.68, Y:-7.77, Z:-3.23 [[ 9.99214928e-01 3.61724254e-02 1.61580961e-02 1.81681220e+02] [-3.61628561e-02 9.99345519e-01 -8.84109966e-04 -7.77042433e+00] [-1.61795013e-02 2.99092972e-04 9.99869059e-01 -3.23028713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84439141800001 meters 0.018880879818664535 Centerline is valid? [True, True] Translation: X:181.71, Y:-7.78, Z:-3.23 [[ 9.99379015e-01 3.12365499e-02 1.63052676e-02 1.81710526e+02] [-3.12261604e-02 9.99511947e-01 -8.91454169e-04 -7.77887601e+00] [-1.63251557e-02 3.81749689e-04 9.99866663e-01 -3.23177249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87439141800002 meters 0.01958101108727782 Centerline is valid? [True, True] Translation: X:181.74, Y:-7.78, Z:-3.23 [[ 9.99448479e-01 2.91913230e-02 1.58304815e-02 1.81741256e+02] [-2.91812818e-02 9.99573761e-01 -8.64960392e-04 -7.78357092e+00] [-1.58489833e-02 4.02529606e-04 9.99874316e-01 -3.23283083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90439141800002 meters 0.02135690545055252 Centerline is valid? [True, True] Translation: X:181.77, Y:-7.79, Z:-3.23 [[ 9.99490957e-01 2.76954296e-02 1.58363230e-02 1.81772305e+02] [-2.76851784e-02 9.99616317e-01 -8.66226313e-04 -7.78955726e+00] [-1.58542374e-02 4.27353938e-04 9.99874222e-01 -3.23387414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93439141800002 meters 0.022408029133474734 Centerline is valid? [True, True] Translation: X:181.80, Y:-7.79, Z:-3.23 [[ 9.99564329e-01 2.44714992e-02 1.65014585e-02 1.81803732e+02] [-2.44598501e-02 9.99700401e-01 -9.07425536e-04 -7.79452275e+00] [-1.65187207e-02 5.03406995e-04 9.99863430e-01 -3.23479010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters 0.023155650574830235 Centerline is valid? [True, True] Translation: X:181.84, Y:-7.80, Z:-3.24 [[ 9.99586896e-01 2.37373511e-02 1.62041621e-02 1.81835424e+02] [-2.37260184e-02 9.99718101e-01 -8.91281599e-04 -7.79781685e+00] [-1.62207508e-02 5.06453160e-04 9.99868307e-01 -3.23521855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994391418 meters 0.023732107836537487 Centerline is valid? [True, True] Translation: X:181.87, Y:-7.80, Z:-3.24 [[ 9.99592084e-01 2.29565216e-02 1.69900813e-02 1.81867834e+02] [-2.29438665e-02 9.99736313e-01 -9.39424801e-04 -7.80154340e+00] [-1.70071672e-02 5.49223437e-04 9.99855217e-01 -3.23547510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters 0.02375766478447829 Centerline is valid? [True, True] Translation: X:181.90, Y:-7.80, Z:-3.24 [[ 9.99574322e-01 2.35275704e-02 1.72519312e-02 1.81900126e+02] [-2.35145237e-02 9.99723036e-01 -9.58730004e-04 -7.80381031e+00] [-1.72697096e-02 5.52650949e-04 9.99850715e-01 -3.23594771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054391418 meters 0.023743857018946855 Centerline is valid? [True, True] Translation: X:181.93, Y:-7.81, Z:-3.24 [[ 9.99543364e-01 2.42639281e-02 1.80090099e-02 1.81931954e+02] [-2.42497376e-02 9.99705426e-01 -1.00595508e-03 -7.80551224e+00] [-1.80281133e-02 5.68781964e-04 9.99837319e-01 -3.23629380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters 0.023743857018946855 Centerline is valid? [True, True] Translation: X:181.96, Y:-7.81, Z:-3.24 [[ 9.99535768e-01 2.45750540e-02 1.80087350e-02 1.81964489e+02] [-2.45608259e-02 9.99697826e-01 -1.01085171e-03 -7.80748885e+00] [-1.80281350e-02 5.68073040e-04 9.99837319e-01 -3.23688046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114391418 meters 0.022422223068906198 Centerline is valid? [True, True] Translation: X:182.00, Y:-7.81, Z:-3.24 [[ 9.99466220e-01 2.63499604e-02 1.93120283e-02 1.81996996e+02] [-2.63338054e-02 9.99652611e-01 -1.09039820e-03 -7.80696211e+00] [-1.93340515e-02 5.81256969e-04 9.99812911e-01 -3.23626116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144391418 meters 0.02210108335191722 Centerline is valid? [True, True] Translation: X:182.03, Y:-7.81, Z:-3.24 [[ 9.99416572e-01 2.75129753e-02 2.02373851e-02 1.82028925e+02] [-2.74953542e-02 9.99621272e-01 -1.14850590e-03 -7.80788178e+00] [-2.02613194e-02 5.91401759e-04 9.99794543e-01 -3.23608505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174391418 meters 0.022227025802845076 Centerline is valid? [True, True] Translation: X:182.06, Y:-7.81, Z:-3.24 [[ 9.99378941e-01 2.83398019e-02 2.09425071e-02 1.82060240e+02] [-2.83209945e-02 9.99598167e-01 -1.19415451e-03 -7.80940860e+00] [-2.09679338e-02 6.00300242e-04 9.99779968e-01 -3.23626440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204391418 meters 0.02205313632619526 Centerline is valid? [True, True] Translation: X:182.09, Y:-7.81, Z:-3.24 [[ 9.99346652e-01 2.93425567e-02 2.11017270e-02 1.82092715e+02] [-2.93236070e-02 9.99569242e-01 -1.20694325e-03 -7.81068510e+00] [-2.11280520e-02 5.87375951e-04 9.99776605e-01 -3.23666091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234391418 meters 0.021982692866172153 Centerline is valid? [True, True] Translation: X:182.12, Y:-7.81, Z:-3.24 [[ 9.99299335e-01 3.05972820e-02 2.15556564e-02 1.82124126e+02] [-3.05776721e-02 9.99531626e-01 -1.23882446e-03 -7.81169639e+00] [-2.15834650e-02 5.78834666e-04 9.99766882e-01 -3.23693632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264391418 meters 0.02224763298101124 Centerline is valid? [True, True] Translation: X:182.16, Y:-7.81, Z:-3.24 [[ 9.99295665e-01 3.07782674e-02 2.14679521e-02 1.82157395e+02] [-3.07587387e-02 9.99526070e-01 -1.23935216e-03 -7.81337180e+00] [-2.14959229e-02 5.78152109e-04 9.99768769e-01 -3.23770491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.294391418 meters 0.02235253722725075 Centerline is valid? [True, True] Translation: X:182.19, Y:-7.82, Z:-3.24 [[ 9.99291352e-01 3.11516463e-02 2.11274267e-02 1.82190133e+02] [-3.11326809e-02 9.99514509e-01 -1.22606611e-03 -7.81531636e+00] [-2.11553635e-02 5.67443823e-04 9.99776039e-01 -3.23853263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.324391418 meters 0.022611649579670868 Centerline is valid? [True, True] Translation: X:182.22, Y:-7.82, Z:-3.24 [[ 9.99286240e-01 3.15624302e-02 2.07562835e-02 1.82221160e+02] [-3.15440937e-02 9.99501628e-01 -1.21031319e-03 -7.81639587e+00] [-2.07841396e-02 5.54711167e-04 9.99783833e-01 -3.23989782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.354391418 meters 0.01962996159625826 Centerline is valid? [True, True] Translation: X:182.25, Y:-7.81, Z:-3.24 [[ 9.99256636e-01 3.22347109e-02 2.11447165e-02 1.82254279e+02] [-3.22157519e-02 9.99480173e-01 -1.23674116e-03 -7.81314436e+00] [-2.11735908e-02 5.54628869e-04 9.99775661e-01 -3.24090459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.384391418 meters 0.02223630469966481 Centerline is valid? [True, True] Translation: X:182.28, Y:-7.82, Z:-3.24 [[ 9.99209555e-01 3.36823689e-02 2.11131048e-02 1.82284999e+02] [-3.36636523e-02 9.99432448e-01 -1.24137986e-03 -7.81729139e+00] [-2.11429346e-02 5.29654402e-04 9.99776323e-01 -3.24104299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414391418 meters 0.020190726662963638 Centerline is valid? [True, True] Translation: X:182.32, Y:-7.82, Z:-3.24 [[ 9.99183498e-01 3.47146866e-02 2.06695031e-02 1.82317831e+02] [-3.46968935e-02 9.99397138e-01 -1.21894903e-03 -7.81512797e+00] [-2.06993576e-02 5.00786214e-04 9.99785620e-01 -3.24240291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444391418 meters 0.019722985710247512 Centerline is valid? [True, True] Translation: X:182.35, Y:-7.82, Z:-3.24 [[ 9.99136027e-01 3.61456558e-02 2.05107682e-02 1.82350489e+02] [-3.61283212e-02 9.99346420e-01 -1.21518608e-03 -7.81560745e+00] [-2.05412865e-02 4.73116564e-04 9.99788894e-01 -3.24306521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474391418 meters 0.018904014811125452 Centerline is valid? [True, True] Translation: X:182.38, Y:-7.81, Z:-3.24 [[ 9.99049902e-01 3.88848388e-02 1.96790095e-02 1.82381388e+02] [-3.88693183e-02 9.99243617e-01 -1.17070700e-03 -7.81395039e+00] [-1.97096473e-02 4.04685029e-04 9.99805664e-01 -3.24380425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504391418 meters 0.0172263726725343 Centerline is valid? [True, True] Translation: X:182.41, Y:-7.81, Z:-3.24 [[ 9.98985327e-01 4.04962820e-02 1.97070551e-02 1.82411690e+02] [-4.04810167e-02 9.99179619e-01 -1.17307520e-03 -7.81127988e+00] [-1.97383930e-02 3.74123281e-04 9.99805109e-01 -3.24444800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534391418 meters 0.0167603429164047 Centerline is valid? [True, True] Translation: X:182.44, Y:-7.81, Z:-3.24 [[ 9.98913004e-01 4.21445245e-02 1.99160824e-02 1.82441056e+02] [-4.21292627e-02 9.99111465e-01 -1.18543895e-03 -7.81107736e+00] [-1.99483461e-02 3.45100514e-04 9.99800952e-01 -3.24470576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564391418 meters 0.016674711694597992 Centerline is valid? [True, True] Translation: X:182.47, Y:-7.81, Z:-3.24 [[ 9.98853457e-01 4.35663593e-02 1.98429897e-02 1.82469709e+02] [-4.35515066e-02 9.99050486e-01 -1.18024103e-03 -7.81156418e+00] [-1.98755673e-02 3.14695734e-04 9.99802412e-01 -3.24482185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59439141800001 meters 0.016221106804551754 Centerline is valid? [True, True] Translation: X:182.50, Y:-7.81, Z:-3.24 [[ 9.98749212e-01 4.57137772e-02 2.02549526e-02 1.82498326e+02] [-4.56987681e-02 9.98954541e-01 -1.20349234e-03 -7.81176853e+00] [-2.02887931e-02 2.76360647e-04 9.99794123e-01 -3.24499414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62439141800002 meters 0.015798263090288648 Centerline is valid? [True, True] Translation: X:182.53, Y:-7.81, Z:-3.25 [[ 9.98745188e-01 4.58126705e-02 2.02298874e-02 1.82528105e+02] [-4.57977422e-02 9.98950011e-01 -1.20084963e-03 -7.81254395e+00] [-2.02636603e-02 2.72859619e-04 9.99794634e-01 -3.24560159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65439141800002 meters 0.016028198309224116 Centerline is valid? [True, True] Translation: X:182.56, Y:-7.81, Z:-3.25 [[ 9.98752132e-01 4.56899488e-02 2.01644990e-02 1.82557072e+02] [-4.56751075e-02 9.98955631e-01 -1.19619424e-03 -7.81498585e+00] [-2.01980939e-02 2.73685891e-04 9.99795960e-01 -3.24627432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68439141800002 meters 0.016151635570036807 Centerline is valid? [True, True] Translation: X:182.59, Y:-7.82, Z:-3.25 [[ 9.98824218e-01 4.40638634e-02 2.02128163e-02 1.82586676e+02] [-4.40486272e-02 9.99028669e-01 -1.19860623e-03 -7.81817651e+00] [-2.02459982e-02 3.06850120e-04 9.99794982e-01 -3.24666710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714391418 meters 0.01649711084595118 Centerline is valid? [True, True] Translation: X:182.62, Y:-7.82, Z:-3.25 [[ 9.98903223e-01 4.24161902e-02 1.98297131e-02 1.82616636e+02] [-4.24012159e-02 9.99099973e-01 -1.17516941e-03 -7.82088374e+00] [-1.98617120e-02 3.33076570e-04 9.99802681e-01 -3.24747978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters 0.01791331526890012 Centerline is valid? [True, True] Translation: X:182.65, Y:-7.83, Z:-3.25 [[ 9.98990125e-01 4.04927006e-02 1.94697784e-02 1.82645758e+02] [-4.04778995e-02 9.99179768e-01 -1.15385480e-03 -7.82629099e+00] [-1.95005314e-02 3.64593821e-04 9.99809780e-01 -3.24844787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774391418 meters 0.020392028356906084 Centerline is valid? [True, True] Translation: X:182.68, Y:-7.83, Z:-3.25 [[ 9.99198194e-01 3.54832801e-02 1.85447056e-02 1.82675124e+02] [-3.54689865e-02 9.99370173e-01 -1.09920928e-03 -7.83417852e+00] [-1.85720292e-02 4.40566017e-04 9.99827428e-01 -3.24921726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters 0.02199602725103294 Centerline is valid? [True, True] Translation: X:182.71, Y:-7.84, Z:-3.25 [[ 9.99295694e-01 3.26869853e-02 1.84303355e-02 1.82706451e+02] [-3.26723983e-02 9.99465518e-01 -1.09209967e-03 -7.83926480e+00] [-1.84561823e-02 4.89167229e-04 9.99829550e-01 -3.24996931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834391418 meters 0.022472941506456953 Centerline is valid? [True, True] Translation: X:182.74, Y:-7.84, Z:-3.25 [[ 9.99387784e-01 2.98348061e-02 1.82740650e-02 1.82737544e+02] [-2.98199764e-02 9.99554698e-01 -1.08352875e-03 -7.84270524e+00] [-1.82982544e-02 5.37933212e-04 9.99832428e-01 -3.25074849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters 0.027361796913638783 Centerline is valid? [True, True] Translation: X:182.77, Y:-7.85, Z:-3.25 [[ 9.99560320e-01 2.37039303e-02 1.78126603e-02 1.82767081e+02] [-2.36888553e-02 9.99718821e-01 -1.05685975e-03 -7.85331370e+00] [-1.78327034e-02 6.34433540e-04 9.99840783e-01 -3.25158503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894391418 meters 0.025447079352610105 Centerline is valid? [True, True] Translation: X:182.80, Y:-7.85, Z:-3.25 [[ 9.99614266e-01 2.13149644e-02 1.78042437e-02 1.82798776e+02] [-2.12995261e-02 9.99772581e-01 -1.05630976e-03 -7.85299678e+00] [-1.78227099e-02 6.76680349e-04 9.99840934e-01 -3.25212661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924391418 meters 0.030582918865790416 Centerline is valid? [True, True] Translation: X:182.83, Y:-7.86, Z:-3.25 [[ 9.99655000e-01 1.94784345e-02 1.76201785e-02 1.82829063e+02] [-1.94629467e-02 9.99810028e-01 -1.05005532e-03 -7.86231714e+00] [-1.76372845e-02 7.06752458e-04 9.99844201e-01 -3.25283789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954391418 meters 0.032719999712327516 Centerline is valid? [True, True] Translation: X:182.86, Y:-7.87, Z:-3.25 [[ 9.99686954e-01 1.72836688e-02 1.80905836e-02 1.82859792e+02] [-1.72669366e-02 9.99850331e-01 -1.08071104e-03 -7.86699107e+00] [-1.81065547e-02 7.68003767e-04 9.99835768e-01 -3.25306253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984391418 meters 0.027871411383658038 Centerline is valid? [True, True] Translation: X:182.89, Y:-7.86, Z:-3.25 [[ 9.99690720e-01 1.74253168e-02 1.77432333e-02 1.82893396e+02] [-1.74092034e-02 9.99847884e-01 -1.06220897e-03 -7.86217248e+00] [-1.77590436e-02 7.52984894e-04 9.99842012e-01 -3.25365078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014391418 meters 0.028105037760395458 Centerline is valid? [True, True] Translation: X:182.92, Y:-7.86, Z:-3.25 [[ 9.99679075e-01 1.81221938e-02 1.77012282e-02 1.82924749e+02] [-1.81061632e-02 9.99835502e-01 -1.06548222e-03 -7.86410142e+00] [-1.77176253e-02 7.44638957e-04 9.99842753e-01 -3.25463712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.044391418 meters 0.02720903250907535 Centerline is valid? [True, True] Translation: X:182.96, Y:-7.86, Z:-3.26 [[ 9.99655099e-01 1.94531314e-02 1.76425469e-02 1.82957285e+02] [-1.94373323e-02 9.99810508e-01 -1.06656143e-03 -7.86468384e+00] [-1.76599518e-02 7.23269520e-04 9.99843789e-01 -3.25561959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.074391418 meters 0.025758951680878668 Centerline is valid? [True, True] Translation: X:182.99, Y:-7.86, Z:-3.26 [[ 9.99598563e-01 2.26785093e-02 1.69822757e-02 1.82989370e+02] [-2.26642530e-02 9.99742601e-01 -1.03149610e-03 -7.86326449e+00] [-1.70012972e-02 6.46191428e-04 9.99855259e-01 -3.25634696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.104391418 meters 0.02455516115401994 Centerline is valid? [True, True] Translation: X:183.02, Y:-7.86, Z:-3.26 [[ 9.99554269e-01 2.47237684e-02 1.67331687e-02 1.83022230e+02] [-2.47101975e-02 9.99694139e-01 -1.01731642e-03 -7.86234794e+00] [-1.67532026e-02 6.03383069e-04 9.99859473e-01 -3.25649003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.134391418 meters 0.0235865579265287 Centerline is valid? [True, True] Translation: X:183.05, Y:-7.86, Z:-3.26 [[ 9.99450840e-01 2.87979737e-02 1.63919267e-02 1.83052486e+02] [-2.87854690e-02 9.99585114e-01 -9.98333010e-04 -7.86066797e+00] [-1.64138758e-02 5.25935468e-04 9.99865145e-01 -3.25703007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164391418 meters 0.022405582044421984 Centerline is valid? [True, True] Translation: X:183.08, Y:-7.86, Z:-3.26 [[ 9.99400727e-01 3.06936461e-02 1.60027135e-02 1.83084480e+02] [-3.06819672e-02 9.99528722e-01 -9.74867840e-04 -7.86009230e+00] [-1.60250940e-02 4.83288899e-04 9.99871473e-01 -3.25760151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194391418 meters 0.021333142396793413 Centerline is valid? [True, True] Translation: X:183.11, Y:-7.86, Z:-3.26 [[ 9.99351473e-01 3.25860626e-02 1.53226166e-02 1.83114707e+02] [-3.25755616e-02 9.99468839e-01 -9.34478082e-04 -7.85964647e+00] [-1.53449288e-02 4.34729206e-04 9.99882165e-01 -3.25845132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224391418 meters 0.019931030796625976 Centerline is valid? [True, True] Translation: X:183.14, Y:-7.86, Z:-3.26 [[ 9.99261513e-01 3.58055789e-02 1.39423445e-02 1.83144897e+02] [-3.57971967e-02 9.99358713e-01 -8.50381320e-04 -7.85749049e+00] [-1.39638519e-02 3.50656476e-04 9.99902439e-01 -3.26006527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254391418 meters 0.01969729339141852 Centerline is valid? [True, True] Translation: X:183.17, Y:-7.86, Z:-3.26 [[ 9.99212547e-01 3.72597686e-02 1.36380234e-02 1.83173778e+02] [-3.72518850e-02 9.99305562e-01 -8.31726094e-04 -7.85782815e+00] [-1.36595425e-02 3.23029070e-04 9.99906652e-01 -3.26130343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284391418 meters 0.018450374597444506 Centerline is valid? [True, True] Translation: X:183.20, Y:-7.86, Z:-3.26 [[ 9.99106446e-01 4.03366562e-02 1.26199385e-02 1.83203726e+02] [-4.03301610e-02 9.99186112e-01 -7.68854976e-04 -7.85558018e+00] [-1.26406803e-02 2.59203811e-04 9.99920070e-01 -3.26238444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314391418 meters 0.01782104138876843 Centerline is valid? [True, True] Translation: X:183.23, Y:-7.85, Z:-3.26 [[ 9.99055502e-01 4.18311028e-02 1.17585525e-02 1.83232920e+02] [-4.18255694e-02 9.99124671e-01 -7.16208972e-04 -7.85456061e+00] [-1.17782197e-02 2.23724361e-04 9.99930609e-01 -3.26297938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34439141800001 meters 0.017434750342046435 Centerline is valid? [True, True] Translation: X:183.26, Y:-7.85, Z:-3.26 [[ 9.99007339e-01 4.32589015e-02 1.06303382e-02 1.83260456e+02] [-4.32544660e-02 9.99063878e-01 -6.46909734e-04 -7.85408561e+00] [-1.06483715e-02 1.86457970e-04 9.99943287e-01 -3.26370050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37439141800002 meters 0.016634921014144287 Centerline is valid? [True, True] Translation: X:183.29, Y:-7.85, Z:-3.26 [[ 9.98941656e-01 4.49493767e-02 9.75301356e-03 1.83289325e+02] [-4.49457334e-02 9.98989254e-01 -5.92532187e-04 -7.85279211e+00] [-9.76978969e-03 1.53548737e-04 9.99952263e-01 -3.26414295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40439141800002 meters 0.016007570540456824 Centerline is valid? [True, True] Translation: X:183.32, Y:-7.85, Z:-3.26 [[ 9.98810818e-01 4.78707801e-02 9.23792206e-03 1.83317679e+02] [-4.78676411e-02 9.98853530e-01 -5.60735229e-04 -7.85027738e+00] [-9.25417390e-03 1.17870875e-04 9.99957172e-01 -3.26482372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43439141800002 meters 0.01570227358475573 Centerline is valid? [True, True] Translation: X:183.35, Y:-7.85, Z:-3.27 [[ 9.98752775e-01 4.90662439e-02 9.24106740e-03 1.83346753e+02] [-4.90631641e-02 9.98795521e-01 -5.59820491e-04 -7.84981364e+00] [-9.25740502e-03 1.05726262e-04 9.99957144e-01 -3.26500111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters 0.015488926720557275 Centerline is valid? [True, True] Translation: X:183.37, Y:-7.85, Z:-3.27 [[ 9.98696919e-01 5.01820391e-02 9.28580152e-03 1.83374814e+02] [-5.01789827e-02 9.98740083e-01 -5.61986229e-04 -7.84995853e+00] [-9.30230380e-03 9.53018426e-05 9.99956728e-01 -3.26535694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494391418 meters 0.015333258728484785 Centerline is valid? [True, True] Translation: X:183.40, Y:-7.85, Z:-3.27 [[ 9.98652019e-01 5.10822979e-02 9.20564391e-03 1.83403493e+02] [-5.10793429e-02 9.98694444e-01 -5.55975113e-04 -7.85024533e+00] [-9.22202591e-03 8.50074269e-05 9.99957473e-01 -3.26570583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters 0.015264167248900645 Centerline is valid? [True, True] Translation: X:183.43, Y:-7.85, Z:-3.27 [[ 9.98601546e-01 5.19362257e-02 9.87829817e-03 1.83432729e+02] [-5.19328735e-02 9.98650400e-01 -5.95737760e-04 -7.84958363e+00] [-9.89590679e-03 8.18962389e-05 9.99951031e-01 -3.26528729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554391418 meters 0.015050601509002186 Centerline is valid? [True, True] Translation: X:183.46, Y:-7.85, Z:-3.26 [[ 9.98582799e-01 5.22602420e-02 1.00628800e-02 1.83461603e+02] [-5.22567879e-02 9.98633497e-01 -6.06059376e-04 -7.85032763e+00] [-1.00808018e-02 7.93466838e-05 9.99949184e-01 -3.26491320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters 0.014747547921545628 Centerline is valid? [True, True] Translation: X:183.49, Y:-7.85, Z:-3.26 [[ 9.98570455e-01 5.24892207e-02 1.00959611e-02 1.83488560e+02] [-5.24857592e-02 9.98621488e-01 -6.07691061e-04 -7.85162175e+00] [-1.01139409e-02 7.69281547e-05 9.99948850e-01 -3.26442963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614391418 meters 0.014904407812016412 Centerline is valid? [True, True] Translation: X:183.52, Y:-7.85, Z:-3.27 [[ 9.98595042e-01 5.20336111e-02 1.00222662e-02 1.83517411e+02] [-5.20301959e-02 9.98645331e-01 -6.01379905e-04 -7.85355154e+00] [-1.00399813e-02 7.90745180e-05 9.99949595e-01 -3.26505610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644391418 meters 0.014932077564001518 Centerline is valid? [True, True] Translation: X:183.55, Y:-7.86, Z:-3.27 [[ 9.98604708e-01 5.19099439e-02 9.69505960e-03 1.83546042e+02] [-5.19067492e-02 9.98651767e-01 -5.81021102e-04 -7.85562049e+00] [-9.71214917e-03 7.69713810e-05 9.99952833e-01 -3.26558566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674391418 meters 0.015112699584726226 Centerline is valid? [True, True] Translation: X:183.57, Y:-7.86, Z:-3.27 [[ 9.98630010e-01 5.13809436e-02 9.90468212e-03 1.83572563e+02] [-5.13775868e-02 9.98679123e-01 -5.93225548e-04 -7.85795646e+00] [-9.92207975e-03 8.35341689e-05 9.99950771e-01 -3.26631230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704391418 meters 0.015363563058401112 Centerline is valid? [True, True] Translation: X:183.60, Y:-7.86, Z:-3.27 [[ 9.98677129e-01 5.06017710e-02 9.13519863e-03 1.83600017e+02] [-5.05988942e-02 9.98718906e-01 -5.45911349e-04 -7.86104274e+00] [-9.15111967e-03 8.29582306e-05 9.99958124e-01 -3.26727618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734391418 meters 0.015105649436910963 Centerline is valid? [True, True] Translation: X:183.63, Y:-7.86, Z:-3.27 [[ 9.98687855e-01 5.04308591e-02 8.90492145e-03 1.83627938e+02] [-5.04281284e-02 9.98727551e-01 -5.31065112e-04 -7.86312386e+00] [-8.92037247e-03 8.13097552e-05 9.99960209e-01 -3.26721114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764391418 meters 0.015255777543112086 Centerline is valid? [True, True] Translation: X:183.66, Y:-7.87, Z:-3.27 [[ 9.98717246e-01 4.98739592e-02 8.74364924e-03 1.83656568e+02] [-4.98713173e-02 9.98755516e-01 -5.20060848e-04 -7.86575600e+00] [-8.75870541e-03 8.33364319e-05 9.99961638e-01 -3.26761804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.794391418 meters 0.015411302922438775 Centerline is valid? [True, True] Translation: X:183.68, Y:-7.87, Z:-3.27 [[ 9.98766918e-01 4.89508159e-02 8.27418249e-03 1.83683768e+02] [-4.89484217e-02 9.98801187e-01 -4.91741244e-04 -7.86971040e+00] [-8.28833442e-03 8.61267135e-05 9.99965647e-01 -3.26893080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.824391418 meters 0.015665834823657774 Centerline is valid? [True, True] Translation: X:183.71, Y:-7.87, Z:-3.27 [[ 9.98800027e-01 4.83304811e-02 7.91651844e-03 1.83710945e+02] [-4.83282756e-02 9.98831396e-01 -4.69767385e-04 -7.87292064e+00] [-7.92997124e-03 8.66119914e-05 9.99968554e-01 -3.27016949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.854391418 meters 0.015454803046883353 Centerline is valid? [True, True] Translation: X:183.74, Y:-7.88, Z:-3.27 [[ 9.98839136e-01 4.75396542e-02 7.76931534e-03 1.83739425e+02] [-4.75375130e-02 9.98869347e-01 -4.60138862e-04 -7.87556039e+00] [-7.78240578e-03 9.02707743e-05 9.99969713e-01 -3.27057039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.884391418 meters 0.01586086883832776 Centerline is valid? [True, True] Translation: X:183.77, Y:-7.88, Z:-3.27 [[ 9.98914307e-01 4.60834889e-02 6.82046855e-03 1.83767691e+02] [-4.60818074e-02 9.98937588e-01 -4.03578236e-04 -7.87977658e+00] [-6.83182069e-03 8.88405559e-05 9.99976659e-01 -3.27144335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914391418 meters 0.016096217677337103 Centerline is valid? [True, True] Translation: X:183.80, Y:-7.88, Z:-3.27 [[ 9.98935060e-01 4.56153655e-02 6.92704648e-03 1.83795740e+02] [-4.56136223e-02 9.98959073e-01 -4.09523408e-04 -7.88246699e+00] [-6.93851650e-03 9.31196087e-05 9.99975924e-01 -3.27226552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944391418 meters 0.016046477403520814 Centerline is valid? [True, True] Translation: X:183.82, Y:-7.88, Z:-3.27 [[ 9.98949423e-01 4.52874382e-02 7.00701548e-03 1.83824131e+02] [-4.52856530e-02 9.98973993e-01 -4.13311762e-04 -7.88483606e+00] [-7.01854407e-03 9.55602748e-05 9.99975365e-01 -3.27245368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974391418 meters 0.016073047310224155 Centerline is valid? [True, True] Translation: X:183.85, Y:-7.89, Z:-3.27 [[ 9.98974250e-01 4.47260287e-02 7.07317563e-03 1.83853044e+02] [-4.47241942e-02 9.98999285e-01 -4.17398388e-04 -7.88866818e+00] [-7.08476597e-03 1.00628161e-04 9.99974898e-01 -3.27279361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004391418 meters 0.016073047310224155 Centerline is valid? [True, True] Translation: X:183.88, Y:-7.89, Z:-3.27 [[ 9.98977906e-01 4.46442845e-02 7.07328286e-03 1.83881310e+02] [-4.46424609e-02 9.99002942e-01 -4.15569938e-04 -7.89024625e+00] [-7.08478321e-03 9.93764325e-05 9.99974898e-01 -3.27330468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034391418 meters 0.016199267313390654 Centerline is valid? [True, True] Translation: X:183.91, Y:-7.89, Z:-3.27 [[ 9.98994108e-01 4.42067883e-02 7.51875797e-03 1.83908631e+02] [-4.42047184e-02 9.99022396e-01 -4.41347281e-04 -7.89286026e+00] [-7.53091815e-03 1.08538755e-04 9.99971636e-01 -3.27359746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064391418 meters 0.016386910889827144 Centerline is valid? [True, True] Translation: X:183.94, Y:-7.90, Z:-3.27 [[ 9.99024377e-01 4.35113350e-02 7.55370557e-03 1.83937422e+02] [-4.35092351e-02 9.99052927e-01 -4.42189533e-04 -7.89591562e+00] [-7.56579192e-03 1.13102171e-04 9.99971373e-01 -3.27372641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09439141800001 meters 0.017110042000958278 Centerline is valid? [True, True] Translation: X:183.96, Y:-7.90, Z:-3.27 [[ 9.99105437e-01 4.13828228e-02 8.70556329e-03 1.83964717e+02] [-4.13799591e-02 9.99143353e-01 -5.08895832e-04 -7.90184837e+00] [-8.71916524e-03 1.48204740e-04 9.99961976e-01 -3.27372482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12439141800002 meters 0.017086854754619477 Centerline is valid? [True, True] Translation: X:183.99, Y:-7.90, Z:-3.27 [[ 9.99162800e-01 3.98090676e-02 9.43061751e-03 1.83992906e+02] [-3.98056467e-02 9.99207290e-01 -5.50241994e-04 -7.90453565e+00] [-9.44504639e-03 1.74389503e-04 9.99955379e-01 -3.27335527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15439141800002 meters 0.018032966811264275 Centerline is valid? [True, True] Translation: X:184.02, Y:-7.91, Z:-3.27 [[ 9.99245371e-01 3.76323683e-02 9.61739621e-03 1.84020827e+02] [-3.76287194e-02 9.99291632e-01 -5.60135341e-04 -7.90876685e+00] [-9.63166277e-03 1.97822343e-04 9.99953595e-01 -3.27372344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18439141800002 meters 0.01961291690282032 Centerline is valid? [True, True] Translation: X:184.05, Y:-7.91, Z:-3.27 [[ 9.99324206e-01 3.53879053e-02 9.94121783e-03 1.84048022e+02] [-3.53839060e-02 9.99373626e-01 -5.77940046e-04 -7.91419531e+00] [-9.95544300e-03 2.25790360e-04 9.99950418e-01 -3.27457835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214391418 meters 0.021681785944154604 Centerline is valid? [True, True] Translation: X:184.08, Y:-7.92, Z:-3.28 [[ 9.99491409e-01 3.00294020e-02 1.07311611e-02 1.84077107e+02] [-3.00244506e-02 9.99548971e-01 -6.22246732e-04 -7.92195162e+00] [-1.07450068e-02 2.99733046e-04 9.99942226e-01 -3.27516683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters 0.022023594622809017 Centerline is valid? [True, True] Translation: X:184.11, Y:-7.93, Z:-3.28 [[ 9.99574739e-01 2.71597080e-02 1.06155940e-02 1.84106662e+02] [-2.71547051e-02 9.99631054e-01 -6.15152204e-04 -7.92537796e+00] [-1.06283848e-02 3.26627280e-04 9.99943464e-01 -3.27570527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274391418 meters 0.02365096857255728 Centerline is valid? [True, True] Translation: X:184.14, Y:-7.93, Z:-3.28 [[ 9.99640660e-01 2.46264858e-02 1.05871467e-02 1.84135584e+02] [-2.46213756e-02 9.99696660e-01 -6.12768468e-04 -7.93061703e+00] [-1.05990255e-02 3.51878161e-04 9.99943767e-01 -3.27664019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters 0.02566104298307572 Centerline is valid? [True, True] Translation: X:184.17, Y:-7.94, Z:-3.28 [[ 9.99705288e-01 2.19785741e-02 1.03092020e-02 1.84165007e+02] [-2.19735861e-02 9.99758373e-01 -5.96869185e-04 -7.93613049e+00] [-1.03198294e-02 3.70163142e-04 9.99946681e-01 -3.27781724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334391418 meters 0.02787702806508378 Centerline is valid? [True, True] Translation: X:184.20, Y:-7.94, Z:-3.28 [[ 9.99794413e-01 1.77173847e-02 9.86034873e-03 1.84195410e+02] [-1.77126224e-02 9.99842957e-01 -5.70110116e-04 -7.94261555e+00] [-9.86890109e-03 3.95340275e-04 9.99951223e-01 -3.27938771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters 0.028361506720436403 Centerline is valid? [True, True] Translation: X:184.23, Y:-7.95, Z:-3.28 [[ 9.99826415e-01 1.58017551e-02 9.87137523e-03 1.84226468e+02] [-1.57968825e-02 9.99875058e-01 -5.71387681e-04 -7.94521502e+00] [-9.87917081e-03 4.15351542e-04 9.99951114e-01 -3.28008759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394391418 meters 0.02968530860233898 Centerline is valid? [True, True] Translation: X:184.26, Y:-7.95, Z:-3.28 [[ 9.99850655e-01 1.43385627e-02 9.64746906e-03 1.84257830e+02] [-1.43338546e-02 9.99897110e-01 -5.56990176e-04 -7.94924448e+00] [-9.65446287e-03 4.18621574e-04 9.99953307e-01 -3.28087638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424391418 meters 0.028838813270231845 Centerline is valid? [True, True] Translation: X:184.29, Y:-7.95, Z:-3.28 [[ 9.99872477e-01 1.22237356e-02 1.02766749e-02 1.84290382e+02] [-1.22182379e-02 9.99925176e-01 -5.97583510e-04 -7.94993347e+00] [-1.02832106e-02 4.71944446e-04 9.99947015e-01 -3.28066026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454391418 meters 0.0323940980718328 Centerline is valid? [True, True] Translation: X:184.32, Y:-7.96, Z:-3.28 [[ 9.99872191e-01 1.15683262e-02 1.10352135e-02 1.84321684e+02] [-1.15619498e-02 9.99932953e-01 -6.41446272e-04 -7.95622192e+00] [-1.10418941e-02 5.13775705e-04 9.99938904e-01 -3.28137869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484391418 meters 0.033253767586843924 Centerline is valid? [True, True] Translation: X:184.35, Y:-7.96, Z:-3.28 [[ 9.99872421e-01 1.14311579e-02 1.11565920e-02 1.84353120e+02] [-1.14245977e-02 9.99934525e-01 -6.51568398e-04 -7.95905285e+00] [-1.11633097e-02 5.24025696e-04 9.99937551e-01 -3.28199547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514391418 meters 0.03385729811767749 Centerline is valid? [True, True] Translation: X:184.39, Y:-7.96, Z:-3.28 [[ 9.99865196e-01 1.17572137e-02 1.14611201e-02 1.84385954e+02] [-1.17502818e-02 9.99930737e-01 -6.71970964e-04 -7.96052648e+00] [-1.14682267e-02 5.37208989e-04 9.99934093e-01 -3.28241621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.544391418 meters 0.03426617843128357 Centerline is valid? [True, True] Translation: X:184.42, Y:-7.96, Z:-3.28 [[ 9.99856330e-01 1.22684950e-02 1.16963060e-02 1.84417348e+02] [-1.22612633e-02 9.99924590e-01 -6.89802889e-04 -7.96197827e+00] [-1.17038869e-02 5.46292298e-04 9.99931358e-01 -3.28288896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.574391418 meters 0.03157091102661132 Centerline is valid? [True, True] Translation: X:184.45, Y:-7.96, Z:-3.28 [[ 9.99847128e-01 1.27505889e-02 1.19642611e-02 1.84449841e+02] [-1.27430221e-02 9.99918553e-01 -7.08471322e-04 -7.95899728e+00] [-1.19723201e-02 5.55902173e-04 9.99928175e-01 -3.28293062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.604391418 meters 0.02994153966205502 Centerline is valid? [True, True] Translation: X:184.48, Y:-7.96, Z:-3.28 [[ 9.99841169e-01 1.32831498e-02 1.18825468e-02 1.84482622e+02] [-1.32756887e-02 9.99911625e-01 -7.06559609e-04 -7.95758490e+00] [-1.18908821e-02 5.48698392e-04 9.99929150e-01 -3.28330244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.634391418 meters 0.03034629370609059 Centerline is valid? [True, True] Translation: X:184.51, Y:-7.96, Z:-3.28 [[ 9.99842777e-01 1.37775772e-02 1.11623948e-02 1.84514133e+02] [-1.37709751e-02 9.99904952e-01 -6.68112607e-04 -7.95799447e+00] [-1.11705388e-02 5.14290504e-04 9.99937475e-01 -3.28456641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664391418 meters 0.03015435948799066 Centerline is valid? [True, True] Translation: X:184.55, Y:-7.96, Z:-3.29 [[ 9.99839086e-01 1.37163411e-02 1.15613127e-02 1.84546247e+02] [-1.37092413e-02 9.99905784e-01 -6.93129109e-04 -7.95853285e+00] [-1.15697306e-02 5.34520749e-04 9.99932926e-01 -3.28533884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694391418 meters 0.03003550561606425 Centerline is valid? [True, True] Translation: X:184.58, Y:-7.96, Z:-3.29 [[ 9.99835654e-01 1.41213269e-02 1.13689933e-02 1.84579429e+02] [-1.41144552e-02 9.99900152e-01 -6.84434678e-04 -7.95957758e+00] [-1.13775232e-02 5.23855047e-04 9.99935137e-01 -3.28584827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724391418 meters 0.028738815380914235 Centerline is valid? [True, True] Translation: X:184.61, Y:-7.96, Z:-3.29 [[ 9.99819331e-01 1.47146238e-02 1.20327077e-02 1.84611886e+02] [-1.47069160e-02 9.99891582e-01 -7.28808712e-04 -7.95740383e+00] [-1.20421273e-02 5.51713017e-04 9.99927339e-01 -3.28544226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754391418 meters 0.03272293718633122 Centerline is valid? [True, True] Translation: X:184.64, Y:-7.96, Z:-3.29 [[ 9.99810252e-01 1.52092365e-02 1.21712590e-02 1.84642498e+02] [-1.52013418e-02 9.99884178e-01 -7.40893699e-04 -7.96303299e+00] [-1.21811178e-02 5.55733648e-04 9.99925653e-01 -3.28664875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784391418 meters 0.028341355011417733 Centerline is valid? [True, True] Translation: X:184.68, Y:-7.96, Z:-3.29 [[ 9.99791703e-01 1.62851642e-02 1.23021596e-02 1.84675446e+02] [-1.62771409e-02 9.99867236e-01 -7.52039820e-04 -7.95731923e+00] [-1.23127734e-02 5.51639187e-04 9.99924043e-01 -3.28606798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814391418 meters 0.027920450568000223 Centerline is valid? [True, True] Translation: X:184.71, Y:-7.96, Z:-3.29 [[ 9.99763255e-01 1.78339860e-02 1.24653063e-02 1.84707802e+02] [-1.78258231e-02 9.99840814e-01 -7.65662384e-04 -7.95701943e+00] [-1.24769768e-02 5.43276773e-04 9.99922012e-01 -3.28671096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84439141800001 meters 0.027728522460973067 Centerline is valid? [True, True] Translation: X:184.74, Y:-7.95, Z:-3.29 [[ 9.99695859e-01 2.11079352e-02 1.27532033e-02 1.84738683e+02] [-2.10995922e-02 9.99777068e-01 -7.88406180e-04 -7.95493753e+00] [-1.27670018e-02 5.19079005e-04 9.99918364e-01 -3.28749964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87439141800002 meters 0.026139050339001407 Centerline is valid? [True, True] Translation: X:184.77, Y:-7.95, Z:-3.29 [[ 9.99643421e-01 2.34568861e-02 1.27595353e-02 1.84770337e+02] [-2.34487190e-02 9.99724729e-01 -7.89321808e-04 -7.95267913e+00] [-1.27745380e-02 4.89845595e-04 9.99918282e-01 -3.28781264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90439141800002 meters 0.024754908794467758 Centerline is valid? [True, True] Translation: X:184.80, Y:-7.95, Z:-3.29 [[ 9.99573357e-01 2.61447675e-02 1.30213329e-02 1.84800731e+02] [-2.61364799e-02 9.99658059e-01 -8.06258735e-04 -7.95028084e+00] [-1.30379598e-02 4.65582944e-04 9.99914894e-01 -3.28801199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93439141800002 meters 0.021534819125193123 Centerline is valid? [True, True] Translation: X:184.83, Y:-7.94, Z:-3.29 [[ 9.99394552e-01 3.22988850e-02 1.29348691e-02 1.84831700e+02] [-3.22912219e-02 9.99478182e-01 -8.00905045e-04 -7.94228833e+00] [-1.29539878e-02 3.82737409e-04 9.99916020e-01 -3.28795824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters 0.02035776598921287 Centerline is valid? [True, True] Translation: X:184.86, Y:-7.94, Z:-3.29 [[ 9.99277658e-01 3.57154096e-02 1.29835553e-02 1.84861796e+02] [-3.57079741e-02 9.99361943e-01 -8.04121390e-04 -7.93993223e+00] [-1.30039906e-02 3.39924083e-04 9.99915387e-01 -3.28858214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994391418 meters 0.019116539013167556 Centerline is valid? [True, True] Translation: X:184.89, Y:-7.94, Z:-3.29 [[ 9.99169028e-01 3.87809096e-02 1.25416961e-02 1.84891315e+02] [-3.87742176e-02 9.99247696e-01 -7.76384831e-04 -7.93723496e+00] [-1.25623698e-02 2.89445224e-04 9.99921048e-01 -3.28930595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters 0.017226775698631333 Centerline is valid? [True, True] Translation: X:184.92, Y:-7.93, Z:-3.29 [[ 9.98945555e-01 4.41096875e-02 1.27323924e-02 1.84920234e+02] [-4.41032317e-02 9.99026669e-01 -7.87511466e-04 -7.93180933e+00] [-1.27547365e-02 2.25141425e-04 9.99918630e-01 -3.28945315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054391418 meters 0.01686975896781691 Centerline is valid? [True, True] Translation: X:184.95, Y:-7.93, Z:-3.29 [[ 9.98863171e-01 4.59882231e-02 1.25478751e-02 1.84948598e+02] [-4.59821138e-02 9.98941962e-01 -7.75098220e-04 -7.93155957e+00] [-1.25702443e-02 1.97239247e-04 9.99920972e-01 -3.28998791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters 0.01622268135591044 Centerline is valid? [True, True] Translation: X:184.98, Y:-7.93, Z:-3.29 [[ 9.98800291e-01 4.73011474e-02 1.26719868e-02 1.84977931e+02] [-4.72950354e-02 9.98880658e-01 -7.81734289e-04 -7.93091849e+00] [-1.26947794e-02 1.81474372e-04 9.99919402e-01 -3.29011498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114391418 meters 0.01589692385539906 Centerline is valid? [True, True] Translation: X:185.01, Y:-7.93, Z:-3.29 [[ 9.98764589e-01 4.80752876e-02 1.25722543e-02 1.85006824e+02] [-4.80693452e-02 9.98843701e-01 -7.74583673e-04 -7.93074872e+00] [-1.25949553e-02 1.69286714e-04 9.99920666e-01 -3.29070811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144391418 meters 0.015890991783566396 Centerline is valid? [True, True] Translation: X:185.04, Y:-7.93, Z:-3.29 [[ 9.98793252e-01 4.76474755e-02 1.19061706e-02 1.85036012e+02] [-4.76421262e-02 9.98864200e-01 -7.32672587e-04 -7.93224363e+00] [-1.19275576e-02 1.64553153e-04 9.99928851e-01 -3.29126247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174391418 meters 0.016161718404875253 Centerline is valid? [True, True] Translation: X:185.06, Y:-7.93, Z:-3.29 [[ 9.98839463e-01 4.67121091e-02 1.17348501e-02 1.85063185e+02] [-4.67068563e-02 9.98908379e-01 -7.21439627e-04 -7.93462270e+00] [-1.17557401e-02 1.72504412e-04 9.99930884e-01 -3.29232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204391418 meters 0.016510573917745377 Centerline is valid? [True, True] Translation: X:185.09, Y:-7.94, Z:-3.29 [[ 9.98912453e-01 4.52288451e-02 1.13253033e-02 1.85091973e+02] [-4.52238751e-02 9.98976636e-01 -6.94680485e-04 -7.93770682e+00] [-1.13451330e-02 1.81750887e-04 9.99935625e-01 -3.29318246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234391418 meters 0.018022241334861352 Centerline is valid? [True, True] Translation: X:185.12, Y:-7.94, Z:-3.29 [[ 9.99076420e-01 4.16000025e-02 1.07585368e-02 1.85119449e+02] [-4.15953142e-02 9.99134323e-01 -6.59262079e-04 -7.94316703e+00] [-1.07766487e-02 2.11148478e-04 9.99941908e-01 -3.29461864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264391418 meters 0.018776465810955486 Centerline is valid? [True, True] Translation: X:185.15, Y:-7.95, Z:-3.30 [[ 9.99168638e-01 3.93385535e-02 1.07010099e-02 1.85148308e+02] [-3.93337985e-02 9.99225912e-01 -6.54531256e-04 -7.94671046e+00] [-1.07184747e-02 2.33075735e-04 9.99942528e-01 -3.29519426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.294391418 meters 0.019999473936176054 Centerline is valid? [True, True] Translation: X:185.18, Y:-7.95, Z:-3.30 [[ 9.99246864e-01 3.72265436e-02 1.09493575e-02 1.85175593e+02] [-3.72214470e-02 9.99306818e-01 -6.68953466e-04 -7.95111103e+00] [-1.09666705e-02 2.60898722e-04 9.99939830e-01 -3.29588919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.324391418 meters 0.022059933481235725 Centerline is valid? [True, True] Translation: X:185.20, Y:-7.96, Z:-3.30 [[ 9.99392403e-01 3.31843832e-02 1.06593246e-02 1.85204072e+02] [-3.31793373e-02 9.99449203e-01 -6.49925181e-04 -7.95704898e+00] [-1.06750208e-02 2.95860963e-04 9.99942977e-01 -3.29598383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.354391418 meters 0.022987572421835425 Centerline is valid? [True, True] Translation: X:185.23, Y:-7.96, Z:-3.30 [[ 9.99452452e-01 3.11948156e-02 1.10308883e-02 1.85232744e+02] [-3.11892963e-02 9.99513270e-01 -6.72067205e-04 -7.96040522e+00] [-1.10464842e-02 3.27653573e-04 9.99938932e-01 -3.29657318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.384391418 meters 0.023864428860378015 Centerline is valid? [True, True] Translation: X:185.26, Y:-7.96, Z:-3.30 [[ 9.99507701e-01 2.95648236e-02 1.05012782e-02 1.85262528e+02] [-2.95597425e-02 9.99562811e-01 -6.38766458e-04 -7.96374644e+00] [-1.05155722e-02 3.28036915e-04 9.99944656e-01 -3.29773661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414391418 meters 0.023330309736781612 Centerline is valid? [True, True] Translation: X:185.29, Y:-7.97, Z:-3.30 [[ 9.99596065e-01 2.65638661e-02 1.01028545e-02 1.85292167e+02] [-2.65590137e-02 9.99647059e-01 -6.14184841e-04 -7.96514792e+00] [-1.01156039e-02 3.45614900e-04 9.99948776e-01 -3.29786565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444391418 meters 0.025217434649723765 Centerline is valid? [True, True] Translation: X:185.32, Y:-7.97, Z:-3.30 [[ 9.99624760e-01 2.54571655e-02 1.01129991e-02 1.85320390e+02] [-2.54522494e-02 9.99675850e-01 -6.14544983e-04 -7.96990538e+00] [-1.01253655e-02 3.56915805e-04 9.99948673e-01 -3.29882863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474391418 meters 0.023626642747359042 Centerline is valid? [True, True] Translation: X:185.35, Y:-7.97, Z:-3.30 [[ 9.99653599e-01 2.44702068e-02 9.68971808e-03 1.85349578e+02] [-2.44656525e-02 9.99700498e-01 -5.88290103e-04 -7.96955755e+00] [-9.70121157e-03 3.51021044e-04 9.99952881e-01 -3.29887893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504391418 meters 0.02429754636437092 Centerline is valid? [True, True] Translation: X:185.38, Y:-7.97, Z:-3.30 [[ 9.99670520e-01 2.37825308e-02 9.65623023e-03 1.85378241e+02] [-2.37779830e-02 9.99717092e-01 -5.85520125e-04 -7.97266371e+00] [-9.66742356e-03 3.55721530e-04 9.99953206e-01 -3.29952847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534391418 meters 0.025080167127161514 Centerline is valid? [True, True] Translation: X:185.41, Y:-7.98, Z:-3.30 [[ 9.99693122e-01 2.29748389e-02 9.26382121e-03 1.85408169e+02] [-2.29706226e-02 9.99735983e-01 -5.61300222e-04 -7.97524287e+00] [-9.27427118e-03 3.48332231e-04 9.99956932e-01 -3.30022627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564391418 meters 0.025699733448929292 Centerline is valid? [True, True] Translation: X:185.44, Y:-7.98, Z:-3.30 [[ 9.99694929e-01 2.30903468e-02 8.76842246e-03 1.85437065e+02] [-2.30865750e-02 9.99733328e-01 -5.31148994e-04 -7.97757350e+00] [-8.77834858e-03 3.28554113e-04 9.99961416e-01 -3.30108627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59439141800001 meters 0.02471922779646751 Centerline is valid? [True, True] Translation: X:185.47, Y:-7.98, Z:-3.30 [[ 9.99688693e-01 2.34211304e-02 8.60040955e-03 1.85466369e+02] [-2.34175198e-02 9.99725637e-01 -5.20288694e-04 -7.97728279e+00] [-8.61023567e-03 3.18726464e-04 9.99962880e-01 -3.30120363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62439141800002 meters 0.024031400777588755 Centerline is valid? [True, True] Translation: X:185.50, Y:-7.98, Z:-3.30 [[ 9.99629563e-01 2.60343158e-02 7.93418409e-03 1.85495669e+02] [-2.60313274e-02 9.99661012e-01 -4.79714998e-04 -7.97687811e+00] [-7.94398356e-03 2.72999950e-04 9.99968409e-01 -3.30168167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65439141800002 meters 0.023567957518313018 Centerline is valid? [True, True] Translation: X:185.52, Y:-7.98, Z:-3.30 [[ 9.99574922e-01 2.80433962e-02 7.97138908e-03 1.85523923e+02] [-2.80404429e-02 9.99606673e-01 -4.82028479e-04 -7.97696161e+00] [-7.98177143e-03 2.58302300e-04 9.99968112e-01 -3.30200858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68439141800002 meters 0.02267456190137614 Centerline is valid? [True, True] Translation: X:185.55, Y:-7.98, Z:-3.30 [[ 9.99507999e-01 3.02176286e-02 8.40565736e-03 1.85553439e+02] [-3.02144294e-02 9.99543311e-01 -5.07351897e-04 -7.97612681e+00] [-8.41714957e-03 2.53130138e-04 9.99964543e-01 -3.30203575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714391418 meters 0.02089700196465138 Centerline is valid? [True, True] Translation: X:185.58, Y:-7.97, Z:-3.30 [[ 9.99427954e-01 3.26213359e-02 8.92260588e-03 1.85582278e+02] [-3.26178303e-02 9.99467752e-01 -5.38158759e-04 -7.97388962e+00] [-8.93541230e-03 2.46814863e-04 9.99960048e-01 -3.30156922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters 0.01836999205624278 Centerline is valid? [True, True] Translation: X:185.61, Y:-7.97, Z:-3.30 [[ 9.99231905e-01 3.79409612e-02 9.80223746e-03 1.85612121e+02] [-3.79369985e-02 9.99279959e-01 -5.89954149e-04 -7.96975756e+00] [-9.81756287e-03 2.17633540e-04 9.99951783e-01 -3.30076194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774391418 meters 0.01803041351112526 Centerline is valid? [True, True] Translation: X:185.64, Y:-7.97, Z:-3.30 [[ 9.99133964e-01 4.05324377e-02 9.40447373e-03 1.85639796e+02] [-4.05289033e-02 9.99178206e-01 -5.66177881e-04 -7.96957957e+00] [-9.41969376e-03 1.84534544e-04 9.99955617e-01 -3.30205760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters 0.01700850593892124 Centerline is valid? [True, True] Translation: X:185.67, Y:-7.97, Z:-3.30 [[ 9.99044250e-01 4.27857774e-02 8.94223238e-03 1.85668898e+02] [-4.27826811e-02 9.99084257e-01 -5.37349449e-04 -7.96836390e+00] [-8.95703451e-03 1.54263202e-04 9.99959873e-01 -3.30279705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834391418 meters 0.016563407320684294 Centerline is valid? [True, True] Translation: X:185.70, Y:-7.97, Z:-3.31 [[ 9.98910477e-01 4.61037393e-02 7.23222407e-03 1.85697129e+02] [-4.61018006e-02 9.98936652e-01 -4.34625555e-04 -7.96696632e+00] [-7.24457156e-03 1.00733468e-04 9.99973753e-01 -3.30565584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters 0.016212177328587804 Centerline is valid? [True, True] Translation: X:185.73, Y:-7.97, Z:-3.31 [[ 9.98872570e-01 4.69820215e-02 6.80286942e-03 1.85725908e+02] [-4.69803335e-02 9.98895731e-01 -4.07810174e-04 -7.96665731e+00] [-6.81451697e-03 8.77493227e-05 9.99976777e-01 -3.30665445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894391418 meters 0.016212177328587804 Centerline is valid? [True, True] Translation: X:185.75, Y:-7.97, Z:-3.31 [[ 9.98878148e-01 4.68632834e-02 6.80287526e-03 1.85753327e+02] [-4.68615933e-02 9.98901309e-01 -4.07713715e-04 -7.96817995e+00] [-6.81450780e-03 8.84627466e-05 9.99976777e-01 -3.30714997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924391418 meters 0.01606691848371335 Centerline is valid? [True, True] Translation: X:185.78, Y:-7.97, Z:-3.31 [[ 9.98857661e-01 4.74079209e-02 5.98843099e-03 1.85781002e+02] [-4.74066238e-02 9.98875610e-01 -3.58441022e-04 -7.96877273e+00] [-5.99869060e-03 7.41402652e-05 9.99982005e-01 -3.30820240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954391418 meters 0.01639615737791087 Centerline is valid? [True, True] Translation: X:185.81, Y:-7.97, Z:-3.31 [[ 9.98902868e-01 4.64929168e-02 5.60965562e-03 1.85808594e+02] [-4.64917686e-02 9.98918617e-01 -3.34980963e-04 -7.97057202e+00] [-5.61916367e-03 7.38106332e-05 9.99984210e-01 -3.30943635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984391418 meters 0.016475909773934146 Centerline is valid? [True, True] Translation: X:185.84, Y:-7.97, Z:-3.31 [[ 9.98932771e-01 4.58237101e-02 5.78845759e-03 1.85836179e+02] [-4.58224800e-02 9.98949539e-01 -3.45015908e-04 -7.97271808e+00] [-5.79818695e-03 7.94062150e-05 9.99983187e-01 -3.30965323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014391418 meters 0.016765466938538493 Centerline is valid? [True, True] Translation: X:185.86, Y:-7.97, Z:-3.31 [[ 9.98967155e-01 4.49850876e-02 6.40035315e-03 1.85863939e+02] [-4.49835702e-02 9.98987654e-01 -3.80910487e-04 -7.97443765e+00] [-6.41100907e-03 9.26063304e-05 9.99979445e-01 -3.30931977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.044391418 meters 0.016952133108293483 Centerline is valid? [True, True] Translation: X:185.89, Y:-7.98, Z:-3.31 [[ 9.99026998e-01 4.33191105e-02 8.27721244e-03 1.85892493e+02] [-4.33165317e-02 9.99061278e-01 -4.90653193e-04 -7.97614996e+00] [-8.29069710e-03 1.31635651e-04 9.99965623e-01 -3.30764067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.074391418 meters 0.017314151178613103 Centerline is valid? [True, True] Translation: X:185.92, Y:-7.98, Z:-3.31 [[ 9.99063501e-01 4.24153966e-02 8.54724348e-03 1.85921244e+02] [-4.24126199e-02 9.99100052e-01 -5.05945053e-04 -7.97812700e+00] [-8.56101126e-03 1.42960247e-04 9.99963344e-01 -3.30751020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.104391418 meters 0.017602108997060353 Centerline is valid? [True, True] Translation: X:185.95, Y:-7.98, Z:-3.31 [[ 9.99102242e-01 4.13478603e-02 9.22303013e-03 1.85950117e+02] [-4.13445894e-02 9.99144798e-01 -5.45116685e-04 -7.98045381e+00] [-9.23768199e-03 1.63304909e-04 9.99957318e-01 -3.30754043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.134391418 meters 0.0193041705293411 Centerline is valid? [True, True] Translation: X:185.98, Y:-7.99, Z:-3.31 [[ 9.99229180e-01 3.80052163e-02 9.83103184e-03 1.85977857e+02] [-3.80013450e-02 9.99277519e-01 -5.80351231e-04 -7.98508650e+00] [-9.84598548e-03 2.06311452e-04 9.99951506e-01 -3.30814581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164391418 meters 0.02016171986337629 Centerline is valid? [True, True] Translation: X:186.01, Y:-7.99, Z:-3.31 [[ 9.99297991e-01 3.60590732e-02 1.01621129e-02 1.86006265e+02] [-3.60548483e-02 9.99349633e-01 -5.98705084e-04 -7.98826060e+00] [-1.01770925e-02 2.31891349e-04 9.99948185e-01 -3.30874501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194391418 meters 0.02179102719659979 Centerline is valid? [True, True] Translation: X:186.03, Y:-7.99, Z:-3.31 [[ 9.99370834e-01 3.38416954e-02 1.06148530e-02 1.86033840e+02] [-3.38369684e-02 9.99427171e-01 -6.24648672e-04 -7.99298964e+00] [-1.06299117e-02 2.65081220e-04 9.99943466e-01 -3.30939173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224391418 meters 0.023437193103911586 Centerline is valid? [True, True] Translation: X:186.06, Y:-8.00, Z:-3.31 [[ 9.99517411e-01 2.90001076e-02 1.11327874e-02 1.86062838e+02] [-2.89946233e-02 9.99579354e-01 -6.53747281e-04 -7.99742273e+00] [-1.11470632e-02 3.30640814e-04 9.99937815e-01 -3.30926973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254391418 meters 0.025523156323457127 Centerline is valid? [True, True] Translation: X:186.09, Y:-8.00, Z:-3.31 [[ 9.99581728e-01 2.66104895e-02 1.13248350e-02 1.86091419e+02] [-2.66046687e-02 9.99645812e-01 -6.64359309e-04 -8.00275213e+00] [-1.13385028e-02 3.62787944e-04 9.99935651e-01 -3.30995107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284391418 meters 0.027531431769544194 Centerline is valid? [True, True] Translation: X:186.12, Y:-8.01, Z:-3.31 [[ 9.99652345e-01 2.39368537e-02 1.10551242e-02 1.86120538e+02] [-2.39311530e-02 9.99713399e-01 -6.47672039e-04 -8.00733746e+00] [-1.10674590e-02 3.82885004e-04 9.99938680e-01 -3.31092838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314391418 meters 0.029792013774418046 Centerline is valid? [True, True] Translation: X:186.15, Y:-8.01, Z:-3.31 [[ 9.99760751e-01 1.89849349e-02 1.08633336e-02 1.86150228e+02] [-1.89791405e-02 9.99819677e-01 -6.36243406e-04 -8.01254401e+00] [-1.08734538e-02 4.29914450e-04 9.99940790e-01 -3.31167306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34439141800001 meters 0.032112723472238154 Centerline is valid? [True, True] Translation: X:186.18, Y:-8.02, Z:-3.31 [[ 9.99808179e-01 1.65981032e-02 1.03975031e-02 1.86180359e+02] [-1.65926744e-02 9.99862147e-01 -6.08184316e-04 -8.01731927e+00] [-1.04061645e-02 4.35545270e-04 9.99945760e-01 -3.31291821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37439141800002 meters 0.029992486920013484 Centerline is valid? [True, True] Translation: X:186.21, Y:-8.02, Z:-3.31 [[ 9.99842089e-01 1.45569270e-02 1.01927671e-02 1.86211448e+02] [-1.45515948e-02 9.99893942e-01 -5.97113617e-04 -8.01611871e+00] [-1.02003783e-02 4.48698310e-04 9.99947874e-01 -3.31277970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40439141800002 meters 0.028756081487605695 Centerline is valid? [True, True] Translation: X:186.24, Y:-8.02, Z:-3.31 [[ 9.99869699e-01 1.27906453e-02 9.84804959e-03 1.86242969e+02] [-1.27855820e-02 9.99918095e-01 -5.76926982e-04 -8.01582558e+00] [-9.85462225e-03 4.50938762e-04 9.99951340e-01 -3.31323081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43439141800002 meters 0.02998946496472635 Centerline is valid? [True, True] Translation: X:186.27, Y:-8.02, Z:-3.31 [[ 9.99881271e-01 1.17391788e-02 9.98177475e-03 1.86273474e+02] [-1.17339287e-02 9.99930984e-01 -5.84369250e-04 -8.01909167e+00] [-9.98794586e-03 4.67174435e-04 9.99950010e-01 -3.31383669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters 0.03466052659560526 Centerline is valid? [True, True] Translation: X:186.30, Y:-8.03, Z:-3.32 [[ 9.99897718e-01 1.03612144e-02 9.85892260e-03 1.86304454e+02] [-1.03560219e-02 9.99946208e-01 -5.77582570e-04 -8.02564486e+00] [-9.86437673e-03 4.75424275e-04 9.99951233e-01 -3.31543121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494391418 meters 0.03222479568095416 Centerline is valid? [True, True] Translation: X:186.34, Y:-8.02, Z:-3.32 [[ 9.99895554e-01 1.03639999e-02 1.00731977e-02 1.86336712e+02] [-1.03585533e-02 9.99946173e-01 -5.92724834e-04 -8.02362990e+00] [-1.00787985e-02 4.88319170e-04 9.99949088e-01 -3.31532509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters 0.031219528917073275 Centerline is valid? [True, True] Translation: X:186.37, Y:-8.02, Z:-3.32 [[ 9.99889283e-01 1.03571974e-02 1.06841565e-02 1.86368782e+02] [-1.03510354e-02 9.99946227e-01 -6.31877467e-04 -8.02307398e+00] [-1.06901265e-02 5.21215425e-04 9.99942723e-01 -3.31533736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554391418 meters 0.031101796044584216 Centerline is valid? [True, True] Translation: X:186.40, Y:-8.02, Z:-3.32 [[ 9.99881858e-01 1.03309376e-02 1.13816611e-02 1.86401477e+02] [-1.03239028e-02 9.99946478e-01 -6.76658961e-04 -8.02286864e+00] [-1.13880425e-02 5.59075855e-04 9.99934998e-01 -3.31510244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters 0.03213324462377783 Centerline is valid? [True, True] Translation: X:186.43, Y:-8.03, Z:-3.32 [[ 9.99882261e-01 1.02025722e-02 1.14617752e-02 1.86432953e+02] [-1.01953823e-02 9.99947791e-01 -6.85549852e-04 -8.02522797e+00] [-1.14681712e-02 5.68611955e-04 9.99934077e-01 -3.31556207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614391418 meters 0.032095343711900044 Centerline is valid? [True, True] Translation: X:186.47, Y:-8.03, Z:-3.32 [[ 9.99885305e-01 9.98180090e-03 1.13904104e-02 1.86465537e+02] [-9.97467545e-03 9.99950019e-01 -6.82206082e-04 -8.02607029e+00] [-1.13966507e-02 5.68512189e-04 9.99934894e-01 -3.31608432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644391418 meters 0.03229259214655819 Centerline is valid? [True, True] Translation: X:186.50, Y:-8.03, Z:-3.32 [[ 9.99892513e-01 9.25256746e-03 1.13733590e-02 1.86497475e+02] [-9.24538016e-03 9.99957026e-01 -6.84358124e-04 -8.02690266e+00] [-1.13792023e-02 5.79133537e-04 9.99935087e-01 -3.31702101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674391418 meters 0.03549706216904257 Centerline is valid? [True, True] Translation: X:186.53, Y:-8.03, Z:-3.32 [[ 9.99898940e-01 8.77987046e-03 1.11814381e-02 1.86528679e+02] [-8.77285817e-03 9.99961289e-01 -6.76031032e-04 -8.03254362e+00] [-1.11869407e-02 5.77869542e-04 9.99937257e-01 -3.31815083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704391418 meters 0.03168460702641821 Centerline is valid? [True, True] Translation: X:186.56, Y:-8.03, Z:-3.32 [[ 9.99907398e-01 8.40306211e-03 1.07043748e-02 1.86561030e+02] [-8.39658844e-03 9.99964537e-01 -6.49568025e-04 -8.02868692e+00] [-1.07094536e-02 5.59627644e-04 9.99942496e-01 -3.31839471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734391418 meters 0.034516382328051466 Centerline is valid? [True, True] Translation: X:186.59, Y:-8.03, Z:-3.32 [[ 9.99909248e-01 8.58847399e-03 1.03794933e-02 1.86592809e+02] [-8.58236928e-03 9.99962971e-01 -6.32550235e-04 -8.03382036e+00] [-1.03845416e-02 5.43412185e-04 9.99945932e-01 -3.31974492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764391418 meters 0.0342075081424369 Centerline is valid? [True, True] Translation: X:186.63, Y:-8.03, Z:-3.32 [[ 9.99908600e-01 9.02882511e-03 1.00633754e-02 1.86625727e+02] [-9.02308028e-03 9.99959101e-01 -6.16122452e-04 -8.03470406e+00] [-1.00685267e-02 5.25263494e-04 9.99949173e-01 -3.32051466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.794391418 meters 0.034320821836475446 Centerline is valid? [True, True] Translation: X:186.66, Y:-8.03, Z:-3.32 [[ 9.99885811e-01 1.12516903e-02 1.00877959e-02 1.86656304e+02] [-1.12459742e-02 9.99936568e-01 -6.23182203e-04 -8.03409773e+00] [-1.00941678e-02 5.09663950e-04 9.99948923e-01 -3.32171080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.824391418 meters 0.033426305147492036 Centerline is valid? [True, True] Translation: X:186.69, Y:-8.03, Z:-3.32 [[ 9.99861172e-01 1.34984178e-02 9.76881587e-03 1.86688582e+02] [-1.34931828e-02 9.99908782e-01 -6.01606878e-04 -8.03301290e+00] [-9.77604552e-03 4.69710940e-04 9.99952103e-01 -3.32235642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.854391418 meters 0.027897056712335118 Centerline is valid? [True, True] Translation: X:186.72, Y:-8.02, Z:-3.32 [[ 9.99750549e-01 1.98202248e-02 1.02955589e-02 1.86719676e+02] [-1.98146924e-02 9.99803465e-01 -6.39097440e-04 -8.02346192e+00] [-1.03062025e-02 4.34934685e-04 9.99946795e-01 -3.32154848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.884391418 meters 0.027005712601872022 Centerline is valid? [True, True] Translation: X:186.75, Y:-8.02, Z:-3.32 [[ 9.99665066e-01 2.37262231e-02 1.03355065e-02 1.86748913e+02] [-2.37208517e-02 9.99718415e-01 -6.41995164e-04 -8.02192834e+00] [-1.03478283e-02 3.96613120e-04 9.99946381e-01 -3.32193869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914391418 meters 0.022354643079696625 Centerline is valid? [True, True] Translation: X:186.78, Y:-8.01, Z:-3.32 [[ 9.99421418e-01 3.22928251e-02 1.06771676e-02 1.86779624e+02] [-3.22875882e-02 9.99478400e-01 -6.62536721e-04 -8.01295721e+00] [-1.06929936e-02 3.17413399e-04 9.99942778e-01 -3.32107639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944391418 meters 0.020843606213982208 Centerline is valid? [True, True] Translation: X:186.81, Y:-8.01, Z:-3.32 [[ 9.99284768e-01 3.61862831e-02 1.09774577e-02 1.86807623e+02] [-3.61809762e-02 9.99345022e-01 -6.81708345e-04 -8.01007134e+00] [-1.09949362e-02 2.84045630e-04 9.99939514e-01 -3.32151039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974391418 meters 0.019358111059843117 Centerline is valid? [True, True] Translation: X:186.84, Y:-8.01, Z:-3.32 [[ 9.99143902e-01 3.98759334e-02 1.10169726e-02 1.86836297e+02] [-3.98708257e-02 9.99204609e-01 -6.82955116e-04 -8.00722565e+00] [-1.10354433e-02 2.43114646e-04 9.99939078e-01 -3.32208759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004391418 meters 0.016486987674780934 Centerline is valid? [True, True] Translation: X:186.87, Y:-8.00, Z:-3.32 [[ 9.98873313e-01 4.61781739e-02 1.09398901e-02 1.86865379e+02] [-4.61735241e-02 9.98933204e-01 -6.77364496e-04 -8.00045909e+00] [-1.09594989e-02 1.71468041e-04 9.99939928e-01 -3.32251402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034391418 meters 0.015741594657347393 Centerline is valid? [True, True] Translation: X:186.89, Y:-8.00, Z:-3.32 [[ 9.98770663e-01 4.84576390e-02 1.04412984e-02 1.86894093e+02] [-4.84535357e-02 9.98825229e-01 -6.45741684e-04 -7.99939942e+00] [-1.04603233e-02 1.39030027e-04 9.99945280e-01 -3.32369868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064391418 meters 0.015476063655429688 Centerline is valid? [True, True] Translation: X:186.92, Y:-8.00, Z:-3.32 [[ 9.98692037e-01 5.02171012e-02 9.61546835e-03 1.86923052e+02] [-5.02137090e-02 9.98738319e-01 -5.94034813e-04 -7.99864406e+00] [-9.63316740e-03 1.10429508e-04 9.99953594e-01 -3.32491239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09439141800001 meters 0.015273006958144287 Centerline is valid? [True, True] Translation: X:186.95, Y:-8.00, Z:-3.33 [[ 9.98646606e-01 5.11586415e-02 9.36747467e-03 1.86952072e+02] [-5.11554700e-02 9.98690535e-01 -5.78013096e-04 -7.99880497e+00] [-9.38477865e-03 9.80332469e-05 9.99955957e-01 -3.32606742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12439141800002 meters 0.015072064448727392 Centerline is valid? [True, True] Translation: X:186.98, Y:-8.00, Z:-3.33 [[ 9.98610383e-01 5.18944127e-02 9.17997369e-03 1.86981292e+02] [-5.18914043e-02 9.98652573e-01 -5.65763084e-04 -7.99848388e+00] [-9.19696429e-03 8.86151640e-05 9.99957703e-01 -3.32655189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15439141800002 meters 0.015129889519543603 Centerline is valid? [True, True] Translation: X:187.01, Y:-8.00, Z:-3.33 [[ 9.98631541e-01 5.15131540e-02 9.02439840e-03 1.87010086e+02] [-5.15102372e-02 9.98672312e-01 -5.55500278e-04 -7.99984779e+00] [-9.04103239e-03 8.98911959e-05 9.99959125e-01 -3.32677184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18439141800002 meters 0.015375338058799473 Centerline is valid? [True, True] Translation: X:187.04, Y:-8.00, Z:-3.33 [[ 9.98684709e-01 5.03770275e-02 9.53978069e-03 1.87036890e+02] [-5.03737145e-02 9.98730266e-01 -5.87402980e-04 -8.00207934e+00] [-9.55725932e-03 1.06076185e-04 9.99954323e-01 -3.32700597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214391418 meters 0.015533024321196137 Centerline is valid? [True, True] Translation: X:187.07, Y:-8.00, Z:-3.33 [[ 9.98824416e-01 4.74184401e-02 1.00636522e-02 1.87065496e+02] [-4.74146337e-02 9.98875103e-01 -6.16618545e-04 -8.00416815e+00] [-1.00815707e-02 1.38729278e-04 9.99949170e-01 -3.32631270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters 0.016216068130533546 Centerline is valid? [True, True] Translation: X:187.09, Y:-8.01, Z:-3.33 [[ 9.98911252e-01 4.55338610e-02 1.01477940e-02 1.87093362e+02] [-4.55299004e-02 9.98962783e-01 -6.21091052e-04 -8.00763152e+00] [-1.01655492e-02 1.58386790e-04 9.99948317e-01 -3.32710487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274391418 meters 0.01674038649162102 Centerline is valid? [True, True] Translation: X:187.12, Y:-8.01, Z:-3.33 [[ 9.99002428e-01 4.34992785e-02 1.00975622e-02 1.87122122e+02] [-4.34952650e-02 9.99053443e-01 -6.16847082e-04 -8.01100810e+00] [-1.01148366e-02 1.77035591e-04 9.99948828e-01 -3.32788879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters 0.017551122369385483 Centerline is valid? [True, True] Translation: X:187.15, Y:-8.01, Z:-3.33 [[ 9.99103958e-01 4.11483682e-02 9.90419010e-03 1.87150999e+02] [-4.11443991e-02 9.99153028e-01 -6.04262582e-04 -8.01449760e+00] [-9.92066594e-03 1.96219188e-04 9.99950770e-01 -3.32854226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334391418 meters 0.021412301670586425 Centerline is valid? [True, True] Translation: X:187.18, Y:-8.02, Z:-3.33 [[ 9.99253657e-01 3.73995849e-02 9.66440840e-03 1.87178010e+02] [-3.73956360e-02 9.99300365e-01 -5.89057320e-04 -8.02412735e+00] [-9.67967734e-03 2.27210983e-04 9.99953125e-01 -3.33089127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters 0.020077449546688584 Centerline is valid? [True, True] Translation: X:187.21, Y:-8.02, Z:-3.33 [[ 9.99320713e-01 3.55794290e-02 9.60298899e-03 1.87207121e+02] [-3.55754568e-02 9.99366822e-01 -5.84202423e-04 -8.02457795e+00] [-9.61769418e-03 2.42174862e-04 9.99953720e-01 -3.33035867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394391418 meters 0.0208370482380153 Centerline is valid? [True, True] Translation: X:187.24, Y:-8.03, Z:-3.33 [[ 9.99372591e-01 3.41010670e-02 9.56773944e-03 1.87235761e+02] [-3.40970633e-02 9.99418357e-01 -5.81314203e-04 -8.02841783e+00] [-9.58199787e-03 2.54717664e-04 9.99954059e-01 -3.33107313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424391418 meters 0.02192289803182925 Centerline is valid? [True, True] Translation: X:187.26, Y:-8.03, Z:-3.33 [[ 9.99420108e-01 3.24913345e-02 1.01863516e-02 1.87263766e+02] [-3.24867203e-02 9.99471976e-01 -6.18162463e-04 -8.03239161e+00] [-1.02010579e-02 2.86882840e-04 9.99947927e-01 -3.33144675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454391418 meters 0.02147927152365044 Centerline is valid? [True, True] Translation: X:187.29, Y:-8.03, Z:-3.33 [[ 9.99500029e-01 2.99493330e-02 1.01355239e-02 1.87292581e+02] [-2.99446452e-02 9.99551370e-01 -6.13988670e-04 -8.03462107e+00] [-1.01493654e-02 3.10177025e-04 9.99948446e-01 -3.33151914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484391418 meters 0.02197620575858936 Centerline is valid? [True, True] Translation: X:187.32, Y:-8.04, Z:-3.33 [[ 9.99542623e-01 2.86476101e-02 9.68812937e-03 1.87321166e+02] [-2.86432729e-02 9.99589525e-01 -5.86166709e-04 -8.03751974e+00] [-9.70094492e-03 3.08398876e-04 9.99952897e-01 -3.33225564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514391418 meters 0.02248272822625737 Centerline is valid? [True, True] Translation: X:187.35, Y:-8.04, Z:-3.33 [[ 9.99570611e-01 2.76844961e-02 9.60008953e-03 1.87349506e+02] [-2.76802004e-02 9.99616662e-01 -5.80069298e-04 -8.04084057e+00] [-9.61246837e-03 3.14087821e-04 9.99953750e-01 -3.33296971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.544391418 meters 0.024809654184895648 Centerline is valid? [True, True] Translation: X:187.38, Y:-8.05, Z:-3.33 [[ 9.99603784e-01 2.63011310e-02 1.00262529e-02 1.87376657e+02] [-2.62963831e-02 9.99654007e-01 -6.05100339e-04 -8.04705818e+00] [-1.00386987e-02 3.41206402e-04 9.99949553e-01 -3.33402338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.574391418 meters 0.024321589508345485 Centerline is valid? [True, True] Translation: X:187.41, Y:-8.05, Z:-3.33 [[ 9.99609573e-01 2.58829213e-02 1.05250098e-02 1.87405590e+02] [-2.58776799e-02 9.99664916e-01 -6.33903118e-04 -8.04832927e+00] [-1.05378903e-02 3.61292790e-04 9.99944410e-01 -3.33431796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.604391418 meters 0.024496755494912936 Centerline is valid? [True, True] Translation: X:187.43, Y:-8.05, Z:-3.33 [[ 9.99599271e-01 2.60286578e-02 1.11268164e-02 1.87434513e+02] [-2.60228195e-02 9.99661125e-01 -6.69185034e-04 -8.05121248e+00] [-1.11404638e-02 3.79365738e-04 9.99937871e-01 -3.33432250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.634391418 meters 0.023396769732792044 Centerline is valid? [True, True] Translation: X:187.46, Y:-8.05, Z:-3.33 [[ 9.99577378e-01 2.66236493e-02 1.16724989e-02 1.87462887e+02] [-2.66172762e-02 9.99645452e-01 -7.01030357e-04 -8.05205575e+00] [-1.16870244e-02 3.90043959e-04 9.99931628e-01 -3.33398083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664391418 meters 0.02367949629613249 Centerline is valid? [True, True] Translation: X:187.49, Y:-8.06, Z:-3.33 [[ 9.99500647e-01 2.88377385e-02 1.29167336e-02 1.87491541e+02] [-2.88301356e-02 9.99584025e-01 -7.74466896e-04 -8.05519662e+00] [-1.29336945e-02 4.01688982e-04 9.99916276e-01 -3.33386540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694391418 meters 0.022335558762709453 Centerline is valid? [True, True] Translation: X:187.52, Y:-8.06, Z:-3.33 [[ 9.99451854e-01 3.03957898e-02 1.31181840e-02 1.87520405e+02] [-3.03880912e-02 9.99537866e-01 -7.85840017e-04 -8.05525907e+00] [-1.31360079e-02 3.86772690e-04 9.99913644e-01 -3.33396798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724391418 meters 0.021905287881773254 Centerline is valid? [True, True] Translation: X:187.55, Y:-8.06, Z:-3.34 [[ 9.99406930e-01 3.19624118e-02 1.28137396e-02 1.87547943e+02] [-3.19552062e-02 9.99489008e-01 -7.66731881e-04 -8.05661039e+00] [-1.28316985e-02 3.56811464e-04 9.99917607e-01 -3.33517176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754391418 meters 0.020650599019411 Centerline is valid? [True, True] Translation: X:187.58, Y:-8.06, Z:-3.34 [[ 9.99328297e-01 3.48214645e-02 1.14201427e-02 1.87577198e+02] [-3.48159411e-02 9.99393509e-01 -6.82168173e-04 -8.05779705e+00] [-1.14369706e-02 2.84106942e-04 9.99934555e-01 -3.33800275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784391418 meters 0.019910313380172694 Centerline is valid? [True, True] Translation: X:187.61, Y:-8.06, Z:-3.34 [[ 9.99298485e-01 3.60386104e-02 1.01860601e-02 1.87605725e+02] [-3.60342827e-02 9.99350369e-01 -6.08131259e-04 -8.05913746e+00] [-1.02013591e-02 2.40657277e-04 9.99947936e-01 -3.33976615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814391418 meters 0.019910313380172694 Centerline is valid? [True, True] Translation: X:187.63, Y:-8.06, Z:-3.34 [[ 9.99301251e-01 3.59618158e-02 1.01861068e-02 1.87633991e+02] [-3.59574921e-02 9.99353136e-01 -6.07347107e-04 -8.06074169e+00] [-1.02013591e-02 2.40655870e-04 9.99947936e-01 -3.34027700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84439141800001 meters 0.018431216437898537 Centerline is valid? [True, True] Translation: X:187.66, Y:-8.06, Z:-3.34 [[ 9.99277830e-01 3.68825636e-02 9.13758809e-03 1.87663056e+02] [-3.68791276e-02 9.99319585e-01 -5.44303508e-04 -8.06080063e+00] [-9.15144605e-03 2.06924152e-04 9.99958103e-01 -3.34159616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87439141800002 meters 0.01836234319746825 Centerline is valid? [True, True] Translation: X:187.69, Y:-8.06, Z:-3.34 [[ 9.99250434e-01 3.78012402e-02 8.34489233e-03 1.87691141e+02] [-3.77984095e-02 9.99285261e-01 -4.96721698e-04 -8.06423653e+00] [-8.35770461e-03 1.80925715e-04 9.99965057e-01 -3.34310858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90439141800002 meters 0.018411237331173377 Centerline is valid? [True, True] Translation: X:187.72, Y:-8.07, Z:-3.34 [[ 9.99250666e-01 3.77867721e-02 8.38244773e-03 1.87719333e+02] [-3.77839210e-02 9.99285808e-01 -4.98287380e-04 -8.06641711e+00] [-8.39528973e-03 1.81192253e-04 9.99964743e-01 -3.34362341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93439141800002 meters 0.01819004276993779 Centerline is valid? [True, True] Translation: X:187.75, Y:-8.07, Z:-3.34 [[ 9.99228704e-01 3.82695898e-02 8.79971696e-03 1.87747830e+02] [-3.82664799e-02 9.99267434e-01 -5.21567645e-04 -8.06794131e+00] [-8.81323076e-03 1.84431171e-04 9.99961146e-01 -3.34364095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters 0.017943083802720694 Centerline is valid? [True, True] Translation: X:187.78, Y:-8.07, Z:-3.34 [[ 9.99206159e-01 3.87624202e-02 9.19380615e-03 1.87776603e+02] [-3.87590537e-02 9.99248437e-01 -5.44127241e-04 -8.06928384e+00] [-9.20798812e-03 1.87352064e-04 9.99957588e-01 -3.34325890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994391418 meters 0.01751506516962548 Centerline is valid? [True, True] Translation: X:187.81, Y:-8.07, Z:-3.34 [[ 9.99136693e-01 4.02435691e-02 1.03113731e-02 1.87805617e+02] [-4.02394237e-02 9.99189881e-01 -6.09261428e-04 -8.07094097e+00] [-1.03275385e-02 1.93811736e-04 9.99946651e-01 -3.34306726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters 0.017435813974864996 Centerline is valid? [True, True] Translation: X:187.83, Y:-8.07, Z:-3.34 [[ 9.99104144e-01 4.10178449e-02 1.04137244e-02 1.87833788e+02] [-4.10136661e-02 9.99158397e-01 -6.14607267e-04 -8.07322608e+00] [-1.04301700e-02 1.86951653e-04 9.99945587e-01 -3.34335279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054391418 meters 0.016790613533345947 Centerline is valid? [True, True] Translation: X:187.86, Y:-8.07, Z:-3.34 [[ 9.99073530e-01 4.15511941e-02 1.12062251e-02 1.87862912e+02] [-4.15464040e-02 9.99136357e-01 -6.60014655e-04 -8.07383310e+00] [-1.12239714e-02 1.93824816e-04 9.99936990e-01 -3.34344953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters 0.017263085866345628 Centerline is valid? [True, True] Translation: X:187.89, Y:-8.08, Z:-3.34 [[ 9.99043324e-01 4.21596947e-02 1.16188412e-02 1.87890287e+02] [-4.21545955e-02 9.99110866e-01 -6.83534440e-04 -8.07775400e+00] [-1.16373281e-02 1.93092967e-04 9.99932265e-01 -3.34426772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114391418 meters 0.016657333631963527 Centerline is valid? [True, True] Translation: X:187.92, Y:-8.08, Z:-3.34 [[ 9.99050950e-01 4.19477413e-02 1.17297361e-02 1.87918854e+02] [-4.19425485e-02 9.99119787e-01 -6.88460676e-04 -8.07848017e+00] [-1.17482908e-02 1.95832266e-04 9.99930967e-01 -3.34388642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144391418 meters 0.01663065710903328 Centerline is valid? [True, True] Translation: X:187.95, Y:-8.08, Z:-3.34 [[ 9.99059868e-01 4.15395925e-02 1.24033246e-02 1.87947110e+02] [-4.15337680e-02 9.99136836e-01 -7.26917902e-04 -8.08064559e+00] [-1.24228144e-02 2.11077697e-04 9.99922812e-01 -3.34382758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174391418 meters 0.017085336837052743 Centerline is valid? [True, True] Translation: X:187.98, Y:-8.09, Z:-3.34 [[ 9.99102364e-01 4.02278720e-02 1.32734519e-02 1.87975041e+02] [-4.02211004e-02 9.99190502e-01 -7.76827171e-04 -8.08520443e+00] [-1.32939572e-02 2.42257022e-04 9.99911602e-01 -3.34391572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204391418 meters 0.01751202057277482 Centerline is valid? [True, True] Translation: X:188.00, Y:-8.09, Z:-3.34 [[ 9.99132384e-01 3.93815370e-02 1.35489281e-02 1.88003364e+02] [-3.93744237e-02 9.99224213e-01 -7.91459475e-04 -8.08852888e+00] [-1.35695859e-02 2.57291557e-04 9.99907896e-01 -3.34427482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234391418 meters 0.017745943817321135 Centerline is valid? [True, True] Translation: X:188.03, Y:-8.09, Z:-3.34 [[ 9.99151646e-01 3.87239931e-02 1.40157442e-02 1.88032370e+02] [-3.87163329e-02 9.99249907e-01 -8.17565826e-04 -8.09170974e+00] [-1.40368905e-02 2.74234022e-04 9.99901440e-01 -3.34476637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264391418 meters 0.018606206546663086 Centerline is valid? [True, True] Translation: X:188.06, Y:-8.10, Z:-3.34 [[ 9.99204228e-01 3.71915285e-02 1.44118623e-02 1.88059811e+02] [-3.71832858e-02 9.99308110e-01 -8.39559651e-04 -8.09692875e+00] [-1.44331154e-02 3.03011158e-04 9.99895791e-01 -3.34496315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.294391418 meters 0.018973346673345784 Centerline is valid? [True, True] Translation: X:188.09, Y:-8.10, Z:-3.35 [[ 9.99239378e-01 3.64268511e-02 1.39193940e-02 1.88088040e+02] [-3.64191073e-02 9.99336276e-01 -8.09485234e-04 -8.09987758e+00] [-1.39396423e-02 3.01937619e-04 9.99902793e-01 -3.34587711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.324391418 meters 0.01923351564857859 Centerline is valid? [True, True] Translation: X:188.12, Y:-8.10, Z:-3.35 [[ 9.99260153e-01 3.59099503e-02 1.37703224e-02 1.88116382e+02] [-3.59023370e-02 9.99354983e-01 -7.99763954e-04 -8.10312220e+00] [-1.37901598e-02 3.04785497e-04 9.99904865e-01 -3.34660417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.354391418 meters 0.02016180455609999 Centerline is valid? [True, True] Translation: X:188.14, Y:-8.11, Z:-3.35 [[ 9.99310843e-01 3.47363719e-02 1.30852281e-02 1.88144428e+02] [-3.47294103e-02 9.99396464e-01 -7.58940914e-04 -8.10836446e+00] [-1.31036935e-02 3.03975630e-04 9.99914097e-01 -3.34826662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.384391418 meters 0.019950609675998657 Centerline is valid? [True, True] Translation: X:188.17, Y:-8.11, Z:-3.35 [[ 9.99336683e-01 3.41689683e-02 1.25966767e-02 1.88172853e+02] [-3.41624792e-02 9.99416026e-01 -7.30028011e-04 -8.11107529e+00] [-1.26142649e-02 2.99210064e-04 9.99920392e-01 -3.34924289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414391418 meters 0.020156066125678197 Centerline is valid? [True, True] Translation: X:188.20, Y:-8.11, Z:-3.35 [[ 9.99364212e-01 3.34851872e-02 1.22439752e-02 1.88201470e+02] [-3.34790161e-02 9.99439169e-01 -7.08685655e-04 -8.11451436e+00] [-1.22608389e-02 2.98318838e-04 9.99924789e-01 -3.35031332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444391418 meters 0.02077505694178481 Centerline is valid? [True, True] Translation: X:188.23, Y:-8.12, Z:-3.35 [[ 9.99379211e-01 3.30879885e-02 1.20986518e-02 1.88229532e+02] [-3.30819438e-02 9.99452398e-01 -6.99468145e-04 -8.11835426e+00] [-1.21151706e-02 2.98787004e-04 9.99926564e-01 -3.35116715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474391418 meters 0.021626247230584227 Centerline is valid? [True, True] Translation: X:188.26, Y:-8.12, Z:-3.35 [[ 9.99417432e-01 3.19473106e-02 1.20069218e-02 1.88257729e+02] [-3.19412913e-02 9.99489507e-01 -6.92798298e-04 -8.12374937e+00] [-1.20229254e-02 3.08878109e-04 9.99927674e-01 -3.35181824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504391418 meters 0.021951790209421902 Centerline is valid? [True, True] Translation: X:188.29, Y:-8.13, Z:-3.35 [[ 9.99443287e-01 3.11630703e-02 1.19154708e-02 1.88286173e+02] [-3.11570933e-02 9.99514264e-01 -6.86969644e-04 -8.12679542e+00] [-1.19310911e-02 3.15335763e-04 9.99928772e-01 -3.35234682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534391418 meters 0.0223072505597404 Centerline is valid? [True, True] Translation: X:188.32, Y:-8.13, Z:-3.35 [[ 9.99462445e-01 3.05452067e-02 1.19084239e-02 1.88315141e+02] [-3.05392035e-02 9.99533335e-01 -6.85669686e-04 -8.13008527e+00] [-1.19238106e-02 3.21627320e-04 9.99928857e-01 -3.35259179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564391418 meters 0.023776211521627087 Centerline is valid? [True, True] Translation: X:188.34, Y:-8.14, Z:-3.35 [[ 9.99504474e-01 2.89457047e-02 1.23673627e-02 1.88343423e+02] [-2.89391210e-02 9.99580923e-01 -7.11010385e-04 -8.13618136e+00] [-1.23827605e-02 3.52757457e-04 9.99923268e-01 -3.35295732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59439141800001 meters 0.02465768935408086 Centerline is valid? [True, True] Translation: X:188.37, Y:-8.14, Z:-3.35 [[ 9.99530819e-01 2.78221296e-02 1.28090052e-02 1.88372880e+02] [-2.78149859e-02 9.99612818e-01 -7.35551594e-04 -8.14039239e+00] [-1.28245104e-02 3.78924189e-04 9.99917691e-01 -3.35343476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62439141800002 meters 0.022175978234581898 Centerline is valid? [True, True] Translation: X:188.40, Y:-8.14, Z:-3.35 [[ 9.99560448e-01 2.66597927e-02 1.29678891e-02 1.88402252e+02] [-2.66523790e-02 9.99644485e-01 -7.44210607e-04 -8.13978035e+00] [-1.29831193e-02 3.98258393e-04 9.99915636e-01 -3.35267915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65439141800002 meters 0.022855241497511832 Centerline is valid? [True, True] Translation: X:188.43, Y:-8.14, Z:-3.35 [[ 9.99618996e-01 2.40181574e-02 1.36011499e-02 1.88431729e+02] [-2.40097654e-02 9.99711420e-01 -7.79977210e-04 -8.14421162e+00] [-1.36159585e-02 4.53119617e-04 9.99907196e-01 -3.35227878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68439141800002 meters 0.023154923090467308 Centerline is valid? [True, True] Translation: X:188.46, Y:-8.15, Z:-3.35 [[ 9.99641492e-01 2.31850420e-02 1.33918650e-02 1.88462412e+02] [-2.31768426e-02 9.99731087e-01 -7.67159251e-04 -8.14726733e+00] [-1.34060504e-02 4.56503070e-04 9.99910031e-01 -3.35274541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714391418 meters 0.027197775559395305 Centerline is valid? [True, True] Translation: X:188.49, Y:-8.16, Z:-3.35 [[ 9.99664327e-01 2.22727968e-02 1.32346646e-02 1.88491984e+02] [-2.22647054e-02 9.99751823e-01 -7.58420580e-04 -8.15566042e+00] [-1.32482722e-02 4.63500090e-04 9.99912130e-01 -3.35411731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters 0.029222841437347595 Centerline is valid? [True, True] Translation: X:188.52, Y:-8.16, Z:-3.35 [[ 9.99703225e-01 2.03417410e-02 1.34043009e-02 1.88522332e+02] [-2.03332671e-02 9.99792963e-01 -7.68176051e-04 -8.16234969e+00] [-1.34171518e-02 4.95394845e-04 9.99909863e-01 -3.35493851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774391418 meters 0.025640682127416877 Centerline is valid? [True, True] Translation: X:188.55, Y:-8.16, Z:-3.36 [[ 9.99720438e-01 1.93681503e-02 1.35617184e-02 1.88553948e+02] [-1.93593711e-02 9.99812287e-01 -7.78342797e-04 -8.16018411e+00] [-1.35742478e-02 5.15578863e-04 9.99907733e-01 -3.35510535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters 0.026246321164957148 Centerline is valid? [True, True] Translation: X:188.59, Y:-8.16, Z:-3.36 [[ 9.99735849e-01 1.86207320e-02 1.34722498e-02 1.88586288e+02] [-1.86120080e-02 9.99826483e-01 -7.72653650e-04 -8.16379972e+00] [-1.34842995e-02 5.21703933e-04 9.99908947e-01 -3.35622282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834391418 meters 0.028841344431535403 Centerline is valid? [True, True] Translation: X:188.62, Y:-8.17, Z:-3.36 [[ 9.99761410e-01 1.77848096e-02 1.26816340e-02 1.88617234e+02] [-1.77769695e-02 9.99841710e-01 -7.30696443e-04 -8.17106990e+00] [-1.26926219e-02 5.05081086e-04 9.99919318e-01 -3.35812973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864391418 meters 0.027263725571309155 Centerline is valid? [True, True] Translation: X:188.65, Y:-8.17, Z:-3.36 [[ 9.99765846e-01 1.79700510e-02 1.20553071e-02 1.88649873e+02] [-1.79629461e-02 9.99838410e-01 -6.97385849e-04 -8.17123515e+00] [-1.20658911e-02 4.80673722e-04 9.99927089e-01 -3.35895181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894391418 meters 0.026711866968678673 Centerline is valid? [True, True] Translation: X:188.68, Y:-8.17, Z:-3.36 [[ 9.99766337e-01 1.82083005e-02 1.16503192e-02 1.88680746e+02] [-1.82016276e-02 9.99834106e-01 -6.78544514e-04 -8.17225591e+00] [-1.16607416e-02 4.66331191e-04 9.99931903e-01 -3.35972479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924391418 meters 0.026811777281405408 Centerline is valid? [True, True] Translation: X:188.71, Y:-8.17, Z:-3.36 [[ 9.99742926e-01 1.95816286e-02 1.14298198e-02 1.88711788e+02] [-1.95753069e-02 9.99808164e-01 -6.64709714e-04 -8.17349268e+00] [-1.14406433e-02 4.40796605e-04 9.99934457e-01 -3.36042859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954391418 meters 0.02639171965862451 Centerline is valid? [True, True] Translation: X:188.74, Y:-8.17, Z:-3.36 [[ 9.99719108e-01 2.05507046e-02 1.18056406e-02 1.88743080e+02] [-2.05439738e-02 9.99788711e-01 -6.91135922e-04 -8.17424695e+00] [-1.18173495e-02 4.48407016e-04 9.99930072e-01 -3.36093103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984391418 meters 0.02686588191976856 Centerline is valid? [True, True] Translation: X:188.77, Y:-8.18, Z:-3.36 [[ 9.99698720e-01 2.14353008e-02 1.19581592e-02 1.88773084e+02] [-2.14284509e-02 9.99770139e-01 -7.00667420e-04 -8.17621940e+00] [-1.19704295e-02 4.44211496e-04 9.99928253e-01 -3.36126123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014391418 meters 0.023965561431995575 Centerline is valid? [True, True] Translation: X:188.80, Y:-8.17, Z:-3.36 [[ 9.99679753e-01 2.21466924e-02 1.22439876e-02 1.88803689e+02] [-2.21395600e-02 9.99754632e-01 -7.17775841e-04 -8.17312972e+00] [-1.22568796e-02 4.46469479e-04 9.99924782e-01 -3.36087652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.044391418 meters 0.02384463293530649 Centerline is valid? [True, True] Translation: X:188.83, Y:-8.17, Z:-3.36 [[ 9.99646612e-01 2.35135525e-02 1.24001571e-02 1.88834015e+02] [-2.35063434e-02 9.99723424e-01 -7.26816707e-04 -8.17371373e+00] [-1.24138176e-02 4.35077506e-04 9.99922851e-01 -3.36107652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.074391418 meters 0.025222060861957104 Centerline is valid? [True, True] Translation: X:188.86, Y:-8.18, Z:-3.36 [[ 9.99639654e-01 2.38112855e-02 1.23929623e-02 1.88863536e+02] [-2.38041017e-02 9.99716378e-01 -7.26875223e-04 -8.17685505e+00] [-1.24067552e-02 4.31609961e-04 9.99922940e-01 -3.36174671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.104391418 meters 0.02392724067771019 Centerline is valid? [True, True] Translation: X:188.89, Y:-8.18, Z:-3.36 [[ 9.99634326e-01 2.40178927e-02 1.24239992e-02 1.88893991e+02] [-2.40106934e-02 9.99711436e-01 -7.28331412e-04 -8.17628444e+00] [-1.24379071e-02 4.29756244e-04 9.99922554e-01 -3.36178221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.134391418 meters 0.023178043311487383 Centerline is valid? [True, True] Translation: X:188.92, Y:-8.18, Z:-3.36 [[ 9.99640415e-01 2.38618092e-02 1.22333392e-02 1.88924834e+02] [-2.38548175e-02 9.99715176e-01 -7.17154363e-04 -8.17627052e+00] [-1.22469675e-02 4.25072410e-04 9.99924913e-01 -3.36247132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164391418 meters 0.024610267208403886 Centerline is valid? [True, True] Translation: X:188.95, Y:-8.18, Z:-3.36 [[ 9.99656604e-01 2.35935242e-02 1.14026480e-02 1.88954382e+02] [-2.35874308e-02 9.99721554e-01 -6.68591887e-04 -8.17956626e+00] [-1.14152474e-02 3.99403124e-04 9.99934764e-01 -3.36354126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194391418 meters 0.025458598780152268 Centerline is valid? [True, True] Translation: X:188.98, Y:-8.18, Z:-3.36 [[ 9.99665883e-01 2.34152936e-02 1.09474445e-02 1.88983620e+02] [-2.34096687e-02 9.99725750e-01 -6.41686253e-04 -8.18199686e+00] [-1.09594674e-02 3.85195806e-04 9.99939869e-01 -3.36447098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224391418 meters 0.02424219535871212 Centerline is valid? [True, True] Translation: X:189.01, Y:-8.18, Z:-3.36 [[ 9.99655501e-01 2.38898108e-02 1.08700134e-02 1.89013835e+02] [-2.38842939e-02 9.99714527e-01 -6.37080205e-04 -8.18114973e+00] [-1.08821301e-02 3.77238136e-04 9.99940717e-01 -3.36432211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254391418 meters 0.02289831355893193 Centerline is valid? [True, True] Translation: X:189.04, Y:-8.18, Z:-3.36 [[ 9.99637812e-01 2.44876408e-02 1.11624592e-02 1.89043957e+02] [-2.44818655e-02 9.99700060e-01 -6.53761058e-04 -8.18054646e+00] [-1.11751203e-02 3.80246448e-04 9.99937484e-01 -3.36407078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284391418 meters 0.02257581105792993 Centerline is valid? [True, True] Translation: X:189.07, Y:-8.18, Z:-3.36 [[ 9.99612674e-01 2.53616688e-02 1.14580750e-02 1.89073175e+02] [-2.53556465e-02 9.99678269e-01 -6.70583986e-04 -8.18109749e+00] [-1.14713957e-02 3.79797351e-04 9.99934129e-01 -3.36417066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314391418 meters 0.022476202100935008 Centerline is valid? [True, True] Translation: X:189.10, Y:-8.18, Z:-3.36 [[ 9.99578577e-01 2.63827697e-02 1.21085464e-02 1.89101470e+02] [-2.63761241e-02 9.99651839e-01 -7.08230617e-04 -8.18194216e+00] [-1.21230157e-02 3.88555631e-04 9.99926438e-01 -3.36433098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34439141800001 meters 0.021817099456797353 Centerline is valid? [True, True] Translation: X:189.13, Y:-8.18, Z:-3.36 [[ 9.99548636e-01 2.73484120e-02 1.24334002e-02 1.89130923e+02] [-2.73414908e-02 9.99625888e-01 -7.26331720e-04 -8.18150874e+00] [-1.24486127e-02 3.86056182e-04 9.99922438e-01 -3.36446892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37439141800002 meters 0.02056090900073776 Centerline is valid? [True, True] Translation: X:189.16, Y:-8.18, Z:-3.36 [[ 9.99459785e-01 3.02492547e-02 1.28499194e-02 1.89160668e+02] [-3.02421086e-02 9.99542321e-01 -7.50110135e-04 -8.17931710e+00] [-1.28667285e-02 3.61096257e-04 9.99917155e-01 -3.36420284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40439141800002 meters 0.019511167705839653 Centerline is valid? [True, True] Translation: X:189.19, Y:-8.18, Z:-3.36 [[ 9.99405961e-01 3.19430775e-02 1.29369413e-02 1.89190054e+02] [-3.19359830e-02 9.99489632e-01 -7.54658160e-04 -8.17805232e+00] [-1.29544447e-02 3.41055928e-04 9.99916029e-01 -3.36434682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43439141800002 meters 0.01871144076316456 Centerline is valid? [True, True] Translation: X:189.22, Y:-8.18, Z:-3.37 [[ 9.99284429e-01 3.57153958e-02 1.24515301e-02 1.89218809e+02] [-3.57091210e-02 9.99361962e-01 -7.25965246e-04 -8.17537017e+00] [-1.24695137e-02 2.80812572e-04 9.99922213e-01 -3.36537949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters 0.018157036947501273 Centerline is valid? [True, True] Translation: X:189.25, Y:-8.18, Z:-3.37 [[ 9.99204468e-01 3.78198925e-02 1.26525677e-02 1.89246769e+02] [-3.78135896e-02 9.99284539e-01 -7.37098616e-04 -8.17544292e+00] [-1.26713923e-02 2.58073227e-04 9.99919681e-01 -3.36588556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494391418 meters 0.01731164864322089 Centerline is valid? [True, True] Translation: X:189.28, Y:-8.17, Z:-3.37 [[ 9.99115893e-01 4.00735321e-02 1.27099902e-02 1.89275969e+02] [-4.00673721e-02 9.99196707e-01 -7.39034334e-04 -8.17440642e+00] [-1.27293961e-02 2.29125042e-04 9.99918952e-01 -3.36621377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters 0.016427846917801334 Centerline is valid? [True, True] Translation: X:189.30, Y:-8.17, Z:-3.37 [[ 9.98939846e-01 4.41301011e-02 1.31041096e-02 1.89303627e+02] [-4.41239151e-02 9.99025776e-01 -7.60952128e-04 -8.17086670e+00] [-1.31249242e-02 1.81940781e-04 9.99913848e-01 -3.36619591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554391418 meters 0.015743698829941775 Centerline is valid? [True, True] Translation: X:189.33, Y:-8.17, Z:-3.37 [[ 9.98852044e-01 4.59982453e-02 1.33699569e-02 1.89332770e+02] [-4.59919923e-02 9.98941508e-01 -7.74943422e-04 -8.16975678e+00] [-1.33914510e-02 1.59142864e-04 9.99910318e-01 -3.36627296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters 0.01558964148560342 Centerline is valid? [True, True] Translation: X:189.36, Y:-8.17, Z:-3.37 [[ 9.98797131e-01 4.72400585e-02 1.31403396e-02 1.89360997e+02] [-4.72341378e-02 9.98883556e-01 -7.60734600e-04 -8.17005759e+00] [-1.31616063e-02 1.39146926e-04 9.99913373e-01 -3.36703505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614391418 meters 0.015528221427490475 Centerline is valid? [True, True] Translation: X:189.39, Y:-8.17, Z:-3.37 [[ 9.98779153e-01 4.79908839e-02 1.17080872e-02 1.89388989e+02] [-4.79862480e-02 9.98847767e-01 -6.76717834e-04 -8.17087777e+00] [-1.17270730e-02 1.14064488e-04 9.99931229e-01 -3.36921146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644391418 meters 0.015556058287832243 Centerline is valid? [True, True] Translation: X:189.42, Y:-8.17, Z:-3.37 [[ 9.98813277e-01 4.74557379e-02 1.09540430e-02 1.89418153e+02] [-4.74516599e-02 9.98873336e-01 -6.32023106e-04 -8.17250397e+00] [-1.09716946e-02 1.11485544e-04 9.99939803e-01 -3.37025789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674391418 meters 0.01575075852941009 Centerline is valid? [True, True] Translation: X:189.45, Y:-8.17, Z:-3.37 [[ 9.98850725e-01 4.68096238e-02 1.02999601e-02 1.89446824e+02] [-4.68059913e-02 9.98903823e-01 -5.93582370e-04 -8.17438672e+00] [-1.03164549e-02 1.10800339e-04 9.99946778e-01 -3.37135980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704391418 meters 0.01575075852941009 Centerline is valid? [True, True] Translation: X:189.47, Y:-8.18, Z:-3.37 [[ 9.98856218e-01 4.66922511e-02 1.02999892e-02 1.89474245e+02] [-4.66886175e-02 9.98909316e-01 -5.93076994e-04 -8.17584660e+00] [-1.03164473e-02 1.11506387e-04 9.99946778e-01 -3.37185529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734391418 meters 0.016443954710628563 Centerline is valid? [True, True] Translation: X:189.50, Y:-8.18, Z:-3.37 [[ 9.98982770e-01 4.40614962e-02 9.59217239e-03 1.89501573e+02] [-4.40582347e-02 9.99028812e-01 -5.51163434e-04 -8.17989647e+00] [-9.60714168e-03 1.27988591e-04 9.99953842e-01 -3.37306112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764391418 meters 0.01721092088450448 Centerline is valid? [True, True] Translation: X:189.53, Y:-8.18, Z:-3.37 [[ 9.99055370e-01 4.23814032e-02 9.60124760e-03 1.89529003e+02] [-4.23780670e-02 9.99101494e-01 -5.50739890e-04 -8.18319766e+00] [-9.61596195e-03 1.43337331e-04 9.99953755e-01 -3.37391740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.794391418 meters 0.017734957700905104 Centerline is valid? [True, True] Translation: X:189.56, Y:-8.19, Z:-3.37 [[ 9.99125827e-01 4.06814011e-02 9.62315005e-03 1.89558011e+02] [-4.06779815e-02 9.99172157e-01 -5.50891346e-04 -8.18638500e+00] [-9.63759462e-03 1.58959451e-04 9.99953545e-01 -3.37410612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.824391418 meters 0.017547796757989023 Centerline is valid? [True, True] Translation: X:189.59, Y:-8.19, Z:-3.37 [[ 9.99192654e-01 3.90484389e-02 9.44777091e-03 1.89586704e+02] [-3.90450761e-02 9.99237304e-01 -5.40193397e-04 -8.18789154e+00] [-9.46165885e-03 1.70868340e-04 9.99955223e-01 -3.37378755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.854391418 meters 0.018910064917622413 Centerline is valid? [True, True] Translation: X:189.61, Y:-8.19, Z:-3.37 [[ 9.99319450e-01 3.57613868e-02 9.04209550e-03 1.89614921e+02] [-3.57581781e-02 9.99360338e-01 -5.16331608e-04 -8.19246227e+00] [-9.05477635e-03 1.92651358e-04 9.99958986e-01 -3.37451060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.884391418 meters 0.019131386115871205 Centerline is valid? [True, True] Translation: X:189.64, Y:-8.19, Z:-3.37 [[ 9.99368938e-01 3.43655018e-02 8.98548153e-03 1.89643944e+02] [-3.43622829e-02 9.99409311e-01 -5.12409339e-04 -8.19441034e+00] [-8.99778311e-03 2.03324318e-04 9.99959498e-01 -3.37491401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914391418 meters 0.01923542805481928 Centerline is valid? [True, True] Translation: X:189.67, Y:-8.20, Z:-3.38 [[ 9.99419507e-01 3.29499656e-02 8.65724216e-03 1.89673032e+02] [-3.29469301e-02 9.99456981e-01 -4.93056071e-04 -8.19630483e+00] [-8.66878729e-03 2.07540304e-04 9.99962404e-01 -3.37528724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944391418 meters 0.022713112242443257 Centerline is valid? [True, True] Translation: X:189.70, Y:-8.20, Z:-3.38 [[ 9.99479272e-01 3.11931188e-02 8.25676485e-03 1.89700834e+02] [-3.11903011e-02 9.99513354e-01 -4.69832457e-04 -8.20363015e+00] [-8.26740227e-03 2.12056820e-04 9.99965802e-01 -3.37763272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974391418 meters 0.020951944029380838 Centerline is valid? [True, True] Translation: X:189.73, Y:-8.20, Z:-3.38 [[ 9.99506068e-01 3.03442626e-02 8.17597947e-03 1.89729460e+02] [-3.03414798e-02 9.99539484e-01 -4.64217954e-04 -8.20153139e+00] [-8.18630065e-03 2.15917346e-04 9.99966468e-01 -3.37688676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004391418 meters 0.020946197604584816 Centerline is valid? [True, True] Translation: X:189.76, Y:-8.20, Z:-3.38 [[ 9.99520544e-01 2.98951347e-02 8.05995603e-03 1.89758108e+02] [-2.98924207e-02 9.99553017e-01 -4.57008475e-04 -8.20347038e+00] [-8.07001570e-03 2.15857763e-04 9.99967414e-01 -3.37717125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034391418 meters 0.02145841968327474 Centerline is valid? [True, True] Translation: X:189.79, Y:-8.21, Z:-3.38 [[ 9.99532338e-01 2.94421384e-02 8.26235437e-03 1.89787018e+02] [-2.94392767e-02 9.99566461e-01 -4.67790169e-04 -8.20513445e+00] [-8.27254506e-03 2.24333665e-04 9.99965757e-01 -3.37758248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064391418 meters 0.021173638430323174 Centerline is valid? [True, True] Translation: X:189.82, Y:-8.21, Z:-3.38 [[ 9.99529444e-01 2.95546024e-02 8.21072991e-03 1.89815694e+02] [-2.95517853e-02 9.99563143e-01 -4.64235933e-04 -8.20560040e+00] [-8.22086331e-03 2.21375756e-04 9.99966184e-01 -3.37776063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09439141800001 meters 0.02094693886228406 Centerline is valid? [True, True] Translation: X:189.84, Y:-8.21, Z:-3.38 [[ 9.99515883e-01 2.99446820e-02 8.44489462e-03 1.89844150e+02] [-2.99417219e-02 9.99551532e-01 -4.76764570e-04 -8.20625326e+00] [-8.45538392e-03 2.23679074e-04 9.99964228e-01 -3.37783440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12439141800002 meters 0.020628618209046212 Centerline is valid? [True, True] Translation: X:189.87, Y:-8.21, Z:-3.38 [[ 9.99458810e-01 3.16780219e-02 8.86511513e-03 1.89872114e+02] [-3.16748333e-02 9.99498102e-01 -4.99886431e-04 -8.20626927e+00] [-8.87650115e-03 2.18814854e-04 9.99960579e-01 -3.37786612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15439141800002 meters 0.019805355096740845 Centerline is valid? [True, True] Translation: X:189.90, Y:-8.21, Z:-3.38 [[ 9.99409067e-01 3.31128414e-02 9.22259124e-03 1.89900853e+02] [-3.31094622e-02 9.99451597e-01 -5.18886957e-04 -8.20589089e+00] [-9.23471536e-03 2.13225294e-04 9.99957336e-01 -3.37801839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18439141800002 meters 0.019067561277342115 Centerline is valid? [True, True] Translation: X:189.93, Y:-8.21, Z:-3.38 [[ 9.99347893e-01 3.49695046e-02 8.99565290e-03 1.89930217e+02] [-3.49663680e-02 9.99388362e-01 -5.05764663e-04 -8.20540597e+00] [-9.00783716e-03 1.90889540e-04 9.99959410e-01 -3.37837494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214391418 meters 0.0170293404049069 Centerline is valid? [True, True] Translation: X:189.96, Y:-8.20, Z:-3.38 [[ 9.99168264e-01 3.99820426e-02 8.01345860e-03 1.89959007e+02] [-3.99797230e-02 9.99200390e-01 -4.49515043e-04 -8.20147879e+00] [-8.02502348e-03 1.28765311e-04 9.99967791e-01 -3.37926213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters 0.016322352915907872 Centerline is valid? [True, True] Translation: X:189.99, Y:-8.20, Z:-3.38 [[ 9.99055777e-01 4.27501968e-02 7.74434155e-03 1.89987883e+02] [-4.27481179e-02 9.99085787e-01 -4.33850573e-04 -8.20017118e+00] [-7.75580877e-03 1.02384896e-04 9.99969918e-01 -3.37988267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274391418 meters 0.01578248198199236 Centerline is valid? [True, True] Translation: X:190.02, Y:-8.20, Z:-3.38 [[ 9.98921811e-01 4.58268155e-02 7.42411710e-03 1.90017248e+02] [-4.58249955e-02 9.98949397e-01 -4.15164134e-04 -8.19894802e+00] [-7.43534295e-03 7.45063757e-05 9.99972355e-01 -3.38057023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters 0.014910264838979686 Centerline is valid? [True, True] Translation: X:190.05, Y:-8.20, Z:-3.38 [[ 9.98625738e-01 5.19532071e-02 6.89201302e-03 1.90045897e+02] [-5.19517853e-02 9.98649520e-01 -3.85290796e-04 -8.19538403e+00] [-6.90272259e-03 2.67089247e-05 9.99976176e-01 -3.38081397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334391418 meters 0.014775361627685907 Centerline is valid? [True, True] Translation: X:190.07, Y:-8.19, Z:-3.38 [[ 9.98481359e-01 5.47109376e-02 6.45676729e-03 1.90074214e+02] [-5.47097469e-02 9.98502235e-01 -3.61014074e-04 -8.19477695e+00] [-6.46684799e-03 7.21771848e-06 9.99979090e-01 -3.38102786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364391418 meters 0.01489884080069184 Centerline is valid? [True, True] Translation: X:190.10, Y:-8.19, Z:-3.38 [[ 9.98351205e-01 5.70602104e-02 6.24530104e-03 1.90100827e+02] [-5.70591403e-02 9.98370739e-01 -3.49530634e-04 -8.19423692e+00] [-6.25507011e-03 -7.39717819e-06 9.99980437e-01 -3.38195421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394391418 meters 0.015027316725069432 Centerline is valid? [True, True] Translation: X:190.13, Y:-8.19, Z:-3.38 [[ 9.98234159e-01 5.91588288e-02 5.36633937e-03 1.90128157e+02] [-5.91580784e-02 9.98248583e-01 -2.98597200e-04 -8.19424504e+00] [-5.37460533e-03 -1.93924006e-05 9.99985557e-01 -3.38295738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424391418 meters 0.015594557108715596 Centerline is valid? [True, True] Translation: X:190.16, Y:-8.19, Z:-3.38 [[ 9.98060168e-01 6.21460519e-02 3.71075328e-03 1.90157151e+02] [-6.21457150e-02 9.98067066e-01 -2.06142682e-04 -8.19389475e+00] [-3.71639159e-03 -2.48646159e-05 9.99993094e-01 -3.38394377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454391418 meters 0.015838193778022636 Centerline is valid? [True, True] Translation: X:190.18, Y:-8.19, Z:-3.39 [[ 9.98004425e-01 6.30379231e-02 3.65899305e-03 1.90184957e+02] [-6.30376015e-02 9.98011132e-01 -2.03268129e-04 -8.19421144e+00] [-3.66452939e-03 -2.77916536e-05 9.99993285e-01 -3.38511748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484391418 meters 0.01588767753404132 Centerline is valid? [True, True] Translation: X:190.21, Y:-8.20, Z:-3.39 [[ 9.97978979e-01 6.34642974e-02 3.19994298e-03 1.90213658e+02] [-6.34640550e-02 9.97984109e-01 -1.77337872e-04 -8.19548236e+00] [-3.20474686e-03 -2.61018889e-05 9.99994864e-01 -3.38539020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514391418 meters 0.01575399870531758 Centerline is valid? [True, True] Translation: X:190.24, Y:-8.20, Z:-3.39 [[ 9.97970204e-01 6.35696123e-02 3.79153331e-03 1.90242675e+02] [-6.35692748e-02 9.97977406e-01 -2.09592024e-04 -8.19770999e+00] [-3.79718827e-03 -3.18584282e-05 9.99992790e-01 -3.38504152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.544391418 meters 0.015692750602611258 Centerline is valid? [True, True] Translation: X:190.27, Y:-8.20, Z:-3.39 [[ 9.98061397e-01 6.20906681e-02 4.26577049e-03 1.90269895e+02] [-6.20902285e-02 9.98070513e-01 -2.35547052e-04 -8.20088414e+00] [-4.27216501e-03 -2.97722442e-05 9.99990874e-01 -3.38517432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.574391418 meters 0.015411036881745867 Centerline is valid? [True, True] Translation: X:190.30, Y:-8.20, Z:-3.38 [[ 9.98135256e-01 6.08377854e-02 4.97736019e-03 1.90298650e+02] [-6.08371764e-02 9.98147666e-01 -2.73811476e-04 -8.20423373e+00] [-4.98479854e-03 -2.95076524e-05 9.99987575e-01 -3.38406233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.604391418 meters 0.015271279862344436 Centerline is valid? [True, True] Translation: X:190.33, Y:-8.21, Z:-3.38 [[ 9.98236538e-01 5.91187318e-02 5.36567971e-03 1.90327804e+02] [-5.91180022e-02 9.98250958e-01 -2.94616696e-04 -8.20725652e+00] [-5.37371227e-03 -2.31111143e-05 9.99985561e-01 -3.38394704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.634391418 meters 0.014937962554689566 Centerline is valid? [True, True] Translation: X:190.36, Y:-8.21, Z:-3.38 [[ 9.98444236e-01 5.54324998e-02 6.02870539e-03 1.90356231e+02] [-5.54315156e-02 9.98462437e-01 -3.30347954e-04 -8.21297332e+00] [-6.03774789e-03 -4.34626617e-06 9.99981773e-01 -3.38333203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664391418 meters 0.015025531231172713 Centerline is valid? [True, True] Translation: X:190.38, Y:-8.22, Z:-3.38 [[ 9.98590186e-01 5.26890285e-02 6.44260762e-03 1.90382550e+02] [-5.26878470e-02 9.98610968e-01 -3.53098371e-04 -8.21720681e+00] [-6.45226305e-03 1.31534433e-05 9.99979184e-01 -3.38379029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694391418 meters 0.015421435628896158 Centerline is valid? [True, True] Translation: X:190.41, Y:-8.23, Z:-3.38 [[ 9.98885087e-01 4.67876666e-02 6.28475338e-03 1.90411062e+02] [-4.67864351e-02 9.98904856e-01 -3.42909361e-04 -8.22635883e+00] [-6.29391460e-03 4.84858412e-05 9.99980192e-01 -3.38488884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724391418 meters 0.01603016253567064 Centerline is valid? [True, True] Translation: X:190.44, Y:-8.23, Z:-3.39 [[ 9.99054815e-01 4.30743520e-02 5.83753853e-03 1.90439081e+02] [-4.30732267e-02 9.99071867e-01 -3.18411835e-04 -8.23163150e+00] [-5.84583590e-03 6.66692567e-05 9.99982911e-01 -3.38562550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754391418 meters 0.018019846458826552 Centerline is valid? [True, True] Translation: X:190.47, Y:-8.24, Z:-3.39 [[ 9.99368771e-01 3.50927214e-02 5.52811990e-03 1.90466597e+02] [-3.50915941e-02 9.99384055e-01 -3.00804793e-04 -8.24226463e+00] [-5.53527095e-03 1.06624376e-04 9.99984675e-01 -3.38662024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784391418 meters 0.021439654041628373 Centerline is valid? [True, True] Translation: X:190.49, Y:-8.25, Z:-3.39 [[ 9.99507059e-01 3.10068819e-02 4.92069582e-03 1.90493670e+02] [-3.10059392e-02 9.99519164e-01 -2.67760391e-04 -8.25192607e+00] [-4.92663218e-03 1.15057605e-04 9.99987857e-01 -3.38927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814391418 meters 0.021074958837429048 Centerline is valid? [True, True] Translation: X:190.52, Y:-8.26, Z:-3.39 [[ 9.99620870e-01 2.71023031e-02 4.85598002e-03 1.90523270e+02] [-2.71013451e-02 9.99632656e-01 -2.62988925e-04 -8.25528198e+00] [-4.86132381e-03 1.31285628e-04 9.99988175e-01 -3.38810784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84439141800001 meters 0.022626241985756683 Centerline is valid? [True, True] Translation: X:190.55, Y:-8.26, Z:-3.39 [[ 9.99717413e-01 2.33114905e-02 4.65491319e-03 1.90552873e+02] [-2.33105699e-02 9.99728240e-01 -2.51945128e-04 -8.26131806e+00] [-4.65952138e-03 1.43365252e-04 9.99989134e-01 -3.38887954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87439141800002 meters 0.025812168404292422 Centerline is valid? [True, True] Translation: X:190.58, Y:-8.27, Z:-3.39 [[ 9.99844580e-01 1.71134619e-02 4.23621471e-03 1.90582205e+02] [-1.71126455e-02 9.99853542e-01 -2.28901332e-04 -8.27121215e+00] [-4.23951158e-03 1.56372915e-04 9.99991001e-01 -3.38978098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90439141800002 meters 0.028232023244500727 Centerline is valid? [True, True] Translation: X:190.61, Y:-8.28, Z:-3.39 [[ 9.99887481e-01 1.45103197e-02 3.80483065e-03 1.90610698e+02] [-1.45096404e-02 9.99894708e-01 -2.06075807e-04 -8.27749137e+00] [-3.80742026e-03 1.50845895e-04 9.99992740e-01 -3.39090082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93439141800002 meters 0.02811910669155259 Centerline is valid? [True, True] Translation: X:190.64, Y:-8.28, Z:-3.39 [[ 9.99934471e-01 1.10228357e-02 3.09039295e-03 1.90640841e+02] [-1.10223726e-02 9.99939238e-01 -1.66853080e-04 -8.28080493e+00] [-3.09204436e-03 1.32778684e-04 9.99995211e-01 -3.39066502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters 0.029764741612178888 Centerline is valid? [True, True] Translation: X:190.67, Y:-8.29, Z:-3.39 [[ 9.99947931e-01 9.71042106e-03 3.13750894e-03 1.90668958e+02] [-9.70993587e-03 9.99952843e-01 -1.69837520e-04 -8.28531812e+00] [-3.13901018e-03 1.39363666e-04 9.99995064e-01 -3.39123935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994391418 meters 0.030693188908716102 Centerline is valid? [True, True] Translation: X:190.70, Y:-8.29, Z:-3.39 [[ 9.99955339e-01 8.94427685e-03 3.05292632e-03 1.90698490e+02] [-8.94381503e-03 9.99959990e-01 -1.64891163e-04 -8.28878306e+00] [-3.05427901e-03 1.37578990e-04 9.99995326e-01 -3.39196329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters 0.031456681597268055 Centerline is valid? [True, True] Translation: X:190.73, Y:-8.29, Z:-3.39 [[ 9.99962973e-01 8.24052190e-03 2.47922375e-03 1.90728160e+02] [-8.24021510e-03 9.99966040e-01 -1.33937126e-04 -8.29209332e+00] [-2.48024327e-03 1.13502830e-04 9.99996918e-01 -3.39228458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054391418 meters 0.031926843523589384 Centerline is valid? [True, True] Translation: X:190.76, Y:-8.29, Z:-3.39 [[ 9.99965161e-01 8.07384290e-03 2.11892943e-03 1.90757715e+02] [-8.07361839e-03 9.99967401e-01 -1.14486548e-04 -8.29477163e+00] [-2.11978470e-03 9.73751320e-05 9.99997749e-01 -3.39237197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters 0.032763194488272564 Centerline is valid? [True, True] Translation: X:190.79, Y:-8.30, Z:-3.39 [[ 9.99967683e-01 7.80358895e-03 1.93304468e-03 1.90786590e+02] [-7.80340163e-03 9.99969548e-01 -1.04423991e-04 -8.29729057e+00] [-1.93380070e-03 8.93362918e-05 9.99998126e-01 -3.39288414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114391418 meters 0.03088069310992842 Centerline is valid? [True, True] Translation: X:190.82, Y:-8.30, Z:-3.39 [[ 9.99968263e-01 7.77989257e-03 1.71646499e-03 1.90816427e+02] [-7.77974480e-03 9.99969733e-01 -9.27537688e-05 -8.29622470e+00] [-1.71713466e-03 7.93971654e-05 9.99998523e-01 -3.39241147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144391418 meters 0.03336567317786266 Centerline is valid? [True, True] Translation: X:190.85, Y:-8.30, Z:-3.39 [[ 9.99971377e-01 7.43133918e-03 1.42148717e-03 1.90845839e+02] [-7.43123864e-03 9.99972385e-01 -7.59994667e-05 -8.30110147e+00] [-1.42201269e-03 6.54338810e-05 9.99998987e-01 -3.39411729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174391418 meters 0.029839244401819898 Centerline is valid? [True, True] Translation: X:190.88, Y:-8.30, Z:-3.39 [[ 9.99971382e-01 7.44998034e-03 1.31614030e-03 1.90875821e+02] [-7.44989298e-03 9.99972247e-01 -7.12675734e-05 -8.29782217e+00] [-1.31663472e-03 6.14604294e-05 9.99999131e-01 -3.39270558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204391418 meters 0.030815851810737163 Centerline is valid? [True, True] Translation: X:190.90, Y:-8.30, Z:-3.39 [[ 9.99970295e-01 7.58814691e-03 1.35260001e-03 1.90904867e+02] [-7.58805485e-03 9.99971208e-01 -7.31824146e-05 -8.30014942e+00] [-1.35311638e-03 6.29166376e-05 9.99999083e-01 -3.39336025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234391418 meters 0.029304823822719563 Centerline is valid? [True, True] Translation: X:190.93, Y:-8.30, Z:-3.39 [[ 9.99963360e-01 8.32255157e-03 2.00343415e-03 1.90934408e+02] [-8.32235198e-03 9.99965363e-01 -1.07941718e-04 -8.29865672e+00] [-2.00426311e-03 9.12644791e-05 9.99997987e-01 -3.39242828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264391418 meters 0.029950941164848248 Centerline is valid? [True, True] Translation: X:190.96, Y:-8.30, Z:-3.39 [[ 9.99957251e-01 9.20583563e-03 8.65138512e-04 1.90963933e+02] [-9.20579842e-03 9.99957625e-01 -4.69863214e-05 -8.29924261e+00] [-8.65534400e-04 3.90200220e-05 9.99999625e-01 -3.39363702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.294391418 meters 0.029096352140581712 Centerline is valid? [True, True] Translation: X:190.99, Y:-8.30, Z:-3.39 [[ 9.99949096e-01 9.67235046e-03 2.87237214e-03 1.90992425e+02] [-9.67194559e-03 9.99953214e-01 -1.54811502e-04 -8.29969677e+00] [-2.87373514e-03 1.27022195e-04 9.99995863e-01 -3.39251540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.324391418 meters 0.02790614138124568 Centerline is valid? [True, True] Translation: X:191.02, Y:-8.30, Z:-3.39 [[ 9.99937525e-01 1.07174221e-02 3.17528981e-03 1.91021910e+02] [-1.07169358e-02 9.99942558e-01 -1.70147818e-04 -8.29880108e+00] [-3.17693096e-03 1.36107811e-04 9.99994944e-01 -3.39249730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.354391418 meters 0.028526486289888867 Centerline is valid? [True, True] Translation: X:191.05, Y:-8.30, Z:-3.39 [[ 9.99913036e-01 1.27336625e-02 3.43132032e-03 1.91050883e+02] [-1.27331078e-02 9.99918914e-01 -1.83458076e-04 -8.29936040e+00] [-3.43337818e-03 1.39750751e-04 9.99994096e-01 -3.39382311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.384391418 meters 0.02646344045810318 Centerline is valid? [True, True] Translation: X:191.08, Y:-8.30, Z:-3.39 [[ 9.99900463e-01 1.36509305e-02 3.56603109e-03 1.91080389e+02] [-1.36503330e-02 9.99906811e-01 -1.91847039e-04 -8.29696468e+00] [-3.56831767e-03 1.43150432e-04 9.99993623e-01 -3.39379928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414391418 meters 0.02603196024639832 Centerline is valid? [True, True] Translation: X:191.11, Y:-8.30, Z:-3.39 [[ 9.99882769e-01 1.48678147e-02 3.66012288e-03 1.91109345e+02] [-1.48671970e-02 9.99889458e-01 -1.95924964e-04 -8.29670507e+00] [-3.66263126e-03 1.41486228e-04 9.99993283e-01 -3.39414342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444391418 meters 0.02425608912623444 Centerline is valid? [True, True] Translation: X:191.14, Y:-8.29, Z:-3.39 [[ 9.99846511e-01 1.72232343e-02 3.21160100e-03 1.91138383e+02] [-1.72227710e-02 9.99851662e-01 -1.71855035e-04 -8.29336432e+00] [-3.21408450e-03 1.16515988e-04 9.99994828e-01 -3.39475286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474391418 meters 0.02513110681452975 Centerline is valid? [True, True] Translation: X:191.17, Y:-8.30, Z:-3.40 [[ 9.99827105e-01 1.84272731e-02 2.48900490e-03 1.91166243e+02] [-1.84269975e-02 9.99830200e-01 -1.33616059e-04 -8.29515278e+00] [-2.49104444e-03 8.77280708e-05 9.99996893e-01 -3.39644960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504391418 meters 0.023217705722233205 Centerline is valid? [True, True] Translation: X:191.20, Y:-8.29, Z:-3.40 [[ 9.99793531e-01 2.01424978e-02 2.67857209e-03 1.91195246e+02] [-2.01421867e-02 9.99797115e-01 -1.43067112e-04 -8.29306365e+00] [-2.68091038e-03 8.90852744e-05 9.99996402e-01 -3.39601892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534391418 meters 0.022635597407923837 Centerline is valid? [True, True] Translation: X:191.22, Y:-8.29, Z:-3.40 [[ 9.99696798e-01 2.44681726e-02 2.76062954e-03 1.91224559e+02] [-2.44678611e-02 9.99700606e-01 -1.46562142e-04 -8.29117760e+00] [-2.76338913e-03 7.89710038e-05 9.99996179e-01 -3.39713500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564391418 meters 0.02034161637918702 Centerline is valid? [True, True] Translation: X:191.25, Y:-8.29, Z:-3.40 [[ 9.99626216e-01 2.71687232e-02 3.04760729e-03 1.91254112e+02] [-2.71683558e-02 9.99630859e-01 -1.61904338e-04 -8.28817184e+00] [-3.05088103e-03 7.90453417e-05 9.99995343e-01 -3.39652973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59439141800001 meters 0.020266635969374915 Centerline is valid? [True, True] Translation: X:191.28, Y:-8.29, Z:-3.40 [[ 9.99545750e-01 2.99804427e-02 3.07667648e-03 1.91281727e+02] [-2.99800804e-02 9.99550483e-01 -1.63838542e-04 -8.28837249e+00] [-3.08020541e-03 7.15251099e-05 9.99995254e-01 -3.39826437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62439141800002 meters 0.020266635969374915 Centerline is valid? [True, True] Translation: X:191.31, Y:-8.29, Z:-3.40 [[ 9.99549188e-01 2.98656165e-02 3.07668025e-03 1.91309166e+02] [-2.98652539e-02 9.99553920e-01 -1.63768838e-04 -8.28969761e+00] [-3.08019886e-03 7.18091724e-05 9.99995254e-01 -3.39876012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65439141800002 meters 0.017309466875339723 Centerline is valid? [True, True] Translation: X:191.34, Y:-8.28, Z:-3.40 [[ 9.99323767e-01 3.66243775e-02 3.26538055e-03 1.91339387e+02] [-3.66240103e-02 9.99329101e-01 -1.72198461e-04 -8.28310380e+00] [-3.26949647e-03 5.24906837e-05 9.99994654e-01 -3.39845870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68439141800002 meters 0.01602251786712157 Centerline is valid? [True, True] Translation: X:191.37, Y:-8.28, Z:-3.40 [[ 9.99184770e-01 4.02756078e-02 2.76968305e-03 1.91368459e+02] [-4.02753559e-02 9.99188608e-01 -1.46676553e-04 -8.28100619e+00] [-2.77334324e-03 3.50070077e-05 9.99996154e-01 -3.39860678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714391418 meters 0.01545954700064307 Centerline is valid? [True, True] Translation: X:191.40, Y:-8.28, Z:-3.40 [[ 9.99056804e-01 4.33075874e-02 3.15533651e-03 1.91397439e+02] [-4.33072771e-02 9.99061786e-01 -1.66639383e-04 -8.27976554e+00] [-3.15959288e-03 2.98331771e-05 9.99995008e-01 -3.39912784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters 0.014932981709656663 Centerline is valid? [True, True] Translation: X:191.43, Y:-8.28, Z:-3.40 [[ 9.98808851e-01 4.86807551e-02 3.32600168e-03 1.91425148e+02] [-4.86804403e-02 9.98814389e-01 -1.75586703e-04 -8.27690981e+00] [-3.33060603e-03 1.34663267e-05 9.99994453e-01 -3.39987679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774391418 meters 0.01487745014960631 Centerline is valid? [True, True] Translation: X:191.45, Y:-8.28, Z:-3.40 [[ 9.98709000e-01 5.06563132e-02 3.77785563e-03 1.91453594e+02] [-5.06559246e-02 9.98716145e-01 -1.98531650e-04 -8.27646963e+00] [-3.78306229e-03 6.90457543e-06 9.99992844e-01 -3.40002226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters 0.014545575396608465 Centerline is valid? [True, True] Translation: X:191.48, Y:-8.28, Z:-3.40 [[ 9.98633127e-01 5.21351302e-02 3.71562253e-03 1.91481814e+02] [-5.21347633e-02 9.98640039e-01 -1.95623973e-04 -8.27666544e+00] [-3.72076831e-03 1.64347911e-06 9.99993078e-01 -3.39909950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834391418 meters 0.014732267634643343 Centerline is valid? [True, True] Translation: X:191.51, Y:-8.28, Z:-3.40 [[ 9.98537838e-01 5.38527665e-02 4.69731339e-03 1.91509943e+02] [-5.38522058e-02 9.98548887e-01 -2.45862827e-04 -8.27764310e+00] [-4.70373746e-03 -7.45735202e-06 9.99988937e-01 -3.39986118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864391418 meters 0.014811367901724768 Centerline is valid? [True, True] Translation: X:191.54, Y:-8.28, Z:-3.40 [[ 9.98519572e-01 5.41271396e-02 5.37741668e-03 1.91539128e+02] [-5.41264148e-02 9.98534052e-01 -2.80344800e-04 -8.27940250e+00] [-5.38470793e-03 -1.11305154e-05 9.99985502e-01 -3.39992443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894391418 meters 0.014554505709062528 Centerline is valid? [True, True] Translation: X:191.57, Y:-8.28, Z:-3.40 [[ 9.98527951e-01 5.39348308e-02 5.74153208e-03 1.91567481e+02] [-5.39340040e-02 9.98544458e-01 -2.98842648e-04 -8.28185037e+00] [-5.74929307e-03 -1.12610778e-05 9.99983473e-01 -3.39891067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924391418 meters 0.014556905943925507 Centerline is valid? [True, True] Translation: X:191.59, Y:-8.28, Z:-3.40 [[ 9.98542619e-01 5.36469850e-02 5.88548653e-03 1.91594539e+02] [-5.36461100e-02 9.98559964e-01 -3.06545836e-04 -8.28432743e+00] [-5.89345647e-03 -9.63437594e-06 9.99982633e-01 -3.39934871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954391418 meters 0.014529644698883064 Centerline is valid? [True, True] Translation: X:191.62, Y:-8.29, Z:-3.40 [[ 9.98579977e-01 5.29179462e-02 6.14176331e-03 1.91623416e+02] [-5.29169899e-02 9.98598864e-01 -3.18217094e-04 -8.28900939e+00] [-6.14999725e-03 -7.23840842e-06 9.99981089e-01 -3.39953821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984391418 meters 0.014454366992824258 Centerline is valid? [True, True] Translation: X:191.65, Y:-8.29, Z:-3.40 [[ 9.98626818e-01 5.20065873e-02 6.30824207e-03 1.91649911e+02] [-5.20055594e-02 9.98646742e-01 -3.26989616e-04 -8.29208706e+00] [-6.31671100e-03 -1.52305757e-06 9.99980049e-01 -3.40071609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014391418 meters 0.014264504200799272 Centerline is valid? [True, True] Translation: X:191.68, Y:-8.30, Z:-3.40 [[ 9.98660405e-01 5.13534146e-02 6.34207196e-03 1.91677447e+02] [-5.13523698e-02 9.98680543e-01 -3.27577446e-04 -8.29542705e+00] [-6.35052609e-03 1.45820040e-06 9.99979835e-01 -3.40109850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.044391418 meters 0.014381607421544512 Centerline is valid? [True, True] Translation: X:191.70, Y:-8.30, Z:-3.40 [[ 9.98773217e-01 4.91182434e-02 6.28166289e-03 1.91704012e+02] [-4.91171746e-02 9.98792971e-01 -3.24403728e-04 -8.30146376e+00] [-6.29001488e-03 1.54682218e-05 9.99980218e-01 -3.40273336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.074391418 meters 0.014398884973259252 Centerline is valid? [True, True] Translation: X:191.73, Y:-8.31, Z:-3.40 [[ 9.98830115e-01 4.79064282e-02 6.58604214e-03 1.91732283e+02] [-4.79052403e-02 9.98851828e-01 -3.38102357e-04 -8.30534294e+00] [-6.59467751e-03 2.22008842e-05 9.99978255e-01 -3.40311404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.104391418 meters 0.01439965551874573 Centerline is valid? [True, True] Translation: X:191.76, Y:-8.31, Z:-3.40 [[ 9.98897691e-01 4.64647557e-02 6.66561275e-03 1.91761343e+02] [-4.64635152e-02 9.98919929e-01 -3.40918887e-04 -8.30961286e+00] [-6.67425413e-03 3.08352889e-05 9.99977726e-01 -3.40353520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.134391418 meters 0.014731152092735185 Centerline is valid? [True, True] Translation: X:191.79, Y:-8.32, Z:-3.40 [[ 9.99030913e-01 4.34293102e-02 7.15050552e-03 1.91788321e+02] [-4.34278068e-02 9.99056501e-01 -3.65463443e-04 -8.31652993e+00] [-7.15963085e-03 5.45785046e-05 9.99974368e-01 -3.40416987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164391418 meters 0.014856663461806956 Centerline is valid? [True, True] Translation: X:191.82, Y:-8.32, Z:-3.40 [[ 9.99101982e-01 4.17396012e-02 7.28252731e-03 1.91816942e+02] [-4.17380068e-02 9.99128521e-01 -3.70844542e-04 -8.32047397e+00] [-7.29165965e-03 6.65533422e-05 9.99973413e-01 -3.40470055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194391418 meters 0.015317792770608789 Centerline is valid? [True, True] Translation: X:191.85, Y:-8.32, Z:-3.40 [[ 9.99173278e-01 3.98740794e-02 7.92583374e-03 1.91845062e+02] [-3.98721366e-02 9.99204709e-01 -4.03047535e-04 -8.32468500e+00] [-7.93560154e-03 8.66944012e-05 9.99968509e-01 -3.40498337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224391418 meters 0.016059268283967906 Centerline is valid? [True, True] Translation: X:191.87, Y:-8.33, Z:-3.41 [[ 9.99282081e-01 3.69266732e-02 8.47009291e-03 1.91872112e+02] [-3.69243568e-02 9.99317971e-01 -4.29751188e-04 -8.33180049e+00] [-8.48018534e-03 1.16689929e-04 9.99964036e-01 -3.40563963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254391418 meters 0.016571409235427558 Centerline is valid? [True, True] Translation: X:191.90, Y:-8.34, Z:-3.41 [[ 9.99332768e-01 3.55633754e-02 8.32251915e-03 1.91899683e+02] [-3.55610984e-02 9.99367415e-01 -4.21462175e-04 -8.33608502e+00] [-8.33224307e-03 1.25223039e-04 9.99965278e-01 -3.40654948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284391418 meters 0.01737276831050953 Centerline is valid? [True, True] Translation: X:191.93, Y:-8.34, Z:-3.41 [[ 9.99396572e-01 3.35795819e-02 8.88271389e-03 1.91927110e+02] [-3.35769186e-02 9.99436036e-01 -4.48828688e-04 -8.34159448e+00] [-8.89277583e-03 1.50303691e-04 9.99960447e-01 -3.40685646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314391418 meters 0.016741022091985726 Centerline is valid? [True, True] Translation: X:191.96, Y:-8.34, Z:-3.41 [[ 9.99402567e-01 3.32865804e-02 9.30119040e-03 1.91955429e+02] [-3.32836579e-02 9.99445836e-01 -4.68868863e-04 -8.34324035e+00] [-9.31164305e-03 1.59011106e-04 9.99956633e-01 -3.40667346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34439141800001 meters 0.016593828121581434 Centerline is valid? [True, True] Translation: X:191.98, Y:-8.35, Z:-3.41 [[ 9.99416380e-01 3.28681096e-02 9.30519802e-03 1.91984527e+02] [-3.28651732e-02 9.99459685e-01 -4.68333934e-04 -8.34579148e+00] [-9.31556353e-03 1.62243660e-04 9.99956596e-01 -3.40702488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37439141800002 meters 0.01661540499199917 Centerline is valid? [True, True] Translation: X:192.01, Y:-8.35, Z:-3.41 [[ 9.99412516e-01 3.28697422e-02 9.70583172e-03 1.92012890e+02] [-3.28665558e-02 9.99459630e-01 -4.87654192e-04 -8.34816605e+00] [-9.71661605e-03 1.68370443e-04 9.99952778e-01 -3.40780191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40439141800002 meters 0.016249867551230257 Centerline is valid? [True, True] Translation: X:192.04, Y:-8.35, Z:-3.41 [[ 9.99376539e-01 3.37389176e-02 1.04027768e-02 1.92041252e+02] [-3.37353141e-02 9.99430666e-01 -5.21732562e-04 -8.35058416e+00] [-1.04144568e-02 1.70466340e-04 9.99945754e-01 -3.40827869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43439141800002 meters 0.016410735410516443 Centerline is valid? [True, True] Translation: X:192.07, Y:-8.35, Z:-3.41 [[ 9.99349799e-01 3.45283162e-02 1.03814607e-02 1.92069427e+02] [-3.45247773e-02 9.99403707e-01 -5.19954041e-04 -8.35294508e+00] [-1.03932234e-02 1.61198348e-04 9.99945976e-01 -3.40925603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters 0.01594080586426823 Centerline is valid? [True, True] Translation: X:192.10, Y:-8.35, Z:-3.41 [[ 9.99309292e-01 3.55481396e-02 1.08290973e-02 1.92097828e+02] [-3.55443634e-02 9.99367953e-01 -5.41031573e-04 -8.35362580e+00] [-1.08414855e-02 1.55744508e-04 9.99941217e-01 -3.40929654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494391418 meters 0.015136595381114955 Centerline is valid? [True, True] Translation: X:192.13, Y:-8.35, Z:-3.41 [[ 9.99222948e-01 3.78765391e-02 1.09026920e-02 1.92126239e+02] [-3.78728598e-02 9.99282418e-01 -5.43803421e-04 -8.35463665e+00] [-1.09154658e-02 1.30464733e-04 9.99940416e-01 -3.40976220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters 0.014941678770236354 Centerline is valid? [True, True] Translation: X:192.15, Y:-8.36, Z:-3.41 [[ 9.99179862e-01 3.90588600e-02 1.06774691e-02 1.92154156e+02] [-3.90554061e-02 9.99236905e-01 -5.31881214e-04 -8.35598883e+00] [-1.06900959e-02 1.14432106e-04 9.99942853e-01 -3.41115744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554391418 meters 0.015126218095523647 Centerline is valid? [True, True] Translation: X:192.18, Y:-8.36, Z:-3.41 [[ 9.99164499e-01 3.93923210e-02 1.08880520e-02 1.92182489e+02] [-3.93887631e-02 9.99223815e-01 -5.41105775e-04 -8.35752078e+00] [-1.09009163e-02 1.11786779e-04 9.99940577e-01 -3.41225160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters 0.01481015772661504 Centerline is valid? [True, True] Translation: X:192.21, Y:-8.36, Z:-3.41 [[ 9.99117956e-01 4.05382064e-02 1.09527792e-02 1.92211212e+02] [-4.05346843e-02 9.99177984e-01 -5.43454827e-04 -8.35927669e+00] [-1.09658066e-02 9.90080275e-05 9.99939869e-01 -3.41317362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614391418 meters 0.014671864275311754 Centerline is valid? [True, True] Translation: X:192.24, Y:-8.36, Z:-3.41 [[ 9.99110166e-01 4.06551748e-02 1.12264801e-02 1.92239697e+02] [-4.06514924e-02 9.99173232e-01 -5.56106307e-04 -8.36112856e+00] [-1.12398070e-02 9.92382954e-05 9.99936826e-01 -3.41354410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644391418 meters 0.014620777025001972 Centerline is valid? [True, True] Translation: X:192.27, Y:-8.36, Z:-3.41 [[ 9.99110302e-01 4.04237437e-02 1.20218559e-02 1.92268548e+02] [-4.04195169e-02 9.99182621e-01 -5.94451852e-04 -8.36314328e+00] [-1.20360594e-02 1.08005363e-04 9.99927558e-01 -3.41365897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674391418 meters 0.015039481034366168 Centerline is valid? [True, True] Translation: X:192.30, Y:-8.37, Z:-3.41 [[ 9.99154053e-01 3.88729102e-02 1.34192481e-02 1.92296654e+02] [-3.88675190e-02 9.99244153e-01 -6.62416678e-04 -8.36671718e+00] [-1.34348552e-02 1.40283429e-04 9.99909738e-01 -3.41356844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704391418 meters 0.01534749768000867 Centerline is valid? [True, True] Translation: X:192.33, Y:-8.37, Z:-3.41 [[ 9.99192562e-01 3.77502822e-02 1.37528243e-02 1.92325749e+02] [-3.77445335e-02 9.99287192e-01 -6.77412240e-04 -8.36964886e+00] [-1.37685936e-02 1.57771336e-04 9.99905196e-01 -3.41382708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734391418 meters 0.015821759221642046 Centerline is valid? [True, True] Translation: X:192.35, Y:-8.37, Z:-3.41 [[ 9.99247878e-01 3.59973600e-02 1.44176750e-02 1.92354281e+02] [-3.59908766e-02 9.99351867e-01 -7.08980627e-04 -8.37304283e+00] [-1.44338519e-02 1.89542625e-04 9.99895809e-01 -3.41414790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764391418 meters 0.016980387853193328 Centerline is valid? [True, True] Translation: X:192.38, Y:-8.38, Z:-3.41 [[ 9.99372241e-01 3.20814756e-02 1.50300642e-02 1.92383412e+02] [-3.20740069e-02 9.99485224e-01 -7.37762105e-04 -8.37950623e+00] [-1.50459956e-02 2.55224584e-04 9.99886770e-01 -3.41448011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.794391418 meters 0.01813075392883669 Centerline is valid? [True, True] Translation: X:192.41, Y:-8.38, Z:-3.41 [[ 9.99440180e-01 2.94223877e-02 1.59264070e-02 1.92414096e+02] [-2.94136758e-02 9.99567019e-01 -7.81028126e-04 -8.38378074e+00] [-1.59424909e-02 3.12136719e-04 9.99872862e-01 -3.41461316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.824391418 meters 0.01919721055725021 Centerline is valid? [True, True] Translation: X:192.44, Y:-8.39, Z:-3.41 [[ 9.99510304e-01 2.66997298e-02 1.63179585e-02 1.92444895e+02] [-2.66902226e-02 9.99643432e-01 -8.00164622e-04 -8.38821209e+00] [-1.63335042e-02 3.64242840e-04 9.99866533e-01 -3.41487271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.854391418 meters 0.023853851674631273 Centerline is valid? [True, True] Translation: X:192.47, Y:-8.40, Z:-3.42 [[ 9.99637926e-01 2.05554781e-02 1.73634585e-02 1.92474534e+02] [-2.05437753e-02 9.99788591e-01 -8.52111703e-04 -8.39850214e+00] [-1.73773033e-02 4.95092186e-04 9.99848881e-01 -3.41513259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.884391418 meters 0.024627936220823436 Centerline is valid? [True, True] Translation: X:192.51, Y:-8.40, Z:-3.42 [[ 9.99692090e-01 1.72519860e-02 1.78352164e-02 1.92506378e+02] [-1.72390830e-02 9.99851011e-01 -8.76958837e-04 -8.40220705e+00] [-1.78476884e-02 5.69226037e-04 9.99840555e-01 -3.41532264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914391418 meters 0.02374537150512325 Centerline is valid? [True, True] Translation: X:192.54, Y:-8.40, Z:-3.42 [[ 9.99733299e-01 1.36458587e-02 1.86311942e-02 1.92538566e+02] [-1.36311247e-02 9.99906671e-01 -9.17596521e-04 -8.40345770e+00] [-1.86419767e-02 6.63387666e-04 9.99826003e-01 -3.41554014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944391418 meters 0.033977954194084115 Centerline is valid? [True, True] Translation: X:192.57, Y:-8.42, Z:-3.42 [[ 9.99794509e-01 6.20406248e-03 1.92989705e-02 1.92567515e+02] [-6.18683969e-03 9.99980408e-01 -9.51998546e-04 -8.42035492e+00] [-1.93044987e-02 8.32403281e-04 9.99813304e-01 -3.41583722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974391418 meters 0.028446722582127906 Centerline is valid? [True, True] Translation: X:192.60, Y:-8.41, Z:-3.42 [[ 9.99814566e-01 2.76563620e-03 1.90573849e-02 1.92599439e+02] [-2.74822328e-03 9.99995782e-01 -9.39838440e-04 -8.41483085e+00] [-1.90599038e-02 8.87290213e-04 9.99817950e-01 -3.41704435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004391418 meters 0.031184599274385515 Centerline is valid? [True, True] Translation: X:192.63, Y:-8.42, Z:-3.42 [[ 9.99817487e-01 -4.06235711e-04 1.91004801e-02 1.92628920e+02] [ 4.24319256e-04 9.99999466e-01 -9.42715477e-04 -8.42014834e+00] [-1.91000869e-02 9.50648120e-04 9.99817125e-01 -3.41783318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034391418 meters 0.03420360211043857 Centerline is valid? [True, True] Translation: X:192.66, Y:-8.42, Z:-3.42 [[ 9.99805658e-01 -5.33374004e-03 1.89788741e-02 1.92660067e+02] [ 5.35248001e-03 9.99985237e-01 -9.36752284e-04 -8.42488965e+00] [-1.89735975e-02 1.03815428e-03 9.99819446e-01 -3.41882648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064391418 meters 0.035535955536796754 Centerline is valid? [True, True] Translation: X:192.69, Y:-8.43, Z:-3.42 [[ 9.99800898e-01 -6.71443648e-03 1.87904527e-02 1.92691691e+02] [ 6.73306640e-03 9.99976902e-01 -9.28367185e-04 -8.42764458e+00] [-1.87837852e-02 1.05469971e-03 9.99823013e-01 -3.41917735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09439141800001 meters 0.03695315356983638 Centerline is valid? [True, True] Translation: X:192.72, Y:-8.43, Z:-3.42 [[ 9.99791123e-01 -7.51107388e-03 1.90077342e-02 1.92723085e+02] [ 7.53037634e-03 9.99971201e-01 -9.44134062e-04 -8.43014732e+00] [-1.90000953e-02 1.08707225e-03 9.99818891e-01 -3.41953970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12439141800002 meters 0.03754265249822173 Centerline is valid? [True, True] Translation: X:192.76, Y:-8.43, Z:-3.42 [[ 9.99785398e-01 -7.68184914e-03 1.92392248e-02 1.92755173e+02] [ 7.70174918e-03 9.99969880e-01 -9.60465117e-04 -8.43166653e+00] [-1.92312672e-02 1.10843468e-03 9.99814448e-01 -3.42040419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15439141800002 meters 0.03757870952597228 Centerline is valid? [True, True] Translation: X:192.79, Y:-8.43, Z:-3.42 [[ 9.99794032e-01 -6.76243242e-03 1.91354001e-02 1.92787459e+02] [ 6.78197934e-03 9.99976544e-01 -9.56795458e-04 -8.43002888e+00] [-1.91284810e-02 1.08637428e-03 9.99816444e-01 -3.42081409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18439141800002 meters 0.037621197885482675 Centerline is valid? [True, True] Translation: X:192.82, Y:-8.43, Z:-3.42 [[ 9.99810941e-01 -5.68192649e-03 1.85956267e-02 1.92819607e+02] [ 5.70022622e-03 9.99983320e-01 -9.31230960e-04 -8.42951090e+00] [-1.85900253e-02 1.03705418e-03 9.99826653e-01 -3.42152652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214391418 meters 0.03163738914201712 Centerline is valid? [True, True] Translation: X:192.85, Y:-8.42, Z:-3.42 [[ 9.99823614e-01 -2.12773064e-03 1.86604816e-02 1.92851792e+02] [ 2.14556816e-03 9.99997260e-01 -9.35930022e-04 -8.41900961e+00] [-1.86584391e-02 9.75802272e-04 9.99825440e-01 -3.42182579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters 0.034280983307879716 Centerline is valid? [True, True] Translation: X:192.88, Y:-8.42, Z:-3.42 [[ 9.99834677e-01 3.68048960e-05 1.81828839e-02 1.92882129e+02] [-2.02058985e-05 9.99999583e-01 -9.13074233e-04 -8.42224255e+00] [-1.81829099e-02 9.12555879e-04 9.99834261e-01 -3.42247860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274391418 meters 0.0333432359260093 Centerline is valid? [True, True] Translation: X:192.91, Y:-8.42, Z:-3.42 [[ 9.99830213e-01 2.34191738e-03 1.82773157e-02 1.92913508e+02] [-2.32548951e-03 9.99996873e-01 -9.20013646e-04 -8.42047652e+00] [-1.82794132e-02 8.77353733e-04 9.99832533e-01 -3.42288959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters 0.031959045003146884 Centerline is valid? [True, True] Translation: X:192.95, Y:-8.42, Z:-3.42 [[ 9.99816085e-01 4.93137407e-03 1.85331664e-02 1.92945080e+02] [-4.91491331e-03 9.99987486e-01 -9.33622380e-04 -8.41818024e+00] [-1.85375385e-02 8.42361767e-04 9.99827810e-01 -3.42355060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334391418 meters 0.02951152786432632 Centerline is valid? [True, True] Translation: X:192.97, Y:-8.41, Z:-3.42 [[ 9.99783730e-01 1.01005813e-02 1.81788493e-02 1.92974809e+02] [-1.00855845e-02 9.99948719e-01 -9.16454489e-04 -8.41208695e+00] [-1.81871738e-02 7.32911967e-04 9.99834331e-01 -3.42379699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364391418 meters 0.025330910474540384 Centerline is valid? [True, True] Translation: X:193.01, Y:-8.41, Z:-3.42 [[ 9.99737695e-01 1.30807991e-02 1.87998317e-02 1.93006584e+02] [-1.30652921e-02 9.99914197e-01 -9.47437624e-04 -8.40518329e+00] [-1.88106118e-02 7.01563815e-04 9.99822819e-01 -3.42413408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394391418 meters 0.023194986017540463 Centerline is valid? [True, True] Translation: X:193.04, Y:-8.40, Z:-3.42 [[ 9.99692390e-01 1.65805076e-02 1.84448476e-02 1.93038170e+02] [-1.65661621e-02 9.99862339e-01 -9.30281024e-04 -8.40127312e+00] [-1.84577329e-02 6.24434525e-04 9.99829447e-01 -3.42446525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424391418 meters 0.021738653688438067 Centerline is valid? [True, True] Translation: X:193.07, Y:-8.40, Z:-3.43 [[ 9.99567027e-01 2.29671779e-02 1.83920282e-02 1.93068657e+02] [-2.29539809e-02 9.99736092e-01 -9.28349338e-04 -8.39560659e+00] [-1.84084960e-02 5.05777125e-04 9.99830421e-01 -3.42557619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454391418 meters 0.019336065968108457 Centerline is valid? [True, True] Translation: X:193.10, Y:-8.39, Z:-3.43 [[ 9.99505674e-01 2.59957960e-02 1.76812674e-02 1.93100851e+02] [-2.59840745e-02 9.99661959e-01 -8.92381459e-04 -8.39144479e+00] [-1.76984886e-02 4.32508961e-04 9.99843276e-01 -3.42679715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484391418 meters 0.018056058326479316 Centerline is valid? [True, True] Translation: X:193.13, Y:-8.39, Z:-3.43 [[ 9.99378031e-01 3.02700398e-02 1.80907404e-02 1.93131789e+02] [-3.02583739e-02 9.99541689e-01 -9.18290018e-04 -8.38795240e+00] [-1.81102459e-02 3.70322484e-04 9.99835927e-01 -3.42792559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514391418 meters 0.018056058326479316 Centerline is valid? [True, True] Translation: X:193.16, Y:-8.39, Z:-3.43 [[ 9.99378032e-01 3.02700530e-02 1.80907032e-02 1.93161752e+02] [-3.02583738e-02 9.99541688e-01 -9.19021656e-04 -8.38947419e+00] [-1.81102309e-02 3.71054793e-04 9.99835927e-01 -3.42846632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.544391418 meters 0.01715483005436481 Centerline is valid? [True, True] Translation: X:193.19, Y:-8.39, Z:-3.43 [[ 9.99323406e-01 3.18095837e-02 1.84629540e-02 1.93192081e+02] [-3.17976815e-02 9.99493886e-01 -9.37932282e-04 -8.38741033e+00] [-1.84834449e-02 3.50218552e-04 9.99829105e-01 -3.42905732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.574391418 meters 0.016502073743754175 Centerline is valid? [True, True] Translation: X:193.22, Y:-8.39, Z:-3.43 [[ 9.99282425e-01 3.30199610e-02 1.85557665e-02 1.93222821e+02] [-3.30081474e-02 9.99454638e-01 -9.42647228e-04 -8.38675187e+00] [-1.85767730e-02 3.29479333e-04 9.99827383e-01 -3.42927945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.604391418 meters 0.01629165022441053 Centerline is valid? [True, True] Translation: X:193.25, Y:-8.39, Z:-3.43 [[ 9.99250418e-01 3.41730838e-02 1.81879767e-02 1.93253580e+02] [-3.41619249e-02 9.99415884e-01 -9.23963224e-04 -8.38579049e+00] [-1.82089275e-02 3.01934344e-04 9.99834158e-01 -3.43011573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.634391418 meters 0.015369306516732068 Centerline is valid? [True, True] Translation: X:193.28, Y:-8.38, Z:-3.43 [[ 9.99168259e-01 3.68013563e-02 1.75627582e-02 1.93282932e+02] [-3.67913570e-02 9.99322571e-01 -8.92219248e-04 -8.38261871e+00] [-1.75836956e-02 2.45319444e-04 9.99845365e-01 -3.43076186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664391418 meters 0.015170204771933982 Centerline is valid? [True, True] Translation: X:193.31, Y:-8.38, Z:-3.43 [[ 9.99117796e-01 3.83727461e-02 1.70634866e-02 1.93312343e+02] [-3.83635474e-02 9.99263473e-01 -8.66212701e-04 -8.38166185e+00] [-1.70841579e-02 2.10832646e-04 9.99854033e-01 -3.43204361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694391418 meters 0.014966782758197057 Centerline is valid? [True, True] Translation: X:193.34, Y:-8.38, Z:-3.43 [[ 9.99084307e-01 3.93789622e-02 1.67285903e-02 1.93341604e+02] [-3.93702779e-02 9.99224330e-01 -8.48266946e-04 -8.38139348e+00] [-1.67490184e-02 1.88880942e-04 9.99859708e-01 -3.43286753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724391418 meters 0.014603016795238902 Centerline is valid? [True, True] Translation: X:193.37, Y:-8.38, Z:-3.43 [[ 9.98997288e-01 4.12480819e-02 1.74072883e-02 1.93369902e+02] [-4.12389869e-02 9.99148923e-01 -8.81266106e-04 -8.38103155e+00] [-1.74288239e-02 1.62523514e-04 9.99848093e-01 -3.43370253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754391418 meters 0.014370580288264613 Centerline is valid? [True, True] Translation: X:193.40, Y:-8.38, Z:-3.43 [[ 9.98988309e-01 4.13198419e-02 1.77490435e-02 1.93398963e+02] [-4.13104324e-02 9.99145957e-01 -8.96606499e-04 -8.38179343e+00] [-1.77709327e-02 1.62478748e-04 9.99842071e-01 -3.43403172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784391418 meters 0.01465473724987196 Centerline is valid? [True, True] Translation: X:193.43, Y:-8.38, Z:-3.43 [[ 9.99015305e-01 4.05890831e-02 1.79149679e-02 1.93426549e+02] [-4.05794056e-02 9.99175908e-01 -9.03528950e-04 -8.38367044e+00] [-1.79368777e-02 1.75660502e-04 9.99839106e-01 -3.43464190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814391418 meters 0.015400062869480926 Centerline is valid? [True, True] Translation: X:193.46, Y:-8.39, Z:-3.44 [[ 9.99143154e-01 3.73296450e-02 1.78733108e-02 1.93456010e+02] [-3.73195231e-02 9.99302979e-01 -8.99631138e-04 -8.38755962e+00] [-1.78944356e-02 2.31836857e-04 9.99839855e-01 -3.43532234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84439141800001 meters 0.016370176455684456 Centerline is valid? [True, True] Translation: X:193.49, Y:-8.39, Z:-3.44 [[ 9.99239653e-01 3.47837611e-02 1.76126553e-02 1.93485201e+02] [-3.47735492e-02 9.99394825e-01 -8.85815369e-04 -8.39140216e+00] [-1.76328086e-02 2.72687304e-04 9.99844493e-01 -3.43695276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87439141800002 meters 0.017110621695258194 Centerline is valid? [True, True] Translation: X:193.52, Y:-8.40, Z:-3.44 [[ 9.99354403e-01 3.16860103e-02 1.69343806e-02 1.93515841e+02] [-3.16761369e-02 9.99497823e-01 -8.51014077e-04 -8.39534589e+00] [-1.69528418e-02 3.14048906e-04 9.99856241e-01 -3.43800691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90439141800002 meters 0.019844169509255605 Centerline is valid? [True, True] Translation: X:193.55, Y:-8.40, Z:-3.44 [[ 9.99566129e-01 2.44108594e-02 1.64822078e-02 1.93545739e+02] [-2.44005176e-02 9.99701920e-01 -8.28290753e-04 -8.40414962e+00] [-1.64975141e-02 4.25756980e-04 9.99863816e-01 -3.43927394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93439141800002 meters 0.021142804398933145 Centerline is valid? [True, True] Translation: X:193.58, Y:-8.41, Z:-3.44 [[ 9.99652202e-01 2.07801871e-02 1.62376031e-02 1.93577367e+02] [-2.07696790e-02 9.99783954e-01 -8.15529405e-04 -8.40886923e+00] [-1.62510419e-02 4.77995961e-04 9.99867829e-01 -3.44011596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters 0.02380369604656991 Centerline is valid? [True, True] Translation: X:193.61, Y:-8.42, Z:-3.44 [[ 9.99728609e-01 1.68030063e-02 1.61358867e-02 1.93607799e+02] [-1.67920365e-02 9.99858672e-01 -8.15095708e-04 -8.41521001e+00] [-1.61473023e-02 5.43920099e-04 9.99869476e-01 -3.44069823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994391418 meters 0.028151863270507036 Centerline is valid? [True, True] Translation: X:193.64, Y:-8.42, Z:-3.44 [[ 9.99841410e-01 8.83283686e-03 1.54640440e-02 1.93637356e+02] [-8.82179957e-03 9.99960782e-01 -7.81809507e-04 -8.42454481e+00] [-1.54703431e-02 6.45264823e-04 9.99880119e-01 -3.44124021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters 0.029470757756039235 Centerline is valid? [True, True] Translation: X:193.67, Y:-8.43, Z:-3.44 [[ 9.99868293e-01 5.01313198e-03 1.54358267e-02 1.93668301e+02] [-5.00167620e-03 9.99987187e-01 -7.80671097e-04 -8.42841776e+00] [-1.54395425e-02 7.03363270e-04 9.99880556e-01 -3.44192568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054391418 meters 0.032871848429913274 Centerline is valid? [True, True] Translation: X:193.70, Y:-8.44, Z:-3.44 [[ 9.99888429e-01 1.78331729e-03 1.48307077e-02 1.93698117e+02] [-1.77238711e-03 9.99998148e-01 -7.50107307e-04 -8.43516191e+00] [-1.48320179e-02 7.23737862e-04 9.99889738e-01 -3.44290253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters 0.036960422854262126 Centerline is valid? [True, True] Translation: X:193.73, Y:-8.44, Z:-3.44 [[ 9.99898341e-01 -3.75940618e-03 1.37540481e-02 1.93727753e+02] [ 3.76935299e-03 9.99992653e-01 -6.97339199e-04 -8.44357590e+00] [-1.37513255e-02 7.49112171e-04 9.99905165e-01 -3.44451807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114391418 meters 0.03367923880075646 Centerline is valid? [True, True] Translation: X:193.76, Y:-8.44, Z:-3.45 [[ 9.99897875e-01 -5.57226574e-03 1.31601111e-02 1.93760174e+02] [ 5.58151957e-03 9.99984201e-01 -6.66549134e-04 -8.44114015e+00] [-1.31561890e-02 7.39934481e-04 9.99913180e-01 -3.44527739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144391418 meters 0.03634126471174189 Centerline is valid? [True, True] Translation: X:193.79, Y:-8.45, Z:-3.45 [[ 9.99898756e-01 -6.87088210e-03 1.24607173e-02 1.93791108e+02] [ 6.87928647e-03 9.99976138e-01 -6.31731905e-04 -8.44599837e+00] [-1.24560795e-02 7.17388790e-04 9.99922163e-01 -3.44653064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174391418 meters 0.03544452171056699 Centerline is valid? [True, True] Translation: X:193.82, Y:-8.45, Z:-3.45 [[ 9.99898359e-01 -7.47363873e-03 1.21415446e-02 1.93823338e+02] [ 7.48168730e-03 9.99971821e-01 -6.17608956e-04 -8.44591195e+00] [-1.21365867e-02 7.08385421e-04 9.99926098e-01 -3.44697591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204391418 meters 0.03609309785944148 Centerline is valid? [True, True] Translation: X:193.86, Y:-8.45, Z:-3.45 [[ 9.99898992e-01 -7.63780116e-03 1.19861937e-02 1.93855909e+02] [ 7.64566843e-03 9.99970585e-01 -6.10674484e-04 -8.44678326e+00] [-1.19811770e-02 7.02255265e-04 9.99927977e-01 -3.44719598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234391418 meters 0.0371037184963153 Centerline is valid? [True, True] Translation: X:193.89, Y:-8.45, Z:-3.45 [[ 9.99905764e-01 -6.89246501e-03 1.18725541e-02 1.93887128e+02] [ 6.90014430e-03 9.99976010e-01 -6.05968106e-04 -8.44861840e+00] [-1.18680926e-02 6.87833339e-04 9.99929335e-01 -3.44749832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264391418 meters 0.036093122935451125 Centerline is valid? [True, True] Translation: X:193.92, Y:-8.45, Z:-3.45 [[ 9.99908441e-01 -5.69386921e-03 1.22755709e-02 1.93919906e+02] [ 5.70199551e-03 9.99983547e-01 -6.27091782e-04 -8.44756833e+00] [-1.22717983e-02 6.97029616e-04 9.99924456e-01 -3.44789711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.294391418 meters 0.035524047778233724 Centerline is valid? [True, True] Translation: X:193.95, Y:-8.45, Z:-3.45 [[ 9.99923796e-01 -2.48534687e-03 1.20923256e-02 1.93950919e+02] [ 2.49301714e-03 9.99996701e-01 -6.19276541e-04 -8.44598979e+00] [-1.20907466e-02 6.49375725e-04 9.99926693e-01 -3.44836762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.324391418 meters 0.03243198064991669 Centerline is valid? [True, True] Translation: X:193.98, Y:-8.44, Z:-3.45 [[ 9.99928715e-01 -5.24322597e-04 1.19285682e-02 1.93983003e+02] [ 5.31651429e-04 9.99999672e-01 -6.11230546e-04 -8.44218415e+00] [-1.19282438e-02 6.17528814e-04 9.99928665e-01 -3.44859515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.354391418 meters 0.03343848230029521 Centerline is valid? [True, True] Translation: X:194.01, Y:-8.44, Z:-3.45 [[ 9.99933028e-01 1.52880427e-03 1.14718112e-02 1.94013477e+02] [-1.52215011e-03 9.99998668e-01 -5.88752632e-04 -8.44355145e+00] [-1.14726960e-02 5.71251383e-04 9.99934023e-01 -3.44947079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.384391418 meters 0.03052537614135676 Centerline is valid? [True, True] Translation: X:194.04, Y:-8.44, Z:-3.45 [[ 9.99929254e-01 5.30948487e-03 1.06440823e-02 1.94044948e+02] [-5.30396963e-03 9.99985785e-01 -5.46312858e-04 -8.43766029e+00] [-1.06468317e-02 4.89818319e-04 9.99943201e-01 -3.45029372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414391418 meters 0.029392713943210785 Centerline is valid? [True, True] Translation: X:194.08, Y:-8.44, Z:-3.45 [[ 9.99919311e-01 7.55888905e-03 1.02095772e-02 1.94076700e+02] [-7.55392804e-03 9.99971331e-01 -5.24392483e-04 -8.43646006e+00] [-1.02132483e-02 4.47227758e-04 9.99947743e-01 -3.45102394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444391418 meters 0.029641572415056373 Centerline is valid? [True, True] Translation: X:194.11, Y:-8.44, Z:-3.45 [[ 9.99899699e-01 1.01508938e-02 9.87679705e-03 1.94108205e+02] [-1.01463907e-02 9.99948396e-01 -5.05934084e-04 -8.43670698e+00] [-9.88142305e-03 4.05669497e-04 9.99951095e-01 -3.45228424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474391418 meters 0.02433791468444158 Centerline is valid? [True, True] Translation: X:194.14, Y:-8.43, Z:-3.45 [[ 9.99822953e-01 1.58304550e-02 1.01714569e-02 1.94139869e+02] [-1.58259263e-02 9.99874624e-01 -5.25569739e-04 -8.42700153e+00] [-1.01785016e-02 3.64503961e-04 9.99948131e-01 -3.45146028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504391418 meters 0.024866356238796742 Centerline is valid? [True, True] Translation: X:194.17, Y:-8.43, Z:-3.45 [[ 9.99771504e-01 1.90758050e-02 9.64644672e-03 1.94170097e+02] [-1.90718810e-02 9.99817991e-01 -4.98619845e-04 -8.42752752e+00] [-9.65420256e-03 3.14530028e-04 9.99953348e-01 -3.45243978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534391418 meters 0.021275087690048582 Centerline is valid? [True, True] Translation: X:194.20, Y:-8.42, Z:-3.45 [[ 9.99702531e-01 2.24952655e-02 9.42408903e-03 1.94200622e+02] [-2.24916671e-02 9.99746912e-01 -4.87652159e-04 -8.42164246e+00] [-9.43267376e-03 2.75543625e-04 9.99955473e-01 -3.45208769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564391418 meters 0.02024813275280754 Centerline is valid? [True, True] Translation: X:194.23, Y:-8.42, Z:-3.45 [[ 9.99628869e-01 2.55973167e-02 9.32207241e-03 1.94229708e+02] [-2.55939290e-02 9.99672305e-01 -4.82535219e-04 -8.41942126e+00] [-9.33136922e-03 2.43767675e-04 9.99956432e-01 -3.45253542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59439141800001 meters 0.017866610968342984 Centerline is valid? [True, True] Translation: X:194.26, Y:-8.41, Z:-3.45 [[ 9.99466664e-01 3.14416292e-02 8.82109829e-03 1.94259856e+02] [-3.14388291e-02 9.99505574e-01 -4.55951396e-04 -8.41251050e+00] [-8.83107276e-03 1.78383220e-04 9.99960989e-01 -3.45247586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62439141800002 meters 0.017342166226614227 Centerline is valid? [True, True] Translation: X:194.29, Y:-8.41, Z:-3.45 [[ 9.99382190e-01 3.39386476e-02 9.13266649e-03 1.94287645e+02] [-3.39357492e-02 9.99423905e-01 -4.72190544e-04 -8.41146419e+00] [-9.14343071e-03 1.61974941e-04 9.99958185e-01 -3.45288628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65439141800002 meters 0.016614620085852388 Centerline is valid? [True, True] Translation: X:194.32, Y:-8.41, Z:-3.45 [[ 9.99313251e-01 3.57915865e-02 9.59105116e-03 1.94316503e+02] [-3.57884869e-02 9.99359264e-01 -4.94672426e-04 -8.40993285e+00] [-9.60261095e-03 1.51083502e-04 9.99953882e-01 -3.45263311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68439141800002 meters 0.01625126009390138 Centerline is valid? [True, True] Translation: X:194.34, Y:-8.41, Z:-3.45 [[ 9.99220052e-01 3.80460094e-02 1.05730439e-02 1.94344078e+02] [-3.80423777e-02 9.99275978e-01 -5.44462720e-04 -8.40944672e+00] [-1.05861034e-02 1.41814337e-04 9.99943956e-01 -3.45240789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714391418 meters 0.01573493369925887 Centerline is valid? [True, True] Translation: X:194.37, Y:-8.41, Z:-3.45 [[ 9.99189855e-01 3.86486580e-02 1.12211764e-02 1.94372844e+02] [-3.86446209e-02 9.99252851e-01 -5.76457347e-04 -8.41025598e+00] [-1.12350718e-02 1.42352225e-04 9.99936874e-01 -3.45204020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters 0.015500160595106425 Centerline is valid? [True, True] Translation: X:194.40, Y:-8.41, Z:-3.45 [[ 9.99196761e-01 3.83732969e-02 1.15465327e-02 1.94400833e+02] [-3.83690115e-02 9.99263463e-01 -5.92520345e-04 -8.41084995e+00] [-1.15607652e-02 1.49015364e-04 9.99933161e-01 -3.45196968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774391418 meters 0.015721399148444636 Centerline is valid? [True, True] Translation: X:194.43, Y:-8.41, Z:-3.45 [[ 9.99219961e-01 3.76858271e-02 1.18003704e-02 1.94429575e+02] [-3.76813238e-02 9.99289624e-01 -6.03803905e-04 -8.41286378e+00] [-1.18147426e-02 1.58679335e-04 9.99930191e-01 -3.45268828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters 0.01623456094454031 Centerline is valid? [True, True] Translation: X:194.46, Y:-8.42, Z:-3.45 [[ 9.99307084e-01 3.53638265e-02 1.16082545e-02 1.94458151e+02] [-3.53593228e-02 9.99374488e-01 -5.93048586e-04 -8.41648126e+00] [-1.16219659e-02 1.82177634e-04 9.99932446e-01 -3.45366449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834391418 meters 0.016688121500233133 Centerline is valid? [True, True] Translation: X:194.49, Y:-8.42, Z:-3.45 [[ 9.99375845e-01 3.35441424e-02 1.10774614e-02 1.94487247e+02] [-3.35399386e-02 9.99437218e-01 -5.65101166e-04 -8.41970829e+00] [-1.10901830e-02 1.93211080e-04 9.99938483e-01 -3.45441478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864391418 meters 0.01767917195005155 Centerline is valid? [True, True] Translation: X:194.52, Y:-8.42, Z:-3.46 [[ 9.99449499e-01 3.11338568e-02 1.14621758e-02 1.94515741e+02] [-3.11292087e-02 9.99515198e-01 -5.83746123e-04 -8.42389208e+00] [-1.14747932e-02 2.26616307e-04 9.99934137e-01 -3.45573919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894391418 meters 0.020034411873141894 Centerline is valid? [True, True] Translation: X:194.54, Y:-8.43, Z:-3.46 [[ 9.99605558e-01 2.56305360e-02 1.14805601e-02 1.94543408e+02] [-2.56255208e-02 9.99671442e-01 -5.83758447e-04 -8.43229171e+00] [-1.14917501e-02 2.89332857e-04 9.99933926e-01 -3.45676904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924391418 meters 0.021040548872534925 Centerline is valid? [True, True] Translation: X:194.57, Y:-8.44, Z:-3.46 [[ 9.99659292e-01 2.31392973e-02 1.20777983e-02 1.94572875e+02] [-2.31335803e-02 9.99732195e-01 -6.12857665e-04 -8.43704780e+00] [-1.20887449e-02 3.33246144e-04 9.99926873e-01 -3.45686637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954391418 meters 0.02260311364054324 Centerline is valid? [True, True] Translation: X:194.60, Y:-8.44, Z:-3.46 [[ 9.99712015e-01 2.05166059e-02 1.24481563e-02 1.94601928e+02] [-2.05103375e-02 9.99789442e-01 -6.31027211e-04 -8.44201165e+00] [-1.24584818e-02 3.75529598e-04 9.99922320e-01 -3.45704318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984391418 meters 0.024477313519919698 Centerline is valid? [True, True] Translation: X:194.63, Y:-8.45, Z:-3.46 [[ 9.99766000e-01 1.68406512e-02 1.35771023e-02 1.94632266e+02] [-1.68328608e-02 9.99858081e-01 -6.87871219e-04 -8.44789620e+00] [-1.35867597e-02 4.59168783e-04 9.99907590e-01 -3.45650000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014391418 meters 0.02554368203598393 Centerline is valid? [True, True] Translation: X:194.66, Y:-8.45, Z:-3.46 [[ 9.99777517e-01 1.57475667e-02 1.40332169e-02 1.94663910e+02] [-1.57391505e-02 9.99875880e-01 -7.09979980e-04 -8.45157205e+00] [-1.40426555e-02 4.88951109e-04 9.99901278e-01 -3.45683995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.044391418 meters 0.026212914980979385 Centerline is valid? [True, True] Translation: X:194.70, Y:-8.45, Z:-3.46 [[ 9.99778542e-01 1.52952182e-02 1.44541731e-02 1.94695640e+02] [-1.52861885e-02 9.99882889e-01 -7.34990736e-04 -8.45487578e+00] [-1.44637222e-02 5.13878752e-04 9.99895263e-01 -3.45705754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.074391418 meters 0.02723270025519389 Centerline is valid? [True, True] Translation: X:194.73, Y:-8.46, Z:-3.46 [[ 9.99775058e-01 1.50744656e-02 1.49195515e-02 1.94726357e+02] [-1.50647526e-02 9.99886229e-01 -7.63206771e-04 -8.45874480e+00] [-1.49293590e-02 5.38275742e-04 9.99888406e-01 -3.45738795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.104391418 meters 0.025511687981664574 Centerline is valid? [True, True] Translation: X:194.76, Y:-8.46, Z:-3.46 [[ 9.99766804e-01 1.56556002e-02 1.48741311e-02 1.94758531e+02] [-1.56459837e-02 9.99877303e-01 -7.62675903e-04 -8.45827194e+00] [-1.48842463e-02 5.29777636e-04 9.99889083e-01 -3.45773414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.134391418 meters 0.025422546483489076 Centerline is valid? [True, True] Translation: X:194.79, Y:-8.46, Z:-3.46 [[ 9.99756700e-01 1.63968172e-02 1.47541466e-02 1.94790350e+02] [-1.63873766e-02 9.99865429e-01 -7.60540084e-04 -8.45980823e+00] [-1.47646315e-02 5.18573288e-04 9.99890862e-01 -3.45845342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164391418 meters 0.025342855434620483 Centerline is valid? [True, True] Translation: X:194.82, Y:-8.46, Z:-3.46 [[ 9.99740869e-01 1.75320244e-02 1.45197294e-02 1.94821558e+02] [-1.75229432e-02 9.99846178e-01 -7.52433026e-04 -8.46134349e+00] [-1.45306876e-02 4.97809655e-04 9.99894300e-01 -3.45893822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194391418 meters 0.024752596292131245 Centerline is valid? [True, True] Translation: X:194.85, Y:-8.46, Z:-3.46 [[ 9.99695212e-01 1.97809131e-02 1.47715303e-02 1.94853358e+02] [-1.97717039e-02 9.99804225e-01 -7.69238450e-04 -8.46171031e+00] [-1.47838546e-02 4.76945673e-04 9.99890599e-01 -3.45959723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224391418 meters 0.024405509954906406 Centerline is valid? [True, True] Translation: X:194.88, Y:-8.46, Z:-3.46 [[ 9.99679693e-01 2.06676415e-02 1.46068819e-02 1.94884644e+02] [-2.06586629e-02 9.99786294e-01 -7.65320597e-04 -8.46275438e+00] [-1.46195777e-02 4.63316809e-04 9.99893021e-01 -3.45995824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254391418 meters 0.02252593120510955 Centerline is valid? [True, True] Translation: X:194.92, Y:-8.46, Z:-3.46 [[ 9.99674583e-01 2.10312123e-02 1.44366114e-02 1.94915859e+02] [-2.10224720e-02 9.99778717e-01 -7.56933876e-04 -8.46080555e+00] [-1.44493360e-02 4.53194300e-04 9.99895500e-01 -3.46084563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284391418 meters 0.023673556915068523 Centerline is valid? [True, True] Translation: X:194.95, Y:-8.46, Z:-3.46 [[ 9.99677981e-01 2.13791707e-02 1.36698863e-02 1.94946012e+02] [-2.13713585e-02 9.99771349e-01 -7.17332571e-04 -8.46364962e+00] [-1.36820967e-02 4.24957535e-04 9.99906305e-01 -3.46276552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314391418 meters 0.024255121666183217 Centerline is valid? [True, True] Translation: X:194.98, Y:-8.47, Z:-3.46 [[ 9.99690721e-01 2.08791554e-02 1.35100996e-02 1.94976614e+02] [-2.08714744e-02 9.99781915e-01 -7.09302357e-04 -8.46600916e+00] [-1.35219629e-02 4.27107288e-04 9.99908483e-01 -3.46384811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34439141800001 meters 0.02388182137000611 Centerline is valid? [True, True] Translation: X:195.01, Y:-8.47, Z:-3.46 [[ 9.99707909e-01 2.01293870e-02 1.33755291e-02 1.95007316e+02] [-2.01217911e-02 9.99797290e-01 -7.02237187e-04 -8.46654074e+00] [-1.33869534e-02 4.32892466e-04 9.99910297e-01 -3.46476896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37439141800002 meters 0.02474221568083548 Centerline is valid? [True, True] Translation: X:195.04, Y:-8.47, Z:-3.47 [[ 9.99723052e-01 1.94135373e-02 1.33016177e-02 1.95037464e+02] [-1.94059631e-02 9.99811443e-01 -6.98264969e-04 -8.46908949e+00] [-1.33126653e-02 4.39940884e-04 9.99911286e-01 -3.46576859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40439141800002 meters 0.023561551844937578 Centerline is valid? [True, True] Translation: X:195.07, Y:-8.47, Z:-3.47 [[ 9.99762068e-01 1.74679851e-02 1.30643352e-02 1.95068360e+02] [-1.74605096e-02 9.99847318e-01 -6.86052273e-04 -8.46756868e+00] [-1.30743245e-02 4.57779088e-04 9.99914423e-01 -3.46609940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43439141800002 meters 0.023561551844937578 Centerline is valid? [True, True] Translation: X:195.10, Y:-8.47, Z:-3.47 [[ 9.99761349e-01 1.75090921e-02 1.30643264e-02 1.95099177e+02] [-1.75016180e-02 9.99846599e-01 -6.86219115e-04 -8.46922556e+00] [-1.30743374e-02 4.57408497e-04 9.99914423e-01 -3.46665571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters 0.02493493135080498 Centerline is valid? [True, True] Translation: X:195.13, Y:-8.47, Z:-3.47 [[ 9.99776831e-01 1.67734680e-02 1.28428431e-02 1.95130431e+02] [-1.67661928e-02 9.99859210e-01 -6.73944288e-04 -8.47259068e+00] [-1.28523393e-02 4.58468302e-04 9.99917300e-01 -3.46726741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494391418 meters 0.025664252019971807 Centerline is valid? [True, True] Translation: X:195.16, Y:-8.47, Z:-3.47 [[ 9.99786644e-01 1.57865353e-02 1.33210765e-02 1.95162176e+02] [-1.57785708e-02 9.99875264e-01 -7.02783014e-04 -8.47483990e+00] [-1.33305094e-02 4.92445523e-04 9.99911024e-01 -3.46769421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters 0.02880758905099724 Centerline is valid? [True, True] Translation: X:195.19, Y:-8.48, Z:-3.47 [[ 9.99816098e-01 1.31480715e-02 1.39606008e-02 1.95192592e+02] [-1.31390062e-02 9.99913405e-01 -7.40872400e-04 -8.47995113e+00] [-1.39691329e-02 5.57307731e-04 9.99902272e-01 -3.46815963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554391418 meters 0.030806363625186833 Centerline is valid? [True, True] Translation: X:195.22, Y:-8.48, Z:-3.47 [[ 9.99822062e-01 1.20216737e-02 1.45370010e-02 1.95223385e+02] [-1.20117000e-02 9.99927558e-01 -7.73210163e-04 -8.48366909e+00] [-1.45452432e-02 5.98458484e-04 9.99894033e-01 -3.46882538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584391418 meters 0.028453094177771778 Centerline is valid? [True, True] Translation: X:195.26, Y:-8.48, Z:-3.47 [[ 9.99834110e-01 1.11547244e-02 1.43987983e-02 1.95255298e+02] [-1.11447936e-02 9.99937599e-01 -7.69751952e-04 -8.48150456e+00] [-1.44064861e-02 6.09152623e-04 9.99896036e-01 -3.46885148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614391418 meters 0.0302020693769125 Centerline is valid? [True, True] Translation: X:195.29, Y:-8.48, Z:-3.47 [[ 9.99843356e-01 9.47471696e-03 1.49496821e-02 1.95286583e+02] [-9.46379397e-03 9.99954896e-01 -8.01227631e-04 -8.48355314e+00] [-1.49565992e-02 6.59621412e-04 9.99887926e-01 -3.46923023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644391418 meters 0.030836388209341058 Centerline is valid? [True, True] Translation: X:195.32, Y:-8.49, Z:-3.47 [[ 9.99842790e-01 9.25399913e-03 1.51247774e-02 1.95318533e+02] [-9.24273459e-03 9.99956953e-01 -8.14506912e-04 -8.48538018e+00] [-1.51316638e-02 6.74584560e-04 9.99885282e-01 -3.46949931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674391418 meters 0.031272621919952455 Centerline is valid? [True, True] Translation: X:195.35, Y:-8.49, Z:-3.47 [[ 9.99844077e-01 9.13107796e-03 1.51144160e-02 1.95350341e+02] [-9.11975199e-03 9.99958080e-01 -8.18104289e-04 -8.48709801e+00] [-1.51212526e-02 6.80137002e-04 9.99885436e-01 -3.46955173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704391418 meters 0.028570863380311114 Centerline is valid? [True, True] Translation: X:195.38, Y:-8.48, Z:-3.47 [[ 9.99845651e-01 9.27568978e-03 1.49209945e-02 1.95383525e+02] [-9.26461059e-03 9.99956753e-01 -8.11476181e-04 -8.48405088e+00] [-1.49278762e-02 6.73113727e-04 9.99888346e-01 -3.47009122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734391418 meters 0.02908576184388849 Centerline is valid? [True, True] Translation: X:195.42, Y:-8.48, Z:-3.47 [[ 9.99838005e-01 1.01453970e-02 1.48672480e-02 1.95415055e+02] [-1.01344178e-02 9.99948314e-01 -8.13636184e-04 -8.48405900e+00] [-1.48747342e-02 6.62833477e-04 9.99889145e-01 -3.47070889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764391418 meters 0.030554001421997233 Centerline is valid? [True, True] Translation: X:195.45, Y:-8.49, Z:-3.47 [[ 9.99835033e-01 1.08327294e-02 1.45793687e-02 1.95445889e+02] [-1.08221891e-02 9.99941117e-01 -8.01665112e-04 -8.48688671e+00] [-1.45871944e-02 6.43752179e-04 9.99893394e-01 -3.47146805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.794391418 meters 0.030750210587088243 Centerline is valid? [True, True] Translation: X:195.48, Y:-8.49, Z:-3.47 [[ 9.99826869e-01 1.21579069e-02 1.40860837e-02 1.95477291e+02] [-1.21481491e-02 9.99925906e-01 -7.78087107e-04 -8.48676710e+00] [-1.40944999e-02 6.06832550e-04 9.99900483e-01 -3.47272994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.824391418 meters 0.028001790835280455 Centerline is valid? [True, True] Translation: X:195.51, Y:-8.48, Z:-3.47 [[ 9.99820477e-01 1.29961500e-02 1.37882133e-02 1.95509789e+02] [-1.29868354e-02 9.99915375e-01 -7.64876961e-04 -8.48366027e+00] [-1.37969869e-02 5.85674391e-04 9.99904646e-01 -3.47355831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.854391418 meters 0.02655089130717849 Centerline is valid? [True, True] Translation: X:195.54, Y:-8.48, Z:-3.47 [[ 9.99812578e-01 1.40868966e-02 1.32803704e-02 1.95542413e+02] [-1.40783046e-02 9.99900622e-01 -7.40240278e-04 -8.48242769e+00] [-1.32894783e-02 5.53136442e-04 9.99911538e-01 -3.47442396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.884391418 meters 0.029125600334406553 Centerline is valid? [True, True] Translation: X:195.57, Y:-8.49, Z:-3.48 [[ 9.99803899e-01 1.51277352e-02 1.27794947e-02 1.95573657e+02] [-1.51198177e-02 9.99885433e-01 -7.15940668e-04 -8.48672372e+00] [-1.27888611e-02 5.22576640e-04 9.99918083e-01 -3.47594519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914391418 meters 0.025733358849711212 Centerline is valid? [True, True] Translation: X:195.61, Y:-8.48, Z:-3.48 [[ 9.99776870e-01 1.73506817e-02 1.20484413e-02 1.95605814e+02] [-1.73437554e-02 9.99849355e-01 -6.79129721e-04 -8.48091764e+00] [-1.20584096e-02 4.70012968e-04 9.99927184e-01 -3.47668972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944391418 meters 0.02629892890479979 Centerline is valid? [True, True] Translation: X:195.64, Y:-8.48, Z:-3.48 [[ 9.99749266e-01 1.87968929e-02 1.21688574e-02 1.95636368e+02] [-1.87899222e-02 9.99823218e-01 -6.86914867e-04 -8.48229196e+00] [-1.21796180e-02 4.58090751e-04 9.99925721e-01 -3.47728228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974391418 meters 0.027133347718594537 Centerline is valid? [True, True] Translation: X:195.67, Y:-8.48, Z:-3.48 [[ 9.99715752e-01 2.02474881e-02 1.25878795e-02 1.95666803e+02] [-2.02401405e-02 9.99794895e-01 -7.10838066e-04 -8.48354245e+00] [-1.25996903e-02 4.55855562e-04 9.99920517e-01 -3.47818721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004391418 meters 0.023420021702180036 Centerline is valid? [True, True] Translation: X:195.70, Y:-8.48, Z:-3.48 [[ 9.99639860e-01 2.36047301e-02 1.27658456e-02 1.95697385e+02] [-2.35974390e-02 9.99721281e-01 -7.21489885e-04 -8.47658303e+00] [-1.27793181e-02 4.19988786e-04 9.99918253e-01 -3.47700782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034391418 meters 0.02326228727443558 Centerline is valid? [True, True] Translation: X:195.73, Y:-8.48, Z:-3.48 [[ 9.99588850e-01 2.54301732e-02 1.32453038e-02 1.95726255e+02] [-2.54224938e-02 9.99676516e-01 -7.47860403e-04 -8.47663667e+00] [-1.32600374e-02 4.10824265e-04 9.99911997e-01 -3.47688432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064391418 meters 0.021388076109923146 Centerline is valid? [True, True] Translation: X:195.76, Y:-8.47, Z:-3.48 [[ 9.99539996e-01 2.69112687e-02 1.39849855e-02 1.95755879e+02] [-2.69028583e-02 9.99637741e-01 -7.89199884e-04 -8.47388280e+00] [-1.40011577e-02 4.12600766e-04 9.99901894e-01 -3.47666923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09439141800001 meters 0.019943170304764453 Centerline is valid? [True, True] Translation: X:195.79, Y:-8.47, Z:-3.48 [[ 9.99439628e-01 2.98628506e-02 1.51208826e-02 1.95785526e+02] [-2.98533652e-02 9.99553925e-01 -8.52686463e-04 -8.47107122e+00] [-1.51396012e-02 4.00799410e-04 9.99885309e-01 -3.47593815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12439141800002 meters 0.02011271659907893 Centerline is valid? [True, True] Translation: X:195.81, Y:-8.47, Z:-3.48 [[ 9.99387387e-01 3.11411114e-02 1.59712692e-02 1.95814205e+02] [-3.11307087e-02 9.99514917e-01 -8.99598639e-04 -8.47185512e+00] [-1.59915363e-02 4.01850603e-04 9.99872046e-01 -3.47616608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15439141800002 meters 0.019900491956131305 Centerline is valid? [True, True] Translation: X:195.84, Y:-8.47, Z:-3.48 [[ 9.99331437e-01 3.26554723e-02 1.64407754e-02 1.95843152e+02] [-3.26446708e-02 9.99466593e-01 -9.25012852e-04 -8.47219270e+00] [-1.64622125e-02 3.87690721e-04 9.99864413e-01 -3.47635795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18439141800002 meters 0.018801712127754954 Centerline is valid? [True, True] Translation: X:195.87, Y:-8.47, Z:-3.48 [[ 9.99274268e-01 3.42560329e-02 1.66571969e-02 1.95871938e+02] [-3.42451834e-02 9.99413023e-01 -9.36221746e-04 -8.47051862e+00] [-1.66794907e-02 3.65113537e-04 9.99860821e-01 -3.47650853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214391418 meters 0.016976254550297283 Centerline is valid? [True, True] Translation: X:195.90, Y:-8.47, Z:-3.48 [[ 9.99126307e-01 3.83001468e-02 1.67248609e-02 1.95900990e+02] [-3.82897975e-02 9.99266236e-01 -9.38696947e-04 -8.46618089e+00] [-1.67485410e-02 2.97485278e-04 9.99859689e-01 -3.47668791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters 0.01665039302336215 Centerline is valid? [True, True] Translation: X:195.93, Y:-8.47, Z:-3.48 [[ 9.99036437e-01 4.03596413e-02 1.72423247e-02 1.95929347e+02] [-4.03489729e-02 9.99185181e-01 -9.66309271e-04 -8.46594535e+00] [-1.72672752e-02 2.69668080e-04 9.99850873e-01 -3.47687644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274391418 meters 0.016013934506934172 Centerline is valid? [True, True] Translation: X:195.96, Y:-8.46, Z:-3.48 [[ 9.98951795e-01 4.23325334e-02 1.74145826e-02 1.95958243e+02] [-4.23219748e-02 9.99103549e-01 -9.74563263e-04 -8.46488737e+00] [-1.74402270e-02 2.36522197e-04 9.99847880e-01 -3.47730829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters 0.015043449611335469 Centerline is valid? [True, True] Translation: X:195.99, Y:-8.46, Z:-3.48 [[ 9.98755083e-01 4.65030401e-02 1.80485729e-02 1.95987281e+02] [-4.64924063e-02 9.98918134e-01 -1.00854779e-03 -8.46227352e+00] [-1.80759473e-02 1.68170648e-04 9.99836603e-01 -3.47708552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334391418 meters 0.01464351170652752 Centerline is valid? [True, True] Translation: X:196.02, Y:-8.46, Z:-3.48 [[ 9.98669485e-01 4.82907535e-02 1.80903874e-02 1.96015495e+02] [-4.82803902e-02 9.98833312e-01 -1.00941987e-03 -8.46204312e+00] [-1.81180272e-02 1.34665859e-04 9.99835846e-01 -3.47700099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364391418 meters 0.014581542636554153 Centerline is valid? [True, True] Translation: X:196.04, Y:-8.46, Z:-3.48 [[ 9.98593023e-01 4.99257588e-02 1.78715587e-02 1.96043750e+02] [-4.99159381e-02 9.98752927e-01 -9.95446932e-04 -8.46237204e+00] [-1.78989700e-02 1.01970745e-04 9.99839795e-01 -3.47731745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394391418 meters 0.014305078324843684 Centerline is valid? [True, True] Translation: X:196.07, Y:-8.46, Z:-3.48 [[ 9.98532985e-01 5.11882286e-02 1.76534178e-02 1.96072973e+02] [-5.11788740e-02 9.98689020e-01 -9.81570105e-04 -8.46267626e+00] [-1.76805194e-02 7.66480814e-05 9.99843684e-01 -3.47752541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424391418 meters 0.01414641746838644 Centerline is valid? [True, True] Translation: X:196.10, Y:-8.46, Z:-3.48 [[ 9.98475841e-01 5.23678961e-02 1.74240625e-02 1.96101174e+02] [-5.23589861e-02 9.98627859e-01 -9.67473265e-04 -8.46360123e+00] [-1.74508188e-02 5.36924337e-05 9.99847721e-01 -3.47774975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454391418 meters 0.014363982253457997 Centerline is valid? [True, True] Translation: X:196.13, Y:-8.47, Z:-3.48 [[ 9.98482983e-01 5.22446578e-02 1.73847283e-02 1.96128671e+02] [-5.22357985e-02 9.98634314e-01 -9.63608925e-04 -8.46512563e+00] [-1.74113296e-02 5.40419498e-05 9.99848410e-01 -3.47839897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484391418 meters 0.014292100442607165 Centerline is valid? [True, True] Translation: X:196.16, Y:-8.47, Z:-3.48 [[ 9.98503758e-01 5.20060104e-02 1.69002756e-02 1.96157009e+02] [-5.19976373e-02 9.98646770e-01 -9.34780522e-04 -8.46745534e+00] [-1.69260198e-02 5.46074660e-05 9.99856743e-01 -3.47918344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514391418 meters 0.014426386229946415 Centerline is valid? [True, True] Translation: X:196.18, Y:-8.47, Z:-3.48 [[ 9.98565430e-01 5.09683059e-02 1.64107967e-02 1.96184470e+02] [-5.09603033e-02 9.98700269e-01 -9.05721775e-04 -8.47126161e+00] [-1.64356302e-02 6.81232766e-05 9.99864924e-01 -3.47955064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.544391418 meters 0.014476570008909057 Centerline is valid? [True, True] Translation: X:196.21, Y:-8.47, Z:-3.48 [[ 9.98615689e-01 4.99983007e-02 1.63363507e-02 1.96211819e+02] [-4.99902678e-02 9.98749299e-01 -8.99964601e-04 -8.47425819e+00] [-1.63609155e-02 8.20602242e-05 9.99866148e-01 -3.47979497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.574391418 meters 0.014729249409596506 Centerline is valid? [True, True] Translation: X:196.24, Y:-8.48, Z:-3.48 [[ 9.98664592e-01 4.89635354e-02 1.64804485e-02 1.96239276e+02] [-4.89552469e-02 9.98800562e-01 -9.06226545e-04 -8.47759913e+00] [-1.65050533e-02 9.82119371e-05 9.99863778e-01 -3.48029790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.604391418 meters 0.014628386540882056 Centerline is valid? [True, True] Translation: X:196.27, Y:-8.48, Z:-3.48 [[ 9.98722914e-01 4.78265299e-02 1.62838542e-02 1.96268093e+02] [-4.78183127e-02 9.98855650e-01 -8.93836072e-04 -8.48028791e+00] [-1.63079689e-02 1.14028135e-04 9.99867010e-01 -3.48012166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.634391418 meters 0.015089949866436294 Centerline is valid? [True, True] Translation: X:196.30, Y:-8.49, Z:-3.48 [[ 9.98887206e-01 4.45583038e-02 1.54566558e-02 1.96296984e+02] [-4.45505265e-02 9.99006773e-01 -8.47291805e-04 -8.48567781e+00] [-1.54790577e-02 1.57746788e-04 9.99880180e-01 -3.48060608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664391418 meters 0.01560883474896005 Centerline is valid? [True, True] Translation: X:196.32, Y:-8.49, Z:-3.48 [[ 9.98988101e-01 4.24806561e-02 1.47704814e-02 1.96324234e+02] [-4.24733430e-02 9.99097273e-01 -8.08598694e-04 -8.49019342e+00] [-1.47914974e-02 1.80428753e-04 9.99890584e-01 -3.48171961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694391418 meters 0.01596568236730547 Centerline is valid? [True, True] Translation: X:196.35, Y:-8.49, Z:-3.48 [[ 9.99066243e-01 4.06520857e-02 1.46304234e-02 1.96352882e+02] [-4.06447371e-02 9.99173341e-01 -7.99397017e-04 -8.49408756e+00] [-1.46508262e-02 2.04000862e-04 9.99892650e-01 -3.48248229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724391418 meters 0.017146139168152778 Centerline is valid? [True, True] Translation: X:196.38, Y:-8.50, Z:-3.48 [[ 9.99209029e-01 3.72247844e-02 1.39868535e-02 1.96380488e+02] [-3.72177463e-02 9.99306888e-01 -7.63238134e-04 -8.50193598e+00] [-1.40055704e-02 2.42075270e-04 9.99901888e-01 -3.48371927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754391418 meters 0.017595237715942853 Centerline is valid? [True, True] Translation: X:196.41, Y:-8.51, Z:-3.48 [[ 9.99280024e-01 3.52504763e-02 1.40299098e-02 1.96409183e+02] [-3.52432214e-02 9.99378473e-01 -7.64088647e-04 -8.50598744e+00] [-1.40481243e-02 2.69079304e-04 9.99901284e-01 -3.48441832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784391418 meters 0.01837445277465342 Centerline is valid? [True, True] Translation: X:196.44, Y:-8.51, Z:-3.48 [[ 9.99348706e-01 3.33632925e-02 1.37497173e-02 1.96437658e+02] [-3.33561606e-02 9.99443249e-01 -7.47760879e-04 -8.51062771e+00] [-1.37670099e-02 2.88636087e-04 9.99905189e-01 -3.48497163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814391418 meters 0.019985581441114546 Centerline is valid? [True, True] Translation: X:196.47, Y:-8.52, Z:-3.49 [[ 9.99454321e-01 3.00240479e-02 1.37701319e-02 1.96465867e+02] [-3.00165943e-02 9.99549121e-01 -7.47691879e-04 -8.51868739e+00] [-1.37863719e-02 3.33951418e-04 9.99904908e-01 -3.48630153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84439141800001 meters 0.02102556768610572 Centerline is valid? [True, True] Translation: X:196.50, Y:-8.52, Z:-3.49 [[ 9.99507029e-01 2.81172470e-02 1.39684991e-02 1.96495501e+02] [-2.81094039e-02 9.99604566e-01 -7.57540591e-04 -8.52387589e+00] [-1.39842755e-02 3.64520962e-04 9.99902149e-01 -3.48738857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87439141800002 meters 0.02173655628383266 Centerline is valid? [True, True] Translation: X:196.53, Y:-8.53, Z:-3.49 [[ 9.99564620e-01 2.62802947e-02 1.34133066e-02 1.96525262e+02] [-2.62729041e-02 9.99654543e-01 -7.26935224e-04 -8.52887840e+00] [-1.34277770e-02 3.74212212e-04 9.99909773e-01 -3.48851491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90439141800002 meters 0.024584920169437374 Centerline is valid? [True, True] Translation: X:196.55, Y:-8.54, Z:-3.49 [[ 9.99681164e-01 2.17054737e-02 1.29012822e-02 1.96554459e+02] [-2.16982634e-02 9.99764321e-01 -6.98608624e-04 -8.53958858e+00] [-1.29134053e-02 4.18450463e-04 9.99916531e-01 -3.49105832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93439141800002 meters 0.025756820280729398 Centerline is valid? [True, True] Translation: X:196.58, Y:-8.55, Z:-3.49 [[ 9.99738847e-01 1.90139137e-02 1.26771108e-02 1.96584641e+02] [-1.90067400e-02 9.99819120e-01 -6.86127163e-04 -8.54522969e+00] [-1.26878638e-02 4.44997429e-04 9.99919407e-01 -3.49238578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters 0.02712648550278412 Centerline is valid? [True, True] Translation: X:196.62, Y:-8.55, Z:-3.49 [[ 9.99778622e-01 1.67875214e-02 1.26841151e-02 1.96615667e+02] [-1.67801634e-02 9.99858968e-01 -6.86301489e-04 -8.55154967e+00] [-1.26938476e-02 4.73308032e-04 9.99919318e-01 -3.49376529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994391418 meters 0.027089892683530167 Centerline is valid? [True, True] Translation: X:196.65, Y:-8.56, Z:-3.50 [[ 9.99850665e-01 1.24375863e-02 1.19980654e-02 1.96646075e+02] [-1.24306837e-02 9.99922525e-01 -6.49715175e-04 -8.55765321e+00] [-1.20052167e-02 5.00473994e-04 9.99927810e-01 -3.49549803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters 0.032182886852357824 Centerline is valid? [True, True] Translation: X:196.68, Y:-8.57, Z:-3.50 [[ 9.99877041e-01 1.04903523e-02 1.16556674e-02 1.96676847e+02] [-1.04837213e-02 9.99944846e-01 -6.29866580e-04 -8.56897703e+00] [-1.16616321e-02 5.07594364e-04 9.99931872e-01 -3.49742849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054391418 meters 0.033284347451874155 Centerline is valid? [True, True] Translation: X:196.71, Y:-8.57, Z:-3.50 [[ 9.99901612e-01 8.71263470e-03 1.09934986e-02 1.96708302e+02] [-8.70659848e-03 9.99961919e-01 -5.96812590e-04 -8.57470865e+00] [-1.09982797e-02 5.01037893e-04 9.99939392e-01 -3.49910459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084391418 meters 0.031203745896831753 Centerline is valid? [True, True] Translation: X:196.74, Y:-8.58, Z:-3.50 [[ 9.99922836e-01 6.91031969e-03 1.03232132e-02 1.96740417e+02] [-6.90486480e-03 9.99976002e-01 -5.63957813e-04 -8.57600424e+00] [-1.03268626e-02 4.92633904e-04 9.99946555e-01 -3.50009013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114391418 meters 0.03891066532338831 Centerline is valid? [True, True] Translation: X:196.77, Y:-8.59, Z:-3.50 [[ 9.99960307e-01 3.20987300e-03 8.31148177e-03 1.96769595e+02] [-3.20619991e-03 9.99994757e-01 -4.55216707e-04 -8.59264485e+00] [-8.31289937e-03 4.28550366e-04 9.99965355e-01 -3.50499070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144391418 meters 0.04045612788724913 Centerline is valid? [True, True] Translation: X:196.80, Y:-8.60, Z:-3.51 [[ 9.99970633e-01 2.08730806e-03 7.37396602e-03 1.96800363e+02] [-2.08440494e-03 9.99997747e-01 -4.01362187e-04 -8.59885028e+00] [-7.37478718e-03 3.85980069e-04 9.99972731e-01 -3.50698050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174391418 meters 0.036200542461552805 Centerline is valid? [True, True] Translation: X:196.83, Y:-8.60, Z:-3.51 [[ 9.99976309e-01 1.12818501e-03 6.79037921e-03 1.96832791e+02] [-1.12569539e-03 9.99999298e-01 -3.70450754e-04 -8.59722131e+00] [-6.79079238e-03 3.62798079e-04 9.99976876e-01 -3.50726141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204391418 meters 0.036339039602679195 Centerline is valid? [True, True] Translation: X:196.87, Y:-8.60, Z:-3.51 [[ 9.99981299e-01 6.87707282e-04 6.07691012e-03 1.96865023e+02] [-6.85698422e-04 9.99999710e-01 -3.32649928e-04 -8.60256062e+00] [-6.07713712e-03 3.28476779e-04 9.99981480e-01 -3.50849974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234391418 meters 0.03672382083530642 Centerline is valid? [True, True] Translation: X:196.90, Y:-8.61, Z:-3.51 [[ 9.99977813e-01 1.29994177e-03 6.53334462e-03 1.96896032e+02] [-1.29760251e-03 9.99999092e-01 -3.62274747e-04 -8.60619617e+00] [-6.53380963e-03 3.53789025e-04 9.99978592e-01 -3.50919569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264391418 meters 0.036013226549269854 Centerline is valid? [True, True] Translation: X:196.93, Y:-8.61, Z:-3.51 [[ 9.99972354e-01 2.80641013e-03 6.88583046e-03 1.96928579e+02] [-2.80384702e-03 9.99995996e-01 -3.81855012e-04 -8.60876251e+00] [-6.88687453e-03 3.62537640e-04 9.99976219e-01 -3.50943360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.294391418 meters 0.032806945405906195 Centerline is valid? [True, True] Translation: X:196.96, Y:-8.61, Z:-3.51 [[ 9.99943021e-01 6.82134352e-03 8.21118944e-03 1.96959964e+02] [-6.81781827e-03 9.99976654e-01 -4.57239296e-04 -8.60840648e+00] [-8.21411673e-03 4.01230846e-04 9.99966183e-01 -3.50907534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.324391418 meters 0.03310360661371602 Centerline is valid? [True, True] Translation: X:196.99, Y:-8.61, Z:-3.51 [[ 9.99911206e-01 9.85704709e-03 8.96763899e-03 1.96989989e+02] [-9.85296230e-03 9.99951334e-01 -4.99569782e-04 -8.61157454e+00] [-8.97212685e-03 4.11167615e-04 9.99959665e-01 -3.50969880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.354391418 meters 0.03310360661371602 Centerline is valid? [True, True] Translation: X:197.02, Y:-8.61, Z:-3.51 [[ 9.99908564e-01 1.01214456e-02 8.96775265e-03 1.97021708e+02] [-1.01173897e-02 9.99948694e-01 -4.97536665e-04 -8.61346485e+00] [-8.97232834e-03 4.06760924e-04 9.99959665e-01 -3.51027161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.384391418 meters 0.03112812306123354 Centerline is valid? [True, True] Translation: X:197.05, Y:-8.61, Z:-3.51 [[ 9.99862468e-01 1.35398187e-02 9.57701706e-03 1.97052882e+02] [-1.35353036e-02 9.99908250e-01 -5.36116990e-04 -8.61365900e+00] [-9.58339729e-03 4.06415423e-04 9.99953996e-01 -3.51052879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414391418 meters 0.028611140166857958 Centerline is valid? [True, True] Translation: X:197.08, Y:-8.61, Z:-3.51 [[ 9.99796523e-01 1.74938654e-02 1.00438013e-02 1.97084259e+02] [-1.74890943e-02 9.99846896e-01 -5.62663103e-04 -8.61279448e+00] [-1.00521067e-02 3.86891626e-04 9.99949401e-01 -3.51055514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444391418 meters 0.024412482652381346 Centerline is valid? [True, True] Translation: X:197.12, Y:-8.61, Z:-3.51 [[ 9.99704114e-01 2.19378288e-02 1.05079064e-02 1.97115030e+02] [-2.19328442e-02 9.99759273e-01 -5.89385539e-04 -8.60920865e+00] [-1.05183067e-02 3.58742874e-04 9.99944617e-01 -3.51043359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474391418 meters 0.020732763028231474 Centerline is valid? [True, True] Translation: X:197.14, Y:-8.61, Z:-3.51 [[ 9.99486358e-01 3.04601775e-02 9.95978046e-03 1.97144970e+02] [-3.04561205e-02 9.99535949e-01 -5.58796199e-04 -8.60540117e+00] [-9.97217964e-03 2.55172905e-04 9.99950244e-01 -3.51131521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504391418 meters 0.019158710183060153 Centerline is valid? [True, True] Translation: X:197.17, Y:-8.61, Z:-3.51 [[ 9.99349511e-01 3.48323358e-02 9.34148083e-03 1.97173052e+02] [-3.48289528e-02 9.99393150e-01 -5.24630573e-04 -8.60501897e+00] [-9.35408606e-03 1.98935312e-04 9.99956230e-01 -3.51247062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534391418 meters 0.01729161556157569 Centerline is valid? [True, True] Translation: X:197.20, Y:-8.60, Z:-3.51 [[ 9.99208098e-01 3.88235345e-02 8.71268318e-03 1.97202300e+02] [-3.88207512e-02 9.99246071e-01 -4.88413532e-04 -8.60346179e+00] [-8.72507638e-03 1.49793851e-04 9.99961925e-01 -3.51308904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564391418 meters 0.015825397353580246 Centerline is valid? [True, True] Translation: X:197.23, Y:-8.60, Z:-3.51 [[ 9.98929140e-01 4.55859487e-02 7.90530622e-03 1.97230449e+02] [-4.55838714e-02 9.98960417e-01 -4.42846389e-04 -8.60225872e+00] [-7.91727557e-03 8.20177015e-05 9.99968655e-01 -3.51490981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59439141800001 meters 0.015330655405356684 Centerline is valid? [True, True] Translation: X:197.26, Y:-8.60, Z:-3.52 [[ 9.98802076e-01 4.83839242e-02 7.30811805e-03 1.97259610e+02] [-4.83822296e-02 9.98828811e-01 -4.08593565e-04 -8.60242722e+00] [-7.31932822e-03 5.45210550e-05 9.99973212e-01 -3.51544839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62439141800002 meters 0.01501250079860836 Centerline is valid? [True, True] Translation: X:197.29, Y:-8.60, Z:-3.52 [[ 9.98684441e-01 5.07246378e-02 7.50994147e-03 1.97287445e+02] [-5.07229178e-02 9.98712676e-01 -4.19437510e-04 -8.60328404e+00] [-7.52154956e-03 3.79595707e-05 9.99971712e-01 -3.51611855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65439141800002 meters 0.014811714181552407 Centerline is valid? [True, True] Translation: X:197.32, Y:-8.60, Z:-3.52 [[ 9.98495798e-01 5.43250875e-02 7.41122151e-03 1.97316352e+02] [-5.43235184e-02 9.98523302e-01 -4.13002155e-04 -8.60459841e+00] [-7.42271375e-03 9.77728872e-06 9.99972451e-01 -3.51696072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68439141800002 meters 0.014619723335340796 Centerline is valid? [True, True] Translation: X:197.35, Y:-8.61, Z:-3.52 [[ 9.98430319e-01 5.55887974e-02 6.83985644e-03 1.97345494e+02] [-5.55874933e-02 9.98453747e-01 -3.80759548e-04 -8.60646522e+00] [-6.85044626e-03 -4.85970469e-08 9.99976535e-01 -3.51673289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714391418 meters 0.014735391644198237 Centerline is valid? [True, True] Translation: X:197.37, Y:-8.61, Z:-3.52 [[ 9.98395473e-01 5.61633739e-02 7.22185892e-03 1.97374538e+02] [-5.61619400e-02 9.98421592e-01 -4.01355055e-04 -8.60899979e+00] [-7.23300134e-03 -4.88253738e-06 9.99973841e-01 -3.51704883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters 0.014525251089321957 Centerline is valid? [True, True] Translation: X:197.40, Y:-8.61, Z:-3.52 [[ 9.98397471e-01 5.60173718e-02 8.03391409e-03 1.97401955e+02] [-5.60155976e-02 9.98429794e-01 -4.45866083e-04 -8.61322056e+00] [-8.04627544e-03 -4.87292882e-06 9.99967628e-01 -3.51658708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774391418 meters 0.014676737554321008 Centerline is valid? [True, True] Translation: X:197.43, Y:-8.62, Z:-3.52 [[ 9.98444461e-01 5.50961054e-02 8.54858659e-03 1.97430686e+02] [-5.50940728e-02 9.98481056e-01 -4.73264657e-04 -8.61659620e+00] [-8.56167680e-03 1.55202321e-06 9.99963348e-01 -3.51661932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters 0.01467386257537978 Centerline is valid? [True, True] Translation: X:197.46, Y:-8.62, Z:-3.52 [[ 9.98504354e-01 5.39582763e-02 8.80673694e-03 1.97458624e+02] [-5.39560780e-02 9.98543191e-01 -4.87189830e-04 -8.62007035e+00] [-8.82019513e-03 1.12841811e-05 9.99961101e-01 -3.51655417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834391418 meters 0.014686228479724889 Centerline is valid? [True, True] Translation: X:197.49, Y:-8.63, Z:-3.52 [[ 9.98682313e-01 5.04889922e-02 9.19234903e-03 1.97486897e+02] [-5.04864643e-02 9.98724617e-01 -5.06990736e-04 -8.62633031e+00] [-9.20622271e-03 4.22334794e-05 9.99957621e-01 -3.51553555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864391418 meters 0.015057656023624431 Centerline is valid? [True, True] Translation: X:197.51, Y:-8.63, Z:-3.52 [[ 9.98796964e-01 4.81585374e-02 9.24011082e-03 1.97514795e+02] [-4.81558888e-02 9.98839702e-01 -5.09041321e-04 -8.63123121e+00] [-9.25390423e-03 6.34631769e-05 9.99957180e-01 -3.51585964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894391418 meters 0.015431348266695571 Centerline is valid? [True, True] Translation: X:197.54, Y:-8.64, Z:-3.52 [[ 9.98915806e-01 4.54947687e-02 9.87112511e-03 1.97543251e+02] [-4.54916285e-02 9.98964573e-01 -5.42536974e-04 -8.63576987e+00] [-9.88558687e-03 9.28952021e-05 9.99951132e-01 -3.51552669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924391418 meters 0.017212836407448265 Centerline is valid? [True, True] Translation: X:197.57, Y:-8.65, Z:-3.52 [[ 9.99152538e-01 3.97418233e-02 1.07141192e-02 1.97570925e+02] [-3.97378019e-02 9.99209969e-01 -5.88038418e-04 -8.64567754e+00] [-1.07290245e-02 1.61784530e-04 9.99942429e-01 -3.51553491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954391418 meters 0.017726605739577614 Centerline is valid? [True, True] Translation: X:197.60, Y:-8.65, Z:-3.52 [[ 9.99262695e-01 3.67204228e-02 1.12106112e-02 1.97599727e+02] [-3.67158449e-02 9.99325557e-01 -6.13963418e-04 -8.65065209e+00] [-1.12255953e-02 2.01903678e-04 9.99936971e-01 -3.51543240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984391418 meters 0.01927926169884119 Centerline is valid? [True, True] Translation: X:197.63, Y:-8.66, Z:-3.52 [[ 9.99380717e-01 3.31961851e-02 1.16702577e-02 1.97629428e+02] [-3.31909981e-02 9.99448823e-01 -6.37916622e-04 -8.65694363e+00] [-1.16850017e-02 2.50174071e-04 9.99931697e-01 -3.51577247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014391418 meters 0.02057029998470022 Centerline is valid? [True, True] Translation: X:197.66, Y:-8.66, Z:-3.52 [[ 9.99572941e-01 2.66336473e-02 1.20242919e-02 1.97659817e+02] [-2.66276749e-02 9.99645205e-01 -6.56550604e-04 -8.66494018e+00] [-1.20375121e-02 3.36091282e-04 9.99927490e-01 -3.51585074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.044391418 meters 0.02359941922005686 Centerline is valid? [True, True] Translation: X:197.69, Y:-8.67, Z:-3.52 [[ 9.99658350e-01 2.34559549e-02 1.15326263e-02 1.97689358e+02] [-2.34502572e-02 9.99724807e-01 -6.29047892e-04 -8.67311705e+00] [-1.15442075e-02 3.58389924e-04 9.99933299e-01 -3.51745421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.074391418 meters 0.02412986428124175 Centerline is valid? [True, True] Translation: X:197.72, Y:-8.68, Z:-3.52 [[ 9.99731258e-01 2.04475082e-02 1.09229366e-02 1.97719531e+02] [-2.04421988e-02 9.99790858e-01 -5.97523684e-04 -8.67680993e+00] [-1.09328700e-02 3.74074265e-04 9.99940164e-01 -3.51833236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.104391418 meters 0.025682698034447313 Centerline is valid? [True, True] Translation: X:197.75, Y:-8.68, Z:-3.52 [[ 9.99780561e-01 1.80119237e-02 1.06958256e-02 1.97749957e+02] [-1.80067044e-02 9.99837696e-01 -5.84081298e-04 -8.68217530e+00] [-1.07046101e-02 3.91356557e-04 9.99942627e-01 -3.51917778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.134391418 meters 0.029741988119046697 Centerline is valid? [True, True] Translation: X:197.78, Y:-8.69, Z:-3.52 [[ 9.99853621e-01 1.40132440e-02 9.81655726e-03 1.97779171e+02] [-1.40086400e-02 9.99901730e-01 -5.37608343e-04 -8.69169869e+00] [-9.82312622e-03 4.00013032e-04 9.99951672e-01 -3.52068144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164391418 meters 0.028715631735229823 Centerline is valid? [True, True] Translation: X:197.81, Y:-8.69, Z:-3.52 [[ 9.99874215e-01 1.25787983e-02 9.66069333e-03 1.97811636e+02] [-1.25742791e-02 9.99920801e-01 -5.28399880e-04 -8.69282085e+00] [-9.66657485e-03 4.06857161e-04 9.99953195e-01 -3.52046022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194391418 meters 0.03031016592302345 Centerline is valid? [True, True] Translation: X:197.84, Y:-8.70, Z:-3.52 [[ 9.99884173e-01 1.15046302e-02 9.96416797e-03 1.97842165e+02] [-1.14997288e-02 9.99933725e-01 -5.49058883e-04 -8.69728754e+00] [-9.96982431e-03 4.34410058e-04 9.99950206e-01 -3.52111646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224391418 meters 0.030917492737029827 Centerline is valid? [True, True] Translation: X:197.87, Y:-8.70, Z:-3.52 [[ 9.99906933e-01 9.27149435e-03 1.00082261e-02 1.97874337e+02] [-9.26641925e-03 9.99956913e-01 -5.53345952e-04 -8.70043692e+00] [-1.00129252e-02 4.60554035e-04 9.99949763e-01 -3.52059324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254391418 meters 0.03257526593648483 Centerline is valid? [True, True] Translation: X:197.91, Y:-8.70, Z:-3.52 [[ 9.99909871e-01 8.81289177e-03 1.01282693e-02 1.97905063e+02] [-8.80767639e-03 9.99961055e-01 -5.59422317e-04 -8.70443576e+00] [-1.01328050e-02 4.70165379e-04 9.99948551e-01 -3.52119271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284391418 meters 0.031191017909902984 Centerline is valid? [True, True] Translation: X:197.94, Y:-8.70, Z:-3.52 [[ 9.99916925e-01 8.59624424e-03 9.60454517e-03 1.97937275e+02] [-8.59152508e-03 9.99962950e-01 -5.32499399e-04 -8.70422266e+00] [-9.60876682e-03 4.49937471e-04 9.99953734e-01 -3.52135750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314391418 meters 0.03062470519733154 Centerline is valid? [True, True] Translation: X:197.97, Y:-8.70, Z:-3.52 [[ 9.99918512e-01 8.49631502e-03 9.52798844e-03 1.97969318e+02] [-8.49164176e-03 9.99963804e-01 -5.30826082e-04 -8.70487767e+00] [-9.53215363e-03 4.49874561e-04 9.99954467e-01 -3.52176965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34439141800001 meters 0.035302077807809196 Centerline is valid? [True, True] Translation: X:198.00, Y:-8.71, Z:-3.52 [[ 9.99918563e-01 8.67187580e-03 9.36297296e-03 1.98000735e+02] [-8.66734818e-03 9.99962301e-01 -5.24036070e-04 -8.71271829e+00] [-9.36716436e-03 4.42841247e-04 9.99956029e-01 -3.52370869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37439141800002 meters 0.03531609825622076 Centerline is valid? [True, True] Translation: X:198.03, Y:-8.71, Z:-3.52 [[ 9.99916426e-01 9.15892391e-03 9.12445531e-03 1.98033553e+02] [-9.15462023e-03 9.99957964e-01 -5.13320545e-04 -8.71449463e+00] [-9.12877321e-03 4.29746722e-04 9.99958240e-01 -3.52451904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40439141800002 meters 0.03146673126299441 Centerline is valid? [True, True] Translation: X:198.07, Y:-8.71, Z:-3.52 [[ 9.99912135e-01 9.72873881e-03 9.00406851e-03 1.98066119e+02] [-9.72454572e-03 9.99952586e-01 -5.09352867e-04 -8.71066219e+00] [-9.00859695e-03 4.21747637e-04 9.99959333e-01 -3.52452419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434391418 meters 0.031803155854870375 Centerline is valid? [True, True] Translation: X:198.10, Y:-8.71, Z:-3.53 [[ 9.99910201e-01 1.03012928e-02 8.57166027e-03 1.98098317e+02] [-1.02974952e-02 9.99946861e-01 -4.87054513e-04 -8.71190317e+00] [-8.57622207e-03 3.98744146e-04 9.99963144e-01 -3.52532188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters 0.03031949458890629 Centerline is valid? [True, True] Translation: X:198.13, Y:-8.71, Z:-3.53 [[ 9.99890847e-01 1.23223370e-02 8.15190756e-03 1.98130609e+02] [-1.23189532e-02 9.99924011e-01 -4.65181000e-04 -8.70924540e+00] [-8.15702022e-03 3.64707256e-04 9.99966664e-01 -3.52571370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494391418 meters 0.029976618938136818 Centerline is valid? [True, True] Translation: X:198.16, Y:-8.71, Z:-3.53 [[ 9.99876605e-01 1.34659535e-02 8.08971989e-03 1.98161992e+02] [-1.34626214e-02 9.99909266e-01 -4.66203815e-04 -8.70912100e+00] [-8.09526376e-03 3.57237451e-04 9.99967169e-01 -3.52584222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters 0.028645132927802748 Centerline is valid? [True, True] Translation: X:198.19, Y:-8.71, Z:-3.53 [[ 9.99807597e-01 1.74091942e-02 9.03814615e-03 1.98192481e+02] [-1.74051902e-02 9.99848382e-01 -5.21488825e-04 -8.70554613e+00] [-9.04585451e-03 3.64077836e-04 9.99959019e-01 -3.52511641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554391418 meters 0.027500490853712256 Centerline is valid? [True, True] Translation: X:198.22, Y:-8.70, Z:-3.52 [[ 9.99756330e-01 2.00167980e-02 9.30638429e-03 1.98223318e+02] [-2.00126624e-02 9.99799582e-01 -5.37307898e-04 -8.70377653e+00] [-9.31527431e-03 3.50931445e-04 9.99956550e-01 -3.52477849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584391418 meters 0.026341951209337414 Centerline is valid? [True, True] Translation: X:198.25, Y:-8.70, Z:-3.52 [[ 9.99683748e-01 2.30172665e-02 1.01295957e-02 1.98254231e+02] [-2.30125206e-02 9.99735006e-01 -5.84836343e-04 -8.70224033e+00] [-1.01403727e-02 3.51543859e-04 9.99948523e-01 -3.52450192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614391418 meters 0.024938453470331145 Centerline is valid? [True, True] Translation: X:198.28, Y:-8.70, Z:-3.52 [[ 9.99607995e-01 2.59234189e-02 1.05750914e-02 1.98284274e+02] [-2.59184059e-02 9.99663875e-01 -6.10839701e-04 -8.69995511e+00] [-1.05873720e-02 3.36510736e-04 9.99943896e-01 -3.52454082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644391418 meters 0.022390448921631424 Centerline is valid? [True, True] Translation: X:198.31, Y:-8.69, Z:-3.52 [[ 9.99447089e-01 3.14747333e-02 1.07171724e-02 1.98313790e+02] [-3.14699080e-02 9.99504508e-01 -6.18626201e-04 -8.69366903e+00] [-1.07313332e-02 2.81015726e-04 9.99942378e-01 -3.52423541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674391418 meters 0.02141314880774893 Centerline is valid? [True, True] Translation: X:198.34, Y:-8.69, Z:-3.52 [[ 9.99367544e-01 3.38470316e-02 1.09036874e-02 1.98343235e+02] [-3.38421826e-02 9.99426991e-01 -6.28967425e-04 -8.69166532e+00] [-1.09187282e-02 2.59565052e-04 9.99940355e-01 -3.52480889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704391418 meters 0.020598250768095263 Centerline is valid? [True, True] Translation: X:198.37, Y:-8.69, Z:-3.53 [[ 9.99301115e-01 3.58180223e-02 1.06934641e-02 1.98371681e+02] [-3.58134739e-02 9.99358302e-01 -6.16588230e-04 -8.69011916e+00] [-1.07086871e-02 2.33187209e-04 9.99942633e-01 -3.52545976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734391418 meters 0.019699858616302326 Centerline is valid? [True, True] Translation: X:198.40, Y:-8.69, Z:-3.53 [[ 9.99210180e-01 3.83109207e-02 1.05494248e-02 1.98399484e+02] [-3.83066358e-02 9.99265847e-01 -6.08008021e-04 -8.68674984e+00] [-1.05649732e-02 2.03414831e-04 9.99944168e-01 -3.52650091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764391418 meters 0.01803036057357385 Centerline is valid? [True, True] Translation: X:198.43, Y:-8.68, Z:-3.53 [[ 9.99189953e-01 3.90082459e-02 9.88911452e-03 1.98429033e+02] [-3.90045259e-02 9.99238872e-01 -5.68830153e-04 -8.68354922e+00] [-9.90377671e-03 1.82649150e-04 9.99950940e-01 -3.52633911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.794391418 meters 0.018723933726995875 Centerline is valid? [True, True] Translation: X:198.46, Y:-8.69, Z:-3.53 [[ 9.99199989e-01 3.88659668e-02 9.42437798e-03 1.98456824e+02] [-3.88625836e-02 9.99244418e-01 -5.41922600e-04 -8.68504493e+00] [-9.43831943e-03 1.75233379e-04 9.99955443e-01 -3.52756977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.824391418 meters 0.01819695998521351 Centerline is valid? [True, True] Translation: X:198.49, Y:-8.68, Z:-3.53 [[ 9.99259054e-01 3.76593297e-02 7.94472155e-03 1.98485220e+02] [-3.76568911e-02 9.99290624e-01 -4.56362728e-04 -8.68364465e+00] [-7.95627206e-03 1.56851073e-04 9.99968336e-01 -3.52792278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.854391418 meters 0.021122604991670395 Centerline is valid? [True, True] Translation: X:198.51, Y:-8.69, Z:-3.53 [[ 9.99307671e-01 3.64267586e-02 7.56769287e-03 1.98512326e+02] [-3.64245157e-02 9.99336313e-01 -4.34029538e-04 -8.69014807e+00] [-7.57848058e-03 1.58079499e-04 9.99971270e-01 -3.53077471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.884391418 meters 0.01866984074246881 Centerline is valid? [True, True] Translation: X:198.54, Y:-8.69, Z:-3.53 [[ 9.99360589e-01 3.50359339e-02 7.13415149e-03 1.98540983e+02] [-3.50339111e-02 9.99386041e-01 -4.08353939e-04 -8.68731621e+00] [-7.14407847e-03 1.58155604e-04 9.99974468e-01 -3.52867131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914391418 meters 0.022829635519475786 Centerline is valid? [True, True] Translation: X:198.57, Y:-8.70, Z:-3.53 [[ 9.99483209e-01 3.14378112e-02 6.70666516e-03 1.98569475e+02] [-3.14359472e-02 9.99505695e-01 -3.83200286e-04 -8.69500873e+00] [-6.71539700e-03 1.72171879e-04 9.99977437e-01 -3.53161100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944391418 meters 0.020858143587805876 Centerline is valid? [True, True] Translation: X:198.60, Y:-8.69, Z:-3.53 [[ 9.99541465e-01 2.96939946e-02 5.92682423e-03 1.98598371e+02] [-2.96925082e-02 9.99559023e-01 -3.38646401e-04 -8.69299948e+00] [-5.93426640e-03 1.62508843e-04 9.99982379e-01 -3.53034711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974391418 meters 0.02172340784956178 Centerline is valid? [True, True] Translation: X:198.63, Y:-8.70, Z:-3.53 [[ 9.99598841e-01 2.77802090e-02 5.51516266e-03 1.98627326e+02] [-2.77788947e-02 9.99614042e-01 -3.14781486e-04 -8.69588595e+00] [-5.52177874e-03 1.61450086e-04 9.99984742e-01 -3.53168005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004391418 meters 0.023382710830711324 Centerline is valid? [True, True] Translation: X:198.65, Y:-8.70, Z:-3.53 [[ 9.99643089e-01 2.61760412e-02 5.33952072e-03 1.98654986e+02] [-2.61747872e-02 9.99657335e-01 -3.04618778e-04 -8.69993815e+00] [-5.34566477e-03 1.64749238e-04 9.99985698e-01 -3.53305977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034391418 meters 0.02288249858554561 Centerline is valid? [True, True] Translation: X:198.68, Y:-8.70, Z:-3.53 [[ 9.99718526e-01 2.31253151e-02 5.29994414e-03 1.98684237e+02] [-2.31240420e-02 9.99732558e-01 -3.01376885e-04 -8.70071834e+00] [-5.30549615e-03 1.78735925e-04 9.99985910e-01 -3.53234330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064391418 meters 0.024428696384678508 Centerline is valid? [True, True] Translation: X:198.71, Y:-8.70, Z:-3.53 [[ 9.99738878e-01 2.21626361e-02 5.56719597e-03 1.98712325e+02] [-2.21612159e-02 9.99754360e-01 -3.16669894e-04 -8.70452183e+00] [-5.57284668e-03 1.93211373e-04 9.99984453e-01 -3.53304973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09439141800001 meters 0.02592060260727831 Centerline is valid? [True, True] Translation: X:198.74, Y:-8.71, Z:-3.53 [[ 9.99762618e-01 2.10892725e-02 5.47266020e-03 1.98740650e+02] [-2.10878899e-02 9.99777578e-01 -3.10238397e-04 -8.70785182e+00] [-5.47798566e-03 1.94757897e-04 9.99984977e-01 -3.53361919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12439141800002 meters 0.024423105180664175 Centerline is valid? [True, True] Translation: X:198.77, Y:-8.71, Z:-3.53 [[ 9.99797356e-01 1.93003926e-02 5.72203142e-03 1.98770274e+02] [-1.92988553e-02 9.99813707e-01 -3.23768136e-04 -8.70611769e+00] [-5.72721430e-03 2.13273870e-04 9.99983577e-01 -3.53192740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15439141800002 meters 0.026444101516120692 Centerline is valid? [True, True] Translation: X:198.80, Y:-8.71, Z:-3.53 [[ 9.99813233e-01 1.83903710e-02 5.94078768e-03 1.98798779e+02] [-1.83886980e-02 9.99830857e-01 -3.36114637e-04 -8.70977938e+00] [-5.94596411e-03 2.26808512e-04 9.99982297e-01 -3.53289457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters 0.025684359412288024 Centerline is valid? [True, True] Translation: X:198.83, Y:-8.71, Z:-3.53 [[ 9.99828575e-01 1.74875278e-02 6.08334000e-03 1.98828696e+02] [-1.74857607e-02 9.99847053e-01 -3.43541016e-04 -8.70991062e+00] [-6.08841726e-03 2.37110297e-04 9.99981437e-01 -3.53236212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214391418 meters 0.025684359412288024 Centerline is valid? [True, True] Translation: X:198.86, Y:-8.71, Z:-3.53 [[ 9.99829282e-01 1.74470767e-02 6.08335386e-03 1.98857827e+02] [-1.74453104e-02 9.99847760e-01 -3.43295246e-04 -8.71151373e+00] [-6.08841723e-03 2.37110643e-04 9.99981437e-01 -3.53288831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters 0.026501225166654332 Centerline is valid? [True, True] Translation: X:198.89, Y:-8.71, Z:-3.53 [[ 9.99847330e-01 1.63858706e-02 6.06797410e-03 1.98887727e+02] [-1.63840952e-02 9.99865713e-01 -3.42180677e-04 -8.71402243e+00] [-6.07276618e-03 2.42710170e-04 9.99981531e-01 -3.53366126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274391418 meters 0.027965859736423838 Centerline is valid? [True, True] Translation: X:198.92, Y:-8.72, Z:-3.53 [[ 9.99874603e-01 1.45441228e-02 6.26470675e-03 1.98916081e+02] [-1.45421946e-02 9.99894194e-01 -3.53228985e-04 -8.71772124e+00] [-6.26918131e-03 2.62082106e-04 9.99980314e-01 -3.53474356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters 0.028740019561114716 Centerline is valid? [True, True] Translation: X:198.95, Y:-8.72, Z:-3.54 [[ 9.99880763e-01 1.39990252e-02 6.51818274e-03 1.98945605e+02] [-1.39969321e-02 9.99901971e-01 -3.66623009e-04 -8.72022991e+00] [-6.52267614e-03 2.75344733e-04 9.99978689e-01 -3.53548160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334391418 meters 0.028200269253120327 Centerline is valid? [True, True] Translation: X:198.98, Y:-8.72, Z:-3.54 [[ 9.99885898e-01 1.36295391e-02 6.51351573e-03 1.98976021e+02] [-1.36274435e-02 9.99907075e-01 -3.66004660e-04 -8.72073393e+00] [-6.51789893e-03 2.77200330e-04 9.99978720e-01 -3.53575323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364391418 meters 0.029765049018889274 Centerline is valid? [True, True] Translation: X:199.01, Y:-8.72, Z:-3.54 [[ 9.99892326e-01 1.33656246e-02 6.05771454e-03 1.99005090e+02] [-1.33638057e-02 9.99910642e-01 -3.40629430e-04 -8.72350720e+00] [-6.06172596e-03 2.59638633e-04 9.99981594e-01 -3.53721280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394391418 meters 0.03007632022115032 Centerline is valid? [True, True] Translation: X:199.04, Y:-8.73, Z:-3.54 [[ 9.99892617e-01 1.34985707e-02 5.70468491e-03 1.99035629e+02] [-1.34969618e-02 9.99908861e-01 -3.20441971e-04 -8.72525579e+00] [-5.70849049e-03 2.43411647e-04 9.99983677e-01 -3.53833897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424391418 meters 0.02815552537213983 Centerline is valid? [True, True] Translation: X:199.07, Y:-8.72, Z:-3.54 [[ 9.99896592e-01 1.34193063e-02 5.16988507e-03 1.99065530e+02] [-1.34179811e-02 9.99909933e-01 -2.90915390e-04 -8.72369334e+00] [-5.17332331e-03 2.21515886e-04 9.99986594e-01 -3.53873492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454391418 meters 0.03048847964129764 Centerline is valid? [True, True] Translation: X:199.09, Y:-8.73, Z:-3.54 [[ 9.99907623e-01 1.26998002e-02 4.84358721e-03 1.99094531e+02] [-1.26986307e-02 9.99919332e-01 -2.72139841e-04 -8.72779845e+00] [-4.84665261e-03 2.10607777e-04 9.99988233e-01 -3.54037497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484391418 meters 0.02953501657750228 Centerline is valid? [True, True] Translation: X:199.12, Y:-8.73, Z:-3.54 [[ 9.99912143e-01 1.22697558e-02 5.01582761e-03 1.99124179e+02] [-1.22684955e-02 9.99924699e-01 -2.81959413e-04 -8.72747995e+00] [-5.01890949e-03 2.20397983e-04 9.99987381e-01 -3.54042094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514391418 meters 0.030100312114476054 Centerline is valid? [True, True] Translation: X:199.15, Y:-8.73, Z:-3.54 [[ 9.99913244e-01 1.21959440e-02 4.97622383e-03 1.99153666e+02] [-1.21947036e-02 9.99925603e-01 -2.79538479e-04 -8.72922737e+00] [-4.97926284e-03 2.18830653e-04 9.99987579e-01 -3.54125185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.544391418 meters 0.028170154038230807 Centerline is valid? [True, True] Translation: X:199.18, Y:-8.73, Z:-3.54 [[ 9.99912970e-01 1.21559064e-02 5.12708386e-03 1.99183948e+02] [-1.21545901e-02 9.99926089e-01 -2.87810554e-04 -8.72748764e+00] [-5.13020351e-03 2.25467903e-04 9.99986815e-01 -3.54079993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.574391418 meters 0.029017022940064058 Centerline is valid? [True, True] Translation: X:199.21, Y:-8.73, Z:-3.54 [[ 9.99910727e-01 1.22533197e-02 5.32863417e-03 1.99213365e+02] [-1.22519020e-02 9.99924898e-01 -2.98618491e-04 -8.72831628e+00] [-5.33189305e-03 2.33305929e-04 9.99985758e-01 -3.54115837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.604391418 meters 0.03141619435850622 Centerline is valid? [True, True] Translation: X:199.24, Y:-8.73, Z:-3.54 [[ 9.99908566e-01 1.24207281e-02 5.34649103e-03 1.99242206e+02] [-1.24193039e-02 9.99922833e-01 -2.99506222e-04 -8.73217033e+00] [-5.34979854e-03 2.33079141e-04 9.99985663e-01 -3.54277792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.634391418 meters 0.02897712859620241 Centerline is valid? [True, True] Translation: X:199.27, Y:-8.73, Z:-3.54 [[ 9.99906992e-01 1.25326682e-02 5.37956325e-03 1.99272222e+02] [-1.25312272e-02 9.99921436e-01 -3.01502569e-04 -8.72933046e+00] [-5.38291924e-03 2.34061998e-04 9.99985485e-01 -3.54246466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664391418 meters 0.031506550395085826 Centerline is valid? [True, True] Translation: X:199.30, Y:-8.73, Z:-3.54 [[ 9.99908201e-01 1.27057885e-02 4.70655999e-03 1.99301527e+02] [-1.27046891e-02 9.99919257e-01 -2.63418176e-04 -8.73305421e+00] [-4.70952690e-03 2.03598613e-04 9.99988889e-01 -3.54468496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694391418 meters 0.027783116044362836 Centerline is valid? [True, True] Translation: X:199.33, Y:-8.73, Z:-3.54 [[ 9.99914610e-01 1.23588931e-02 4.24613892e-03 1.99331878e+02] [-1.23579941e-02 9.99923609e-01 -2.37891581e-04 -8.72815655e+00] [-4.24875463e-03 1.85397508e-04 9.99990957e-01 -3.54408920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724391418 meters 0.02809317724962472 Centerline is valid? [True, True] Translation: X:199.36, Y:-8.73, Z:-3.54 [[ 9.99917790e-01 1.22588769e-02 3.75947743e-03 1.99361564e+02] [-1.22581718e-02 9.99924844e-01 -2.10552196e-04 -8.72929613e+00] [-3.76177602e-03 1.64450566e-04 9.99992911e-01 -3.54499628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754391418 meters 0.02966552237985389 Centerline is valid? [True, True] Translation: X:199.39, Y:-8.73, Z:-3.55 [[ 9.99930895e-01 1.12194132e-02 3.51140288e-03 1.99390597e+02] [-1.12187913e-02 9.99937048e-01 -1.96741107e-04 -8.73056830e+00] [-3.51338915e-03 1.57333815e-04 9.99993816e-01 -3.54597060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784391418 meters 0.030054578017304153 Centerline is valid? [True, True] Translation: X:199.42, Y:-8.73, Z:-3.55 [[ 9.99937073e-01 1.06273203e-02 3.59297316e-03 1.99420170e+02] [-1.06266669e-02 9.99943515e-01 -2.00910622e-04 -8.73156458e+00] [-3.59490535e-03 1.62716650e-04 9.99993525e-01 -3.54608566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814391418 meters 0.030829915889198034 Centerline is valid? [True, True] Translation: X:199.45, Y:-8.73, Z:-3.55 [[ 9.99938956e-01 1.03682232e-02 3.81887722e-03 1.99448408e+02] [-1.03674829e-02 9.99946233e-01 -2.13619999e-04 -8.73328359e+00] [-3.82088675e-03 1.74014815e-04 9.99992685e-01 -3.54614201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84439141800001 meters 0.0316021028193466 Centerline is valid? [True, True] Translation: X:199.48, Y:-8.73, Z:-3.55 [[ 9.99938411e-01 9.92174078e-03 4.97333737e-03 1.99478214e+02] [-9.92048772e-03 9.99950753e-01 -2.76562370e-04 -8.73367959e+00] [-4.97583642e-03 2.27207404e-04 9.99987595e-01 -3.54528509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87439141800002 meters 0.030956863697842396 Centerline is valid? [True, True] Translation: X:199.51, Y:-8.73, Z:-3.54 [[ 9.99928521e-01 1.04086140e-02 5.88325328e-03 1.99508433e+02] [-1.04068651e-02 9.99945793e-01 -3.27810410e-04 -8.73324229e+00] [-5.88634642e-03 2.66560756e-04 9.99982640e-01 -3.54482257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90439141800002 meters 0.031842219370656843 Centerline is valid? [True, True] Translation: X:199.54, Y:-8.73, Z:-3.55 [[ 9.99917431e-01 1.11472021e-02 6.39306594e-03 1.99538810e+02] [-1.11451622e-02 9.99937828e-01 -3.54618711e-04 -8.73475887e+00] [-6.39662148e-03 2.83337674e-04 9.99979501e-01 -3.54501275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934391418 meters 0.031010639257114225 Centerline is valid? [True, True] Translation: X:199.57, Y:-8.73, Z:-3.54 [[ 9.99879681e-01 1.36799956e-02 7.31302772e-03 1.99569058e+02] [-1.36773782e-02 9.99906377e-01 -4.07803996e-04 -8.73248057e+00] [-7.31792181e-03 3.07731884e-04 9.99973176e-01 -3.54454378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters 0.029302619184488853 Centerline is valid? [True, True] Translation: X:199.60, Y:-8.73, Z:-3.54 [[ 9.99853464e-01 1.51950911e-02 7.88414152e-03 1.99599715e+02] [-1.51920959e-02 9.99884497e-01 -4.39651612e-04 -8.72996919e+00] [-7.88991143e-03 3.19810553e-04 9.99968823e-01 -3.54441672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994391418 meters 0.026486151929082873 Centerline is valid? [True, True] Translation: X:199.63, Y:-8.73, Z:-3.54 [[ 9.99826681e-01 1.69188988e-02 7.76904816e-03 1.99630113e+02] [-1.69160409e-02 9.99856820e-01 -4.33437166e-04 -8.72604119e+00] [-7.77526906e-03 3.01940507e-04 9.99969727e-01 -3.54393640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters 0.026144476507468435 Centerline is valid? [True, True] Translation: X:199.66, Y:-8.73, Z:-3.54 [[ 9.99801111e-01 1.84020403e-02 7.68792939e-03 1.99658923e+02] [-1.83992835e-02 9.99830627e-01 -4.29167394e-04 -8.72557749e+00] [-7.69452482e-03 2.87629645e-04 9.99970355e-01 -3.54484229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054391418 meters 0.027518627306385195 Centerline is valid? [True, True] Translation: X:199.69, Y:-8.73, Z:-3.55 [[ 9.99755229e-01 2.09451963e-02 7.12602705e-03 1.99687445e+02] [-2.09428948e-02 9.99780595e-01 -3.97448350e-04 -8.72634469e+00] [-7.13278820e-03 2.48111431e-04 9.99974531e-01 -3.54726497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084391418 meters 0.02255290311549431 Centerline is valid? [True, True] Translation: X:199.72, Y:-8.72, Z:-3.55 [[ 9.99732564e-01 2.20645688e-02 6.92500676e-03 1.99717000e+02] [-2.20624229e-02 9.99756521e-01 -3.86123974e-04 -8.71945838e+00] [-6.93184032e-03 2.33238283e-04 9.99975947e-01 -3.54582325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114391418 meters 0.02653505295767339 Centerline is valid? [True, True] Translation: X:199.74, Y:-8.73, Z:-3.55 [[ 9.99728740e-01 2.23433250e-02 6.57437434e-03 1.99744691e+02] [-2.23413985e-02 9.99750333e-01 -3.66331065e-04 -8.72528403e+00] [-6.58091799e-03 2.19350977e-04 9.99978321e-01 -3.54861649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144391418 meters 0.022352345502781548 Centerline is valid? [True, True] Translation: X:199.77, Y:-8.72, Z:-3.55 [[ 9.99714778e-01 2.29461846e-02 6.62075112e-03 1.99773675e+02] [-2.29442501e-02 9.99736678e-01 -3.68001627e-04 -8.71951138e+00] [-6.62745197e-03 2.15988495e-04 9.99978015e-01 -3.54724448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174391418 meters 0.022493746628814162 Centerline is valid? [True, True] Translation: X:199.80, Y:-8.72, Z:-3.55 [[ 9.99692939e-01 2.41614616e-02 5.50019344e-03 1.99801200e+02] [-2.41601447e-02 9.99708054e-01 -3.05759961e-04 -8.71962253e+00] [-5.50597529e-03 1.72780604e-04 9.99984827e-01 -3.54925302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204391418 meters 0.022414799083108155 Centerline is valid? [True, True] Translation: X:199.83, Y:-8.72, Z:-3.55 [[ 9.99673234e-01 2.50432976e-02 5.12421013e-03 1.99828810e+02] [-2.50421683e-02 9.99686355e-01 -2.84436084e-04 -8.72010921e+00] [-5.12972617e-03 1.56021808e-04 9.99986831e-01 -3.55059353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234391418 meters 0.021000157558622713 Centerline is valid? [True, True] Translation: X:199.86, Y:-8.72, Z:-3.55 [[ 9.99580438e-01 2.86165201e-02 4.47697663e-03 1.99857937e+02] [-2.86156960e-02 9.99590456e-01 -2.48015271e-04 -8.71747698e+00] [-4.48224045e-03 1.19799410e-04 9.99989948e-01 -3.55209630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264391418 meters 0.020087843236030852 Centerline is valid? [True, True] Translation: X:199.89, Y:-8.72, Z:-3.55 [[ 9.99525937e-01 3.04923912e-02 4.25628551e-03 1.99886994e+02] [-3.04916646e-02 9.99534993e-01 -2.35525151e-04 -8.71623858e+00] [-4.26148803e-03 1.05632267e-04 9.99990914e-01 -3.55289942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.294391418 meters 0.0185506061083955 Centerline is valid? [True, True] Translation: X:199.92, Y:-8.71, Z:-3.55 [[ 9.99436711e-01 3.33164807e-02 4.03388079e-03 1.99916157e+02] [-3.33158519e-02 9.99444848e-01 -2.22991281e-04 -8.71416775e+00] [-4.03907066e-03 8.84734978e-05 9.99991839e-01 -3.55267629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.324391418 meters 0.01732057050582638 Centerline is valid? [True, True] Translation: X:199.95, Y:-8.71, Z:-3.55 [[ 9.99337897e-01 3.61086774e-02 4.46449149e-03 1.99945378e+02] [-3.61079373e-02 9.99347865e-01 -2.46299857e-04 -8.71206438e+00] [-4.47047361e-03 8.49332023e-05 9.99990004e-01 -3.55257564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.354391418 meters 0.01574762877818393 Centerline is valid? [True, True] Translation: X:199.97, Y:-8.71, Z:-3.55 [[ 9.99103833e-01 4.19607503e-02 5.55211586e-03 1.99973285e+02] [-4.19596991e-02 9.99119257e-01 -3.05736375e-04 -8.70784820e+00] [-5.56005480e-03 7.24972737e-05 9.99984540e-01 -3.55169225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.384391418 meters 0.015317279475033859 Centerline is valid? [True, True] Translation: X:200.00, Y:-8.71, Z:-3.55 [[ 9.98992689e-01 4.45022616e-02 5.75810993e-03 2.00002160e+02] [-4.45011783e-02 9.99009282e-01 -3.16186992e-04 -8.70674054e+00] [-5.76647631e-03 5.96258166e-05 9.99983372e-01 -3.55157418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414391418 meters 0.014903602339527344 Centerline is valid? [True, True] Translation: X:200.03, Y:-8.71, Z:-3.55 [[ 9.98883753e-01 4.68289185e-02 6.18873772e-03 2.00030641e+02] [-4.68277155e-02 9.98902923e-01 -3.39222709e-04 -8.70613245e+00] [-6.19783363e-03 4.90396031e-05 9.99980792e-01 -3.55210440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444391418 meters 0.014727956812350725 Centerline is valid? [True, True] Translation: X:200.06, Y:-8.71, Z:-3.55 [[ 9.98789330e-01 4.87956987e-02 6.23338355e-03 2.00058888e+02] [-4.87945150e-02 9.98808780e-01 -3.41924538e-04 -8.70599243e+00] [-6.24264266e-03 3.73556528e-05 9.99980514e-01 -3.55299695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474391418 meters 0.014550064613200775 Centerline is valid? [True, True] Translation: X:200.09, Y:-8.71, Z:-3.55 [[ 9.98687026e-01 5.08281959e-02 6.38108826e-03 2.00087745e+02] [-5.08270080e-02 9.98707412e-01 -3.48286226e-04 -8.70609404e+00] [-6.39054290e-03 2.34973113e-05 9.99979580e-01 -3.55385924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504391418 meters 0.014391868363717517 Centerline is valid? [True, True] Translation: X:200.12, Y:-8.71, Z:-3.55 [[ 9.98672246e-01 5.11083373e-02 6.45625019e-03 2.00115373e+02] [-5.11071277e-02 9.98693115e-01 -3.52307022e-04 -8.70774127e+00] [-6.46581843e-03 2.18788424e-05 9.99979096e-01 -3.55486723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534391418 meters 0.014378311487005732 Centerline is valid? [True, True] Translation: X:200.14, Y:-8.71, Z:-3.56 [[ 9.98689332e-01 5.07559860e-02 6.59150730e-03 2.00142762e+02] [-5.07547230e-02 9.98711084e-01 -3.58850595e-04 -8.70984726e+00] [-6.60122521e-03 2.38301338e-05 9.99978211e-01 -3.55577987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564391418 meters 0.01468816632077897 Centerline is valid? [True, True] Translation: X:200.17, Y:-8.71, Z:-3.56 [[ 9.98786745e-01 4.87177692e-02 7.18448988e-03 2.00169827e+02] [-4.87162172e-02 9.98812584e-01 -3.90966852e-04 -8.71416777e+00] [-7.19500594e-03 4.04913395e-05 9.99974115e-01 -3.55647038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59439141800001 meters 0.014745900880466836 Centerline is valid? [True, True] Translation: X:200.20, Y:-8.72, Z:-3.56 [[ 9.98845880e-01 4.74757759e-02 7.27722352e-03 2.00198743e+02] [-4.74741709e-02 9.98872388e-01 -3.93234667e-04 -8.71750472e+00] [-7.28768676e-03 4.73006746e-05 9.99973443e-01 -3.55706539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62439141800002 meters 0.014674543200209162 Centerline is valid? [True, True] Translation: X:200.23, Y:-8.72, Z:-3.56 [[ 9.98919684e-01 4.58568593e-02 7.52421865e-03 2.00227914e+02] [-4.58551020e-02 9.98948019e-01 -4.05992214e-04 -8.72030297e+00] [-7.53492085e-03 6.05297998e-05 9.99971610e-01 -3.55647230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65439141800002 meters 0.015261982531315305 Centerline is valid? [True, True] Translation: X:200.26, Y:-8.72, Z:-3.56 [[ 9.98993801e-01 4.41563264e-02 7.84884182e-03 2.00255755e+02] [-4.41543656e-02 9.99024631e-01 -4.23012717e-04 -8.72417677e+00] [-7.85986499e-03 7.60264513e-05 9.99969108e-01 -3.55734529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters 0.01591571774133951 Centerline is valid? [True, True] Translation: X:200.28, Y:-8.73, Z:-3.56 [[ 9.99142253e-01 4.06872008e-02 7.70125875e-03 2.00284565e+02] [-4.06852172e-02 9.99171928e-01 -4.14119328e-04 -8.72992233e+00] [-7.71173091e-03 1.00436734e-04 9.99970259e-01 -3.55795905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714391418 meters 0.0164492442622258 Centerline is valid? [True, True] Translation: X:200.31, Y:-8.73, Z:-3.56 [[ 9.99214453e-01 3.88835593e-02 7.65158210e-03 2.00313219e+02] [-3.88815529e-02 9.99243742e-01 -4.10853496e-04 -8.73378332e+00] [-7.66177098e-03 1.13025357e-04 9.99970642e-01 -3.55872771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters 0.017260663970034694 Centerline is valid? [True, True] Translation: X:200.34, Y:-8.74, Z:-3.56 [[ 9.99330310e-01 3.57243424e-02 7.91853279e-03 2.00342075e+02] [-3.57220997e-02 9.99361672e-01 -4.24524884e-04 -8.73968542e+00] [-7.92864404e-03 1.41373966e-04 9.99968558e-01 -3.55904754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774391418 meters 0.017554779766520673 Centerline is valid? [True, True] Translation: X:200.37, Y:-8.74, Z:-3.56 [[ 9.99374770e-01 3.43755433e-02 8.26985440e-03 2.00370623e+02] [-3.43730568e-02 9.99408974e-01 -4.42655526e-04 -8.74296925e+00] [-8.28018322e-03 1.58118590e-04 9.99965706e-01 -3.55920650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters 0.017509406809901307 Centerline is valid? [True, True] Translation: X:200.40, Y:-8.75, Z:-3.56 [[ 9.99399893e-01 3.35069834e-02 8.78275145e-03 2.00399776e+02] [-3.35041523e-02 9.99438468e-01 -4.69331253e-04 -8.74607524e+00] [-8.79354553e-03 1.74790961e-04 9.99961321e-01 -3.55937690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834391418 meters 0.018045989433286162 Centerline is valid? [True, True] Translation: X:200.43, Y:-8.75, Z:-3.56 [[ 9.99426107e-01 3.26470849e-02 9.03458292e-03 2.00428087e+02] [-3.26440609e-02 9.99466924e-01 -4.82009600e-04 -8.74959520e+00] [-9.04550301e-03 1.86807503e-04 9.99959071e-01 -3.55985428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864391418 meters 0.017569856169090608 Centerline is valid? [True, True] Translation: X:200.46, Y:-8.75, Z:-3.56 [[ 9.99431720e-01 3.21119355e-02 1.02499239e-02 2.00456979e+02] [-3.21080254e-02 9.99484255e-01 -5.45850189e-04 -8.75293364e+00] [-1.02621658e-02 2.16435178e-04 9.99947319e-01 -3.55915935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894391418 meters 0.017670771388010924 Centerline is valid? [True, True] Translation: X:200.48, Y:-8.76, Z:-3.56 [[ 9.99425905e-01 3.21296110e-02 1.07493292e-02 2.00484209e+02] [-3.21253204e-02 9.99483685e-01 -5.71627026e-04 -8.75566287e+00] [-1.07621454e-02 2.25973212e-04 9.99942061e-01 -3.55973856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924391418 meters 0.01758619237022546 Centerline is valid? [True, True] Translation: X:200.51, Y:-8.76, Z:-3.56 [[ 9.99411398e-01 3.23485722e-02 1.14204880e-02 2.00513260e+02] [-3.23437595e-02 9.99476620e-01 -6.05902052e-04 -8.75823861e+00] [-1.14341108e-02 2.36163900e-04 9.99934601e-01 -3.56002050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954391418 meters 0.01743100849448077 Centerline is valid? [True, True] Translation: X:200.54, Y:-8.76, Z:-3.56 [[ 9.99387208e-01 3.31103683e-02 1.13539346e-02 2.00541916e+02] [-3.31056711e-02 9.99451676e-01 -6.01451012e-04 -8.76098902e+00] [-1.13676232e-02 2.25202822e-04 9.99935361e-01 -3.56091003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984391418 meters 0.01726923345712298 Centerline is valid? [True, True] Translation: X:200.57, Y:-8.76, Z:-3.56 [[ 9.99366541e-01 3.37030618e-02 1.14288863e-02 2.00570690e+02] [-3.36983519e-02 9.99431866e-01 -6.04486690e-04 -8.76335487e+00] [-1.14427662e-02 2.18969141e-04 9.99934505e-01 -3.56176349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014391418 meters 0.017572576702667198 Centerline is valid? [True, True] Translation: X:200.60, Y:-8.77, Z:-3.56 [[ 9.99362762e-01 3.38280450e-02 1.13900316e-02 2.00599504e+02] [-3.38233856e-02 9.99427645e-01 -6.01521106e-04 -8.76581086e+00] [-1.14038608e-02 2.15888362e-04 9.99934951e-01 -3.56289676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.044391418 meters 0.017610792859835793 Centerline is valid? [True, True] Translation: X:200.63, Y:-8.77, Z:-3.56 [[ 9.99352843e-01 3.39096168e-02 1.20014027e-02 2.00628429e+02] [-3.39044620e-02 9.99424878e-01 -6.32775143e-04 -8.76945969e+00] [-1.20159576e-02 2.25464536e-04 9.99927780e-01 -3.56325468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.074391418 meters 0.017415574320988083 Centerline is valid? [True, True] Translation: X:200.66, Y:-8.77, Z:-3.56 [[ 9.99368622e-01 3.34523940e-02 1.19705456e-02 2.00657512e+02] [-3.34472440e-02 9.99440286e-01 -6.30219111e-04 -8.77142790e+00] [-1.19849279e-02 2.29439445e-04 9.99928152e-01 -3.56346474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.104391418 meters 0.017502984038075337 Centerline is valid? [True, True] Translation: X:200.69, Y:-8.77, Z:-3.56 [[ 9.99386458e-01 3.28876164e-02 1.20462229e-02 2.00686480e+02] [-3.28823720e-02 9.99459028e-01 -6.33215128e-04 -8.77445246e+00] [-1.20605312e-02 2.36718240e-04 9.99927241e-01 -3.56384193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.134391418 meters 0.018249095349950412 Centerline is valid? [True, True] Translation: X:200.71, Y:-8.78, Z:-3.56 [[ 9.99441265e-01 3.12693215e-02 1.18062637e-02 2.00714025e+02] [-3.12641807e-02 9.99510964e-01 -6.19793136e-04 -8.77925799e+00] [-1.18198705e-02 2.50333674e-04 9.99930112e-01 -3.56474020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164391418 meters 0.018249095349950412 Centerline is valid? [True, True] Translation: X:200.74, Y:-8.78, Z:-3.57 [[ 9.99443767e-01 3.11892078e-02 1.18063323e-02 2.00742299e+02] [-3.11840768e-02 9.99513467e-01 -6.18483489e-04 -8.78066185e+00] [-1.18198781e-02 2.49969896e-04 9.99930112e-01 -3.56525112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194391418 meters 0.018614506015702376 Centerline is valid? [True, True] Translation: X:200.77, Y:-8.78, Z:-3.57 [[ 9.99468691e-01 3.04671804e-02 1.15795763e-02 2.00770304e+02] [-3.04622067e-02 9.99535736e-01 -6.05697724e-04 -8.78422648e+00] [-1.15926542e-02 2.52636466e-04 9.99932771e-01 -3.56613588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224391418 meters 0.019014479886460448 Centerline is valid? [True, True] Translation: X:200.80, Y:-8.79, Z:-3.57 [[ 9.99502390e-01 2.95594064e-02 1.10097492e-02 2.00797866e+02] [-2.95548623e-02 9.99562994e-01 -5.75245538e-04 -8.78758070e+00] [-1.10219418e-02 2.49567669e-04 9.99939225e-01 -3.56713205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254391418 meters 0.01926224891678574 Centerline is valid? [True, True] Translation: X:200.83, Y:-8.79, Z:-3.57 [[ 9.99534289e-01 2.85508573e-02 1.07728428e-02 2.00826626e+02] [-2.85464614e-02 9.99592309e-01 -5.61627287e-04 -8.79041874e+00] [-1.07844858e-02 2.53839188e-04 9.99941814e-01 -3.56807462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284391418 meters 0.019791819750574723 Centerline is valid? [True, True] Translation: X:200.86, Y:-8.79, Z:-3.57 [[ 9.99590288e-01 2.66260233e-02 1.05029432e-02 2.00856344e+02] [-2.66217501e-02 9.99645429e-01 -5.46475736e-04 -8.79363540e+00] [-1.05137696e-02 2.66645109e-04 9.99944693e-01 -3.56884358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314391418 meters 0.020165145560195222 Centerline is valid? [True, True] Translation: X:200.88, Y:-8.80, Z:-3.57 [[ 9.99614055e-01 2.58032435e-02 1.02924419e-02 2.00884432e+02] [-2.57990989e-02 9.99667005e-01 -5.35274510e-04 -8.79678068e+00] [-1.03028264e-02 2.69532198e-04 9.99946888e-01 -3.56950520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34439141800001 meters 0.02106246977262443 Centerline is valid? [True, True] Translation: X:200.91, Y:-8.80, Z:-3.57 [[ 9.99648701e-01 2.45888385e-02 9.89262999e-03 2.00912771e+02] [-2.45849558e-02 9.99697612e-01 -5.13926493e-04 -8.79999017e+00] [-9.90227544e-03 2.70536081e-04 9.99950935e-01 -3.57007981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37439141800002 meters 0.021471506018361435 Centerline is valid? [True, True] Translation: X:200.94, Y:-8.80, Z:-3.57 [[ 9.99674271e-01 2.32488955e-02 1.05281176e-02 2.00942638e+02] [-2.32444325e-02 9.99729663e-01 -5.46097106e-04 -8.80282938e+00] [-1.05379676e-02 3.01199109e-04 9.99944429e-01 -3.57003546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40439141800002 meters 0.022101913231035112 Centerline is valid? [True, True] Translation: X:200.97, Y:-8.81, Z:-3.57 [[ 9.99737465e-01 2.00687828e-02 1.10564371e-02 2.00972546e+02] [-2.00636730e-02 9.99798540e-01 -5.72892719e-04 -8.80679894e+00] [-1.10657069e-02 3.50909577e-04 9.99938712e-01 -3.56921046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434391418 meters 0.02311510146838997 Centerline is valid? [True, True] Translation: X:201.00, Y:-8.81, Z:-3.57 [[ 9.99770940e-01 1.82882441e-02 1.11178671e-02 2.01002359e+02] [-1.82829700e-02 9.99832687e-01 -5.75846941e-04 -8.81077039e+00] [-1.11265381e-02 3.72447408e-04 9.99938029e-01 -3.56923691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters 0.023561157504795163 Centerline is valid? [True, True] Translation: X:201.03, Y:-8.81, Z:-3.57 [[ 9.99801396e-01 1.63153913e-02 1.14445000e-02 2.01033114e+02] [-1.63096778e-02 9.99866813e-01 -5.92390592e-04 -8.81390829e+00] [-1.14526408e-02 4.05616833e-04 9.99934334e-01 -3.56916007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494391418 meters 0.02603714535083947 Centerline is valid? [True, True] Translation: X:201.06, Y:-8.82, Z:-3.57 [[ 9.99859094e-01 1.22043132e-02 1.15259263e-02 2.01063062e+02] [-1.21982469e-02 9.99925421e-01 -5.96474100e-04 -8.82100713e+00] [-1.15323463e-02 4.55793958e-04 9.99933396e-01 -3.56922761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters 0.027465557611745302 Centerline is valid? [True, True] Translation: X:201.10, Y:-8.83, Z:-3.57 [[ 9.99890273e-01 1.00927490e-02 1.08433183e-02 2.01095082e+02] [-1.00872586e-02 9.99948965e-01 -5.60910401e-04 -8.82532999e+00] [-1.08484261e-02 4.51469498e-04 9.99941052e-01 -3.57000821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554391418 meters 0.02955817024988972 Centerline is valid? [True, True] Translation: X:201.12, Y:-8.83, Z:-3.57 [[ 9.99918259e-01 6.97497138e-03 1.07156079e-02 2.01124607e+02] [-6.96941540e-03 9.99975559e-01 -5.55749441e-04 -8.83122620e+00] [-1.07192224e-02 4.81022491e-04 9.99942432e-01 -3.57084400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584391418 meters 0.03188168887801342 Centerline is valid? [True, True] Translation: X:201.16, Y:-8.84, Z:-3.57 [[ 9.99941925e-01 4.47143282e-03 9.80573320e-03 2.01155450e+02] [-4.46668083e-03 9.99989896e-01 -5.06459631e-04 -8.83738202e+00] [-9.80789873e-03 4.62631138e-04 9.99951794e-01 -3.57189620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614391418 meters 0.033074908972073186 Centerline is valid? [True, True] Translation: X:201.19, Y:-8.84, Z:-3.57 [[ 9.99958258e-01 -8.29654332e-04 9.09913870e-03 2.01185675e+02] [ 8.34003506e-04 9.99999540e-01 -4.74192489e-04 -8.84299109e+00] [-9.09874110e-03 4.81761409e-04 9.99958490e-01 -3.57241865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644391418 meters 0.0369793331641807 Centerline is valid? [True, True] Translation: X:201.22, Y:-8.85, Z:-3.57 [[ 9.99956559e-01 -3.47610373e-03 8.64847373e-03 2.01215236e+02] [ 3.48013231e-03 9.99993843e-01 -4.50808331e-04 -8.85071709e+00] [-8.64685343e-03 4.80886581e-04 9.99962500e-01 -3.57368938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674391418 meters 0.037066962601260356 Centerline is valid? [True, True] Translation: X:201.25, Y:-8.85, Z:-3.57 [[ 9.99947753e-01 -5.51895861e-03 8.60417184e-03 2.01247051e+02] [ 5.52300048e-03 9.99984649e-01 -4.46067022e-04 -8.85322806e+00] [-8.60157793e-03 4.93564561e-04 9.99962884e-01 -3.57392089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704391418 meters 0.03843298557182045 Centerline is valid? [True, True] Translation: X:201.28, Y:-8.86, Z:-3.57 [[ 9.99939844e-01 -7.21564421e-03 8.26091544e-03 2.01278999e+02] [ 7.21945826e-03 9.99973846e-01 -4.31970576e-04 -8.85736598e+00] [-8.25758244e-03 4.91583925e-04 9.99965785e-01 -3.57453599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734391418 meters 0.0401559491330646 Centerline is valid? [True, True] Translation: X:201.31, Y:-8.86, Z:-3.58 [[ 9.99931774e-01 -9.20150571e-03 7.19583025e-03 2.01309961e+02] [ 9.20445678e-03 9.99957567e-01 -3.77097746e-04 -8.86157158e+00] [-7.19205504e-03 4.43305727e-04 9.99974039e-01 -3.57549596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764391418 meters 0.03931144977784637 Centerline is valid? [True, True] Translation: X:201.34, Y:-8.86, Z:-3.58 [[ 9.99932765e-01 -9.25955073e-03 6.98038650e-03 2.01341723e+02] [ 9.26232779e-03 9.99957037e-01 -3.65614204e-04 -8.86240579e+00] [-6.97670118e-03 4.30244250e-04 9.99975570e-01 -3.57597058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.794391418 meters 0.0385029793536358 Centerline is valid? [True, True] Translation: X:201.37, Y:-8.86, Z:-3.58 [[ 9.99945597e-01 -8.56643382e-03 5.95132516e-03 2.01374365e+02] [ 8.56844172e-03 9.99963242e-01 -3.11971752e-04 -8.86268241e+00] [-5.94843392e-03 3.62948362e-04 9.99982242e-01 -3.57688064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.824391418 meters 0.038448651518759806 Centerline is valid? [True, True] Translation: X:201.41, Y:-8.86, Z:-3.58 [[ 9.99957621e-01 -7.40714297e-03 5.46726281e-03 2.01407008e+02] [ 7.40881966e-03 9.99972513e-01 -2.86488112e-04 -8.86423171e+00] [-5.46499048e-03 3.26981935e-04 9.99985013e-01 -3.57788334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.854391418 meters 0.03876071732285845 Centerline is valid? [True, True] Translation: X:201.44, Y:-8.87, Z:-3.58 [[ 9.99966366e-01 -6.39680788e-03 5.13294745e-03 2.01438404e+02] [ 6.39827854e-03 9.99979494e-01 -2.70144135e-04 -8.86572008e+00] [-5.13111414e-03 3.02977076e-04 9.99986790e-01 -3.57871306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.884391418 meters 0.0375400331970458 Centerline is valid? [True, True] Translation: X:201.47, Y:-8.86, Z:-3.58 [[ 9.99980217e-01 -3.54894063e-03 5.19327282e-03 2.01470464e+02] [ 3.55040947e-03 9.99993660e-01 -2.73644664e-04 -8.86438053e+00] [-5.19226875e-03 2.92077495e-04 9.99986477e-01 -3.57926732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914391418 meters 0.03347320733190504 Centerline is valid? [True, True] Translation: X:201.50, Y:-8.86, Z:-3.58 [[ 9.99983656e-01 -1.51371086e-03 5.51336420e-03 2.01502468e+02] [ 1.51533687e-03 9.99998810e-01 -2.90757208e-04 -8.85958628e+00] [-5.51291751e-03 2.99107059e-04 9.99984759e-01 -3.57841395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944391418 meters 0.03449383860846696 Centerline is valid? [True, True] Translation: X:201.53, Y:-8.86, Z:-3.58 [[ 9.99983565e-01 7.05737246e-04 5.68955762e-03 2.01533094e+02] [-7.04036887e-04 9.99999707e-01 -3.00853560e-04 -8.86151850e+00] [-5.68976827e-03 2.96842957e-04 9.99983769e-01 -3.57908888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974391418 meters 0.03196499394733635 Centerline is valid? [True, True] Translation: X:201.56, Y:-8.86, Z:-3.58 [[ 9.99962786e-01 5.36843293e-03 6.75326455e-03 2.01564017e+02] [-5.36613901e-03 9.99985538e-01 -3.57749403e-04 -8.85709416e+00] [-6.75508744e-03 3.21497133e-04 9.99977132e-01 -3.57824790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004391418 meters 0.027889357291959276 Centerline is valid? [True, True] Translation: X:201.60, Y:-8.85, Z:-3.58 [[ 9.99942360e-01 8.10635739e-03 7.04011458e-03 2.01596318e+02] [-8.10393436e-03 9.99967093e-01 -3.72634038e-04 -8.85162042e+00] [-7.04290361e-03 3.15559933e-04 9.99975149e-01 -3.57765904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034391418 meters 0.02744742552457665 Centerline is valid? [True, True] Translation: X:201.63, Y:-8.85, Z:-3.58 [[ 9.99913442e-01 1.08963206e-02 7.37415687e-03 2.01626445e+02] [-1.08937389e-02 9.99940585e-01 -3.90181790e-04 -8.85103701e+00] [-7.37797028e-03 3.09815878e-04 9.99972734e-01 -3.57813811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064391418 meters 0.025747891886388638 Centerline is valid? [True, True] Translation: X:201.66, Y:-8.85, Z:-3.58 [[ 9.99820968e-01 1.70163565e-02 8.27497326e-03 2.01656686e+02] [-1.70132943e-02 9.99855166e-01 -4.40316919e-04 -8.84713816e+00] [-8.28126736e-03 2.99453534e-04 9.99965665e-01 -3.57842409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09439141800001 meters 0.022789916510101677 Centerline is valid? [True, True] Translation: X:201.69, Y:-8.84, Z:-3.58 [[ 9.99762785e-01 2.00341644e-02 8.54431009e-03 2.01686583e+02] [-2.00310064e-02 9.99799256e-01 -4.55031624e-04 -8.84269426e+00] [-8.55171105e-03 2.83772554e-04 9.99963393e-01 -3.57811276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12439141800002 meters 0.021511768160073736 Centerline is valid? [True, True] Translation: X:201.72, Y:-8.84, Z:-3.58 [[ 9.99690368e-01 2.32747853e-02 8.80070902e-03 2.01716616e+02] [-2.32715637e-02 9.99729071e-01 -4.68305169e-04 -8.84090164e+00] [-8.80922435e-03 2.63353907e-04 9.99961163e-01 -3.57866408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15439141800002 meters 0.020151366549962146 Centerline is valid? [True, True] Translation: X:201.75, Y:-8.84, Z:-3.58 [[ 9.99616710e-01 2.62065122e-02 8.92483487e-03 2.01745795e+02] [-2.62033158e-02 9.99656521e-01 -4.74906422e-04 -8.83846824e+00] [-8.93421502e-03 2.40864128e-04 9.99960060e-01 -3.57895160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters 0.01866299517570782 Centerline is valid? [True, True] Translation: X:201.77, Y:-8.83, Z:-3.58 [[ 9.99473740e-01 3.11689637e-02 8.98546119e-03 2.01774481e+02] [-3.11659310e-02 9.99514110e-01 -4.77374379e-04 -8.83428421e+00] [-8.99597451e-03 1.97082892e-04 9.99959516e-01 -3.57992276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214391418 meters 0.01749963084577245 Centerline is valid? [True, True] Translation: X:201.80, Y:-8.83, Z:-3.58 [[ 9.99401736e-01 3.34124108e-02 8.93202990e-03 2.01803416e+02] [-3.34095097e-02 9.99441634e-01 -4.73861261e-04 -8.83201235e+00] [-8.94287541e-03 1.75163028e-04 9.99959996e-01 -3.58051201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters 0.016518686974142622 Centerline is valid? [True, True] Translation: X:201.83, Y:-8.83, Z:-3.58 [[ 9.99325111e-01 3.56121036e-02 9.00555841e-03 2.01832699e+02] [-3.56092502e-02 9.99365676e-01 -4.77052298e-04 -8.82980503e+00] [-9.01683480e-03 1.56049158e-04 9.99959335e-01 -3.58116545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274391418 meters 0.015354679644087753 Centerline is valid? [True, True] Translation: X:201.86, Y:-8.83, Z:-3.58 [[ 9.99195611e-01 3.91145213e-02 8.84222655e-03 2.01861557e+02] [-3.91119135e-02 9.99234727e-01 -4.67714317e-04 -8.82640101e+00] [-8.85375425e-03 1.21501693e-04 9.99960797e-01 -3.58231912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters 0.015280859485925662 Centerline is valid? [True, True] Translation: X:201.89, Y:-8.83, Z:-3.58 [[ 9.99144998e-01 4.03264627e-02 9.11318705e-03 2.01889876e+02] [-4.03237503e-02 9.99186551e-01 -4.81263600e-04 -8.82597758e+00] [-9.12518160e-03 1.13374240e-04 9.99958358e-01 -3.58337614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334391418 meters 0.01499316004749792 Centerline is valid? [True, True] Translation: X:201.92, Y:-8.83, Z:-3.58 [[ 9.99087650e-01 4.16597881e-02 9.39840710e-03 2.01918741e+02] [-4.16569697e-02 9.99131849e-01 -4.95531565e-04 -8.82553648e+00] [-9.41089160e-03 1.03570307e-04 9.99955711e-01 -3.58427958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364391418 meters 0.014859302217504153 Centerline is valid? [True, True] Translation: X:201.95, Y:-8.83, Z:-3.58 [[ 9.99046061e-01 4.25408741e-02 9.86109588e-03 2.01947354e+02] [-4.25378226e-02 9.99094722e-01 -5.19074063e-04 -8.82540828e+00] [-9.87425071e-03 9.91093504e-05 9.99951243e-01 -3.58489059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394391418 meters 0.014967328847127254 Centerline is valid? [True, True] Translation: X:201.98, Y:-8.83, Z:-3.59 [[ 9.99014358e-01 4.29948145e-02 1.10343977e-02 2.01975096e+02] [-4.29910313e-02 9.99075290e-01 -5.79928962e-04 -8.82519328e+00] [-1.10491280e-02 1.04977224e-04 9.99938951e-01 -3.58560345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424391418 meters 0.015020207267705424 Centerline is valid? [True, True] Translation: X:202.00, Y:-8.83, Z:-3.59 [[ 9.99010598e-01 4.28298003e-02 1.19763631e-02 2.02003503e+02] [-4.28253491e-02 9.99082377e-01 -6.27992488e-04 -8.82647167e+00] [-1.19922701e-02 1.14479218e-04 9.99928084e-01 -3.58595977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454391418 meters 0.015235654623170626 Centerline is valid? [True, True] Translation: X:202.03, Y:-8.83, Z:-3.59 [[ 9.99034754e-01 4.19794392e-02 1.29339785e-02 2.02031299e+02] [-4.19741889e-02 9.99118466e-01 -6.77241176e-04 -8.82852431e+00] [-1.29510070e-02 1.33694214e-04 9.99916123e-01 -3.58628297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484391418 meters 0.015259784990575903 Centerline is valid? [True, True] Translation: X:202.06, Y:-8.83, Z:-3.59 [[ 9.99063979e-01 4.09952722e-02 1.38041397e-02 2.02060394e+02] [-4.09892207e-02 9.99159329e-01 -7.21135007e-04 -8.83026014e+00] [-1.38220980e-02 1.54639081e-04 9.99904458e-01 -3.58640387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514391418 meters 0.015814348684538022 Centerline is valid? [True, True] Translation: X:202.09, Y:-8.83, Z:-3.59 [[ 9.99157615e-01 3.81765221e-02 1.50536794e-02 2.02088602e+02] [-3.81690244e-02 9.99270989e-01 -7.85163746e-04 -8.83361028e+00] [-1.50726799e-02 2.09918080e-04 9.99886379e-01 -3.58651085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.544391418 meters 0.01634186548921588 Centerline is valid? [True, True] Translation: X:202.12, Y:-8.84, Z:-3.59 [[ 9.99220299e-01 3.64003235e-02 1.52908691e-02 2.02117484e+02] [-3.63924045e-02 9.99337260e-01 -7.95916097e-04 -8.83667415e+00] [-1.53097068e-02 2.38824029e-04 9.99882771e-01 -3.58702179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.574391418 meters 0.017955745832425457 Centerline is valid? [True, True] Translation: X:202.15, Y:-8.84, Z:-3.59 [[ 9.99364385e-01 3.21427264e-02 1.54166096e-02 2.02146133e+02] [-3.21341901e-02 9.99483242e-01 -8.01168274e-04 -8.84230484e+00] [-1.54343947e-02 3.05258776e-04 9.99880836e-01 -3.58844323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.604391418 meters 0.018825812627728252 Centerline is valid? [True, True] Translation: X:202.17, Y:-8.85, Z:-3.59 [[ 9.99438889e-01 3.00254397e-02 1.48451845e-02 2.02174845e+02] [-3.00173036e-02 9.99549082e-01 -7.70630541e-04 -8.84631634e+00] [-1.48616291e-02 3.24585722e-04 9.99889507e-01 -3.58900078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.634391418 meters 0.019759283125122994 Centerline is valid? [True, True] Translation: X:202.20, Y:-8.85, Z:-3.59 [[ 9.99489434e-01 2.80498087e-02 1.52996749e-02 2.02203768e+02] [-2.80409497e-02 9.99606460e-01 -7.93293931e-04 -8.85045316e+00] [-1.53159057e-02 3.63871487e-04 9.99882638e-01 -3.58989313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664391418 meters 0.02074351200137105 Centerline is valid? [True, True] Translation: X:202.23, Y:-8.85, Z:-3.59 [[ 9.99530036e-01 2.63311983e-02 1.56963391e-02 2.02233498e+02] [-2.63216775e-02 9.99653194e-01 -8.12874768e-04 -8.85471870e+00] [-1.57122995e-02 3.99338770e-04 9.99876474e-01 -3.59065726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694391418 meters 0.02253996654862135 Centerline is valid? [True, True] Translation: X:202.26, Y:-8.86, Z:-3.59 [[ 9.99589742e-01 2.36759276e-02 1.61182537e-02 2.02263014e+02] [-2.36655541e-02 9.99719584e-01 -8.34048196e-04 -8.86130860e+00] [-1.61334808e-02 4.52258616e-04 9.99869745e-01 -3.59175076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724391418 meters 0.02331866046531411 Centerline is valid? [True, True] Translation: X:202.29, Y:-8.86, Z:-3.59 [[ 9.99591379e-01 2.35330580e-02 1.62256196e-02 2.02294717e+02] [-2.35225337e-02 9.99722955e-01 -8.39190032e-04 -8.86411250e+00] [-1.62408731e-02 4.57179436e-04 9.99868004e-01 -3.59262107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754391418 meters 0.02325656575732924 Centerline is valid? [True, True] Translation: X:202.33, Y:-8.87, Z:-3.59 [[ 9.99593392e-01 2.31751978e-02 1.66120667e-02 2.02326341e+02] [-2.31641061e-02 9.99731306e-01 -8.59819586e-04 -8.86662593e+00] [-1.66275297e-02 4.74666300e-04 9.99861640e-01 -3.59294889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784391418 meters 0.020803834003564288 Centerline is valid? [True, True] Translation: X:202.36, Y:-8.86, Z:-3.59 [[ 9.99581969e-01 2.35311535e-02 1.67979852e-02 2.02357459e+02] [-2.35198517e-02 9.99722991e-01 -8.70074728e-04 -8.86481423e+00] [-1.68138059e-02 4.74624888e-04 9.99858525e-01 -3.59322676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814391418 meters 0.023118412416586884 Centerline is valid? [True, True] Translation: X:202.39, Y:-8.87, Z:-3.59 [[ 9.99528662e-01 2.51492060e-02 1.76059855e-02 2.02388053e+02] [-2.51370299e-02 9.99683598e-01 -9.12582935e-04 -8.87098344e+00] [-1.76233656e-02 4.69590617e-04 9.99844586e-01 -3.59396598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84439141800001 meters 0.020018027005888173 Centerline is valid? [True, True] Translation: X:202.42, Y:-8.87, Z:-3.59 [[ 9.99491348e-01 2.62013759e-02 1.81805839e-02 2.02419855e+02] [-2.61884779e-02 9.99656574e-01 -9.47199261e-04 -8.86795018e+00] [-1.81991581e-02 4.70595647e-04 9.99834271e-01 -3.59462005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87439141800002 meters 0.020110484027033887 Centerline is valid? [True, True] Translation: X:202.45, Y:-8.87, Z:-3.60 [[ 9.99406119e-01 2.90093819e-02 1.85974379e-02 2.02450182e+02] [-2.89963573e-02 9.99579047e-01 -9.69670840e-04 -8.87047530e+00] [-1.86177388e-02 4.29837016e-04 9.99826582e-01 -3.59576604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90439141800002 meters 0.019573085505582264 Centerline is valid? [True, True] Translation: X:202.48, Y:-8.87, Z:-3.60 [[ 9.99364693e-01 3.04043717e-02 1.85952571e-02 2.02480304e+02] [-3.03915848e-02 9.99537599e-01 -9.69916484e-04 -8.87148751e+00] [-1.86161483e-02 4.04160956e-04 9.99826623e-01 -3.59631482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934391418 meters 0.018203370901422166 Centerline is valid? [True, True] Translation: X:202.51, Y:-8.87, Z:-3.60 [[ 9.99315970e-01 3.16925821e-02 1.90570871e-02 2.02510707e+02] [-3.16793862e-02 9.99497588e-01 -9.94005235e-04 -8.87109458e+00] [-1.90790152e-02 3.89608484e-04 9.99817903e-01 -3.59669361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters 0.017813954681399884 Centerline is valid? [True, True] Translation: X:202.54, Y:-8.87, Z:-3.60 [[ 9.99243067e-01 3.36977773e-02 1.94358410e-02 2.02540214e+02] [-3.36844312e-02 9.99432004e-01 -1.01373264e-03 -8.87175975e+00] [-1.94589621e-02 3.58280063e-04 9.99810592e-01 -3.59772232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994391418 meters 0.01745878863840779 Centerline is valid? [True, True] Translation: X:202.57, Y:-8.87, Z:-3.60 [[ 9.99223107e-01 3.42374175e-02 1.95187534e-02 2.02570135e+02] [-3.42240683e-02 9.99413667e-01 -1.01764266e-03 -8.87331831e+00] [-1.95421504e-02 3.48840907e-04 9.99808973e-01 -3.59852918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters 0.01745878863840779 Centerline is valid? [True, True] Translation: X:202.60, Y:-8.87, Z:-3.60 [[ 9.99224445e-01 3.41983313e-02 1.95187932e-02 2.02599251e+02] [-3.41849895e-02 9.99415005e-01 -1.01687929e-03 -8.87479630e+00] [-1.95421504e-02 3.48840907e-04 9.99808973e-01 -3.59905501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054391418 meters 0.017751905690330742 Centerline is valid? [True, True] Translation: X:202.63, Y:-8.88, Z:-3.60 [[ 9.99228547e-01 3.42360165e-02 1.92407279e-02 2.02628883e+02] [-3.42230731e-02 9.99413717e-01 -1.00167281e-03 -8.87751043e+00] [-1.92637406e-02 3.42423231e-04 9.99814378e-01 -3.60019906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084391418 meters 0.01827461971414908 Centerline is valid? [True, True] Translation: X:202.66, Y:-8.88, Z:-3.60 [[ 9.99293336e-01 3.28819263e-02 1.82101078e-02 2.02658142e+02] [-3.28701140e-02 9.99459183e-01 -9.47679350e-04 -8.88069025e+00] [-1.82314209e-02 3.48441342e-04 9.99833733e-01 -3.60226476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114391418 meters 0.018718111001130848 Centerline is valid? [True, True] Translation: X:202.69, Y:-8.88, Z:-3.60 [[ 9.99337680e-01 3.19550812e-02 1.74090013e-02 2.02687997e+02] [-3.19441561e-02 9.99489245e-01 -9.05343624e-04 -8.88330742e+00] [-1.74290399e-02 3.48628143e-04 9.99848042e-01 -3.60372975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144391418 meters 0.019042510229393014 Centerline is valid? [True, True] Translation: X:202.72, Y:-8.89, Z:-3.60 [[ 9.99381449e-01 3.09385944e-02 1.67189068e-02 2.02717350e+02] [-3.09283866e-02 9.99521225e-01 -8.68836057e-04 -8.88599256e+00] [-1.67377828e-02 3.51209824e-04 9.99859852e-01 -3.60489960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174391418 meters 0.019835544469320395 Centerline is valid? [True, True] Translation: X:202.75, Y:-8.89, Z:-3.61 [[ 9.99443237e-01 2.94426270e-02 1.56954639e-02 2.02747184e+02] [-2.94334553e-02 9.99566410e-01 -8.15088110e-04 -8.88887458e+00] [-1.57126568e-02 3.52662566e-04 9.99876486e-01 -3.60628152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204391418 meters 0.020586657718916605 Centerline is valid? [True, True] Translation: X:202.78, Y:-8.89, Z:-3.61 [[ 9.99530833e-01 2.65895617e-02 1.52022776e-02 2.02777726e+02] [-2.65806376e-02 9.99646361e-01 -7.88811029e-04 -8.89136308e+00] [-1.52178756e-02 3.84354713e-04 9.99884128e-01 -3.60715301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234391418 meters 0.02165437811814402 Centerline is valid? [True, True] Translation: X:202.81, Y:-8.89, Z:-3.61 [[ 9.99573170e-01 2.50778567e-02 1.49859462e-02 2.02807461e+02] [-2.50690142e-02 9.99685420e-01 -7.77644520e-04 -8.89439830e+00] [-1.50007336e-02 4.01629700e-04 9.99887402e-01 -3.60757837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264391418 meters 0.023155174190509185 Centerline is valid? [True, True] Translation: X:202.84, Y:-8.90, Z:-3.61 [[ 9.99605225e-01 2.38130056e-02 1.49109201e-02 2.02837110e+02] [-2.38041160e-02 9.99716343e-01 -7.73404356e-04 -8.89826950e+00] [-1.49251076e-02 4.18157763e-04 9.99888527e-01 -3.60800266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.294391418 meters 0.02322633696447898 Centerline is valid? [True, True] Translation: X:202.87, Y:-8.90, Z:-3.61 [[ 9.99657355e-01 2.10757405e-02 1.55236934e-02 2.02868545e+02] [-2.10657769e-02 9.99777768e-01 -8.05090998e-04 -8.89950893e+00] [-1.55372115e-02 4.77796475e-04 9.99879176e-01 -3.60705714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.324391418 meters 0.023154939431442482 Centerline is valid? [True, True] Translation: X:202.90, Y:-8.90, Z:-3.61 [[ 9.99671643e-01 1.99485278e-02 1.60829598e-02 2.02901118e+02] [-1.99376844e-02 9.99800877e-01 -8.34286007e-04 -8.90067419e+00] [-1.60964001e-02 5.13355087e-04 9.99870313e-01 -3.60703805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.354391418 meters 0.02328413032025453 Centerline is valid? [True, True] Translation: X:202.93, Y:-8.90, Z:-3.61 [[ 9.99693479e-01 1.86238997e-02 1.63125187e-02 2.02933011e+02] [-1.86124927e-02 9.99826411e-01 -8.50834648e-04 -8.90182886e+00] [-1.63255329e-02 5.46957215e-04 9.99866580e-01 -3.60701835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.384391418 meters 0.024841440195890407 Centerline is valid? [True, True] Translation: X:202.96, Y:-8.91, Z:-3.61 [[ 9.99709614e-01 1.77026067e-02 1.63494580e-02 2.02963760e+02] [-1.76909476e-02 9.99843135e-01 -8.57484606e-04 -8.90517364e+00] [-1.63620731e-02 5.67998200e-04 9.99865971e-01 -3.60707930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414391418 meters 0.03213281361284751 Centerline is valid? [True, True] Translation: X:202.99, Y:-8.92, Z:-3.61 [[ 9.99760468e-01 1.48676985e-02 1.60610572e-02 2.02994339e+02] [-1.48560151e-02 9.99889285e-01 -8.46507256e-04 -8.91611400e+00] [-1.60718646e-02 6.07701182e-04 9.99870655e-01 -3.60774473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444391418 meters 0.0272492582451712 Centerline is valid? [True, True] Translation: X:203.03, Y:-8.91, Z:-3.61 [[ 9.99783342e-01 1.35757162e-02 1.57787291e-02 2.03027179e+02] [-1.35642175e-02 9.99907653e-01 -8.35544506e-04 -8.91020489e+00] [-1.57886151e-02 6.21337366e-04 9.99875159e-01 -3.60817796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474391418 meters 0.03479684383963755 Centerline is valid? [True, True] Translation: X:203.06, Y:-8.92, Z:-3.61 [[ 9.99809899e-01 1.22676918e-02 1.51548219e-02 2.03058091e+02] [-1.22568726e-02 9.99924556e-01 -8.06587558e-04 -8.92194525e+00] [-1.51635736e-02 6.20683504e-04 9.99884834e-01 -3.60971454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504391418 meters 0.029446509233332117 Centerline is valid? [True, True] Translation: X:203.09, Y:-8.91, Z:-3.61 [[ 9.99860203e-01 9.44498082e-03 1.37973670e-02 2.03090733e+02] [-9.43569160e-03 9.99955210e-01 -7.38203598e-04 -8.91473064e+00] [-1.38037213e-02 6.07912699e-04 9.99904539e-01 -3.61041041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534391418 meters 0.03026150701194378 Centerline is valid? [True, True] Translation: X:203.12, Y:-8.92, Z:-3.61 [[ 9.99876516e-01 8.75855680e-03 1.30476255e-02 2.03123142e+02] [-8.75019175e-03 9.99961473e-01 -6.98066630e-04 -8.91677709e+00] [-1.30532368e-02 5.83811205e-04 9.99914632e-01 -3.61130852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564391418 meters 0.03090285626494369 Centerline is valid? [True, True] Translation: X:203.16, Y:-8.92, Z:-3.61 [[ 9.99891192e-01 8.07982179e-03 1.23418024e-02 2.03155115e+02] [-8.07224680e-03 9.99967199e-01 -6.63459949e-04 -8.91801778e+00] [-1.23467582e-02 5.63761685e-04 9.99923617e-01 -3.61205258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59439141800001 meters 0.029829265530205346 Centerline is valid? [True, True] Translation: X:203.19, Y:-8.92, Z:-3.61 [[ 9.99901843e-01 8.05635212e-03 1.14630032e-02 2.03187099e+02] [-8.04978421e-03 9.99967408e-01 -6.18990326e-04 -8.91664847e+00] [-1.14676165e-02 5.26654865e-04 9.99934106e-01 -3.61256932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62439141800002 meters 0.03213422793473094 Centerline is valid? [True, True] Translation: X:203.22, Y:-8.92, Z:-3.61 [[ 9.99905210e-01 8.89017302e-03 1.05135829e-02 2.03218859e+02] [-8.88466704e-03 9.99960368e-01 -5.70293184e-04 -8.91741312e+00] [-1.05182362e-02 4.76829443e-04 9.99944568e-01 -3.61403225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65439141800002 meters 0.028271486424593012 Centerline is valid? [True, True] Translation: X:203.25, Y:-8.91, Z:-3.61 [[ 9.99902961e-01 1.01770727e-02 9.51289602e-03 2.03251465e+02] [-1.01726029e-02 9.99948124e-01 -5.18137691e-04 -8.91173889e+00] [-9.51767565e-03 4.21316498e-04 9.99954617e-01 -3.61392750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters 0.027890319333734065 Centerline is valid? [True, True] Translation: X:203.28, Y:-8.91, Z:-3.62 [[ 9.99890153e-01 1.19007480e-02 8.83477014e-03 2.03283667e+02] [-1.18969406e-02 9.99929112e-01 -4.83392695e-04 -8.91046287e+00] [-8.83989660e-03 3.78232861e-04 9.99960856e-01 -3.61522150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714391418 meters 0.027818144459405954 Centerline is valid? [True, True] Translation: X:203.32, Y:-8.91, Z:-3.62 [[ 9.99879433e-01 1.36476524e-02 7.40686639e-03 2.03315338e+02] [-1.36449954e-02 9.99906819e-01 -4.09138334e-04 -8.90905750e+00] [-7.41175999e-03 3.08022348e-04 9.99972485e-01 -3.61654072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters 0.027965958957934453 Centerline is valid? [True, True] Translation: X:203.35, Y:-8.91, Z:-3.62 [[ 9.99836547e-01 1.67224878e-02 6.87297099e-03 2.03345237e+02] [-1.67202665e-02 9.99860134e-01 -3.80542707e-04 -8.90658380e+00] [-6.87837332e-03 2.65562599e-04 9.99976308e-01 -3.61749419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774391418 meters 0.025393113451461537 Centerline is valid? [True, True] Translation: X:203.37, Y:-8.90, Z:-3.62 [[ 9.99812275e-01 1.80447297e-02 7.05708072e-03 2.03374898e+02] [-1.80424137e-02 9.99837146e-01 -3.91702008e-04 -8.90163585e+00] [-7.06299960e-03 2.64301705e-04 9.99975022e-01 -3.61719993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804391418 meters 0.0245172785449481 Centerline is valid? [True, True] Translation: X:203.40, Y:-8.90, Z:-3.62 [[ 9.99787100e-01 1.94772446e-02 6.81121192e-03 2.03404143e+02] [-1.94751288e-02 9.99810271e-01 -3.76835433e-04 -8.89932405e+00] [-6.81725935e-03 2.44105975e-04 9.99976732e-01 -3.61750391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834391418 meters 0.023926718351428882 Centerline is valid? [True, True] Translation: X:203.43, Y:-8.89, Z:-3.62 [[ 9.99746649e-01 2.15119402e-02 6.62378151e-03 2.03433317e+02] [-2.15099886e-02 9.99768567e-01 -3.65738540e-04 -8.89498406e+00] [-6.63011629e-03 2.23168415e-04 9.99977996e-01 -3.61758271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864391418 meters 0.02409536212742865 Centerline is valid? [True, True] Translation: X:203.46, Y:-8.89, Z:-3.62 [[ 9.99742181e-01 2.18186526e-02 6.28628947e-03 2.03461903e+02] [-2.18169015e-02 9.99761923e-01 -3.47004230e-04 -8.89413851e+00] [-6.29236401e-03 2.09767408e-04 9.99980181e-01 -3.61854119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894391418 meters 0.023837503544995267 Centerline is valid? [True, True] Translation: X:203.49, Y:-8.89, Z:-3.62 [[ 9.99732724e-01 2.22624195e-02 6.23414192e-03 2.03490404e+02] [-2.22607089e-02 9.99752141e-01 -3.43642794e-04 -8.89329280e+00] [-6.24024705e-03 2.04774528e-04 9.99980509e-01 -3.61879918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924391418 meters 0.023954985178059017 Centerline is valid? [True, True] Translation: X:203.52, Y:-8.89, Z:-3.62 [[ 9.99734093e-01 2.22484760e-02 6.06214250e-03 2.03518820e+02] [-2.22468610e-02 9.99752452e-01 -3.33720535e-04 -8.89269439e+00] [-6.06806661e-03 1.98768154e-04 9.99981569e-01 -3.61909318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954391418 meters 0.024262983560679883 Centerline is valid? [True, True] Translation: X:203.55, Y:-8.89, Z:-3.62 [[ 9.99727911e-01 2.25315215e-02 6.03604885e-03 2.03546435e+02] [-2.25299269e-02 9.99746114e-01 -3.32043153e-04 -8.89046488e+00] [-6.04199782e-03 1.95961068e-04 9.99981728e-01 -3.61932866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984391418 meters 0.024500478503075247 Centerline is valid? [True, True] Translation: X:203.58, Y:-8.89, Z:-3.62 [[ 9.99731989e-01 2.23563907e-02 6.01183009e-03 2.03575531e+02] [-2.23548107e-02 9.99750046e-01 -3.29891686e-04 -8.89022784e+00] [-6.01770260e-03 1.95409948e-04 9.99981874e-01 -3.61933831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014391418 meters 0.024823826466308586 Centerline is valid? [True, True] Translation: X:203.60, Y:-8.89, Z:-3.62 [[ 9.99738994e-01 2.20333267e-02 6.03950604e-03 2.03604557e+02] [-2.20317291e-02 9.99757217e-01 -3.30940443e-04 -8.89017911e+00] [-6.04533147e-03 1.97793305e-04 9.99981707e-01 -3.61973067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.044391418 meters 0.025478789935315722 Centerline is valid? [True, True] Translation: X:203.63, Y:-8.89, Z:-3.62 [[ 9.99743731e-01 2.16779374e-02 6.52225766e-03 2.03632119e+02] [-2.16760686e-02 9.99764983e-01 -3.57083887e-04 -8.88870563e+00] [-6.52846566e-03 2.15615472e-04 9.99978666e-01 -3.62064219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.074391418 meters 0.025764051178335665 Centerline is valid? [True, True] Translation: X:203.66, Y:-8.89, Z:-3.62 [[ 9.99747203e-01 2.15654265e-02 6.36095993e-03 2.03661367e+02] [-2.15636526e-02 9.99767417e-01 -3.47334124e-04 -8.88876743e+00] [-6.36697089e-03 2.10080789e-04 9.99979709e-01 -3.62128970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.104391418 meters 0.025766647918110473 Centerline is valid? [True, True] Translation: X:203.69, Y:-8.89, Z:-3.62 [[ 9.99741456e-01 2.17985315e-02 6.46883058e-03 2.03690542e+02] [-2.17967050e-02 9.99762361e-01 -3.52720765e-04 -8.88865813e+00] [-6.47498213e-03 2.11630379e-04 9.99979015e-01 -3.62204567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.134391418 meters 0.02368988893377381 Centerline is valid? [True, True] Translation: X:203.72, Y:-8.88, Z:-3.62 [[ 9.99732415e-01 2.22836712e-02 6.20777464e-03 2.03719259e+02] [-2.22820008e-02 9.99751668e-01 -3.38121794e-04 -8.88340940e+00] [-6.21376765e-03 1.99709678e-04 9.99980674e-01 -3.62187813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164391418 meters 0.022593383369884437 Centerline is valid? [True, True] Translation: X:203.75, Y:-8.88, Z:-3.62 [[ 9.99733491e-01 2.23044616e-02 5.95468288e-03 2.03747890e+02] [-2.23029272e-02 9.99751206e-01 -3.23960571e-04 -8.88088778e+00] [-5.96042716e-03 1.91067374e-04 9.99982218e-01 -3.62170238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194391418 meters 0.0219209339858224 Centerline is valid? [True, True] Translation: X:203.78, Y:-8.88, Z:-3.62 [[ 9.99723648e-01 2.27759749e-02 5.82087702e-03 2.03777028e+02] [-2.27745192e-02 9.99740577e-01 -3.16264021e-04 -8.87919137e+00] [-5.82657017e-03 1.83608946e-04 9.99983009e-01 -3.62166405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224391418 meters 0.02224199339489738 Centerline is valid? [True, True] Translation: X:203.80, Y:-8.88, Z:-3.62 [[ 9.99716392e-01 2.31987151e-02 5.38098038e-03 2.03804968e+02] [-2.31974776e-02 9.99730860e-01 -2.92282184e-04 -8.87884292e+00] [-5.38631271e-03 1.67374119e-04 9.99985480e-01 -3.62246457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254391418 meters 0.02125537039039781 Centerline is valid? [True, True] Translation: X:203.83, Y:-8.88, Z:-3.62 [[ 9.99688994e-01 2.43809484e-02 5.24248425e-03 2.03833566e+02] [-2.43797939e-02 9.99702728e-01 -2.84031512e-04 -8.87533134e+00] [-5.24785077e-03 1.56132491e-04 9.99986218e-01 -3.62226229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284391418 meters 0.021054814548740596 Centerline is valid? [True, True] Translation: X:203.86, Y:-8.87, Z:-3.62 [[ 9.99669119e-01 2.50758957e-02 5.73164262e-03 2.03862178e+02] [-2.50745305e-02 9.99685536e-01 -3.09937358e-04 -8.87487775e+00] [-5.73761219e-03 1.66116559e-04 9.99983526e-01 -3.62247145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314391418 meters 0.020387979170930836 Centerline is valid? [True, True] Translation: X:203.89, Y:-8.87, Z:-3.62 [[ 9.99655276e-01 2.55522062e-02 6.03442978e-03 2.03891019e+02] [-2.55507048e-02 9.99673474e-01 -3.25767814e-04 -8.87375369e+00] [-6.04078347e-03 1.71471580e-04 9.99981740e-01 -3.62257330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34439141800001 meters 0.020470014223038225 Centerline is valid? [True, True] Translation: X:203.92, Y:-8.87, Z:-3.62 [[ 9.99632103e-01 2.63948519e-02 6.24259544e-03 2.03918908e+02] [-2.63932637e-02 9.99651580e-01 -3.36678863e-04 -8.87228274e+00] [-6.24930698e-03 1.71792532e-04 9.99980458e-01 -3.62327040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37439141800002 meters 0.020576136711793896 Centerline is valid? [True, True] Translation: X:203.95, Y:-8.87, Z:-3.62 [[ 9.99641173e-01 2.61569397e-02 5.77397278e-03 2.03947567e+02] [-2.61555811e-02 9.99657836e-01 -3.10712709e-04 -8.87209816e+00] [-5.78012443e-03 1.59579604e-04 9.99983282e-01 -3.62363523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40439141800002 meters 0.021339882655847336 Centerline is valid? [True, True] Translation: X:203.98, Y:-8.87, Z:-3.62 [[ 9.99651787e-01 2.57295088e-02 5.85641647e-03 2.03975021e+02] [-2.57281045e-02 9.99668928e-01 -3.15004748e-04 -8.87331580e+00] [-5.86258249e-03 1.64220565e-04 9.99982801e-01 -3.62427277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434391418 meters 0.022032619000280855 Centerline is valid? [True, True] Translation: X:204.00, Y:-8.87, Z:-3.62 [[ 9.99675422e-01 2.47494852e-02 6.04263757e-03 2.04004091e+02] [-2.47479788e-02 9.99693669e-01 -3.23955438e-04 -8.87368618e+00] [-6.04880425e-03 1.74307223e-04 9.99981691e-01 -3.62416972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters 0.022993636152150138 Centerline is valid? [True, True] Translation: X:204.03, Y:-8.88, Z:-3.62 [[ 9.99706581e-01 2.33473889e-02 6.45375996e-03 2.04032739e+02] [-2.33456452e-02 9.99727394e-01 -3.45398967e-04 -8.87592212e+00] [-6.46006479e-03 1.94630431e-04 9.99979115e-01 -3.62463497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494391418 meters 0.024122743067660313 Centerline is valid? [True, True] Translation: X:204.06, Y:-8.88, Z:-3.63 [[ 9.99737269e-01 2.19228704e-02 6.69178462e-03 2.04060287e+02] [-2.19209662e-02 9.99759643e-01 -3.57785110e-04 -8.87896075e+00] [-6.69801988e-03 2.11000725e-04 9.99977546e-01 -3.62517816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters 0.025333940238005087 Centerline is valid? [True, True] Translation: X:204.09, Y:-8.88, Z:-3.63 [[ 9.99796095e-01 1.91009842e-02 6.55134508e-03 2.04089321e+02] [-1.90991052e-02 9.99817534e-01 -3.49264503e-04 -8.88280999e+00] [-6.55682098e-03 2.24068458e-04 9.99978479e-01 -3.62599480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554391418 meters 0.02638024834520933 Centerline is valid? [True, True] Translation: X:204.12, Y:-8.89, Z:-3.63 [[ 9.99813876e-01 1.82496761e-02 6.25803287e-03 2.04117215e+02] [-1.82479441e-02 9.99833437e-01 -3.33754015e-04 -8.88580384e+00] [-6.26308141e-03 2.19495662e-04 9.99980363e-01 -3.62726399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584391418 meters 0.02725100152452938 Centerline is valid? [True, True] Translation: X:204.14, Y:-8.89, Z:-3.63 [[ 9.99829502e-01 1.75105798e-02 5.86065035e-03 2.04144863e+02] [-1.75090501e-02 9.99846656e-01 -3.12232361e-04 -8.88808792e+00] [-5.86521903e-03 2.09564705e-04 9.99982777e-01 -3.62846543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614391418 meters 0.024508220782884657 Centerline is valid? [True, True] Translation: X:204.17, Y:-8.88, Z:-3.63 [[ 9.99826706e-01 1.79326660e-02 4.99781257e-03 2.04174056e+02] [-1.79315616e-02 9.99839181e-01 -2.65693222e-04 -8.88494838e+00] [-5.00177342e-03 1.76028595e-04 9.99987476e-01 -3.62797634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644391418 meters 0.02428351236512554 Centerline is valid? [True, True] Translation: X:204.20, Y:-8.89, Z:-3.63 [[ 9.99811724e-01 1.87193320e-02 5.10904947e-03 2.04203124e+02] [-1.87181905e-02 9.99824763e-01 -2.71169100e-04 -8.88549181e+00] [-5.11323027e-03 1.75485884e-04 9.99986912e-01 -3.62823577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674391418 meters 0.023850052776275416 Centerline is valid? [True, True] Translation: X:204.23, Y:-8.89, Z:-3.63 [[ 9.99785704e-01 1.99942467e-02 5.36438315e-03 2.04230651e+02] [-1.99930079e-02 9.99800079e-01 -2.84468755e-04 -8.88585250e+00] [-5.36899844e-03 1.77157640e-04 9.99985571e-01 -3.62831478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704391418 meters 0.023219622689424454 Centerline is valid? [True, True] Translation: X:204.26, Y:-8.89, Z:-3.63 [[ 9.99745481e-01 2.16835512e-02 6.22868338e-03 2.04260095e+02] [-2.16819221e-02 9.99764865e-01 -3.28963191e-04 -8.88573233e+00] [-6.23435189e-03 1.93829636e-04 9.99980547e-01 -3.62883219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734391418 meters 0.020369741603922298 Centerline is valid? [True, True] Translation: X:204.29, Y:-8.88, Z:-3.63 [[ 9.99625596e-01 2.64485188e-02 7.01022408e-03 2.04290431e+02] [-2.64465789e-02 9.99650160e-01 -3.69287661e-04 -8.88212404e+00] [-7.01753874e-03 1.83752954e-04 9.99975360e-01 -3.62809480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764391418 meters 0.01874233482584812 Centerline is valid? [True, True] Translation: X:204.32, Y:-8.88, Z:-3.63 [[ 9.99526933e-01 2.98270365e-02 7.50056712e-03 2.04319501e+02] [-2.98249075e-02 9.99555060e-01 -3.95564838e-04 -8.88022632e+00] [-7.50902834e-03 1.71673989e-04 9.99971792e-01 -3.62822982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.794391418 meters 0.016014024879372805 Centerline is valid? [True, True] Translation: X:204.35, Y:-8.87, Z:-3.63 [[ 9.99283221e-01 3.70464687e-02 7.78482529e-03 2.04349225e+02] [-3.70444025e-02 9.99313537e-01 -4.09491336e-04 -8.87459056e+00] [-7.79465150e-03 1.20813619e-04 9.99969614e-01 -3.62803434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.824391418 meters 0.015076548777562744 Centerline is valid? [True, True] Translation: X:204.38, Y:-8.87, Z:-3.63 [[ 9.99159071e-01 4.02123073e-02 8.00757217e-03 2.04378262e+02] [-4.02102223e-02 9.99191153e-01 -4.21267378e-04 -8.87223544e+00] [-8.01803540e-03 9.89268648e-05 9.99967850e-01 -3.62809433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.854391418 meters 0.014408929655106161 Centerline is valid? [True, True] Translation: X:204.41, Y:-8.87, Z:-3.63 [[ 9.99029803e-01 4.34004854e-02 7.47338390e-03 2.04407204e+02] [-4.33987622e-02 9.99057753e-01 -3.92667609e-04 -8.87056088e+00] [-7.48338408e-03 6.79510331e-05 9.99971997e-01 -3.62860185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.884391418 meters 0.013892261651700332 Centerline is valid? [True, True] Translation: X:204.44, Y:-8.87, Z:-3.63 [[ 9.98905071e-01 4.61328112e-02 7.77317210e-03 2.04435856e+02] [-4.61310349e-02 9.98935314e-01 -4.07757839e-04 -8.86925814e+00] [-7.78370713e-03 4.87269000e-05 9.99969705e-01 -3.62888327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914391418 meters 0.013685018881720962 Centerline is valid? [True, True] Translation: X:204.46, Y:-8.87, Z:-3.63 [[ 9.98783061e-01 4.87397867e-02 7.53852897e-03 2.04463233e+02] [-4.87381928e-02 9.98811510e-01 -3.95102360e-04 -8.86872759e+00] [-7.54882671e-03 2.72072660e-05 9.99971507e-01 -3.62962896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944391418 meters 0.01342767423677288 Centerline is valid? [True, True] Translation: X:204.49, Y:-8.87, Z:-3.63 [[ 9.98596167e-01 5.24256936e-02 7.56588085e-03 2.04492567e+02] [-5.24242009e-02 9.98624828e-01 -3.95624549e-04 -8.86783716e+00] [-7.57621735e-03 -1.56609967e-06 9.99971300e-01 -3.63011310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974391418 meters 0.01342767423677288 Centerline is valid? [True, True] Translation: X:204.52, Y:-8.87, Z:-3.63 [[ 9.98602269e-01 5.23093315e-02 7.56589050e-03 2.04519982e+02] [-5.23078368e-02 9.98630930e-01 -3.95440750e-04 -8.86914941e+00] [-7.57621750e-03 -8.67335365e-07 9.99971300e-01 -3.63060850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004391418 meters 0.013648404255947804 Centerline is valid? [True, True] Translation: X:204.55, Y:-8.87, Z:-3.63 [[ 9.98530947e-01 5.36428736e-02 7.64136897e-03 2.04546961e+02] [-5.36413935e-02 9.98560184e-01 -3.98661892e-04 -8.86962835e+00] [-7.65175217e-03 -1.18174431e-05 9.99970725e-01 -3.63222701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034391418 meters 0.013499750673392924 Centerline is valid? [True, True] Translation: X:204.58, Y:-8.87, Z:-3.63 [[ 9.98469107e-01 5.48288355e-02 7.29671519e-03 2.04575670e+02] [-5.48275284e-02 9.98495768e-01 -3.79201520e-04 -8.87086288e+00] [-7.30653041e-03 -2.14398563e-05 9.99973307e-01 -3.63199048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064391418 meters 0.013821689028305105 Centerline is valid? [True, True] Translation: X:204.60, Y:-8.87, Z:-3.63 [[ 9.98419089e-01 5.57660823e-02 7.03321448e-03 2.04603578e+02] [-5.57648932e-02 9.98443861e-01 -3.65210337e-04 -8.87114342e+00] [-7.04263617e-03 -2.75734822e-05 9.99975200e-01 -3.63398221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09439141800001 meters 0.013730652313014546 Centerline is valid? [True, True] Translation: X:204.63, Y:-8.87, Z:-3.63 [[ 9.98432462e-01 5.55310696e-02 6.99429189e-03 2.04631424e+02] [-5.55298912e-02 9.98456959e-01 -3.62716125e-04 -8.87285226e+00] [-7.00364143e-03 -2.62447135e-05 9.99975474e-01 -3.63347615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12439141800002 meters 0.013539061771542718 Centerline is valid? [True, True] Translation: X:204.66, Y:-8.88, Z:-3.63 [[ 9.98448014e-01 5.52762569e-02 6.78962147e-03 2.04658902e+02] [-5.52751452e-02 9.98471099e-01 -3.51414727e-04 -8.87510017e+00] [-6.79866570e-03 -2.44279761e-05 9.99976889e-01 -3.63327235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15439141800002 meters 0.013437295158277239 Centerline is valid? [True, True] Translation: X:204.69, Y:-8.88, Z:-3.63 [[ 9.98545341e-01 5.34541694e-02 7.06071484e-03 2.04686889e+02] [-5.34529298e-02 9.98570304e-01 -3.64289727e-04 -8.87957006e+00] [-7.07009297e-03 -1.36560850e-05 9.99975006e-01 -3.63491153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters 0.01331193051690634 Centerline is valid? [True, True] Translation: X:204.72, Y:-8.88, Z:-3.64 [[ 9.98613036e-01 5.21214168e-02 7.44061161e-03 2.04715576e+02] [-5.21200111e-02 9.98640755e-01 -3.82840402e-04 -8.88307843e+00] [-7.45045218e-03 -5.49534350e-06 9.99972245e-01 -3.63541911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214391418 meters 0.013205874554968243 Centerline is valid? [True, True] Translation: X:204.74, Y:-8.89, Z:-3.64 [[ 9.98689179e-01 5.06407851e-02 7.44541529e-03 2.04743717e+02] [-5.06393375e-02 9.98716932e-01 -3.82940589e-04 -8.88684758e+00] [-7.45525473e-03 5.40772491e-06 9.99972209e-01 -3.63552373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters 0.01326093617532143 Centerline is valid? [True, True] Translation: X:204.77, Y:-8.89, Z:-3.64 [[ 9.98782052e-01 4.87515229e-02 7.59621164e-03 2.04770933e+02] [-4.87499671e-02 9.98810937e-01 -3.89944914e-04 -8.89083713e+00] [-7.60618967e-03 1.91549140e-05 9.99971072e-01 -3.63634947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274391418 meters 0.013706745538126208 Centerline is valid? [True, True] Translation: X:204.80, Y:-8.90, Z:-3.64 [[ 9.98899113e-01 4.62659962e-02 7.74718445e-03 2.04798159e+02] [-4.62643150e-02 9.98929155e-01 -3.96165697e-04 -8.89590806e+00] [-7.75721742e-03 3.73113813e-05 9.99969912e-01 -3.63859306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304391418 meters 0.014230237611441588 Centerline is valid? [True, True] Translation: X:204.83, Y:-8.90, Z:-3.64 [[ 9.99129854e-01 4.08431468e-02 8.44815241e-03 2.04826312e+02] [-4.08409635e-02 9.99165567e-01 -4.30867086e-04 -8.90271658e+00] [-8.45870096e-03 8.54614846e-05 9.99964221e-01 -3.63675787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334391418 meters 0.014903330911539888 Centerline is valid? [True, True] Translation: X:204.85, Y:-8.91, Z:-3.64 [[ 9.99251297e-01 3.77146792e-02 8.62836359e-03 2.04853521e+02] [-3.77122866e-02 9.99288542e-01 -4.39893022e-04 -8.90783923e+00] [-8.63881530e-03 1.14168352e-04 9.99962678e-01 -3.63727257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364391418 meters 0.016044337937043046 Centerline is valid? [True, True] Translation: X:204.88, Y:-8.91, Z:-3.64 [[ 9.99365878e-01 3.45912433e-02 8.44321850e-03 2.04881631e+02] [-3.45888532e-02 9.99401535e-01 -4.28976141e-04 -8.91337536e+00] [-8.45300434e-03 1.36662873e-04 9.99964263e-01 -3.63829510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394391418 meters 0.017918019280299582 Centerline is valid? [True, True] Translation: X:204.91, Y:-8.92, Z:-3.64 [[ 9.99577888e-01 2.79694735e-02 7.85840157e-03 2.04910625e+02] [-2.79672081e-02 9.99608762e-01 -3.98044543e-04 -8.92258453e+00] [-7.86646016e-03 1.78098971e-04 9.99969043e-01 -3.63965444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424391418 meters 0.019923677356629716 Centerline is valid? [True, True] Translation: X:204.94, Y:-8.93, Z:-3.64 [[ 9.99671718e-01 2.45236604e-02 7.41934218e-03 2.04937968e+02] [-2.45215435e-02 9.99699231e-01 -3.76175301e-04 -8.92940999e+00] [-7.42633587e-03 1.94118087e-04 9.99972406e-01 -3.64091564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454391418 meters 0.021067317488372633 Centerline is valid? [True, True] Translation: X:204.97, Y:-8.93, Z:-3.64 [[ 9.99753167e-01 2.09137079e-02 7.49806539e-03 2.04967009e+02] [-2.09114532e-02 9.99781260e-01 -3.78986182e-04 -8.93430722e+00] [-7.50435127e-03 2.22097193e-04 9.99971817e-01 -3.64122266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484391418 meters 0.023771375522474714 Centerline is valid? [True, True] Translation: X:205.00, Y:-8.94, Z:-3.64 [[ 9.99864378e-01 1.42624189e-02 8.23467039e-03 2.04997256e+02] [-1.42594838e-02 9.99898242e-01 -4.15039856e-04 -8.94295489e+00] [-8.23975192e-03 2.97561418e-04 9.99966008e-01 -3.64059074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514391418 meters 0.026969868067443722 Centerline is valid? [True, True] Translation: X:205.03, Y:-8.95, Z:-3.64 [[ 9.99900629e-01 1.11546813e-02 8.62006077e-03 2.05026583e+02] [-1.11513480e-02 9.99937727e-01 -4.34651637e-04 -8.95033438e+00] [-8.62437237e-03 3.38483147e-04 9.99962752e-01 -3.64084657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.544391418 meters 0.028545754136966972 Centerline is valid? [True, True] Translation: X:205.06, Y:-8.96, Z:-3.64 [[ 9.99922444e-01 8.56481787e-03 9.04154595e-03 2.05056812e+02] [-8.56104840e-03 9.99963250e-01 -4.55526910e-04 -8.95528677e+00] [-9.04511517e-03 3.78086469e-04 9.99959021e-01 -3.64112311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.574391418 meters 0.027539852288290534 Centerline is valid? [True, True] Translation: X:205.09, Y:-8.96, Z:-3.64 [[ 9.99942795e-01 6.14203946e-03 8.75679273e-03 2.05088162e+02] [-6.13841424e-03 9.99981063e-01 -4.40805858e-04 -8.95670464e+00] [-8.75933435e-03 3.87027821e-04 9.99961561e-01 -3.64049169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.604391418 meters 0.03044366619550811 Centerline is valid? [True, True] Translation: X:205.12, Y:-8.96, Z:-3.64 [[ 9.99962363e-01 2.37615164e-03 8.34430541e-03 2.05117453e+02] [-2.37273069e-03 9.99997097e-01 -4.19849973e-04 -8.96422282e+00] [-8.34527882e-03 4.00035381e-04 9.99965098e-01 -3.64155150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.634391418 meters 0.0315270825878121 Centerline is valid? [True, True] Translation: X:205.15, Y:-8.97, Z:-3.64 [[ 9.99968491e-01 1.20698620e-03 7.84604599e-03 2.05149195e+02] [-1.20393571e-03 9.99999198e-01 -3.93504972e-04 -8.96841188e+00] [-7.84651465e-03 3.84046438e-04 9.99969142e-01 -3.64276671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664391418 meters 0.03269800870314399 Centerline is valid? [True, True] Translation: X:205.18, Y:-8.97, Z:-3.64 [[ 9.99974569e-01 1.15153798e-04 7.13073263e-03 2.05181487e+02] [-1.12595457e-04 9.99999929e-01 -3.59177123e-04 -8.97271185e+00] [-7.13077348e-03 3.58365101e-04 9.99974511e-01 -3.64409084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694391418 meters 0.031903004140229806 Centerline is valid? [True, True] Translation: X:205.21, Y:-8.98, Z:-3.64 [[ 9.99978914e-01 -8.84100281e-04 6.43353451e-03 2.05213298e+02] [ 8.86212737e-04 9.99999554e-01 -3.25507434e-04 -8.97509874e+00] [-6.43324386e-03 3.31202050e-04 9.99979252e-01 -3.64498124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724391418 meters 0.03475282603543006 Centerline is valid? [True, True] Translation: X:205.25, Y:-8.98, Z:-3.65 [[ 9.99983050e-01 -7.03021855e-04 5.77977607e-03 2.05245314e+02] [ 7.04741255e-04 9.99999708e-01 -2.95454329e-04 -8.98087389e+00] [-5.77956668e-03 2.99522567e-04 9.99983253e-01 -3.64673558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754391418 meters 0.033482077770484 Centerline is valid? [True, True] Translation: X:205.28, Y:-8.98, Z:-3.65 [[ 9.99985515e-01 -2.74320312e-04 5.37541254e-03 2.05277285e+02] [ 2.75805113e-04 9.99999924e-01 -2.75481418e-04 -8.98098022e+00] [-5.37533657e-03 2.76959993e-04 9.99985514e-01 -3.64707352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784391418 meters 0.03135938760097293 Centerline is valid? [True, True] Translation: X:205.31, Y:-8.98, Z:-3.65 [[ 9.99985592e-01 8.26915863e-04 5.30395202e-03 2.05309447e+02] [-8.25483730e-04 9.99999622e-01 -2.72196049e-04 -8.97969523e+00] [-5.30417510e-03 2.67813801e-04 9.99985897e-01 -3.64706518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814391418 meters 0.029962255534631704 Centerline is valid? [True, True] Translation: X:205.34, Y:-8.98, Z:-3.65 [[ 9.99978392e-01 4.83019627e-03 4.45914149e-03 2.05340133e+02] [-4.82922064e-03 9.99988313e-01 -2.29533584e-04 -8.97822661e+00] [-4.46019807e-03 2.07994446e-04 9.99990032e-01 -3.64754729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84439141800001 meters 0.028857594397867413 Centerline is valid? [True, True] Translation: X:205.37, Y:-8.98, Z:-3.65 [[ 9.99959976e-01 7.72900301e-03 4.50651722e-03 2.05371373e+02] [-7.72803389e-03 9.99970111e-01 -2.32421563e-04 -8.97737496e+00] [-4.50817891e-03 1.97585742e-04 9.99989819e-01 -3.64798922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87439141800002 meters 0.02742441276946062 Centerline is valid? [True, True] Translation: X:205.40, Y:-8.98, Z:-3.65 [[ 9.99929596e-01 1.09366477e-02 4.60361017e-03 2.05401790e+02] [-1.09356686e-02 9.99940176e-01 -2.37792718e-04 -8.97602965e+00] [-4.60593542e-03 1.87432421e-04 9.99989375e-01 -3.64813252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90439141800002 meters 0.023857365019060404 Centerline is valid? [True, True] Translation: X:205.43, Y:-8.97, Z:-3.65 [[ 9.99815442e-01 1.85319569e-02 5.06434500e-03 2.05432133e+02] [-1.85308692e-02 9.99828254e-01 -2.61638149e-04 -8.97002513e+00] [-5.06832389e-03 1.67743148e-04 9.99987142e-01 -3.64781290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934391418 meters 0.02224715035487048 Centerline is valid? [True, True] Translation: X:205.46, Y:-8.97, Z:-3.65 [[ 9.99733709e-01 2.24010958e-02 5.54087313e-03 2.05460814e+02] [-2.23998494e-02 9.99749051e-01 -2.86906415e-04 -8.96752267e+00] [-5.54590967e-03 1.62715290e-04 9.99984608e-01 -3.64804347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters 0.01916145488657439 Centerline is valid? [True, True] Translation: X:205.49, Y:-8.96, Z:-3.65 [[ 9.99527980e-01 3.01494341e-02 5.90167769e-03 2.05490453e+02] [-3.01481589e-02 9.99545394e-01 -3.04940630e-04 -8.96027108e+00] [-5.90818854e-03 1.26871975e-04 9.99982538e-01 -3.64789634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994391418 meters 0.017241937239411868 Centerline is valid? [True, True] Translation: X:205.52, Y:-8.96, Z:-3.65 [[ 9.99403705e-01 3.40111273e-02 5.95632851e-03 2.05520080e+02] [-3.40098968e-02 9.99421449e-01 -3.07769422e-04 -8.95673317e+00] [-5.96335006e-03 1.05011782e-04 9.99982214e-01 -3.64796138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters 0.016545642452941427 Centerline is valid? [True, True] Translation: X:205.55, Y:-8.95, Z:-3.65 [[ 9.99287701e-01 3.73057737e-02 5.68944752e-03 2.05548303e+02] [-3.73047017e-02 9.99303894e-01 -2.94465062e-04 -8.95496907e+00] [-5.69647231e-03 8.20121727e-05 9.99983772e-01 -3.64927414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054391418 meters 0.014850924981709262 Centerline is valid? [True, True] Translation: X:205.58, Y:-8.95, Z:-3.65 [[ 9.99036524e-01 4.35514134e-02 5.41270885e-03 2.05577635e+02] [-4.35505408e-02 9.99051186e-01 -2.79033372e-04 -8.94939086e+00] [-5.41972550e-03 4.30381321e-05 9.99985312e-01 -3.64974357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084391418 meters 0.014381658819639542 Centerline is valid? [True, True] Translation: X:205.61, Y:-8.95, Z:-3.65 [[ 9.98909146e-01 4.63715743e-02 5.49504934e-03 2.05606677e+02] [-4.63707198e-02 9.98924260e-01 -2.82865520e-04 -8.94772741e+00] [-5.50225501e-03 2.77475613e-05 9.99984862e-01 -3.64982117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114391418 meters 0.014265252464248812 Centerline is valid? [True, True] Translation: X:205.63, Y:-8.95, Z:-3.65 [[ 9.98794379e-01 4.88232579e-02 5.10662328e-03 2.05633825e+02] [-4.88225498e-02 9.98807434e-01 -2.63307342e-04 -8.94664713e+00] [-5.11338881e-03 1.36715235e-05 9.99986926e-01 -3.65099903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144391418 meters 0.014323744885534319 Centerline is valid? [True, True] Translation: X:205.66, Y:-8.95, Z:-3.65 [[ 9.98679096e-01 5.11168598e-02 5.20866882e-03 2.05660785e+02] [-5.11161585e-02 9.98692679e-01 -2.67768649e-04 -8.94557507e+00] [-5.21554691e-03 1.16781148e-06 9.99986399e-01 -3.65180722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174391418 meters 0.014642074632253565 Centerline is valid? [True, True] Translation: X:205.69, Y:-8.94, Z:-3.65 [[ 9.98423581e-01 5.59105350e-02 4.93615596e-03 2.05689383e+02] [-5.59099696e-02 9.98435782e-01 -2.52553417e-04 -8.94284231e+00] [-4.94255513e-03 -2.38250427e-05 9.99987785e-01 -3.65128226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204391418 meters 0.01532186261108745 Centerline is valid? [True, True] Translation: X:205.72, Y:-8.94, Z:-3.65 [[ 9.98281227e-01 5.83982966e-02 4.92254657e-03 2.05717696e+02] [-5.83977653e-02 9.98293363e-01 -2.51720909e-04 -8.94178584e+00] [-4.92884564e-03 -3.61774606e-05 9.99987853e-01 -3.65246068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234391418 meters 0.01643482984852074 Centerline is valid? [True, True] Translation: X:205.75, Y:-8.94, Z:-3.65 [[ 9.98127630e-01 6.09499475e-02 5.13210331e-03 2.05745667e+02] [-6.09494068e-02 9.98140822e-01 -2.61829547e-04 -8.94036471e+00] [-5.13852031e-03 -5.14593470e-05 9.99986796e-01 -3.65357144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264391418 meters 0.016023711017501906 Centerline is valid? [True, True] Translation: X:205.77, Y:-8.94, Z:-3.65 [[ 9.97998616e-01 6.29773423e-02 5.71114110e-03 2.05774546e+02] [-6.29766973e-02 9.98014955e-01 -2.92880232e-04 -8.94199467e+00] [-5.71824905e-03 -6.73747382e-05 9.99983648e-01 -3.65190086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.294391418 meters 0.017696522082274912 Centerline is valid? [True, True] Translation: X:205.80, Y:-8.94, Z:-3.65 [[ 9.97728716e-01 6.70867397e-02 6.06451509e-03 2.05801910e+02] [-6.70861117e-02 9.97747142e-01 -3.07145716e-04 -8.94121932e+00] [-6.07145800e-03 -1.00396636e-04 9.99981563e-01 -3.65267895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.324391418 meters 0.017624170170713174 Centerline is valid? [True, True] Translation: X:205.83, Y:-8.94, Z:-3.65 [[ 9.97635737e-01 6.84317593e-02 6.32690339e-03 2.05830724e+02] [-6.84310963e-02 9.97655793e-01 -3.21466425e-04 -8.94308376e+00] [-6.33407034e-03 -1.12250542e-04 9.99979933e-01 -3.65251031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.354391418 meters 0.018490424036855305 Centerline is valid? [True, True] Translation: X:205.86, Y:-8.94, Z:-3.65 [[ 9.97585165e-01 6.91750259e-02 6.21725859e-03 2.05858735e+02] [-6.91744233e-02 9.97604532e-01 -3.12169215e-04 -8.94466843e+00] [-6.22395966e-03 -1.18659899e-04 9.99980624e-01 -3.65386934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.384391418 meters 0.018222785822605836 Centerline is valid? [True, True] Translation: X:205.89, Y:-8.95, Z:-3.65 [[ 9.97648643e-01 6.82817048e-02 5.89871562e-03 2.05887800e+02] [-6.82811511e-02 9.97666075e-01 -2.95439330e-04 -8.94779689e+00] [-5.90512156e-03 -1.08026446e-04 9.99982559e-01 -3.65498427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414391418 meters 0.017610908438028473 Centerline is valid? [True, True] Translation: X:205.92, Y:-8.95, Z:-3.66 [[ 9.97749578e-01 6.68059738e-02 5.72193447e-03 2.05916443e+02] [-6.68054308e-02 9.97765981e-01 -2.86196925e-04 -8.95217278e+00] [-5.72827122e-03 -9.67034355e-05 9.99983589e-01 -3.65596355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444391418 meters 0.017134305455099922 Centerline is valid? [True, True] Translation: X:205.94, Y:-8.96, Z:-3.66 [[ 9.97884965e-01 6.47609605e-02 5.62264425e-03 2.05943719e+02] [-6.47604047e-02 9.97900802e-01 -2.81051059e-04 -8.95656596e+00] [-5.62904235e-03 -8.36680908e-05 9.99984153e-01 -3.65694649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474391418 meters 0.015414896505606684 Centerline is valid? [True, True] Translation: X:205.97, Y:-8.97, Z:-3.66 [[ 9.98230431e-01 5.91600328e-02 6.00810084e-03 2.05972089e+02] [-5.91593022e-02 9.98248510e-01 -2.99412040e-04 -8.96685270e+00] [-6.01529094e-03 -5.65528440e-05 9.99981906e-01 -3.65682424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504391418 meters 0.014957170240822137 Centerline is valid? [True, True] Translation: X:206.00, Y:-8.97, Z:-3.66 [[ 9.98408331e-01 5.60513387e-02 6.24919219e-03 2.05999815e+02] [-5.60504894e-02 9.98427887e-01 -3.11102351e-04 -8.97241691e+00] [-6.25680546e-03 -3.96631016e-05 9.99980425e-01 -3.65751441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534391418 meters 0.014455517525444248 Centerline is valid? [True, True] Translation: X:206.03, Y:-8.98, Z:-3.66 [[ 9.98576959e-01 5.29041668e-02 6.72350108e-03 2.06028664e+02] [-5.29031191e-02 9.98599594e-01 -3.33706559e-04 -8.97847222e+00] [-6.73173992e-03 -2.24624977e-05 9.99977341e-01 -3.65781885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564391418 meters 0.014134973093732722 Centerline is valid? [True, True] Translation: X:206.06, Y:-8.98, Z:-3.66 [[ 9.98730507e-01 4.98715590e-02 7.08535777e-03 2.06057481e+02] [-4.98703235e-02 9.98755640e-01 -3.51062904e-04 -8.98453581e+00] [-7.09404909e-03 -2.73185175e-06 9.99974837e-01 -3.65797741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59439141800001 meters 0.01439333670626249 Centerline is valid? [True, True] Translation: X:206.09, Y:-9.00, Z:-3.66 [[ 9.99012259e-01 4.37891044e-02 7.55116298e-03 2.06085094e+02] [-4.37875309e-02 9.99040796e-01 -3.73655497e-04 -8.99542933e+00] [-7.56028192e-03 4.26396391e-05 9.99971420e-01 -3.65900666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62439141800002 meters 0.014643178252760895 Centerline is valid? [True, True] Translation: X:206.11, Y:-9.00, Z:-3.66 [[ 9.99133526e-01 4.08274859e-02 8.08173339e-03 2.06113273e+02] [-4.08255954e-02 9.99166208e-01 -3.98821801e-04 -9.00138893e+00] [-8.09127780e-03 6.85346539e-05 9.99967263e-01 -3.65924436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65439141800002 meters 0.015232140726703975 Centerline is valid? [True, True] Translation: X:206.14, Y:-9.01, Z:-3.66 [[ 9.99233488e-01 3.82050979e-02 8.53265644e-03 2.06141967e+02] [-3.82029015e-02 9.99269914e-01 -4.20321588e-04 -9.00760366e+00] [-8.54248529e-03 9.40271733e-05 9.99963508e-01 -3.66007397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters 0.016109789513952755 Centerline is valid? [True, True] Translation: X:206.17, Y:-9.02, Z:-3.66 [[ 9.99374033e-01 3.41967595e-02 9.06227295e-03 2.06170442e+02] [-3.41941242e-02 9.99415111e-01 -4.45629058e-04 -9.01716452e+00] [-9.07221159e-03 1.35473622e-04 9.99958837e-01 -3.66067606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714391418 meters 0.01759352983295694 Centerline is valid? [True, True] Translation: X:206.20, Y:-9.02, Z:-3.66 [[ 9.99428594e-01 3.25153385e-02 9.23243040e-03 2.06197585e+02] [-3.25125371e-02 9.99471225e-01 -4.53400431e-04 -9.02395582e+00] [-9.24229099e-03 1.52971619e-04 9.99957277e-01 -3.66239775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters 0.017059688608967692 Centerline is valid? [True, True] Translation: X:206.23, Y:-9.03, Z:-3.66 [[ 9.99474483e-01 3.11138353e-02 9.09329954e-03 2.06226135e+02] [-3.11110691e-02 9.99515834e-01 -4.45525329e-04 -9.02623572e+00] [-9.10275888e-03 1.62388927e-04 9.99958556e-01 -3.66215185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774391418 meters 0.017522713002095118 Centerline is valid? [True, True] Translation: X:206.25, Y:-9.03, Z:-3.66 [[ 9.99503156e-01 3.01309698e-02 9.25020295e-03 2.06254010e+02] [-3.01280708e-02 9.99545944e-01 -4.52614810e-04 -9.03071599e+00] [-9.25964057e-03 1.73699162e-04 9.99957114e-01 -3.66288706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804391418 meters 0.018007485658951574 Centerline is valid? [True, True] Translation: X:206.28, Y:-9.04, Z:-3.66 [[ 9.99540664e-01 2.90288237e-02 8.70566086e-03 2.06281172e+02] [-2.90262209e-02 9.99578560e-01 -4.25204217e-04 -9.03727920e+00] [-8.71433513e-03 1.72316470e-04 9.99962015e-01 -3.66383503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834391418 meters 0.018007485658951574 Centerline is valid? [True, True] Translation: X:206.31, Y:-9.04, Z:-3.66 [[ 9.99542934e-01 2.89505474e-02 8.70571137e-03 2.06309450e+02] [-2.89479507e-02 9.99580830e-01 -4.24166474e-04 -9.03857702e+00] [-8.71434205e-03 1.71960099e-04 9.99962015e-01 -3.66434595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864391418 meters 0.018111072891760206 Centerline is valid? [True, True] Translation: X:206.34, Y:-9.04, Z:-3.67 [[ 9.99550502e-01 2.87752197e-02 8.41318505e-03 2.06338076e+02] [-2.87727935e-02 9.99585894e-01 -4.09303535e-04 -9.04194112e+00] [-8.42147890e-03 1.67048717e-04 9.99964525e-01 -3.66523009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894391418 meters 0.01771350672843197 Centerline is valid? [True, True] Translation: X:206.37, Y:-9.04, Z:-3.67 [[ 9.99542528e-01 2.92086890e-02 7.84769556e-03 2.06367133e+02] [-2.92065953e-02 9.99573324e-01 -3.81283367e-04 -9.04465894e+00] [-7.85548392e-03 1.51904472e-04 9.99969134e-01 -3.66605105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924391418 meters 0.01730639698418759 Centerline is valid? [True, True] Translation: X:206.39, Y:-9.05, Z:-3.67 [[ 9.99490216e-01 3.10322629e-02 7.50380069e-03 2.06394353e+02] [-3.10304026e-02 9.99518375e-01 -3.64238592e-04 -9.04890401e+00] [-7.51148981e-03 1.31206953e-04 9.99971780e-01 -3.66724361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954391418 meters 0.01735573472905676 Centerline is valid? [True, True] Translation: X:206.42, Y:-9.05, Z:-3.67 [[ 9.99451915e-01 3.23736688e-02 6.91487764e-03 2.06422176e+02] [-3.23721250e-02 9.99475829e-01 -3.35089662e-04 -9.05150637e+00] [-6.92210114e-03 1.11056721e-04 9.99976036e-01 -3.66844831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984391418 meters 0.016454263063100806 Centerline is valid? [True, True] Translation: X:206.45, Y:-9.05, Z:-3.67 [[ 9.99398440e-01 3.39583604e-02 7.04188806e-03 2.06451246e+02] [-3.39568052e-02 9.99423243e-01 -3.40326707e-04 -9.05222584e+00] [-7.04938354e-03 1.01001959e-04 9.99975148e-01 -3.66802334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014391418 meters 0.015749784570207676 Centerline is valid? [True, True] Translation: X:206.48, Y:-9.05, Z:-3.67 [[ 9.99275806e-01 3.74219060e-02 6.88939158e-03 2.06480166e+02] [-3.74205034e-02 9.99299552e-01 -3.32435532e-04 -9.05443596e+00] [-6.89700630e-03 7.43902837e-05 9.99976213e-01 -3.66842367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.044391418 meters 0.015534965981358015 Centerline is valid? [True, True] Translation: X:206.51, Y:-9.06, Z:-3.67 [[ 9.99200880e-01 3.93343416e-02 7.10007070e-03 2.06508191e+02] [-3.93329029e-02 9.99226103e-01 -3.42198597e-04 -9.05678688e+00] [-7.10803614e-03 6.26587481e-05 9.99974736e-01 -3.66953972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.074391418 meters 0.015252601799372493 Centerline is valid? [True, True] Translation: X:206.54, Y:-9.06, Z:-3.67 [[ 9.99124995e-01 4.12645184e-02 6.81787261e-03 2.06536835e+02] [-4.12632425e-02 9.99148256e-01 -3.27763543e-04 -9.05803220e+00] [-6.82559053e-03 4.61492179e-05 9.99976704e-01 -3.66952565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.104391418 meters 0.01494705068677935 Centerline is valid? [True, True] Translation: X:206.56, Y:-9.06, Z:-3.67 [[ 9.98979060e-01 4.46568557e-02 6.82659472e-03 2.06564285e+02] [-4.46556580e-02 9.99002385e-01 -3.27854803e-04 -9.06024673e+00] [-6.83442537e-03 2.26740036e-05 9.99976645e-01 -3.66970045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.134391418 meters 0.015070720013954628 Centerline is valid? [True, True] Translation: X:206.59, Y:-9.06, Z:-3.67 [[ 9.98922898e-01 4.58569012e-02 7.08440898e-03 2.06591707e+02] [-4.58556469e-02 9.98948019e-01 -3.39467170e-04 -9.06219716e+00] [-7.09252323e-03 1.42413730e-05 9.99974848e-01 -3.67055049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164391418 meters 0.015102427858960281 Centerline is valid? [True, True] Translation: X:206.62, Y:-9.06, Z:-3.67 [[ 9.98865648e-01 4.70653761e-02 7.22964903e-03 2.06618733e+02] [-4.70641041e-02 9.98891811e-01 -3.46062931e-04 -9.06416263e+00] [-7.23792480e-03 5.41341909e-06 9.99973806e-01 -3.67110521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194391418 meters 0.015046053677526068 Centerline is valid? [True, True] Translation: X:206.65, Y:-9.07, Z:-3.67 [[ 9.98840445e-01 4.76549392e-02 6.83896252e-03 2.06647289e+02] [-4.76538241e-02 9.98863858e-01 -3.26012957e-04 -9.06944527e+00] [-6.84672861e-03 -2.67790096e-07 9.99976561e-01 -3.67096069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224391418 meters 0.014989221994475874 Centerline is valid? [True, True] Translation: X:206.67, Y:-9.07, Z:-3.67 [[ 9.98862214e-01 4.71948148e-02 6.85039007e-03 2.06674783e+02] [-4.71936853e-02 9.98885704e-01 -3.26524448e-04 -9.07352643e+00] [-6.85816696e-03 2.85778003e-06 9.99976482e-01 -3.67059890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254391418 meters 0.015032567932438318 Centerline is valid? [True, True] Translation: X:206.70, Y:-9.08, Z:-3.67 [[ 9.98907492e-01 4.62336076e-02 6.80267387e-03 2.06701983e+02] [-4.62324755e-02 9.98930655e-01 -3.23661600e-04 -9.07814355e+00] [-6.81036351e-03 8.80354387e-06 9.99976809e-01 -3.67247119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284391418 meters 0.015193938103285268 Centerline is valid? [True, True] Translation: X:206.73, Y:-9.09, Z:-3.67 [[ 9.99010062e-01 4.39175380e-02 7.08141416e-03 2.06728708e+02] [-4.39162585e-02 9.99035159e-01 -3.36157439e-04 -9.08639869e+00] [-7.08934493e-03 2.48354491e-05 9.99974870e-01 -3.67278572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314391418 meters 0.015169275296271288 Centerline is valid? [True, True] Translation: X:206.76, Y:-9.09, Z:-3.67 [[ 9.99060155e-01 4.26891188e-02 7.51305895e-03 2.06756601e+02] [-4.26876587e-02 9.99088404e-01 -3.54673779e-04 -9.09068094e+00] [-7.52135078e-03 3.36255449e-05 9.99971714e-01 -3.67230740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34439141800001 meters 0.015025743974639644 Centerline is valid? [True, True] Translation: X:206.78, Y:-9.09, Z:-3.67 [[ 9.99108042e-01 4.15019466e-02 7.79153375e-03 2.06784950e+02] [-4.15003504e-02 9.99138422e-01 -3.66504643e-04 -9.09452880e+00] [-7.80003139e-03 4.28263562e-05 9.99969578e-01 -3.67140348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37439141800002 meters 0.015575385538598609 Centerline is valid? [True, True] Translation: X:206.81, Y:-9.10, Z:-3.67 [[ 9.99146207e-01 4.05290356e-02 8.01588284e-03 2.06812124e+02] [-4.05273189e-02 9.99178360e-01 -3.76554027e-04 -9.10002130e+00] [-8.02455804e-03 5.13702879e-05 9.99967801e-01 -3.67377397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40439141800002 meters 0.015601953508931279 Centerline is valid? [True, True] Translation: X:206.84, Y:-9.11, Z:-3.67 [[ 9.99221623e-01 3.84523138e-02 8.80726681e-03 2.06840885e+02] [-3.84501719e-02 9.99260434e-01 -4.12450579e-04 -9.10653134e+00] [-8.81661293e-03 7.34886144e-05 9.99961130e-01 -3.67232103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434391418 meters 0.01577325818518983 Centerline is valid? [True, True] Translation: X:206.87, Y:-9.11, Z:-3.67 [[ 9.99258481e-01 3.73882057e-02 9.19843212e-03 2.06869503e+02] [-3.73858317e-02 9.99300813e-01 -4.29967523e-04 -9.11100443e+00] [-9.20807641e-03 8.57576584e-05 9.99957601e-01 -3.67274009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters 0.016001354429462634 Centerline is valid? [True, True] Translation: X:206.90, Y:-9.12, Z:-3.67 [[ 9.99295322e-01 3.62907576e-02 9.58333317e-03 2.06898487e+02] [-3.62881382e-02 9.99341269e-01 -4.47133595e-04 -9.11552118e+00] [-9.59324714e-03 9.90571920e-05 9.99953979e-01 -3.67313721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494391418 meters 0.01607207521558914 Centerline is valid? [True, True] Translation: X:206.93, Y:-9.12, Z:-3.67 [[ 9.99318868e-01 3.55259841e-02 9.98522532e-03 2.06926905e+02] [-3.55231107e-02 9.99368747e-01 -4.65029837e-04 -9.11953836e+00] [-9.99544276e-03 1.10006826e-04 9.99950038e-01 -3.67341206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters 0.016500671257205234 Centerline is valid? [True, True] Translation: X:206.95, Y:-9.13, Z:-3.67 [[ 9.99366236e-01 3.39887545e-02 1.05778368e-02 2.06954555e+02] [-3.39854521e-02 9.99422207e-01 -4.91844746e-04 -9.12601878e+00] [-1.05884422e-02 1.32040467e-04 9.99943932e-01 -3.67424957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554391418 meters 0.016723046298395453 Centerline is valid? [True, True] Translation: X:206.98, Y:-9.13, Z:-3.67 [[ 9.99383650e-01 3.32996979e-02 1.11108250e-02 2.06982561e+02] [-3.32960249e-02 9.99445401e-01 -5.15438222e-04 -9.12996916e+00] [-1.11218269e-02 1.45174224e-04 9.99938140e-01 -3.67486166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584391418 meters 0.016522240654993713 Centerline is valid? [True, True] Translation: X:207.01, Y:-9.13, Z:-3.68 [[ 9.99398899e-01 3.27678629e-02 1.13185132e-02 2.07011759e+02] [-3.27640313e-02 9.99462978e-01 -5.23834070e-04 -9.13274207e+00] [-1.13295998e-02 1.52679073e-04 9.99935806e-01 -3.67501063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614391418 meters 0.016765257452512144 Centerline is valid? [True, True] Translation: X:207.04, Y:-9.14, Z:-3.68 [[ 9.99414197e-01 3.22241548e-02 1.15267883e-02 2.07039709e+02] [-3.22201573e-02 9.99480654e-01 -5.32385745e-04 -9.13844589e+00] [-1.15379576e-02 1.60678941e-04 9.99933423e-01 -3.67626663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644391418 meters 0.016738435830600137 Centerline is valid? [True, True] Translation: X:207.07, Y:-9.14, Z:-3.68 [[ 9.99425979e-01 3.19055442e-02 1.13907556e-02 2.07069719e+02] [-3.19016289e-02 9.99490875e-01 -5.25305134e-04 -9.14113864e+00] [-1.14017164e-02 1.61619939e-04 9.99934985e-01 -3.67654561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674391418 meters 0.016797347619272138 Centerline is valid? [True, True] Translation: X:207.10, Y:-9.14, Z:-3.68 [[ 9.99424811e-01 3.19864462e-02 1.12656500e-02 2.07098635e+02] [-3.19826262e-02 9.99488290e-01 -5.19126934e-04 -9.14423331e+00] [-1.12764903e-02 1.58523265e-04 9.99936406e-01 -3.67755793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704391418 meters 0.016694555545039517 Centerline is valid? [True, True] Translation: X:207.13, Y:-9.15, Z:-3.68 [[ 9.99429222e-01 3.20657885e-02 1.06309013e-02 2.07128363e+02] [-3.20623966e-02 9.99485749e-01 -4.89383943e-04 -9.14673956e+00] [-1.06411268e-02 1.48252441e-04 9.99943371e-01 -3.67879951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734391418 meters 0.017192957540402624 Centerline is valid? [True, True] Translation: X:207.16, Y:-9.15, Z:-3.68 [[ 9.99441590e-01 3.21130638e-02 9.23365016e-03 2.07157032e+02] [-3.21105079e-02 9.99484234e-01 -4.24958915e-04 -9.15135878e+00] [-9.24253450e-03 1.28224417e-04 9.99957279e-01 -3.68161229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764391418 meters 0.01657932273631717 Centerline is valid? [True, True] Translation: X:207.19, Y:-9.15, Z:-3.68 [[ 9.99440554e-01 3.20574580e-02 9.53404363e-03 2.07185685e+02] [-3.20547346e-02 9.99486019e-01 -4.38360273e-04 -9.15296196e+00] [-9.54319603e-03 1.32503795e-04 9.99954454e-01 -3.68190924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.794391418 meters 0.0170677275814143 Centerline is valid? [True, True] Translation: X:207.21, Y:-9.16, Z:-3.68 [[ 9.99450283e-01 3.17336038e-02 9.59741247e-03 2.07213306e+02] [-3.17308352e-02 9.99496353e-01 -4.40651178e-04 -9.15639122e+00] [-9.60656221e-03 1.35875031e-04 9.99953847e-01 -3.68305580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.824391418 meters 0.01745618535679436 Centerline is valid? [True, True] Translation: X:207.24, Y:-9.16, Z:-3.68 [[ 9.99467322e-01 3.08609396e-02 1.06148737e-02 2.07242218e+02] [-3.08575132e-02 9.99523675e-01 -4.86457217e-04 -9.16044623e+00] [-1.06248301e-02 1.58649487e-04 9.99943542e-01 -3.68353919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.854391418 meters 0.017863250645224756 Centerline is valid? [True, True] Translation: X:207.27, Y:-9.16, Z:-3.68 [[ 9.99476652e-01 3.04636347e-02 1.08806429e-02 2.07270529e+02] [-3.04600367e-02 9.99535862e-01 -4.96285397e-04 -9.16359263e+00] [-1.08907114e-02 1.64600887e-04 9.99940681e-01 -3.68467928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.884391418 meters 0.018448830048064 Centerline is valid? [True, True] Translation: X:207.30, Y:-9.17, Z:-3.69 [[ 9.99499219e-01 2.97514682e-02 1.07778516e-02 2.07298800e+02] [-2.97479009e-02 9.99557313e-01 -4.91178802e-04 -9.16612848e+00] [-1.07876937e-02 1.70314368e-04 9.99941797e-01 -3.68525271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914391418 meters 0.01907478159134796 Centerline is valid? [True, True] Translation: X:207.33, Y:-9.17, Z:-3.69 [[ 9.99536571e-01 2.84821065e-02 1.07429967e-02 2.07327382e+02] [-2.84784962e-02 9.99594286e-01 -4.88916377e-04 -9.17002343e+00] [-1.07525635e-02 1.82745409e-04 9.99942173e-01 -3.68662195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944391418 meters 0.01954986527194547 Centerline is valid? [True, True] Translation: X:207.36, Y:-9.17, Z:-3.69 [[ 9.99559181e-01 2.75817726e-02 1.09858992e-02 2.07356610e+02] [-2.75779522e-02 9.99619531e-01 -4.99119614e-04 -9.17267988e+00] [-1.09954860e-02 1.95930989e-04 9.99939529e-01 -3.68703765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974391418 meters 0.020160890351922804 Centerline is valid? [True, True] Translation: X:207.39, Y:-9.17, Z:-3.69 [[ 9.99577169e-01 2.69163270e-02 1.09997437e-02 2.07385880e+02] [-2.69124615e-02 9.99637669e-01 -4.99317175e-04 -9.17377788e+00] [-1.10091980e-02 2.03075870e-04 9.99939376e-01 -3.68632059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004391418 meters 0.018455669395428243 Centerline is valid? [True, True] Translation: X:207.41, Y:-9.18, Z:-3.69 [[ 9.99606350e-01 2.52462824e-02 1.22380782e-02 2.07414932e+02] [-2.52413815e-02 9.99681232e-01 -5.54782039e-04 -9.17508495e+00] [-1.22481832e-02 2.45657650e-04 9.99924958e-01 -3.68633781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034391418 meters 0.019046364352470414 Centerline is valid? [True, True] Translation: X:207.45, Y:-9.18, Z:-3.69 [[ 9.99637402e-01 2.35524302e-02 1.30517045e-02 2.07445701e+02] [-2.35467171e-02 9.99722563e-01 -5.91249353e-04 -9.17852219e+00] [-1.30620088e-02 2.83710175e-04 9.99914648e-01 -3.68636865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064391418 meters 0.02082570279334267 Centerline is valid? [True, True] Translation: X:207.48, Y:-9.19, Z:-3.69 [[ 9.99701477e-01 1.97976472e-02 1.43181484e-02 2.07477033e+02] [-1.97904003e-02 9.99803941e-01 -6.47662475e-04 -9.18537274e+00] [-1.43281634e-02 3.64107244e-04 9.99897280e-01 -3.68623916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09439141800001 meters 0.02142514943219519 Centerline is valid? [True, True] Translation: X:207.51, Y:-9.19, Z:-3.69 [[ 9.99735446e-01 1.77165189e-02 1.46684565e-02 2.07509110e+02] [-1.77086327e-02 9.99842967e-01 -6.67352209e-04 -9.18849425e+00] [-1.46779762e-02 4.07417350e-04 9.99892190e-01 -3.68649756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12439141800002 meters 0.02316332828453177 Centerline is valid? [True, True] Translation: X:207.54, Y:-9.19, Z:-3.69 [[ 9.99764668e-01 1.58899789e-02 1.47687689e-02 2.07539551e+02] [-1.58817203e-02 9.99873649e-01 -6.76316639e-04 -9.19360668e+00] [-1.47776495e-02 4.41604023e-04 9.99890707e-01 -3.68749501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15439141800002 meters 0.02448653747077238 Centerline is valid? [True, True] Translation: X:207.57, Y:-9.20, Z:-3.69 [[ 9.99823278e-01 1.25778938e-02 1.39717202e-02 2.07571309e+02] [-1.25701312e-02 9.99920786e-01 -6.43277953e-04 -9.19883137e+00] [-1.39787045e-02 4.67537916e-04 9.99902184e-01 -3.68940460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters 0.025170093755194 Centerline is valid? [True, True] Translation: X:207.60, Y:-9.20, Z:-3.69 [[ 9.99839958e-01 1.16425902e-02 1.35834227e-02 2.07603519e+02] [-1.16351646e-02 9.99932114e-01 -6.25569060e-04 -9.20172309e+00] [-1.35897838e-02 4.67423583e-04 9.99907545e-01 -3.69071589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214391418 meters 0.023680209804125038 Centerline is valid? [True, True] Translation: X:207.64, Y:-9.20, Z:-3.69 [[ 9.99849900e-01 1.12081193e-02 1.32119256e-02 2.07635396e+02] [-1.12010110e-02 9.99937079e-01 -6.11899240e-04 -9.20113424e+00] [-1.32179526e-02 4.63820470e-04 9.99912531e-01 -3.69129605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters 0.0247744285530354 Centerline is valid? [True, True] Translation: X:207.67, Y:-9.20, Z:-3.69 [[ 9.99850169e-01 1.12755085e-02 1.31340281e-02 2.07667104e+02] [-1.12684413e-02 9.99936322e-01 -6.11967691e-04 -9.20398014e+00] [-1.31400920e-02 4.63875975e-04 9.99913558e-01 -3.69209781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274391418 meters 0.024161496458680553 Centerline is valid? [True, True] Translation: X:207.70, Y:-9.20, Z:-3.69 [[ 9.99841542e-01 1.17334874e-02 1.33871730e-02 2.07699738e+02] [-1.17261306e-02 9.99931049e-01 -6.27906105e-04 -9.20439192e+00] [-1.33936175e-02 4.70826869e-04 9.99910191e-01 -3.69231400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304391418 meters 0.024255061758643184 Centerline is valid? [True, True] Translation: X:207.73, Y:-9.21, Z:-3.69 [[ 9.99833923e-01 1.22697360e-02 1.34751804e-02 2.07732757e+02] [-1.22622708e-02 9.99924613e-01 -6.36484955e-04 -9.20568615e+00] [-1.34819741e-02 4.71142938e-04 9.99909003e-01 -3.69270829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334391418 meters 0.024579633302591393 Centerline is valid? [True, True] Translation: X:207.76, Y:-9.21, Z:-3.69 [[ 9.99804727e-01 1.32777539e-02 1.46359027e-02 2.07763948e+02] [-1.32689748e-02 9.99911721e-01 -6.96781489e-04 -9.20588182e+00] [-1.46438623e-02 5.02442003e-04 9.99892647e-01 -3.69231790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364391418 meters 0.023041527599310146 Centerline is valid? [True, True] Translation: X:207.80, Y:-9.20, Z:-3.69 [[ 9.99789870e-01 1.43424530e-02 1.46461870e-02 2.07796627e+02] [-1.43337209e-02 9.99897021e-01 -7.01006680e-04 -9.20401695e+00] [-1.46547329e-02 4.90925020e-04 9.99892493e-01 -3.69251205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394391418 meters 0.022723826605050023 Centerline is valid? [True, True] Translation: X:207.83, Y:-9.20, Z:-3.69 [[ 9.99773021e-01 1.57593164e-02 1.43370206e-02 2.07828542e+02] [-1.57510370e-02 9.99875706e-01 -6.90222263e-04 -9.20275134e+00] [-1.43461160e-02 4.64242654e-04 9.99896981e-01 -3.69363681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424391418 meters 0.023776784269099533 Centerline is valid? [True, True] Translation: X:207.86, Y:-9.21, Z:-3.70 [[ 9.99770573e-01 1.58095471e-02 1.44519902e-02 2.07860035e+02] [-1.58010788e-02 9.99874910e-01 -6.99961271e-04 -9.20613636e+00] [-1.44612485e-02 4.71443644e-04 9.99895320e-01 -3.69554121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454391418 meters 0.022370374821395176 Centerline is valid? [True, True] Translation: X:207.89, Y:-9.20, Z:-3.70 [[ 9.99764376e-01 1.60414150e-02 1.46241390e-02 2.07893246e+02] [-1.60327021e-02 9.99871214e-01 -7.12840146e-04 -9.20471656e+00] [-1.46336905e-02 4.78207720e-04 9.99892807e-01 -3.69611088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484391418 meters 0.026106140021368976 Centerline is valid? [True, True] Translation: X:207.92, Y:-9.21, Z:-3.70 [[ 9.99778059e-01 1.50862610e-02 1.47050345e-02 2.07924539e+02] [-1.50772728e-02 9.99886071e-01 -7.21909270e-04 -9.21020002e+00] [-1.47142501e-02 5.00037232e-04 9.99891615e-01 -3.69749563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514391418 meters 0.024569400704437815 Centerline is valid? [True, True] Translation: X:207.96, Y:-9.21, Z:-3.70 [[ 9.99797694e-01 1.37179554e-02 1.47101733e-02 2.07956719e+02] [-1.37087562e-02 9.99905767e-01 -7.26021572e-04 -9.20750947e+00] [-1.47187466e-02 5.24216515e-04 9.99891536e-01 -3.69748392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.544391418 meters 0.025297138428343243 Centerline is valid? [True, True] Translation: X:207.99, Y:-9.21, Z:-3.70 [[ 9.99814928e-01 1.27995442e-02 1.43624885e-02 2.07989264e+02] [-1.27906231e-02 9.99917943e-01 -7.12832255e-04 -9.20815886e+00] [-1.43704338e-02 5.28995154e-04 9.99896600e-01 -3.69819026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.574391418 meters 0.026224876429784057 Centerline is valid? [True, True] Translation: X:208.02, Y:-9.21, Z:-3.70 [[ 9.99820299e-01 1.24914966e-02 1.42594777e-02 2.08020671e+02] [-1.24826129e-02 9.99921836e-01 -7.11842561e-04 -9.20969465e+00] [-1.42672551e-02 5.33719101e-04 9.99898075e-01 -3.69897095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.604391418 meters 0.026425720801596532 Centerline is valid? [True, True] Translation: X:208.05, Y:-9.21, Z:-3.70 [[ 9.99823284e-01 1.22591255e-02 1.42518399e-02 2.08052850e+02] [-1.22501754e-02 9.99924708e-01 -7.15123646e-04 -9.20964082e+00] [-1.42595336e-02 5.40409734e-04 9.99898182e-01 -3.69905391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.634391418 meters 0.027920572946165872 Centerline is valid? [True, True] Translation: X:208.08, Y:-9.21, Z:-3.70 [[ 9.99822470e-01 1.24974177e-02 1.41011446e-02 2.08084882e+02] [-1.24886243e-02 9.99921761e-01 -7.11487379e-04 -9.21188908e+00] [-1.41089331e-02 5.35257172e-04 9.99900321e-01 -3.69988663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664391418 meters 0.027920572946165872 Centerline is valid? [True, True] Translation: X:208.12, Y:-9.21, Z:-3.70 [[ 9.99818514e-01 1.28102720e-02 1.41009270e-02 2.08117435e+02] [-1.28014493e-02 9.99917802e-01 -7.15770201e-04 -9.21369661e+00] [-1.41089372e-02 5.35127996e-04 9.99900321e-01 -3.70047329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694391418 meters 0.02653466931285137 Centerline is valid? [True, True] Translation: X:208.15, Y:-9.21, Z:-3.70 [[ 9.99814710e-01 1.35525004e-02 1.36702446e-02 2.08149415e+02] [-1.35442196e-02 9.99908029e-01 -6.98159551e-04 -9.21165384e+00] [-1.36784491e-02 5.12877394e-04 9.99906314e-01 -3.70087775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724391418 meters 0.02613741555319414 Centerline is valid? [True, True] Translation: X:208.18, Y:-9.21, Z:-3.70 [[ 9.99777817e-01 1.57803283e-02 1.39749117e-02 2.08182064e+02] [-1.57718348e-02 9.99875359e-01 -7.17777331e-04 -9.20930951e+00] [-1.39844966e-02 4.97207854e-04 9.99902089e-01 -3.70158764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754391418 meters 0.02542762881193676 Centerline is valid? [True, True] Translation: X:208.21, Y:-9.21, Z:-3.70 [[ 9.99745393e-01 1.73137796e-02 1.44700563e-02 2.08214809e+02] [-1.73047626e-02 9.99849981e-01 -7.48133177e-04 -9.20834706e+00] [-1.44808385e-02 4.97541808e-04 9.99895023e-01 -3.70217001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784391418 meters 0.02542762881193676 Centerline is valid? [True, True] Translation: X:208.25, Y:-9.21, Z:-3.70 [[ 9.99739758e-01 1.76361753e-02 1.44700211e-02 2.08247362e+02] [-1.76271822e-02 9.99844349e-01 -7.48815191e-04 -9.21017861e+00] [-1.44809751e-02 4.93554619e-04 9.99895023e-01 -3.70275745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814391418 meters 0.02417653531202782 Centerline is valid? [True, True] Translation: X:208.28, Y:-9.21, Z:-3.70 [[ 9.99639099e-01 2.23112820e-02 1.49625379e-02 2.08278595e+02] [-2.23021010e-02 9.99750973e-01 -7.80200147e-04 -9.20656867e+00] [-1.49762191e-02 4.46222541e-04 9.99887751e-01 -3.70344784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84439141800001 meters 0.021925802572214614 Centerline is valid? [True, True] Translation: X:208.31, Y:-9.20, Z:-3.70 [[ 9.99559843e-01 2.52406393e-02 1.55894319e-02 2.08310581e+02] [-2.52310200e-02 9.99681316e-01 -8.13442075e-04 -9.20227721e+00] [-1.56049956e-02 4.19746765e-04 9.99878147e-01 -3.70394535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87439141800002 meters 0.020884318413498543 Centerline is valid? [True, True] Translation: X:208.34, Y:-9.20, Z:-3.70 [[ 9.99464701e-01 2.87295767e-02 1.56500167e-02 2.08341220e+02] [-2.87202869e-02 9.99587153e-01 -8.18070919e-04 -9.20049982e+00] [-1.56670585e-02 3.68160035e-04 9.99877196e-01 -3.70457552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90439141800002 meters 0.020037471430156766 Centerline is valid? [True, True] Translation: X:208.37, Y:-9.20, Z:-3.71 [[ 9.99358803e-01 3.21510769e-02 1.57572276e-02 2.08371362e+02] [-3.21420786e-02 9.99482970e-01 -8.24042405e-04 -9.19840752e+00] [-1.57755745e-02 3.17043984e-04 9.99875508e-01 -3.70548254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934391418 meters 0.01779856072773888 Centerline is valid? [True, True] Translation: X:208.40, Y:-9.19, Z:-3.71 [[ 9.99108841e-01 3.87931653e-02 1.66316966e-02 2.08401519e+02] [-3.87840592e-02 9.99247237e-01 -8.69829037e-04 -9.19142239e+00] [-1.66529203e-02 2.24009174e-04 9.99861305e-01 -3.70578396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters 0.01729535757781909 Centerline is valid? [True, True] Translation: X:208.43, Y:-9.19, Z:-3.71 [[ 9.98974684e-01 4.18614253e-02 1.72395684e-02 2.08430055e+02] [-4.18521104e-02 9.99123410e-01 -9.00913661e-04 -9.19044042e+00] [-1.72621699e-02 1.78477620e-04 9.99850982e-01 -3.70649286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994391418 meters 0.01675814844683017 Centerline is valid? [True, True] Translation: X:208.46, Y:-9.19, Z:-3.71 [[ 9.98869540e-01 4.41339355e-02 1.76589497e-02 2.08459328e+02] [-4.41245358e-02 9.99025613e-01 -9.21753254e-04 -9.18886438e+00] [-1.76824236e-02 1.41518291e-04 9.99843644e-01 -3.70683747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters 0.0165047704274534 Centerline is valid? [True, True] Translation: X:208.49, Y:-9.19, Z:-3.71 [[ 9.98703655e-01 4.73447782e-02 1.86944280e-02 2.08487430e+02] [-4.73348365e-02 9.98878603e-01 -9.74179234e-04 -9.18713028e+00] [-1.87195864e-02 8.80186690e-05 9.99824769e-01 -3.70705226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054391418 meters 0.016385479358779754 Centerline is valid? [True, True] Translation: X:208.52, Y:-9.19, Z:-3.71 [[ 9.98672636e-01 4.79071186e-02 1.89175649e-02 2.08515918e+02] [-4.78970753e-02 9.98851792e-01 -9.83893013e-04 -9.18777922e+00] [-1.89429791e-02 7.64909968e-05 9.99820563e-01 -3.70759065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084391418 meters 0.0163257097598491 Centerline is valid? [True, True] Translation: X:208.54, Y:-9.19, Z:-3.71 [[ 9.98678355e-01 4.77161323e-02 1.90975021e-02 2.08543365e+02] [-4.77058925e-02 9.98860933e-01 -9.91660071e-04 -9.18927182e+00] [-1.91230670e-02 7.92860635e-05 9.99817134e-01 -3.70823518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114391418 meters 0.01619843505842307 Centerline is valid? [True, True] Translation: X:208.57, Y:-9.19, Z:-3.71 [[ 9.98733571e-01 4.64509530e-02 1.93277877e-02 2.08571897e+02] [-4.64402655e-02 9.98920567e-01 -1.00166961e-03 -9.19217074e+00] [-1.93534531e-02 1.02813480e-04 9.99812699e-01 -3.70973095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144391418 meters 0.016328100411768128 Centerline is valid? [True, True] Translation: X:208.60, Y:-9.19, Z:-3.71 [[ 9.98811771e-01 4.49100434e-02 1.89244420e-02 2.08600208e+02] [-4.48995492e-02 9.98991027e-01 -9.79269274e-04 -9.19467805e+00] [-1.89493268e-02 1.28406764e-04 9.99820437e-01 -3.71100088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174391418 meters 0.016481277005178943 Centerline is valid? [True, True] Translation: X:208.63, Y:-9.20, Z:-3.71 [[ 9.98881967e-01 4.32397600e-02 1.91085975e-02 2.08628572e+02] [-4.32287851e-02 9.99064711e-01 -9.87224879e-04 -9.19800371e+00] [-1.91334128e-02 1.60079677e-04 9.99816927e-01 -3.71194121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204391418 meters 0.017038057064255496 Centerline is valid? [True, True] Translation: X:208.66, Y:-9.20, Z:-3.71 [[ 9.98964110e-01 4.11340618e-02 1.94601016e-02 2.08656718e+02] [-4.11223105e-02 9.99153616e-01 -1.00381255e-03 -9.20219345e+00] [-1.94849217e-02 2.02528371e-04 9.99810130e-01 -3.71291870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234391418 meters 0.017663253156348802 Centerline is valid? [True, True] Translation: X:208.69, Y:-9.21, Z:-3.71 [[ 9.99108414e-01 3.76507594e-02 1.90996661e-02 2.08686623e+02] [-3.76388234e-02 9.99290924e-01 -9.84156433e-04 -9.20745723e+00] [-1.91231772e-02 2.64390015e-04 9.99817100e-01 -3.71460832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264391418 meters 0.017994066753879386 Centerline is valid? [True, True] Translation: X:208.72, Y:-9.21, Z:-3.72 [[ 9.99165512e-01 3.61416908e-02 1.90278416e-02 2.08716159e+02] [-3.61295705e-02 9.99346633e-01 -9.80468676e-04 -9.21119488e+00] [-1.90508452e-02 2.92182742e-04 9.99818473e-01 -3.71541098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.294391418 meters 0.018087620732431097 Centerline is valid? [True, True] Translation: X:208.75, Y:-9.21, Z:-3.72 [[ 9.99190793e-01 3.53175387e-02 1.92465953e-02 2.08747025e+02] [-3.53049807e-02 9.99376093e-01 -9.91974691e-04 -9.21371921e+00] [-1.92696213e-02 3.11671302e-04 9.99814275e-01 -3.71628456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.324391418 meters 0.018169459069007417 Centerline is valid? [True, True] Translation: X:208.78, Y:-9.22, Z:-3.72 [[ 9.99197695e-01 3.49208910e-02 1.96086120e-02 2.08777553e+02] [-3.49077791e-02 9.99390027e-01 -1.01066568e-03 -9.21773325e+00] [-1.96319446e-02 3.25361720e-04 9.99807222e-01 -3.71692307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.354391418 meters 0.01893858020273131 Centerline is valid? [True, True] Translation: X:208.81, Y:-9.22, Z:-3.72 [[ 9.99175035e-01 3.53684333e-02 1.99580644e-02 2.08808201e+02] [-3.53549308e-02 9.99374289e-01 -1.02908782e-03 -9.22182126e+00] [-1.99819737e-02 3.22622868e-04 9.99800288e-01 -3.71763471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.384391418 meters 0.017870205361205743 Centerline is valid? [True, True] Translation: X:208.84, Y:-9.22, Z:-3.72 [[ 9.99151184e-01 3.59862300e-02 2.00475220e-02 2.08839561e+02] [-3.59727216e-02 9.99352237e-01 -1.03414733e-03 -9.22188761e+00] [-2.00717510e-02 3.12105599e-04 9.99798493e-01 -3.71871626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414391418 meters 0.017535441685624403 Centerline is valid? [True, True] Translation: X:208.87, Y:-9.22, Z:-3.72 [[ 9.99116928e-01 3.69867656e-02 1.99334618e-02 2.08869981e+02] [-3.69735949e-02 9.99315713e-01 -1.02899741e-03 -9.22399133e+00] [-1.99578809e-02 2.91076993e-04 9.99800779e-01 -3.71947875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444391418 meters 0.017149814292123387 Centerline is valid? [True, True] Translation: X:208.90, Y:-9.23, Z:-3.72 [[ 9.99027864e-01 3.93014446e-02 1.99680431e-02 2.08900068e+02] [-3.92886895e-02 9.99227370e-01 -1.03082199e-03 -9.22659508e+00] [-1.99931280e-02 2.45301645e-04 9.99800087e-01 -3.72044257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474391418 meters 0.01681698645710592 Centerline is valid? [True, True] Translation: X:208.93, Y:-9.23, Z:-3.72 [[ 9.98995945e-01 4.02901868e-02 1.95908952e-02 2.08930584e+02] [-4.02780922e-02 9.99187996e-01 -1.01170668e-03 -9.22764392e+00] [-1.96157492e-02 2.21606987e-04 9.99807568e-01 -3.72155552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504391418 meters 0.016677355471403425 Centerline is valid? [True, True] Translation: X:208.96, Y:-9.23, Z:-3.72 [[ 9.98938170e-01 4.14916048e-02 2.00244779e-02 2.08960256e+02] [-4.14792110e-02 9.99138832e-01 -1.03405711e-03 -9.22964040e+00] [-2.00501382e-02 2.02359569e-04 9.99798955e-01 -3.72206288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534391418 meters 0.01649654524274037 Centerline is valid? [True, True] Translation: X:208.99, Y:-9.23, Z:-3.72 [[ 9.98900430e-01 4.25228353e-02 1.97418152e-02 2.08989492e+02] [-4.25109987e-02 9.99095479e-01 -1.01903643e-03 -9.23085373e+00] [-1.97672906e-02 1.78671646e-04 9.99804592e-01 -3.72288603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564391418 meters 0.016275460389473344 Centerline is valid? [True, True] Translation: X:209.02, Y:-9.23, Z:-3.72 [[ 9.98827549e-01 4.41647904e-02 1.98241998e-02 2.09018174e+02] [-4.41531944e-02 9.99024249e-01 -1.02247132e-03 -9.23220229e+00] [-1.98500135e-02 1.45970775e-04 9.99802958e-01 -3.72353540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59439141800001 meters 0.016057232024847955 Centerline is valid? [True, True] Translation: X:209.05, Y:-9.23, Z:-3.72 [[ 9.98781903e-01 4.51537832e-02 1.98958951e-02 2.09048030e+02] [-4.51423218e-02 9.98980040e-01 -1.02503941e-03 -9.23351538e+00] [-1.99218865e-02 1.25643915e-04 9.99801532e-01 -3.72461103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62439141800002 meters 0.01576812134559975 Centerline is valid? [True, True] Translation: X:209.08, Y:-9.23, Z:-3.73 [[ 9.98710564e-01 4.68699356e-02 1.95043254e-02 2.09077900e+02] [-4.68592626e-02 9.98900997e-01 -1.00412731e-03 -9.23457649e+00] [-1.95299535e-02 8.88742451e-05 9.99809268e-01 -3.72654319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65439141800002 meters 0.015733654526553936 Centerline is valid? [True, True] Translation: X:209.11, Y:-9.24, Z:-3.73 [[ 9.98658517e-01 4.79107554e-02 1.96399261e-02 2.09107058e+02] [-4.79001517e-02 9.98851618e-01 -1.01024322e-03 -9.23601488e+00] [-1.96657735e-02 6.81325525e-05 9.99806608e-01 -3.72726241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters 0.015586309316479814 Centerline is valid? [True, True] Translation: X:209.14, Y:-9.24, Z:-3.73 [[ 9.98608285e-01 4.90336033e-02 1.94216216e-02 2.09135369e+02] [-4.90234765e-02 9.98797128e-01 -9.97463064e-04 -9.23756063e+00] [-1.94471691e-02 4.39594675e-05 9.99810885e-01 -3.72817505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714391418 meters 0.015472085619891154 Centerline is valid? [True, True] Translation: X:209.16, Y:-9.24, Z:-3.73 [[ 9.98580041e-01 4.95634585e-02 1.95285954e-02 2.09163887e+02] [-4.95533453e-02 9.98770976e-01 -1.00172692e-03 -9.23909366e+00] [-1.95542434e-02 3.25972741e-05 9.99808797e-01 -3.72893103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters 0.015403242261583202 Centerline is valid? [True, True] Translation: X:209.19, Y:-9.24, Z:-3.73 [[ 9.98534047e-01 5.04558654e-02 1.95949827e-02 2.09192697e+02] [-5.04458862e-02 9.98726292e-01 -1.00354346e-03 -9.24142645e+00] [-1.96206591e-02 1.35860389e-05 9.99807496e-01 -3.72982265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774391418 meters 0.015245741962851646 Centerline is valid? [True, True] Translation: X:209.22, Y:-9.24, Z:-3.73 [[ 9.98530263e-01 5.07560829e-02 1.90035027e-02 2.09220930e+02] [-5.07467798e-02 9.98711079e-01 -9.71764068e-04 -9.24354889e+00] [-1.90283316e-02 5.96926589e-06 9.99818945e-01 -3.73082628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804391418 meters 0.015293641532719168 Centerline is valid? [True, True] Translation: X:209.25, Y:-9.25, Z:-3.73 [[ 9.98535815e-01 5.07697028e-02 1.86725444e-02 2.09249992e+02] [-5.07607508e-02 9.98710387e-01 -9.53370610e-04 -9.24599090e+00] [-1.86968664e-02 4.14232690e-06 9.99825198e-01 -3.73194807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834391418 meters 0.015322930389079848 Centerline is valid? [True, True] Translation: X:209.28, Y:-9.25, Z:-3.73 [[ 9.98547709e-01 5.07682647e-02 1.80293382e-02 2.09278346e+02] [-5.07599444e-02 9.98710460e-01 -9.19105988e-04 -9.24854757e+00] [-1.80527500e-02 2.60297579e-06 9.99837036e-01 -3.73337110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864391418 meters 0.01524483745501845 Centerline is valid? [True, True] Translation: X:209.31, Y:-9.25, Z:-3.73 [[ 9.98564690e-01 5.06198886e-02 1.74981847e-02 2.09305516e+02] [-5.06120526e-02 9.98717992e-01 -8.90659599e-04 -9.25246942e+00] [-1.75208370e-02 3.76218067e-06 9.99846498e-01 -3.73400909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894391418 meters 0.015232479466399341 Centerline is valid? [True, True] Translation: X:209.33, Y:-9.26, Z:-3.73 [[ 9.98572962e-01 5.03675655e-02 1.77524199e-02 2.09334695e+02] [-5.03594925e-02 9.98730749e-01 -9.01782004e-04 -9.25509627e+00] [-1.77753082e-02 6.49226968e-06 9.99842007e-01 -3.73412933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924391418 meters 0.015233726188226345 Centerline is valid? [True, True] Translation: X:209.36, Y:-9.26, Z:-3.73 [[ 9.98569020e-01 5.03690289e-02 1.79686504e-02 2.09363430e+02] [-5.03607844e-02 9.98730675e-01 -9.11316533e-04 -9.25860374e+00] [-1.79917444e-02 5.09713092e-06 9.99838135e-01 -3.73363671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954391418 meters 0.015255316625942438 Centerline is valid? [True, True] Translation: X:209.39, Y:-9.26, Z:-3.73 [[ 9.98563632e-01 5.04709385e-02 1.79821365e-02 2.09391425e+02] [-5.04627242e-02 9.98725530e-01 -9.10553949e-04 -9.26087337e+00] [-1.80051754e-02 1.81846262e-06 9.99837894e-01 -3.73372875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984391418 meters 0.015129063316217915 Centerline is valid? [True, True] Translation: X:209.42, Y:-9.26, Z:-3.73 [[ 9.98570340e-01 5.03329384e-02 1.79964061e-02 2.09420426e+02] [-5.03247163e-02 9.98732494e-01 -9.09740924e-04 -9.26353001e+00] [-1.80193855e-02 2.77627305e-06 9.99837638e-01 -3.73403269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014391418 meters 0.01514573620768849 Centerline is valid? [True, True] Translation: X:209.45, Y:-9.27, Z:-3.73 [[ 9.98611411e-01 4.96129215e-02 1.77146434e-02 2.09448601e+02] [-4.96048682e-02 9.98768521e-01 -8.93993572e-04 -9.26822116e+00] [-1.77371818e-02 1.40196288e-05 9.99842684e-01 -3.73451675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.044391418 meters 0.015072219287324324 Centerline is valid? [True, True] Translation: X:209.48, Y:-9.27, Z:-3.73 [[ 9.98650569e-01 4.88672781e-02 1.75792689e-02 2.09477029e+02] [-4.88592514e-02 9.98805281e-01 -8.86055625e-04 -9.27185893e+00] [-1.76015658e-02 2.59500336e-05 9.99845080e-01 -3.73497062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.074391418 meters 0.01516267773045409 Centerline is valid? [True, True] Translation: X:209.51, Y:-9.28, Z:-3.74 [[ 9.98693062e-01 4.78165617e-02 1.80483717e-02 2.09506909e+02] [-4.78079574e-02 9.98856133e-01 -9.08143962e-04 -9.27593664e+00] [-1.80711511e-02 4.41012883e-05 9.99836702e-01 -3.73524202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.104391418 meters 0.015515979010947908 Centerline is valid? [True, True] Translation: X:209.53, Y:-9.28, Z:-3.74 [[ 9.98855547e-01 4.43034444e-02 1.80222458e-02 2.09534972e+02] [-4.42943067e-02 9.99018115e-01 -9.06074522e-04 -9.28352422e+00] [-1.80446923e-02 1.06754677e-04 9.99837176e-01 -3.73541035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.134391418 meters 0.015873966739557713 Centerline is valid? [True, True] Translation: X:209.57, Y:-9.29, Z:-3.74 [[ 9.98939377e-01 4.22985408e-02 1.81921726e-02 2.09565157e+02] [-4.22889182e-02 9.99105006e-01 -9.13483139e-04 -9.28852886e+00] [-1.82145298e-02 1.43186976e-04 9.99834091e-01 -3.73575488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164391418 meters 0.016543013774228482 Centerline is valid? [True, True] Translation: X:209.59, Y:-9.29, Z:-3.74 [[ 9.99028676e-01 4.00210677e-02 1.84395746e-02 2.09594070e+02] [-4.00107939e-02 9.99198819e-01 -9.25897015e-04 -9.29413393e+00] [-1.84618566e-02 1.87215650e-04 9.99829548e-01 -3.73626607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194391418 meters 0.017163005104935663 Centerline is valid? [True, True] Translation: X:209.62, Y:-9.30, Z:-3.74 [[ 9.99112901e-01 3.79198213e-02 1.83166190e-02 2.09624683e+02] [-3.79093377e-02 9.99280760e-01 -9.19356995e-04 -9.29957764e+00] [-1.83383068e-02 2.24170538e-04 9.99831814e-01 -3.73667825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224391418 meters 0.018783105261802074 Centerline is valid? [True, True] Translation: X:209.66, Y:-9.31, Z:-3.74 [[ 9.99285981e-01 3.32793624e-02 1.78888811e-02 2.09655741e+02] [-3.32686194e-02 9.99446043e-01 -8.97882966e-04 -9.30785834e+00] [-1.79088524e-02 3.02103483e-04 9.99839578e-01 -3.73759059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254391418 meters 0.018590459048024813 Centerline is valid? [True, True] Translation: X:209.69, Y:-9.31, Z:-3.74 [[ 9.99349000e-01 3.16779886e-02 1.72650204e-02 2.09687703e+02] [-3.16677345e-02 9.99498075e-01 -8.67063836e-04 -9.31104764e+00] [-1.72838215e-02 3.19755297e-04 9.99850572e-01 -3.73860931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284391418 meters 0.019531633126724884 Centerline is valid? [True, True] Translation: X:209.72, Y:-9.32, Z:-3.74 [[ 9.99395469e-01 3.02682686e-02 1.71034786e-02 2.09718551e+02] [-3.02579072e-02 9.99541751e-01 -8.64317153e-04 -9.31632008e+00] [-1.71218023e-02 3.46279179e-04 9.99853351e-01 -3.73953255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314391418 meters 0.020315167079385254 Centerline is valid? [True, True] Translation: X:209.75, Y:-9.32, Z:-3.74 [[ 9.99424963e-01 2.93388397e-02 1.69992621e-02 2.09750613e+02] [-2.93284241e-02 9.99569458e-01 -8.61736285e-04 -9.32089158e+00] [-1.70172256e-02 3.62679187e-04 9.99855131e-01 -3.74016501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34439141800001 meters 0.021024127358556164 Centerline is valid? [True, True] Translation: X:209.78, Y:-9.33, Z:-3.74 [[ 9.99481713e-01 2.78125731e-02 1.62100547e-02 2.09782569e+02] [-2.78028283e-02 9.99613085e-01 -8.26246384e-04 -9.32571382e+00] [-1.62267628e-02 3.75132784e-04 9.99868267e-01 -3.74124949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37439141800002 meters 0.020132268651624298 Centerline is valid? [True, True] Translation: X:209.81, Y:-9.33, Z:-3.74 [[ 9.99485006e-01 2.78356135e-02 1.59656491e-02 2.09814327e+02] [-2.78260840e-02 9.99612444e-01 -8.18754321e-04 -9.32790156e+00] [-1.59822521e-02 3.74071175e-04 9.99872206e-01 -3.74172091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40439141800002 meters 0.019369851354224418 Centerline is valid? [True, True] Translation: X:209.85, Y:-9.33, Z:-3.74 [[ 9.99480237e-01 2.80284892e-02 1.59267011e-02 2.09846463e+02] [-2.80189777e-02 9.99607055e-01 -8.20076895e-04 -9.32919257e+00] [-1.59434283e-02 3.73400767e-04 9.99872826e-01 -3.74204820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434391418 meters 0.02102774090989621 Centerline is valid? [True, True] Translation: X:209.88, Y:-9.34, Z:-3.74 [[ 9.99464403e-01 2.86475989e-02 1.58184042e-02 2.09877563e+02] [-2.86382243e-02 9.99589507e-01 -8.18890013e-04 -9.33512161e+00] [-1.58353700e-02 3.65440412e-04 9.99874546e-01 -3.74232038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters 0.021520132104753526 Centerline is valid? [True, True] Translation: X:209.91, Y:-9.34, Z:-3.74 [[ 9.99452730e-01 2.89705345e-02 1.59670917e-02 2.09909730e+02] [-2.89609448e-02 9.99580198e-01 -8.31537821e-04 -9.33820405e+00] [-1.59844787e-02 3.68660685e-04 9.99872172e-01 -3.74303102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494391418 meters 0.02029608454635286 Centerline is valid? [True, True] Translation: X:209.94, Y:-9.34, Z:-3.74 [[ 9.99430930e-01 2.96968324e-02 1.59972941e-02 2.09941717e+02] [-2.96872481e-02 9.99558887e-01 -8.36316027e-04 -9.33841017e+00] [-1.60150734e-02 3.60924467e-04 9.99871685e-01 -3.74336376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524391418 meters 0.02021507181015298 Centerline is valid? [True, True] Translation: X:209.97, Y:-9.34, Z:-3.74 [[ 9.99417898e-01 3.02660025e-02 1.57427466e-02 2.09973525e+02] [-3.02567172e-02 9.99541818e-01 -8.27708666e-04 -9.34097753e+00] [-1.57605850e-02 3.50903023e-04 9.99875733e-01 -3.74411904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554391418 meters 0.020606942846111954 Centerline is valid? [True, True] Translation: X:210.01, Y:-9.34, Z:-3.74 [[ 9.99417869e-01 3.01742315e-02 1.59197875e-02 2.10005302e+02] [-3.01646469e-02 9.99544589e-01 -8.41890752e-04 -9.34366515e+00] [-1.59379408e-02 3.61185893e-04 9.99872918e-01 -3.74477749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584391418 meters 0.020838356310949914 Centerline is valid? [True, True] Translation: X:210.04, Y:-9.35, Z:-3.75 [[ 9.99426416e-01 2.99189038e-02 1.58649942e-02 2.10037664e+02] [-2.99092779e-02 9.99552261e-01 -8.43715095e-04 -9.34633393e+00] [-1.58831338e-02 3.68720634e-04 9.99873787e-01 -3.74559642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614391418 meters 0.020844170326658484 Centerline is valid? [True, True] Translation: X:210.07, Y:-9.35, Z:-3.75 [[ 9.99436789e-01 2.96950492e-02 1.56304140e-02 2.10069575e+02] [-2.96856068e-02 9.99558936e-01 -8.35823955e-04 -9.34837970e+00] [-1.56483398e-02 3.71354885e-04 9.99877488e-01 -3.74645408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644391418 meters 0.020844170326658484 Centerline is valid? [True, True] Translation: X:210.10, Y:-9.35, Z:-3.75 [[ 9.99427838e-01 2.99949069e-02 1.56301609e-02 2.10101261e+02] [-2.99854276e-02 9.99549983e-01 -8.40529120e-04 -9.35022924e+00] [-1.56483386e-02 3.71371143e-04 9.99877488e-01 -3.74702538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674391418 meters 0.022781757169621226 Centerline is valid? [True, True] Translation: X:210.13, Y:-9.36, Z:-3.75 [[ 9.99505881e-01 2.76479317e-02 1.49528136e-02 2.10132034e+02] [-2.76389288e-02 9.99617645e-01 -8.08441415e-04 -9.35500388e+00] [-1.49694480e-02 3.94762198e-04 9.99887874e-01 -3.74820630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704391418 meters 0.02318278155052667 Centerline is valid? [True, True] Translation: X:210.16, Y:-9.36, Z:-3.75 [[ 9.99543109e-01 2.61847389e-02 1.50974537e-02 2.10164218e+02] [-2.61753313e-02 9.99657031e-01 -8.20424616e-04 -9.35748770e+00] [-1.51137584e-02 4.24868917e-04 9.99885690e-01 -3.74884708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734391418 meters 0.024140770261546072 Centerline is valid? [True, True] Translation: X:210.20, Y:-9.36, Z:-3.75 [[ 9.99576352e-01 2.46432141e-02 1.54863995e-02 2.10196483e+02] [-2.46330567e-02 9.99696202e-01 -8.46329430e-04 -9.36074872e+00] [-1.55025510e-02 4.64493529e-04 9.99879720e-01 -3.74925145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764391418 meters 0.025798894898135083 Centerline is valid? [True, True] Translation: X:210.23, Y:-9.36, Z:-3.75 [[ 9.99645785e-01 2.14607811e-02 1.57397364e-02 2.10228041e+02] [-2.14498179e-02 9.99769552e-01 -8.65039825e-04 -9.36477169e+00] [-1.57546737e-02 5.27118934e-04 9.99875748e-01 -3.74934387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.794391418 meters 0.02691839292461273 Centerline is valid? [True, True] Translation: X:210.26, Y:-9.37, Z:-3.75 [[ 9.99665371e-01 2.05547076e-02 1.57050767e-02 2.10259833e+02] [-2.05436129e-02 9.99788581e-01 -8.67463975e-04 -9.36826484e+00] [-1.57195868e-02 5.44534680e-04 9.99876291e-01 -3.75037116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.824391418 meters 0.027784249030507174 Centerline is valid? [True, True] Translation: X:210.29, Y:-9.37, Z:-3.75 [[ 9.99679681e-01 2.01404204e-02 1.53264400e-02 2.10290735e+02] [-2.01297371e-02 9.99797014e-01 -8.51013541e-04 -9.37101055e+00] [-1.53404688e-02 5.42223736e-04 9.99882181e-01 -3.75138419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.854391418 meters 0.025998266363631835 Centerline is valid? [True, True] Translation: X:210.32, Y:-9.37, Z:-3.75 [[ 9.99676160e-01 2.05222798e-02 1.50469784e-02 2.10323019e+02] [-2.05119623e-02 9.99789255e-01 -8.39715320e-04 -9.36898239e+00] [-1.50610402e-02 5.30800333e-04 9.99886435e-01 -3.75240358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.884391418 meters 0.025252748196946492 Centerline is valid? [True, True] Translation: X:210.35, Y:-9.37, Z:-3.75 [[ 9.99658659e-01 2.13718130e-02 1.50269951e-02 2.10354955e+02] [-2.13615745e-02 9.99771461e-01 -8.41538800e-04 -9.36839531e+00] [-1.50415460e-02 5.20251273e-04 9.99886734e-01 -3.75286958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914391418 meters 0.025422270776791808 Centerline is valid? [True, True] Translation: X:210.39, Y:-9.37, Z:-3.75 [[ 9.99620919e-01 2.31641432e-02 1.48808831e-02 2.10385880e+02] [-2.31542396e-02 9.99731554e-01 -8.37488595e-04 -9.36956086e+00] [-1.48962881e-02 4.92615586e-04 9.99888923e-01 -3.75341751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944391418 meters 0.021603371622220893 Centerline is valid? [True, True] Translation: X:210.42, Y:-9.36, Z:-3.75 [[ 9.99536573e-01 2.64080765e-02 1.51411180e-02 2.10417980e+02] [-2.63981261e-02 9.99651142e-01 -8.56698717e-04 -9.36198103e+00] [-1.51584597e-02 4.56604557e-04 9.99885000e-01 -3.75337172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974391418 meters 0.022776482819938552 Centerline is valid? [True, True] Translation: X:210.45, Y:-9.36, Z:-3.75 [[ 9.99469616e-01 2.88551101e-02 1.50953555e-02 2.10448876e+02] [-2.88454989e-02 9.99583517e-01 -8.54084580e-04 -9.36402548e+00] [-1.51137132e-02 4.18198528e-04 9.99885694e-01 -3.75388752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004391418 meters 0.021373157124018216 Centerline is valid? [True, True] Translation: X:210.48, Y:-9.36, Z:-3.75 [[ 9.99395575e-01 3.12506257e-02 1.52276984e-02 2.10480213e+02] [-3.12410526e-02 9.99511504e-01 -8.66195043e-04 -9.36218370e+00] [-1.52473288e-02 3.89942167e-04 9.99883677e-01 -3.75421832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034391418 meters 0.01833636945320348 Centerline is valid? [True, True] Translation: X:210.51, Y:-9.36, Z:-3.75 [[ 9.99228242e-01 3.60439991e-02 1.56125436e-02 2.10511481e+02] [-3.60345028e-02 9.99350151e-01 -8.89228489e-04 -9.35579576e+00] [-1.56344492e-02 3.25951973e-04 9.99877721e-01 -3.75454297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064391418 meters 0.017569720165632276 Centerline is valid? [True, True] Translation: X:210.54, Y:-9.35, Z:-3.76 [[ 9.99135026e-01 3.86122669e-02 1.54367514e-02 2.10541824e+02] [-3.86032829e-02 9.99254228e-01 -8.79650200e-04 -9.35429875e+00] [-1.54592044e-02 2.82980043e-04 9.99880459e-01 -3.75521795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09439141800001 meters 0.016871368474118447 Centerline is valid? [True, True] Translation: X:210.57, Y:-9.35, Z:-3.76 [[ 9.99047030e-01 4.09109118e-02 1.52095132e-02 2.10571627e+02] [-4.09024603e-02 9.99162769e-01 -8.66457917e-04 -9.35230433e+00] [-1.52322269e-02 2.43525701e-04 9.99883953e-01 -3.75629680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12439141800002 meters 0.015781421597976106 Centerline is valid? [True, True] Translation: X:210.60, Y:-9.35, Z:-3.76 [[ 9.98830481e-01 4.61885277e-02 1.42929942e-02 2.10600491e+02] [-4.61816108e-02 9.98932729e-01 -8.13783153e-04 -9.34722990e+00] [-1.43153272e-02 1.52757922e-04 9.99897519e-01 -3.75764170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15439141800002 meters 0.015265695026974243 Centerline is valid? [True, True] Translation: X:210.63, Y:-9.35, Z:-3.76 [[ 9.98727271e-01 4.84888925e-02 1.38803919e-02 2.10628100e+02] [-4.84826004e-02 9.98823715e-01 -7.89643490e-04 -9.34539894e+00] [-1.39023535e-02 1.15680996e-04 9.99903351e-01 -3.75829217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters 0.014871980347075871 Centerline is valid? [True, True] Translation: X:210.66, Y:-9.34, Z:-3.76 [[ 9.98613189e-01 5.07792848e-02 1.38982867e-02 2.10657475e+02] [-5.07732184e-02 9.98709897e-01 -7.89211450e-04 -9.34377334e+00] [-1.39204321e-02 8.24562153e-05 9.99903103e-01 -3.75859941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214391418 meters 0.014772084089957054 Centerline is valid? [True, True] Translation: X:210.69, Y:-9.34, Z:-3.76 [[ 9.98527063e-01 5.24301235e-02 1.39566192e-02 2.10686181e+02] [-5.24241825e-02 9.98624593e-01 -7.91437173e-04 -9.34232621e+00] [-1.39789183e-02 5.86070850e-05 9.99902288e-01 -3.75899900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters 0.014627392626492614 Centerline is valid? [True, True] Translation: X:210.71, Y:-9.34, Z:-3.76 [[ 9.98446825e-01 5.39304804e-02 1.39800086e-02 2.10714846e+02] [-5.39246824e-02 9.98544692e-01 -7.91629575e-04 -9.34164695e+00] [-1.40023564e-02 3.65325114e-05 9.99901962e-01 -3.75936120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274391418 meters 0.014701372222994299 Centerline is valid? [True, True] Translation: X:210.74, Y:-9.34, Z:-3.76 [[ 9.98404589e-01 5.48719938e-02 1.33169455e-02 2.10744213e+02] [-5.48668309e-02 9.98493397e-01 -7.53010240e-04 -9.34056647e+00] [-1.33382013e-02 2.11502829e-05 9.99911042e-01 -3.76073912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304391418 meters 0.014749404028952579 Centerline is valid? [True, True] Translation: X:210.77, Y:-9.34, Z:-3.76 [[ 9.98422629e-01 5.45776696e-02 1.31731477e-02 2.10772332e+02] [-5.45726000e-02 9.98509528e-01 -7.44262989e-04 -9.34184787e+00] [-1.31941336e-02 2.41960913e-05 9.99912953e-01 -3.76132919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334391418 meters 0.01497796937567032 Centerline is valid? [True, True] Translation: X:210.80, Y:-9.34, Z:-3.76 [[ 9.98572846e-01 5.17881164e-02 1.30484777e-02 2.10800046e+02] [-5.17829219e-02 9.98658093e-01 -7.35858968e-04 -9.34418394e+00] [-1.30690766e-02 5.91204829e-05 9.99914594e-01 -3.76163025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364391418 meters 0.015090881418550707 Centerline is valid? [True, True] Translation: X:210.83, Y:-9.35, Z:-3.76 [[ 9.98664755e-01 4.99643897e-02 1.31250493e-02 2.10829131e+02] [-4.99589961e-02 9.98750997e-01 -7.38692488e-04 -9.34592948e+00] [-1.31455644e-02 8.19918641e-05 9.99913590e-01 -3.76121642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394391418 meters 0.01563768186423318 Centerline is valid? [True, True] Translation: X:210.86, Y:-9.35, Z:-3.76 [[ 9.98786505e-01 4.74017201e-02 1.33639390e-02 2.10856334e+02] [-4.73959135e-02 9.98875900e-01 -7.51049972e-04 -9.34926692e+00] [-1.33845177e-02 1.16742478e-04 9.99910417e-01 -3.76160732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424391418 meters 0.016214455003986248 Centerline is valid? [True, True] Translation: X:210.89, Y:-9.35, Z:-3.76 [[ 9.98921202e-01 4.45139481e-02 1.32264787e-02 2.10885042e+02] [-4.45080252e-02 9.99008751e-01 -7.41971022e-04 -9.35285091e+00] [-1.32463960e-02 1.52486138e-04 9.99912251e-01 -3.76171997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454391418 meters 0.018522383709926583 Centerline is valid? [True, True] Translation: X:210.91, Y:-9.36, Z:-3.76 [[ 9.99187430e-01 3.78954765e-02 1.37263156e-02 2.10912744e+02] [-3.78884882e-02 9.99281678e-01 -7.68899811e-04 -9.35974058e+00] [-1.37455935e-02 2.48205680e-04 9.99905494e-01 -3.76141561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484391418 meters 0.019937929694279932 Centerline is valid? [True, True] Translation: X:210.94, Y:-9.36, Z:-3.76 [[ 9.99314791e-01 3.43594058e-02 1.37615286e-02 2.10942526e+02] [-3.43520632e-02 9.99409497e-01 -7.69655460e-04 -9.36437537e+00] [-1.37798473e-02 2.96391185e-04 9.99905009e-01 -3.76188238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514391418 meters 0.021829673853800514 Centerline is valid? [True, True] Translation: X:210.97, Y:-9.37, Z:-3.76 [[ 9.99425940e-01 3.08904451e-02 1.39129759e-02 2.10971673e+02] [-3.08826126e-02 9.99522716e-01 -7.77509430e-04 -9.36946609e+00] [-1.39303530e-02 3.47394049e-04 9.99902908e-01 -3.76243122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.544391418 meters 0.023779986581860812 Centerline is valid? [True, True] Translation: X:211.00, Y:-9.37, Z:-3.76 [[ 9.99537856e-01 2.72136589e-02 1.35458591e-02 2.11001948e+02] [-2.72059014e-02 9.99629565e-01 -7.56662024e-04 -9.37454672e+00] [-1.35614328e-02 3.87785030e-04 9.99907964e-01 -3.76287196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.574391418 meters 0.02871261109879993 Centerline is valid? [True, True] Translation: X:211.03, Y:-9.38, Z:-3.76 [[ 9.99700234e-01 2.04914820e-02 1.33993343e-02 2.11031940e+02] [-2.04832893e-02 9.99789915e-01 -7.48391767e-04 -9.38386161e+00] [-1.34118549e-02 4.73704983e-04 9.99909945e-01 -3.76373167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.604391418 meters 0.030601358932652287 Centerline is valid? [True, True] Translation: X:211.06, Y:-9.39, Z:-3.76 [[ 9.99764858e-01 1.71032388e-02 1.33306921e-02 2.11063051e+02] [-1.70948269e-02 9.99853595e-01 -7.44719024e-04 -9.38866706e+00] [-1.33414775e-02 5.16658036e-04 9.99910865e-01 -3.76426877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.634391418 meters 0.032704117850116864 Centerline is valid? [True, True] Translation: X:211.09, Y:-9.39, Z:-3.76 [[ 9.99817533e-01 1.39678012e-02 1.30307545e-02 2.11093835e+02] [-1.39594927e-02 9.99902296e-01 -7.28350951e-04 -9.39357563e+00] [-1.30396548e-02 5.46315329e-04 9.99914831e-01 -3.76478375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664391418 meters 0.03634326154240652 Centerline is valid? [True, True] Translation: X:211.12, Y:-9.40, Z:-3.77 [[ 9.99868380e-01 9.05968567e-03 1.34590159e-02 2.11124074e+02] [-9.05036627e-03 9.99958761e-01 -7.53175586e-04 -9.40058694e+00] [-1.34652844e-02 6.31267430e-04 9.99909140e-01 -3.76501461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694391418 meters 0.038110467377732014 Centerline is valid? [True, True] Translation: X:211.16, Y:-9.40, Z:-3.77 [[ 9.99881278e-01 7.03865522e-03 1.37072162e-02 2.11156364e+02] [-7.02879913e-03 9.99975003e-01 -7.67086779e-04 -9.40487969e+00] [-1.37122728e-02 6.70650439e-04 9.99905757e-01 -3.76542618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724391418 meters 0.04009332469713521 Centerline is valid? [True, True] Translation: X:211.19, Y:-9.41, Z:-3.77 [[ 9.99884996e-01 5.76333832e-03 1.40278103e-02 2.11187425e+02] [-5.75287876e-03 9.99983143e-01 -7.85868455e-04 -9.40930943e+00] [-1.40321031e-02 7.05077785e-04 9.99901297e-01 -3.76625714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754391418 meters 0.04252170348630757 Centerline is valid? [True, True] Translation: X:211.22, Y:-9.41, Z:-3.77 [[ 9.99896943e-01 3.96022338e-03 1.37992630e-02 2.11218346e+02] [-3.94990671e-03 9.99991899e-01 -7.74798437e-04 -9.41361785e+00] [-1.38022196e-02 7.20212787e-04 9.99904485e-01 -3.76683709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784391418 meters 0.04233906878166084 Centerline is valid? [True, True] Translation: X:211.25, Y:-9.41, Z:-3.77 [[ 9.99904225e-01 3.97707451e-03 1.32560586e-02 2.11250686e+02] [-3.96754357e-03 9.99991852e-01 -7.45207983e-04 -9.41418372e+00] [-1.32589144e-02 6.92542620e-04 9.99911857e-01 -3.76771709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814391418 meters 0.04254705272705972 Centerline is valid? [True, True] Translation: X:211.28, Y:-9.42, Z:-3.77 [[ 9.99908711e-01 4.30640142e-03 1.28072313e-02 2.11283273e+02] [-4.29749520e-03 9.99990504e-01 -7.22844752e-04 -9.41566543e+00] [-1.28102225e-02 6.67739749e-04 9.99917723e-01 -3.76862432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84439141800001 meters 0.04309854788640963 Centerline is valid? [True, True] Translation: X:211.31, Y:-9.42, Z:-3.77 [[ 9.99915992e-01 5.31788385e-03 1.18206695e-02 2.11314978e+02] [-5.31032969e-03 9.99985675e-01 -6.70358526e-04 -9.41610370e+00] [-1.18240651e-02 6.07530559e-04 9.99929909e-01 -3.77040539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87439141800002 meters 0.04334858815974225 Centerline is valid? [True, True] Translation: X:211.35, Y:-9.42, Z:-3.77 [[ 9.99916249e-01 5.95691135e-03 1.14895459e-02 2.11347066e+02] [-5.94978533e-03 9.99982086e-01 -6.54300281e-04 -9.41685746e+00] [-1.14932376e-02 5.85885151e-04 9.99933779e-01 -3.77107983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90439141800002 meters 0.04311697655396456 Centerline is valid? [True, True] Translation: X:211.38, Y:-9.42, Z:-3.77 [[ 9.99906122e-01 7.09000698e-03 1.17251688e-02 2.11379388e+02] [-7.08262879e-03 9.99974693e-01 -6.70665711e-04 -9.41697835e+00] [-1.17296271e-02 5.87557731e-04 9.99931033e-01 -3.77172614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934391418 meters 0.04279972766792791 Centerline is valid? [True, True] Translation: X:211.41, Y:-9.41, Z:-3.77 [[ 9.99892548e-01 8.84868048e-03 1.16873334e-02 2.11410705e+02] [-8.84143545e-03 9.99960688e-01 -6.71427812e-04 -9.41478418e+00] [-1.16928152e-02 5.68022862e-04 9.99931475e-01 -3.77178174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters 0.042223613024152375 Centerline is valid? [True, True] Translation: X:211.44, Y:-9.41, Z:-3.77 [[ 9.99877701e-01 1.02065776e-02 1.18494481e-02 2.11443109e+02] [-1.01991945e-02 9.99947753e-01 -6.83334343e-04 -9.41391821e+00] [-1.18558035e-02 5.62395945e-04 9.99929559e-01 -3.77201655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994391418 meters 0.04150629240105722 Centerline is valid? [True, True] Translation: X:211.48, Y:-9.41, Z:-3.77 [[ 9.99865646e-01 1.15998241e-02 1.15816536e-02 2.11475748e+02] [-1.15928334e-02 9.99932576e-01 -6.70553338e-04 -9.41286676e+00] [-1.15886511e-02 5.36199064e-04 9.99932706e-01 -3.77274914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024391418 meters 0.03985685320752751 Centerline is valid? [True, True] Translation: X:211.51, Y:-9.41, Z:-3.77 [[ 9.99839336e-01 1.40043868e-02 1.11883335e-02 2.11507333e+02] [-1.39979696e-02 9.99901811e-01 -6.51670231e-04 -9.40838508e+00] [-1.11963612e-02 4.94951579e-04 9.99937196e-01 -3.77355233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054391418 meters 0.03918670592187449 Centerline is valid? [True, True] Translation: X:211.54, Y:-9.41, Z:-3.77 [[ 9.99819807e-01 1.53523945e-02 1.11649943e-02 2.11539537e+02] [-1.53460990e-02 9.99882031e-01 -6.49318955e-04 -9.40754472e+00] [-1.11736458e-02 4.77862845e-04 9.99937459e-01 -3.77402092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084391418 meters 0.039026216946663625 Centerline is valid? [True, True] Translation: X:211.57, Y:-9.41, Z:-3.77 [[ 9.99794201e-01 1.67135740e-02 1.14983118e-02 2.11571353e+02] [-1.67069543e-02 9.99860204e-01 -6.71532546e-04 -9.40744875e+00] [-1.15079281e-02 4.79292576e-04 9.99933667e-01 -3.77388254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114391418 meters 0.03843551287150814 Centerline is valid? [True, True] Translation: X:211.60, Y:-9.40, Z:-3.77 [[ 9.99752861e-01 1.86814821e-02 1.20507005e-02 2.11603374e+02] [-1.86743174e-02 9.99825370e-01 -7.06806798e-04 -9.40494270e+00] [-1.20618003e-02 4.81593512e-04 9.99927138e-01 -3.77347471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144391418 meters 0.03784414921301047 Centerline is valid? [True, True] Translation: X:211.64, Y:-9.40, Z:-3.77 [[ 9.99730080e-01 1.96642247e-02 1.23727929e-02 2.11635585e+02] [-1.96567103e-02 9.99806523e-01 -7.28658077e-04 -9.40453240e+00] [-1.23847276e-02 4.85252990e-04 9.99923189e-01 -3.77330821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174391418 meters 0.03812886353412967 Centerline is valid? [True, True] Translation: X:211.67, Y:-9.41, Z:-3.77 [[ 9.99716086e-01 2.03533439e-02 1.23890201e-02 2.11667110e+02] [-2.03458262e-02 9.99792734e-01 -7.32552255e-04 -9.40503042e+00] [-1.24013621e-02 4.80279424e-04 9.99922985e-01 -3.77386300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204391418 meters 0.038188060747907475 Centerline is valid? [True, True] Translation: X:211.70, Y:-9.41, Z:-3.77 [[ 9.99710974e-01 2.07528455e-02 1.21362458e-02 2.11698977e+02] [-2.07456192e-02 9.99784526e-01 -7.21030443e-04 -9.40529473e+00] [-1.21485942e-02 4.69048111e-04 9.99926093e-01 -3.77482994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234391418 meters 0.0261246100511385 Centerline is valid? [True, True] Translation: X:211.73, Y:-9.39, Z:-3.77 [[ 9.99704275e-01 2.09915256e-02 1.22767588e-02 2.11731467e+02] [-2.09841411e-02 9.99779542e-01 -7.30020342e-04 -9.38760924e+00] [-1.22893765e-02 4.72187218e-04 9.99924371e-01 -3.77293118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264391418 meters 0.026304346158547504 Centerline is valid? [True, True] Translation: X:211.76, Y:-9.39, Z:-3.77 [[ 9.99709395e-01 2.07821035e-02 1.22159432e-02 2.11762590e+02] [-2.07747704e-02 9.99783917e-01 -7.26895905e-04 -9.38846167e+00] [-1.22284100e-02 4.72901250e-04 9.99925118e-01 -3.77388857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.294391418 meters 0.02723945142237834 Centerline is valid? [True, True] Translation: X:211.79, Y:-9.39, Z:-3.77 [[ 9.99719288e-01 2.03356711e-02 1.21575642e-02 2.11792717e+02] [-2.03283675e-02 9.99793095e-01 -7.24032492e-04 -9.39044538e+00] [-1.21697725e-02 4.76685814e-04 9.99925832e-01 -3.77474857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.324391418 meters 0.04129723013703262 Centerline is valid? [True, True] Translation: X:211.82, Y:-9.41, Z:-3.78 [[ 9.99736581e-01 1.97228650e-02 1.17378526e-02 2.11822980e+02] [-1.97160298e-02 9.99805377e-01 -6.97766718e-04 -9.40911004e+00] [-1.17493301e-02 4.66159062e-04 9.99930866e-01 -3.77859871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.354391418 meters 0.028361111423311033 Centerline is valid? [True, True] Translation: X:211.86, Y:-9.39, Z:-3.78 [[ 9.99745657e-01 1.93723463e-02 1.15469831e-02 2.11855557e+02] [-1.93656581e-02 9.99812229e-01 -6.90751063e-04 -9.39174229e+00] [-1.15581964e-02 4.66960448e-04 9.99933093e-01 -3.77673264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.384391418 meters 0.02792768298256078 Centerline is valid? [True, True] Translation: X:211.89, Y:-9.39, Z:-3.78 [[ 9.99745642e-01 1.95078526e-02 1.13178685e-02 2.11886814e+02] [-1.95014310e-02 9.99809599e-01 -6.77474273e-04 -9.39177495e+00] [-1.13289296e-02 4.56587321e-04 9.99935721e-01 -3.77706572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414391418 meters 0.028555684112524286 Centerline is valid? [True, True] Translation: X:211.92, Y:-9.39, Z:-3.78 [[ 9.99746199e-01 1.97400321e-02 1.08567569e-02 2.11916828e+02] [-1.97341310e-02 9.99805052e-01 -6.50414567e-04 -9.39269048e+00] [-1.08674796e-02 4.36000828e-04 9.99940852e-01 -3.77810281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444391418 meters 0.025447505090343617 Centerline is valid? [True, True] Translation: X:211.95, Y:-9.39, Z:-3.78 [[ 9.99704066e-01 2.18182793e-02 1.07583738e-02 2.11947659e+02] [-2.18126010e-02 9.99761869e-01 -6.44869616e-04 -9.38653041e+00] [-1.07698819e-02 4.10010661e-04 9.99941919e-01 -3.77771232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474391418 meters 0.025500194659571842 Centerline is valid? [True, True] Translation: X:211.98, Y:-9.39, Z:-3.78 [[ 9.99656872e-01 2.36550706e-02 1.12505754e-02 2.11977069e+02] [-2.36489799e-02 9.99720096e-01 -6.74114682e-04 -9.38655176e+00] [-1.12633726e-02 4.07818742e-04 9.99936483e-01 -3.77791819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504391418 meters 0.024467461523020997 Centerline is valid? [True, True] Translation: X:212.01, Y:-9.38, Z:-3.78 [[ 9.99600047e-01 2.58073127e-02 1.15641011e-02 2.12006877e+02] [-2.58010104e-02 9.99666858e-01 -6.93864356e-04 -9.38474367e+00] [-1.15781554e-02 3.95221350e-04 9.99932893e-01 -3.77788920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534391418 meters 0.022170783460953632 Centerline is valid? [True, True] Translation: X:212.04, Y:-9.38, Z:-3.78 [[ 9.99449380e-01 3.09779373e-02 1.18871551e-02 2.12037181e+02] [-3.09716492e-02 9.99520009e-01 -7.12751774e-04 -9.37900994e+00] [-1.19035290e-02 3.44194520e-04 9.99929091e-01 -3.77716273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564391418 meters 0.021271763414581032 Centerline is valid? [True, True] Translation: X:212.07, Y:-9.38, Z:-3.78 [[ 9.99366382e-01 3.33012436e-02 1.25642744e-02 2.12065780e+02] [-3.32944061e-02 9.99445304e-01 -7.53031766e-04 -9.37754057e+00] [-1.25823819e-02 3.34234577e-04 9.99920783e-01 -3.77712158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59439141800001 meters 0.021271763414581032 Centerline is valid? [True, True] Translation: X:212.09, Y:-9.38, Z:-3.78 [[ 9.99368989e-01 3.32229031e-02 1.25643333e-02 2.12094049e+02] [-3.32160719e-02 9.99447911e-01 -7.52046924e-04 -9.37915337e+00] [-1.25823819e-02 3.34234576e-04 9.99920783e-01 -3.77763245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62439141800002 meters 0.02152038564620291 Centerline is valid? [True, True] Translation: X:212.12, Y:-9.38, Z:-3.78 [[ 9.99297337e-01 3.52927748e-02 1.26194844e-02 2.12122101e+02] [-3.52860597e-02 9.99376968e-01 -7.54450405e-04 -9.37996202e+00] [-1.26382487e-02 3.08628400e-04 9.99920087e-01 -3.77801957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65439141800002 meters 0.01935192274804978 Centerline is valid? [True, True] Translation: X:212.15, Y:-9.38, Z:-3.78 [[ 9.99205248e-01 3.76581619e-02 1.30665462e-02 2.12151740e+02] [-3.76511847e-02 9.99290639e-01 -7.79653513e-04 -9.37591281e+00] [-1.30866376e-02 2.87062939e-04 9.99914325e-01 -3.77861908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters 0.019034553191111258 Centerline is valid? [True, True] Translation: X:212.18, Y:-9.38, Z:-3.78 [[ 9.99191452e-01 3.81597642e-02 1.26599619e-02 2.12180678e+02] [-3.81532625e-02 9.99271614e-01 -7.54780761e-04 -9.37659199e+00] [-1.26795428e-02 2.71151636e-04 9.99919575e-01 -3.77959321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714391418 meters 0.02007158596631382 Centerline is valid? [True, True] Translation: X:212.21, Y:-9.38, Z:-3.78 [[ 9.99181639e-01 3.87150454e-02 1.17131482e-02 2.12209492e+02] [-3.87095275e-02 9.99250262e-01 -6.97520648e-04 -9.37727197e+00] [-1.17313709e-02 2.43539393e-04 9.99931155e-01 -3.78255125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters 0.01952311027233356 Centerline is valid? [True, True] Translation: X:212.24, Y:-9.38, Z:-3.78 [[ 9.99276055e-01 3.66673583e-02 1.01425188e-02 2.12237403e+02] [-3.66631203e-02 9.99327500e-01 -6.03519100e-04 -9.37926472e+00] [-1.01578274e-02 2.31225800e-04 9.99948381e-01 -3.78320933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774391418 meters 0.019554224170473505 Centerline is valid? [True, True] Translation: X:212.27, Y:-9.38, Z:-3.78 [[ 9.99334729e-01 3.52226892e-02 9.45842132e-03 2.12266120e+02] [-3.52189484e-02 9.99379462e-01 -5.61828851e-04 -9.38049537e+00] [-9.47234113e-03 2.28339430e-04 9.99955110e-01 -3.78435723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804391418 meters 0.020982476525102437 Centerline is valid? [True, True] Translation: X:212.29, Y:-9.38, Z:-3.79 [[ 9.99395268e-01 3.37386140e-02 8.41455961e-03 2.12293303e+02] [-3.37356042e-02 9.99430668e-01 -4.99416141e-04 -9.38423021e+00] [-8.42661854e-03 2.15243876e-04 9.99964472e-01 -3.78591972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834391418 meters 0.02271643116066358 Centerline is valid? [True, True] Translation: X:212.32, Y:-9.39, Z:-3.79 [[ 9.99498137e-01 3.07714133e-02 7.52297070e-03 2.12321931e+02] [-3.07689301e-02 9.99526425e-01 -4.45620014e-04 -9.38837715e+00] [-7.53312037e-03 2.13922614e-04 9.99971603e-01 -3.78769546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864391418 meters 0.022161167824159743 Centerline is valid? [True, True] Translation: X:212.35, Y:-9.39, Z:-3.79 [[ 9.99541580e-01 2.92909426e-02 7.65964350e-03 2.12350796e+02] [-2.92883268e-02 9.99570902e-01 -4.53476978e-04 -9.38909886e+00] [-7.66963953e-03 2.28930953e-04 9.99970562e-01 -3.78732118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894391418 meters 0.02369019548807325 Centerline is valid? [True, True] Translation: X:212.38, Y:-9.39, Z:-3.79 [[ 9.99565070e-01 2.83694080e-02 8.05284495e-03 2.12378114e+02] [-2.83664911e-02 9.99597477e-01 -4.76227210e-04 -9.39268769e+00] [-8.06311377e-03 2.47589130e-04 9.99967462e-01 -3.78825541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924391418 meters 0.02313210913206908 Centerline is valid? [True, True] Translation: X:212.41, Y:-9.39, Z:-3.79 [[ 9.99588257e-01 2.75138775e-02 8.14266115e-03 2.12407056e+02] [-2.75108752e-02 9.99621389e-01 -4.80516087e-04 -9.39295652e+00] [-8.15279911e-03 2.56306503e-04 9.99966733e-01 -3.78789626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954391418 meters 0.02367028939500629 Centerline is valid? [True, True] Translation: X:212.43, Y:-9.39, Z:-3.79 [[ 9.99588280e-01 2.73615580e-02 8.63798604e-03 2.12434859e+02] [-2.73581787e-02 9.99625565e-01 -5.09155267e-04 -9.39389353e+00] [-8.64868296e-03 2.72626072e-04 9.99962562e-01 -3.78786228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984391418 meters 0.023765061778195797 Centerline is valid? [True, True] Translation: X:212.46, Y:-9.39, Z:-3.79 [[ 9.99573655e-01 2.77952547e-02 8.94047150e-03 2.12462930e+02] [-2.77916604e-02 9.99613599e-01 -5.26039892e-04 -9.39475078e+00] [-8.95163831e-03 2.77345070e-04 9.99959895e-01 -3.78828507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014391418 meters 0.023455086353361368 Centerline is valid? [True, True] Translation: X:212.49, Y:-9.40, Z:-3.79 [[ 9.99541866e-01 2.88700083e-02 9.08739996e-03 2.12492291e+02] [-2.88663507e-02 9.99583138e-01 -5.33426365e-04 -9.39511827e+00] [-9.09901179e-03 2.70861910e-04 9.99958566e-01 -3.78872409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.044391418 meters 0.022282538035235635 Centerline is valid? [True, True] Translation: X:212.52, Y:-9.39, Z:-3.79 [[ 9.99443871e-01 3.19723113e-02 9.47206153e-03 2.12520845e+02] [-3.19684807e-02 9.99488723e-01 -5.55575959e-04 -9.39304002e+00] [-9.48498173e-03 2.52459570e-04 9.99954985e-01 -3.78877857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.074391418 meters 0.021171120217754705 Centerline is valid? [True, True] Translation: X:212.55, Y:-9.39, Z:-3.79 [[ 9.99362839e-01 3.43172938e-02 9.81015124e-03 2.12550135e+02] [-3.43133072e-02 9.99410960e-01 -5.74452873e-04 -9.39221168e+00] [-9.82408634e-03 2.37468121e-04 9.99951714e-01 -3.78880676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.104391418 meters 0.020238309984329156 Centerline is valid? [True, True] Translation: X:212.58, Y:-9.39, Z:-3.79 [[ 9.99269012e-01 3.68012728e-02 1.03492942e-02 2.12578068e+02] [-3.67969728e-02 9.99322579e-01 -6.05664744e-04 -9.39136413e+00] [-1.03645726e-02 2.24399314e-04 9.99946261e-01 -3.78875141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.134391418 meters 0.01903809195705004 Centerline is valid? [True, True] Translation: X:212.61, Y:-9.39, Z:-3.79 [[ 9.99160622e-01 3.94842166e-02 1.09108943e-02 2.12606930e+02] [-3.94796107e-02 9.99220173e-01 -6.37286131e-04 -9.39012492e+00] [-1.09275484e-02 2.05993348e-04 9.99940271e-01 -3.78870845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164391418 meters 0.016772644687413293 Centerline is valid? [True, True] Translation: X:212.64, Y:-9.39, Z:-3.79 [[ 9.98896638e-01 4.55320713e-02 1.15037434e-02 2.12635579e+02] [-4.55273627e-02 9.98962867e-01 -6.70983795e-04 -9.38532646e+00] [-1.15223637e-02 1.46508360e-04 9.99933605e-01 -3.78840562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194391418 meters 0.015437968364423942 Centerline is valid? [True, True] Translation: X:212.66, Y:-9.38, Z:-3.79 [[ 9.98753607e-01 4.86276310e-02 1.12510486e-02 2.12664278e+02] [-4.86233318e-02 9.98816971e-01 -6.55505885e-04 -9.38181757e+00] [-1.12696140e-02 1.07625396e-04 9.99936490e-01 -3.78805262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224391418 meters 0.01568874941509269 Centerline is valid? [True, True] Translation: X:212.69, Y:-9.38, Z:-3.79 [[ 9.98604816e-01 5.17027035e-02 1.07355839e-02 2.12693565e+02] [-5.16989756e-02 9.98662518e-01 -6.24659449e-04 -9.38123492e+00] [-1.07535218e-02 6.87692448e-05 9.99942177e-01 -3.78975707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254391418 meters 0.014599448836637255 Centerline is valid? [True, True] Translation: X:212.72, Y:-9.38, Z:-3.79 [[ 9.98301952e-01 5.72532556e-02 1.07367444e-02 2.12721594e+02] [-5.72498558e-02 9.98359687e-01 -6.23986849e-04 -9.37823518e+00] [-1.07548580e-02 8.25022210e-06 9.99942165e-01 -3.79008051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284391418 meters 0.014762841181305424 Centerline is valid? [True, True] Translation: X:212.75, Y:-9.38, Z:-3.79 [[ 9.98155271e-01 5.97146960e-02 1.09640606e-02 2.12748951e+02] [-5.97113088e-02 9.98215485e-01 -6.36314838e-04 -9.37768998e+00] [-1.09824924e-02 -1.95373962e-05 9.99939690e-01 -3.79112180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314391418 meters 0.014676184989895105 Centerline is valid? [True, True] Translation: X:212.78, Y:-9.38, Z:-3.79 [[ 9.98033686e-01 6.16886498e-02 1.11028092e-02 2.12778007e+02] [-6.16853209e-02 9.98095441e-01 -6.42360505e-04 -9.37764831e+00] [-1.11212896e-02 -4.37829231e-05 9.99938156e-01 -3.79134147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34439141800001 meters 0.01511306716661081 Centerline is valid? [True, True] Translation: X:212.81, Y:-9.38, Z:-3.79 [[ 9.97847714e-01 6.46396906e-02 1.10295030e-02 2.12806545e+02] [-6.46365953e-02 9.97908665e-01 -6.37247591e-04 -9.37721116e+00] [-1.10476281e-02 -7.70334701e-05 9.99938970e-01 -3.79218367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37439141800002 meters 0.015135008777940879 Centerline is valid? [True, True] Translation: X:212.84, Y:-9.38, Z:-3.79 [[ 9.97813941e-01 6.51367805e-02 1.11597067e-02 2.12835573e+02] [-6.51336530e-02 9.97876341e-01 -6.43861270e-04 -9.37859230e+00] [-1.11779463e-02 -8.44187123e-05 9.99937521e-01 -3.79280811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40439141800002 meters 0.01523651552659415 Centerline is valid? [True, True] Translation: X:212.86, Y:-9.38, Z:-3.79 [[ 9.97815035e-01 6.51462847e-02 1.10053240e-02 2.12863631e+02] [-6.51432502e-02 9.97875721e-01 -6.34362184e-04 -9.38018514e+00] [-1.10232720e-02 -8.39464505e-05 9.99939238e-01 -3.79377577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434391418 meters 0.014883607720243183 Centerline is valid? [True, True] Translation: X:212.89, Y:-9.38, Z:-3.79 [[ 9.97934558e-01 6.33461156e-02 1.06718583e-02 2.12892491e+02] [-6.33431753e-02 9.97991616e-01 -6.13636318e-04 -9.38419674e+00] [-1.06892966e-02 -6.36205033e-05 9.99942866e-01 -3.79459529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters 0.01454711755732565 Centerline is valid? [True, True] Translation: X:212.92, Y:-9.39, Z:-3.80 [[ 9.98073454e-01 6.11338792e-02 1.05843969e-02 2.12921099e+02] [-6.11308712e-02 9.98129574e-01 -6.07779020e-04 -9.38810808e+00] [-1.06017554e-02 -4.04252954e-05 9.99943799e-01 -3.79507382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494391418 meters 0.014448344913111245 Centerline is valid? [True, True] Translation: X:212.95, Y:-9.39, Z:-3.80 [[ 9.98256644e-01 5.80984799e-02 1.04038513e-02 2.12948800e+02] [-5.80954159e-02 9.98310857e-01 -5.96743537e-04 -9.39261391e+00] [-1.04209475e-02 -8.71286470e-06 9.99945700e-01 -3.79610451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524391418 meters 0.01468404359470359 Centerline is valid? [True, True] Translation: X:212.98, Y:-9.40, Z:-3.80 [[ 9.98654467e-01 5.06130805e-02 1.12947615e-02 2.12977056e+02] [-5.06090062e-02 9.98718334e-01 -6.46440549e-04 -9.40197555e+00] [-1.13130038e-02 7.39540857e-05 9.99936003e-01 -3.79583733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554391418 meters 0.01552419312645683 Centerline is valid? [True, True] Translation: X:213.01, Y:-9.41, Z:-3.80 [[ 9.98876537e-01 4.59428106e-02 1.16156053e-02 2.13005682e+02] [-4.59381972e-02 9.98944063e-01 -6.63810575e-04 -9.40810078e+00] [-1.16338373e-02 1.29464840e-04 9.99932316e-01 -3.79655776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584391418 meters 0.016781740955240647 Centerline is valid? [True, True] Translation: X:213.03, Y:-9.42, Z:-3.80 [[ 9.99089653e-01 4.08081305e-02 1.24322485e-02 2.13033072e+02] [-4.08024608e-02 9.99166981e-01 -7.09460985e-04 -9.41511236e+00] [-1.24508440e-02 2.01548797e-04 9.99922465e-01 -3.79682040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614391418 meters 0.018500215064367387 Centerline is valid? [True, True] Translation: X:213.06, Y:-9.42, Z:-3.80 [[ 9.99272018e-01 3.58862943e-02 1.29463831e-02 2.13060637e+02] [-3.58797512e-02 9.99355842e-01 -7.37389063e-04 -9.42256061e+00] [-1.29645057e-02 2.72339254e-04 9.99915920e-01 -3.79712829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644391418 meters 0.022683091779519975 Centerline is valid? [True, True] Translation: X:213.09, Y:-9.44, Z:-3.80 [[ 9.99554693e-01 2.59146102e-02 1.47935395e-02 2.13090488e+02] [-2.59050052e-02 9.99664056e-01 -8.40553114e-04 -9.43528604e+00] [-1.48103523e-02 4.56952092e-04 9.99890216e-01 -3.79682165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674391418 meters 0.024236605900276705 Centerline is valid? [True, True] Translation: X:213.12, Y:-9.44, Z:-3.80 [[ 9.99654706e-01 2.15154125e-02 1.50849371e-02 2.13120927e+02] [-2.15049260e-02 9.99768375e-01 -8.57051273e-04 -9.44163361e+00] [-1.50998829e-02 5.32354883e-04 9.99885849e-01 -3.79697494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704391418 meters 0.030285700143925284 Centerline is valid? [True, True] Translation: X:213.15, Y:-9.46, Z:-3.80 [[ 9.99787652e-01 1.33687690e-02 1.56820676e-02 2.13149493e+02] [-1.33564286e-02 9.99910402e-01 -8.91392367e-04 -9.45538765e+00] [-1.56925793e-02 6.81746667e-04 9.99876631e-01 -3.79798780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734391418 meters 0.032043330071501494 Centerline is valid? [True, True] Translation: X:213.18, Y:-9.46, Z:-3.80 [[ 9.99828776e-01 1.00858146e-02 1.55143690e-02 2.13180339e+02] [-1.00733475e-02 9.99948874e-01 -8.81521171e-04 -9.46098572e+00] [-1.55224667e-02 7.25088602e-04 9.99879256e-01 -3.79863084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764391418 meters 0.030763555171393734 Centerline is valid? [True, True] Translation: X:213.21, Y:-9.46, Z:-3.80 [[ 9.99851740e-01 7.45376684e-03 1.55222020e-02 2.13212047e+02] [-7.44097553e-03 9.99971927e-01 -8.81657166e-04 -9.46208898e+00] [-1.55283380e-02 7.66026126e-04 9.99879135e-01 -3.79904672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.794391418 meters 0.03610795281114911 Centerline is valid? [True, True] Translation: X:213.24, Y:-9.47, Z:-3.80 [[ 9.99864896e-01 5.49979799e-03 1.54900655e-02 2.13242924e+02] [-5.48675687e-03 9.99984557e-01 -8.84274263e-04 -9.47215362e+00] [-1.54946896e-02 7.99164571e-04 9.99879631e-01 -3.79978986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.824391418 meters 0.033969086520175266 Centerline is valid? [True, True] Translation: X:213.27, Y:-9.47, Z:-3.80 [[ 9.99876836e-01 2.60055905e-03 1.54773887e-02 2.13274189e+02] [-2.58715538e-03 9.99996261e-01 -8.85975784e-04 -9.47224666e+00] [-1.54796348e-02 8.45824254e-04 9.99879826e-01 -3.80039167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.854391418 meters 0.0345718283982458 Centerline is valid? [True, True] Translation: X:213.31, Y:-9.48, Z:-3.80 [[ 9.99870060e-01 2.74438532e-03 1.58849616e-02 2.13307083e+02] [-2.73028337e-03 9.99995859e-01 -9.09373687e-04 -9.47581088e+00] [-1.58873915e-02 8.65885076e-04 9.99873413e-01 -3.80075794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.884391418 meters 0.03327319702005507 Centerline is valid? [True, True] Translation: X:213.34, Y:-9.48, Z:-3.80 [[ 9.99859609e-01 4.02222137e-03 1.62660699e-02 2.13339109e+02] [-4.00750823e-03 9.99991531e-01 -9.37023607e-04 -9.47677782e+00] [-1.62697011e-02 8.71705648e-04 9.99867260e-01 -3.80111550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914391418 meters 0.033798230600247475 Centerline is valid? [True, True] Translation: X:213.37, Y:-9.48, Z:-3.80 [[ 9.99850081e-01 5.32303832e-03 1.64766786e-02 2.13369879e+02] [-5.30809976e-03 9.99985460e-01 -9.50249570e-04 -9.47918517e+00] [-1.64814973e-02 8.62647256e-04 9.99863799e-01 -3.80177629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944391418 meters 0.031811827792614426 Centerline is valid? [True, True] Translation: X:213.40, Y:-9.48, Z:-3.80 [[ 9.99835128e-01 7.25010884e-03 1.66479293e-02 2.13401950e+02] [-7.23505139e-03 9.99973362e-01 -9.64515092e-04 -9.47792039e+00] [-1.66544787e-02 8.43907446e-04 9.99860948e-01 -3.80246219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974391418 meters 0.030511711802741676 Centerline is valid? [True, True] Translation: X:213.43, Y:-9.48, Z:-3.80 [[ 9.99808259e-01 1.15367085e-02 1.58224707e-02 2.13431424e+02] [-1.15235647e-02 9.99933177e-01 -9.21631338e-04 -9.47655309e+00] [-1.58320460e-02 7.39123358e-04 9.99874392e-01 -3.80330307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004391418 meters 0.02899049246206202 Centerline is valid? [True, True] Translation: X:213.46, Y:-9.48, Z:-3.80 [[ 9.99786709e-01 1.40189505e-02 1.51659259e-02 2.13463120e+02] [-1.40071670e-02 9.99901505e-01 -8.82924330e-04 -9.47545572e+00] [-1.51768098e-02 6.70304353e-04 9.99884601e-01 -3.80461609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034391418 meters 0.028729314322193927 Centerline is valid? [True, True] Translation: X:213.49, Y:-9.48, Z:-3.81 [[ 9.99751297e-01 1.65245030e-02 1.49761583e-02 2.13493698e+02] [-1.65132831e-02 9.99863266e-01 -8.72536929e-04 -9.47622085e+00] [-1.49885288e-02 6.25014384e-04 9.99887470e-01 -3.80557456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064391418 meters 0.027630599309033377 Centerline is valid? [True, True] Translation: X:213.53, Y:-9.48, Z:-3.81 [[ 9.99715488e-01 1.90913046e-02 1.42991433e-02 2.13525568e+02] [-1.90813379e-02 9.99817588e-01 -8.33127298e-04 -9.47590264e+00] [-1.43124404e-02 5.60043478e-04 9.99897415e-01 -3.80623182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09439141800001 meters 0.024858100890718934 Centerline is valid? [True, True] Translation: X:213.56, Y:-9.47, Z:-3.81 [[ 9.99585064e-01 2.47807467e-02 1.46838276e-02 2.13556408e+02] [-2.47708269e-02 9.99692789e-01 -8.57079923e-04 -9.47222675e+00] [-1.47005556e-02 4.92993738e-04 9.99891819e-01 -3.80636723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12439141800002 meters 0.02385060458138268 Centerline is valid? [True, True] Translation: X:213.59, Y:-9.47, Z:-3.81 [[ 9.99514082e-01 2.75102161e-02 1.46556373e-02 2.13586887e+02] [-2.75006283e-02 9.99621420e-01 -8.55369878e-04 -9.47151278e+00] [-1.46736204e-02 4.51915003e-04 9.99892235e-01 -3.80647056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15439141800002 meters 0.020961317806459424 Centerline is valid? [True, True] Translation: X:213.62, Y:-9.47, Z:-3.81 [[ 9.99335246e-01 3.32113643e-02 1.50356824e-02 2.13617792e+02] [-3.32019121e-02 9.99448279e-01 -8.77908139e-04 -9.46666538e+00] [-1.50565434e-02 3.78111140e-04 9.99886572e-01 -3.80669314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters 0.019826068277886827 Centerline is valid? [True, True] Translation: X:213.65, Y:-9.47, Z:-3.81 [[ 9.99239601e-01 3.58374154e-02 1.53590234e-02 2.13647329e+02] [-3.58278607e-02 9.99357574e-01 -8.96889179e-04 -9.46590066e+00] [-1.53812985e-02 3.45926236e-04 9.99881641e-01 -3.80674272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214391418 meters 0.019193522077533574 Centerline is valid? [True, True] Translation: X:213.68, Y:-9.47, Z:-3.81 [[ 9.99141593e-01 3.84017787e-02 1.55364088e-02 2.13676119e+02] [-3.83923205e-02 9.99262332e-01 -9.06686367e-04 -9.46596038e+00] [-1.55597664e-02 3.09429277e-04 9.99878892e-01 -3.80727086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters 0.018121817723889065 Centerline is valid? [True, True] Translation: X:213.71, Y:-9.47, Z:-3.81 [[ 9.99041778e-01 4.07726458e-02 1.59096396e-02 2.13705321e+02] [-4.07630425e-02 9.99168411e-01 -9.27569887e-04 -9.46525985e+00] [-1.59342288e-02 2.78155755e-04 9.99873003e-01 -3.80729495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274391418 meters 0.016054348475799497 Centerline is valid? [True, True] Translation: X:213.73, Y:-9.46, Z:-3.81 [[ 9.98850946e-01 4.52975284e-02 1.56499896e-02 2.13734363e+02] [-4.52888092e-02 9.98973520e-01 -9.11278414e-04 -9.46212626e+00] [-1.56752039e-02 2.01461911e-04 9.99877116e-01 -3.80815319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304391418 meters 0.015269755753831753 Centerline is valid? [True, True] Translation: X:213.76, Y:-9.46, Z:-3.81 [[ 9.98758321e-01 4.73664175e-02 1.54349870e-02 2.13763221e+02] [-4.73582016e-02 9.98877568e-01 -8.97571513e-04 -9.46149131e+00] [-1.54601770e-02 1.65483794e-04 9.99880471e-01 -3.80926621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334391418 meters 0.015007755864807513 Centerline is valid? [True, True] Translation: X:213.79, Y:-9.46, Z:-3.81 [[ 9.98601968e-01 5.08234044e-02 1.45289842e-02 2.13791065e+02] [-5.08165057e-02 9.98707650e-01 -8.43846794e-04 -9.46124686e+00] [-1.45530949e-02 1.04354858e-04 9.99894093e-01 -3.81071348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364391418 meters 0.0145633361321392 Centerline is valid? [True, True] Translation: X:213.82, Y:-9.46, Z:-3.81 [[ 9.98520720e-01 5.25344129e-02 1.40181361e-02 2.13820198e+02] [-5.25281796e-02 9.98619111e-01 -8.12739656e-04 -9.46135827e+00] [-1.40414754e-02 7.51902149e-05 9.99901411e-01 -3.81098505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394391418 meters 0.014605222315764084 Centerline is valid? [True, True] Translation: X:213.85, Y:-9.46, Z:-3.81 [[ 9.98471535e-01 5.35145938e-02 1.38124087e-02 2.13848155e+02] [-5.35086503e-02 9.98567066e-01 -7.99770641e-04 -9.46276142e+00] [-1.38354158e-02 5.94648721e-05 9.99904284e-01 -3.81166091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424391418 meters 0.014665943397341888 Centerline is valid? [True, True] Translation: X:213.88, Y:-9.46, Z:-3.81 [[ 9.98419593e-01 5.44740412e-02 1.38164667e-02 2.13876654e+02] [-5.44682070e-02 9.98515186e-01 -7.98492148e-04 -9.46459891e+00] [-1.38394489e-02 4.46720399e-05 9.99904229e-01 -3.81242717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454391418 meters 0.014665943397341888 Centerline is valid? [True, True] Translation: X:213.90, Y:-9.47, Z:-3.81 [[ 9.98426124e-01 5.43541906e-02 1.38165206e-02 2.13904072e+02] [-5.43483578e-02 9.98521717e-01 -7.97557651e-04 -9.46606592e+00] [-1.38394465e-02 4.53971897e-05 9.99904229e-01 -3.81292261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484391418 meters 0.014676994706433513 Centerline is valid? [True, True] Translation: X:213.93, Y:-9.47, Z:-3.81 [[ 9.98367504e-01 5.54776225e-02 1.35853268e-02 2.13931636e+02] [-5.54721090e-02 9.98459930e-01 -7.82619154e-04 -9.46886628e+00] [-1.36078223e-02 2.77348008e-05 9.99907409e-01 -3.81308655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514391418 meters 0.014629867905042351 Centerline is valid? [True, True] Translation: X:213.96, Y:-9.47, Z:-3.81 [[ 9.98352830e-01 5.57384420e-02 1.35960785e-02 2.13958881e+02] [-5.57329639e-02 9.98445404e-01 -7.81771410e-04 -9.47144050e+00] [-1.36185168e-02 2.27339489e-05 9.99907263e-01 -3.81321882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.544391418 meters 0.014326604092665151 Centerline is valid? [True, True] Translation: X:213.99, Y:-9.47, Z:-3.81 [[ 9.98325728e-01 5.60657927e-02 1.42256280e-02 2.13986993e+02] [-5.60598669e-02 9.98427076e-01 -8.15293085e-04 -9.47416919e+00] [-1.42489623e-02 1.64412489e-05 9.99898478e-01 -3.81328011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.574391418 meters 0.014408550633388906 Centerline is valid? [True, True] Translation: X:214.01, Y:-9.48, Z:-3.81 [[ 9.98338386e-01 5.57118846e-02 1.47191206e-02 2.14013286e+02] [-5.57055263e-02 9.98446887e-01 -8.41931821e-04 -9.47873014e+00] [-1.47431658e-02 2.05964938e-05 9.99891313e-01 -3.81341862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.604391418 meters 0.014442789608836507 Centerline is valid? [True, True] Translation: X:214.04, Y:-9.48, Z:-3.81 [[ 9.98368164e-01 5.51625654e-02 1.47681965e-02 2.14041105e+02] [-5.51561463e-02 9.98477386e-01 -8.41917047e-04 -9.48242016e+00] [-1.47921525e-02 2.59863700e-05 9.99890590e-01 -3.81402543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.634391418 meters 0.014269041314862266 Centerline is valid? [True, True] Translation: X:214.07, Y:-9.49, Z:-3.81 [[ 9.98400447e-01 5.45605712e-02 1.48220253e-02 2.14068470e+02] [-5.45540649e-02 9.98510462e-01 -8.43231551e-04 -9.48617899e+00] [-1.48459545e-02 3.32810293e-05 9.99889792e-01 -3.81461926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664391418 meters 0.014632823993606475 Centerline is valid? [True, True] Translation: X:214.10, Y:-9.49, Z:-3.82 [[ 9.98515639e-01 5.24603229e-02 1.46435104e-02 2.14096179e+02] [-5.24537724e-02 9.98623007e-01 -8.31316674e-04 -9.49381705e+00] [-1.46669575e-02 6.19753392e-05 9.99892432e-01 -3.81581903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694391418 meters 0.014632137561012303 Centerline is valid? [True, True] Translation: X:214.12, Y:-9.50, Z:-3.82 [[ 9.98592037e-01 5.09663671e-02 1.47096129e-02 2.14124800e+02] [-5.09596171e-02 9.98700367e-01 -8.33581814e-04 -9.49856031e+00] [-1.47329804e-02 8.28119209e-05 9.99891460e-01 -3.81626965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724391418 meters 0.014764795033345839 Centerline is valid? [True, True] Translation: X:214.15, Y:-9.50, Z:-3.82 [[ 9.98676710e-01 4.93555952e-02 1.44517769e-02 2.14153626e+02] [-4.93489273e-02 9.98781265e-01 -8.17848702e-04 -9.50340758e+00] [-1.44745294e-02 1.03586763e-04 9.99895233e-01 -3.81712026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754391418 meters 0.0154768691414742 Centerline is valid? [True, True] Translation: X:214.18, Y:-9.51, Z:-3.82 [[ 9.98800576e-01 4.68387510e-02 1.42667801e-02 2.14180481e+02] [-4.68320114e-02 9.98902454e-01 -8.06305166e-04 -9.51274656e+00] [-1.42888880e-02 1.37196057e-04 9.99897899e-01 -3.81869622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784391418 meters 0.015083184387469788 Centerline is valid? [True, True] Translation: X:214.21, Y:-9.52, Z:-3.82 [[ 9.98858297e-01 4.57024574e-02 1.39063861e-02 2.14209534e+02] [-4.56959640e-02 9.98955086e-01 -7.84499881e-04 -9.51551454e+00] [-1.39277087e-02 1.48138498e-04 9.99902994e-01 -3.81886071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814391418 meters 0.016040230277991053 Centerline is valid? [True, True] Translation: X:214.24, Y:-9.52, Z:-3.82 [[ 9.98900615e-01 4.48520260e-02 1.36329213e-02 2.14237248e+02] [-4.48457200e-02 9.98993629e-01 -7.68060431e-04 -9.52124647e+00] [-1.36536506e-02 1.55837866e-04 9.99906772e-01 -3.82052274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84439141800001 meters 0.015921997986519273 Centerline is valid? [True, True] Translation: X:214.27, Y:-9.53, Z:-3.82 [[ 9.98944055e-01 4.41252994e-02 1.27958513e-02 2.14266118e+02] [-4.41197018e-02 9.99025993e-01 -7.19549887e-04 -9.52736218e+00] [-1.28151384e-02 1.54240940e-04 9.99917871e-01 -3.82166318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87439141800002 meters 0.015364317287489042 Centerline is valid? [True, True] Translation: X:214.29, Y:-9.53, Z:-3.82 [[ 9.98945466e-01 4.40717374e-02 1.28700464e-02 2.14294549e+02] [-4.40660826e-02 9.99028357e-01 -7.22762633e-04 -9.52931316e+00] [-1.28893947e-02 1.54867928e-04 9.99916916e-01 -3.82155951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90439141800002 meters 0.015283792566742662 Centerline is valid? [True, True] Translation: X:214.32, Y:-9.53, Z:-3.82 [[ 9.98919244e-01 4.45733495e-02 1.31742117e-02 2.14323641e+02] [-4.45674826e-02 9.99006103e-01 -7.38726364e-04 -9.53269775e+00] [-1.31940454e-02 1.50786531e-04 9.99912943e-01 -3.82215723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934391418 meters 0.015287807719112204 Centerline is valid? [True, True] Translation: X:214.35, Y:-9.54, Z:-3.82 [[ 9.98884531e-01 4.53477131e-02 1.31635492e-02 2.14350893e+02] [-4.53419359e-02 9.98971254e-01 -7.37150857e-04 -9.53704899e+00] [-1.31834353e-02 1.39467786e-04 9.99913085e-01 -3.82286623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters 0.015204443185240842 Centerline is valid? [True, True] Translation: X:214.38, Y:-9.54, Z:-3.82 [[ 9.98868728e-01 4.56862647e-02 1.31919978e-02 2.14379220e+02] [-4.56805108e-02 9.98955829e-01 -7.37312734e-04 -9.53989752e+00] [-1.32119081e-02 1.33861436e-04 9.99912710e-01 -3.82337727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994391418 meters 0.015041402451425667 Centerline is valid? [True, True] Translation: X:214.41, Y:-9.54, Z:-3.82 [[ 9.98847148e-01 4.61278892e-02 1.32888244e-02 2.14407484e+02] [-4.61221038e-02 9.98935534e-01 -7.41655442e-04 -9.54261751e+00] [-1.33088899e-02 1.27891886e-04 9.99911425e-01 -3.82382785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024391418 meters 0.014802641690100475 Centerline is valid? [True, True] Translation: X:214.44, Y:-9.55, Z:-3.82 [[ 9.98824788e-01 4.65914207e-02 1.33522681e-02 2.14435177e+02] [-4.65856345e-02 9.98914023e-01 -7.44218776e-04 -9.54543744e+00] [-1.33724420e-02 1.21320281e-04 9.99910578e-01 -3.82435767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054391418 meters 0.014713110229853494 Centerline is valid? [True, True] Translation: X:214.46, Y:-9.55, Z:-3.83 [[ 9.98757419e-01 4.80275558e-02 1.33030586e-02 2.14462762e+02] [-4.80219569e-02 9.98846006e-01 -7.40167638e-04 -9.54959024e+00] [-1.33232554e-02 1.00409014e-04 9.99911236e-01 -3.82520375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084391418 meters 0.014547983231481536 Centerline is valid? [True, True] Translation: X:214.49, Y:-9.55, Z:-3.83 [[ 9.98724774e-01 4.86757410e-02 1.33977175e-02 2.14491346e+02] [-4.86701394e-02 9.98814629e-01 -7.44027033e-04 -9.55233353e+00] [-1.34180523e-02 9.10094546e-05 9.99909970e-01 -3.82547699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114391418 meters 0.014581480511006278 Centerline is valid? [True, True] Translation: X:214.52, Y:-9.55, Z:-3.83 [[ 9.98689600e-01 4.92914999e-02 1.37633663e-02 2.14519641e+02] [-4.92856620e-02 9.98784432e-01 -7.63228256e-04 -9.55487747e+00] [-1.37842566e-02 8.38915033e-05 9.99904989e-01 -3.82613080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144391418 meters 0.01430349878354911 Centerline is valid? [True, True] Translation: X:214.55, Y:-9.56, Z:-3.83 [[ 9.98614708e-01 5.07682499e-02 1.38293080e-02 2.14547427e+02] [-5.07625112e-02 9.98710459e-01 -7.65894860e-04 -9.55830702e+00] [-1.38503577e-02 6.28234690e-05 9.99904077e-01 -3.82618584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174391418 meters 0.014198940836169759 Centerline is valid? [True, True] Translation: X:214.58, Y:-9.56, Z:-3.83 [[ 9.98589506e-01 5.13226611e-02 1.36008164e-02 2.14576116e+02] [-5.13171813e-02 9.98682122e-01 -7.51823177e-04 -9.56115082e+00] [-1.36214778e-02 5.28071720e-05 9.99907222e-01 -3.82701417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204391418 meters 0.014242733748054731 Centerline is valid? [True, True] Translation: X:214.61, Y:-9.56, Z:-3.83 [[ 9.98578099e-01 5.15802002e-02 1.34633907e-02 2.14605204e+02] [-5.15748634e-02 9.98668854e-01 -7.43522646e-04 -9.56394456e+00] [-1.34838200e-02 4.80928926e-05 9.99909088e-01 -3.82796090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234391418 meters 0.014118400633603397 Centerline is valid? [True, True] Translation: X:214.63, Y:-9.57, Z:-3.83 [[ 9.98584629e-01 5.15947991e-02 1.29118639e-02 2.14633380e+02] [-5.15899044e-02 9.98668100e-01 -7.12096785e-04 -9.56857346e+00] [-1.29314071e-02 4.49670810e-05 9.99916385e-01 -3.82871063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264391418 meters 0.014343436619603479 Centerline is valid? [True, True] Translation: X:214.66, Y:-9.57, Z:-3.83 [[ 9.98624783e-01 5.09596453e-02 1.23149077e-02 2.14661048e+02] [-5.09551557e-02 9.98700712e-01 -6.78265175e-04 -9.57210038e+00] [-1.23334712e-02 4.98243737e-05 9.99923939e-01 -3.82996025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.294391418 meters 0.014706596497508417 Centerline is valid? [True, True] Translation: X:214.69, Y:-9.58, Z:-3.83 [[ 9.98704531e-01 4.95315161e-02 1.16571721e-02 2.14688309e+02] [-4.95274099e-02 9.98772559e-01 -6.40846655e-04 -9.57887640e+00] [-1.16746057e-02 6.26669158e-05 9.99931848e-01 -3.83203640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.324391418 meters 0.014944746797169856 Centerline is valid? [True, True] Translation: X:214.72, Y:-9.58, Z:-3.83 [[ 9.98760292e-01 4.83471490e-02 1.18503935e-02 2.14716599e+02] [-4.83428402e-02 9.98830590e-01 -6.49951780e-04 -9.58288641e+00] [-1.18679589e-02 7.62643495e-05 9.99929570e-01 -3.83250604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.354391418 meters 0.014980243417570992 Centerline is valid? [True, True] Translation: X:214.75, Y:-9.59, Z:-3.83 [[ 9.98819927e-01 4.71473731e-02 1.16567205e-02 2.14745159e+02] [-4.71431319e-02 9.98887940e-01 -6.38506926e-04 -9.58577011e+00] [-1.16738615e-02 8.82191298e-05 9.99931854e-01 -3.83188203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.384391418 meters 0.015371460643526376 Centerline is valid? [True, True] Translation: X:214.77, Y:-9.59, Z:-3.83 [[ 9.98916419e-01 4.48800788e-02 1.23193395e-02 2.14773512e+02] [-4.48751836e-02 9.98992374e-01 -6.73636204e-04 -9.59213342e+00] [-1.23371591e-02 1.20073643e-04 9.99923887e-01 -3.83144061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414391418 meters 0.016526008266065165 Centerline is valid? [True, True] Translation: X:214.80, Y:-9.60, Z:-3.83 [[ 9.98950605e-01 4.39756145e-02 1.27997308e-02 2.14801860e+02] [-4.39702725e-02 9.99032596e-01 -6.98609686e-04 -9.59812877e+00] [-1.28180701e-02 1.35068918e-04 9.99917836e-01 -3.83269705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444391418 meters 0.015870538589153372 Centerline is valid? [True, True] Translation: X:214.83, Y:-9.60, Z:-3.83 [[ 9.98993311e-01 4.29353515e-02 1.29969156e-02 2.14830812e+02] [-4.29297653e-02 9.99077841e-01 -7.08625463e-04 -9.59898663e+00] [-1.30153555e-02 1.49957561e-04 9.99915285e-01 -3.83157294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474391418 meters 0.015961917605529473 Centerline is valid? [True, True] Translation: X:214.86, Y:-9.60, Z:-3.83 [[ 9.99013845e-01 4.23335044e-02 1.33869774e-02 2.14859918e+02] [-4.23275402e-02 9.99103522e-01 -7.28666180e-04 -9.60209665e+00] [-1.34058233e-02 1.61309778e-04 9.99910125e-01 -3.83172204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504391418 meters 0.01655827649829391 Centerline is valid? [True, True] Translation: X:214.89, Y:-9.61, Z:-3.83 [[ 9.99059455e-01 4.09873660e-02 1.41506668e-02 2.14888365e+02] [-4.09805868e-02 9.99159647e-01 -7.68827244e-04 -9.60685747e+00] [-1.41702874e-02 1.88201499e-04 9.99899579e-01 -3.83190133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534391418 meters 0.016667340233431915 Centerline is valid? [True, True] Translation: X:214.92, Y:-9.61, Z:-3.83 [[ 9.99090296e-01 4.02166834e-02 1.41844610e-02 2.14918006e+02] [-4.02098084e-02 9.99190962e-01 -7.69665233e-04 -9.60970421e+00] [-1.42039386e-02 1.98610606e-04 9.99899099e-01 -3.83217869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564391418 meters 0.017224670140202045 Centerline is valid? [True, True] Translation: X:214.95, Y:-9.61, Z:-3.83 [[ 9.99125489e-01 3.92262876e-02 1.44760586e-02 2.14947052e+02] [-3.92190356e-02 9.99230330e-01 -7.84621046e-04 -9.61360181e+00] [-1.44956946e-02 2.16197830e-04 9.99894909e-01 -3.83250022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59439141800001 meters 0.018069801757809555 Centerline is valid? [True, True] Translation: X:214.98, Y:-9.62, Z:-3.83 [[ 9.99191197e-01 3.73607564e-02 1.48702679e-02 2.14976879e+02] [-3.73528927e-02 9.99301812e-01 -8.06302772e-04 -9.61943050e+00] [-1.48900098e-02 2.50203109e-04 9.99889106e-01 -3.83328200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62439141800002 meters 0.018462069964187304 Centerline is valid? [True, True] Translation: X:215.01, Y:-9.62, Z:-3.83 [[ 9.99226914e-01 3.65824886e-02 1.43977676e-02 2.15007631e+02] [-3.65750360e-02 9.99330605e-01 -7.80682633e-04 -9.62319936e+00] [-1.44166891e-02 2.53480231e-04 9.99896042e-01 -3.83410510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65439141800002 meters 0.019236875025890922 Centerline is valid? [True, True] Translation: X:215.04, Y:-9.63, Z:-3.84 [[ 9.99247674e-01 3.60183124e-02 1.43794320e-02 2.15037274e+02] [-3.60108215e-02 9.99351096e-01 -7.79610744e-04 -9.62747711e+00] [-1.43981814e-02 2.61209065e-04 9.99896307e-01 -3.83506284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters 0.018534805525460444 Centerline is valid? [True, True] Translation: X:215.07, Y:-9.63, Z:-3.84 [[ 9.99278148e-01 3.53342707e-02 1.39525269e-02 2.15067279e+02] [-3.53271461e-02 9.99375515e-01 -7.56839935e-04 -9.62933801e+00] [-1.39705561e-02 2.63390652e-04 9.99902372e-01 -3.83530347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714391418 meters 0.018344335304111108 Centerline is valid? [True, True] Translation: X:215.10, Y:-9.63, Z:-3.84 [[ 9.99271024e-01 3.56702206e-02 1.36035416e-02 2.15098050e+02] [-3.56634791e-02 9.99363583e-01 -7.37909601e-04 -9.63164382e+00] [-1.36212055e-02 2.52222060e-04 9.99907195e-01 -3.83648282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters 0.018669036552742414 Centerline is valid? [True, True] Translation: X:215.13, Y:-9.63, Z:-3.84 [[ 9.99259778e-01 3.62484289e-02 1.28820570e-02 2.15127060e+02] [-3.62424301e-02 9.99342783e-01 -6.98885060e-04 -9.63452234e+00] [-1.28989242e-02 2.31490678e-04 9.99916779e-01 -3.83790409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774391418 meters 0.017573430291006095 Centerline is valid? [True, True] Translation: X:215.16, Y:-9.64, Z:-3.84 [[ 9.99169906e-01 3.88616213e-02 1.22177778e-02 2.15156632e+02] [-3.88564222e-02 9.99244584e-01 -6.62719917e-04 -9.63559251e+00] [-1.22343027e-02 1.87430664e-04 9.99925141e-01 -3.83878280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804391418 meters 0.016777681212493376 Centerline is valid? [True, True] Translation: X:215.19, Y:-9.64, Z:-3.84 [[ 9.99096928e-01 4.05973141e-02 1.25373993e-02 2.15186594e+02] [-4.05919828e-02 9.99175575e-01 -6.79510620e-04 -9.63569115e+00] [-1.25546494e-02 1.69979078e-04 9.99921173e-01 -3.83865816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834391418 meters 0.01616910414752819 Centerline is valid? [True, True] Translation: X:215.22, Y:-9.64, Z:-3.84 [[ 9.99018202e-01 4.25102813e-02 1.24702857e-02 2.15215092e+02] [-4.25051613e-02 9.99096019e-01 -6.75447681e-04 -9.63627186e+00] [-1.24877263e-02 1.44733023e-04 9.99922015e-01 -3.83857731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864391418 meters 0.015317768374255103 Centerline is valid? [True, True] Translation: X:215.24, Y:-9.64, Z:-3.84 [[ 9.98848634e-01 4.61651137e-02 1.30456665e-02 2.15243697e+02] [-4.61598323e-02 9.98933817e-01 -7.05818302e-04 -9.63529941e+00] [-1.30643416e-02 1.02819870e-04 9.99914653e-01 -3.83922015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894391418 meters 0.014905786211430712 Centerline is valid? [True, True] Translation: X:215.27, Y:-9.64, Z:-3.84 [[ 9.98782651e-01 4.76541541e-02 1.27396143e-02 2.15272253e+02] [-4.76492523e-02 9.98863892e-01 -6.88190607e-04 -9.63566696e+00] [-1.27579358e-02 8.03197446e-05 9.99918611e-01 -3.83986807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924391418 meters 0.014771749019577953 Centerline is valid? [True, True] Translation: X:215.30, Y:-9.64, Z:-3.84 [[ 9.98725317e-01 4.89236407e-02 1.24185159e-02 2.15301236e+02] [-4.89190942e-02 9.98802520e-01 -6.69787417e-04 -9.63645139e+00] [-1.24364135e-02 6.14310994e-05 9.99922663e-01 -3.84103726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954391418 meters 0.01463533429412939 Centerline is valid? [True, True] Translation: X:215.33, Y:-9.64, Z:-3.84 [[ 9.98701017e-01 4.94970619e-02 1.20962684e-02 2.15329806e+02] [-4.94928026e-02 9.98774268e-01 -6.51396158e-04 -9.63773045e+00] [-1.21136838e-02 5.18717817e-05 9.99926625e-01 -3.84167498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984391418 meters 0.014663831381770489 Centerline is valid? [True, True] Translation: X:215.36, Y:-9.64, Z:-3.84 [[ 9.98689186e-01 4.97242941e-02 1.21410537e-02 2.15358729e+02] [-4.97200330e-02 9.98762981e-01 -6.52737504e-04 -9.64014190e+00] [-1.21584919e-02 4.82282964e-05 9.99926082e-01 -3.84241626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014391418 meters 0.014709795907403008 Centerline is valid? [True, True] Translation: X:215.39, Y:-9.64, Z:-3.84 [[ 9.98724622e-01 4.90186679e-02 1.20954706e-02 2.15386283e+02] [-4.90143985e-02 9.98797861e-01 -6.49342049e-04 -9.64270406e+00] [-1.21127601e-02 5.56616744e-05 9.99926636e-01 -3.84269197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.044391418 meters 0.014826356836434457 Centerline is valid? [True, True] Translation: X:215.41, Y:-9.65, Z:-3.84 [[ 9.98791996e-01 4.74921242e-02 1.26113546e-02 2.15414641e+02] [-4.74873813e-02 9.98871610e-01 -6.75442358e-04 -9.64554297e+00] [-1.26292023e-02 7.57462146e-05 9.99920246e-01 -3.84248310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.074391418 meters 0.015491247748335301 Centerline is valid? [True, True] Translation: X:215.44, Y:-9.65, Z:-3.84 [[ 9.98945358e-01 4.38963313e-02 1.34641706e-02 2.15443793e+02] [-4.38906186e-02 9.99036083e-01 -7.19625435e-04 -9.65070267e+00] [-1.34827812e-02 1.27915711e-04 9.99909095e-01 -3.84165632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.104391418 meters 0.01600122636975878 Centerline is valid? [True, True] Translation: X:215.47, Y:-9.65, Z:-3.84 [[ 9.99039317e-01 4.15966631e-02 1.37899122e-02 2.15473479e+02] [-4.15904603e-02 9.99134471e-01 -7.36408950e-04 -9.65433805e+00] [-1.38086087e-02 1.62172701e-04 9.99904643e-01 -3.84158254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.134391418 meters 0.017105773167697194 Centerline is valid? [True, True] Translation: X:215.50, Y:-9.66, Z:-3.84 [[ 9.99146306e-01 3.87974804e-02 1.41920441e-02 2.15503088e+02] [-3.87906385e-02 9.99247073e-01 -7.57150574e-04 -9.65898338e+00] [-1.42107341e-02 2.05985747e-04 9.99899001e-01 -3.84200519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164391418 meters 0.020105038962821706 Centerline is valid? [True, True] Translation: X:215.53, Y:-9.67, Z:-3.84 [[ 9.99362372e-01 3.25573650e-02 1.46583747e-02 2.15532681e+02] [-3.25494061e-02 9.99469822e-01 -7.81268215e-04 -9.66804249e+00] [-1.46760392e-02 3.03648666e-04 9.99892255e-01 -3.84249463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194391418 meters 0.021401064218029328 Centerline is valid? [True, True] Translation: X:215.56, Y:-9.67, Z:-3.84 [[ 9.99468357e-01 2.91182317e-02 1.46673457e-02 2.15564126e+02] [-2.91098668e-02 9.99575911e-01 -7.83525959e-04 -9.67233753e+00] [-1.46839404e-02 3.56144923e-04 9.99892122e-01 -3.84308844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224391418 meters 0.023654195032145466 Centerline is valid? [True, True] Translation: X:215.60, Y:-9.68, Z:-3.84 [[ 9.99567194e-01 2.55910913e-02 1.45093470e-02 2.15595608e+02] [-2.55825372e-02 9.99672413e-01 -7.74887594e-04 -9.67778753e+00] [-1.45244242e-02 4.03366309e-04 9.99894434e-01 -3.84433325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254391418 meters 0.027579138953936627 Centerline is valid? [True, True] Translation: X:215.63, Y:-9.69, Z:-3.85 [[ 9.99651743e-01 2.22280638e-02 1.42234502e-02 2.15626324e+02] [-2.22194492e-02 9.99752826e-01 -7.63415822e-04 -9.68573741e+00] [-1.42369038e-02 4.47112727e-04 9.99898550e-01 -3.84552667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284391418 meters 0.02784655669950499 Centerline is valid? [True, True] Translation: X:215.66, Y:-9.69, Z:-3.85 [[ 9.99786260e-01 1.54282290e-02 1.37624054e-02 2.15657299e+02] [-1.54194580e-02 9.99880837e-01 -7.43200504e-04 -9.68809937e+00] [-1.37722317e-02 5.30832820e-04 9.99905017e-01 -3.84639927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314391418 meters 0.03120475267235035 Centerline is valid? [True, True] Translation: X:215.69, Y:-9.69, Z:-3.85 [[ 9.99828465e-01 1.29057539e-02 1.32846513e-02 2.15687823e+02] [-1.28973510e-02 9.99916568e-01 -7.18008480e-04 -9.69445521e+00] [-1.32928094e-02 5.46548505e-04 9.99911497e-01 -3.84758765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34439141800001 meters 0.03256344449815027 Centerline is valid? [True, True] Translation: X:215.72, Y:-9.70, Z:-3.85 [[ 9.99856996e-01 1.08410740e-02 1.29791778e-02 2.15720003e+02] [-1.08328750e-02 9.99941076e-01 -7.01843503e-04 -9.69777565e+00] [-1.29860217e-02 5.61141326e-04 9.99915521e-01 -3.84831790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37439141800002 meters 0.029135533190129757 Centerline is valid? [True, True] Translation: X:215.75, Y:-9.69, Z:-3.85 [[ 9.99880940e-01 7.89345791e-03 1.32589203e-02 2.15752204e+02] [-7.88464047e-03 9.99968659e-01 -7.17161496e-04 -9.69302734e+00] [-1.32641656e-02 6.12534291e-04 9.99911839e-01 -3.84760845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40439141800002 meters 0.029135533190129757 Centerline is valid? [True, True] Translation: X:215.78, Y:-9.69, Z:-3.85 [[ 9.99878307e-01 8.22057449e-03 1.32587303e-02 2.15784746e+02] [-8.21173954e-03 9.99966023e-01 -7.20654084e-04 -9.69494018e+00] [-1.32642040e-02 6.11689145e-04 9.99911839e-01 -3.84819542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434391418 meters 0.03316688981670329 Centerline is valid? [True, True] Translation: X:215.82, Y:-9.70, Z:-3.85 [[ 9.99885586e-01 7.20138412e-03 1.33024360e-02 2.15816865e+02] [-7.19233187e-03 9.99973870e-01 -7.28211150e-04 -9.70087725e+00] [-1.33073325e-02 6.32452298e-04 9.99911254e-01 -3.84906499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters 0.0309480792962509 Centerline is valid? [True, True] Translation: X:215.85, Y:-9.70, Z:-3.85 [[ 9.99886039e-01 6.54315594e-03 1.36049923e-02 2.15849318e+02] [-6.53360457e-03 9.99978377e-01 -7.46377706e-04 -9.69812538e+00] [-1.36095818e-02 6.57403008e-04 9.99907169e-01 -3.84857190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494391418 meters 0.03073016565313939 Centerline is valid? [True, True] Translation: X:215.88, Y:-9.70, Z:-3.85 [[ 9.99888522e-01 4.90749008e-03 1.41017801e-02 2.15881251e+02] [-4.89700227e-03 9.99987707e-01 -7.78156200e-04 -9.69577150e+00] [-1.41054256e-02 7.09013004e-04 9.99900262e-01 -3.84834236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524391418 meters 0.03494529066255385 Centerline is valid? [True, True] Translation: X:215.91, Y:-9.70, Z:-3.85 [[ 9.99895058e-01 4.07626845e-03 1.39017257e-02 2.15911952e+02] [-4.06594489e-03 9.99991437e-01 -7.70792639e-04 -9.70153680e+00] [-1.39047486e-02 7.14188099e-04 9.99903069e-01 -3.84938243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554391418 meters 0.03661213617489378 Centerline is valid? [True, True] Translation: X:215.94, Y:-9.70, Z:-3.85 [[ 9.99899709e-01 3.19251565e-03 1.37978278e-02 2.15943552e+02] [-3.18221095e-03 9.99994641e-01 -7.68725766e-04 -9.70318800e+00] [-1.38002080e-02 7.24741071e-04 9.99904510e-01 -3.85131653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584391418 meters 0.033265545190329864 Centerline is valid? [True, True] Translation: X:215.98, Y:-9.70, Z:-3.85 [[ 9.99912698e-01 4.77466609e-04 1.32048721e-02 2.15975316e+02] [-4.67737799e-04 9.99999617e-01 -7.39837686e-04 -9.69702364e+00] [-1.32052203e-02 7.33596679e-04 9.99912538e-01 -3.85097384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614391418 meters 0.03806535538519184 Centerline is valid? [True, True] Translation: X:216.01, Y:-9.70, Z:-3.85 [[ 9.99919139e-01 -1.11214762e-03 1.26679859e-02 2.16005559e+02] [ 1.12123474e-03 9.99999119e-01 -7.10250117e-04 -9.70314283e+00] [-1.26671849e-02 7.24396472e-04 9.99919506e-01 -3.85290866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644391418 meters 0.03937425660383043 Centerline is valid? [True, True] Translation: X:216.04, Y:-9.70, Z:-3.85 [[ 9.99923466e-01 -2.64906956e-03 1.20849227e-02 2.16037155e+02] [ 2.65745034e-03 9.99996239e-01 -6.77485124e-04 -9.70429324e+00] [-1.20830825e-02 7.09548355e-04 9.99926745e-01 -3.85408869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674391418 meters 0.0432410659166003 Centerline is valid? [True, True] Translation: X:216.07, Y:-9.71, Z:-3.86 [[ 9.99924566e-01 -6.03786752e-03 1.06960744e-02 2.16066957e+02] [ 6.04464258e-03 9.99981550e-01 -6.01200889e-04 -9.70606809e+00] [-1.06922471e-02 6.65809485e-04 9.99942615e-01 -3.85553030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704391418 meters 0.03692938946655318 Centerline is valid? [True, True] Translation: X:216.10, Y:-9.70, Z:-3.86 [[ 9.99914222e-01 -8.28327060e-03 1.01457176e-02 2.16098533e+02] [ 8.28949250e-03 9.99965478e-01 -5.71354584e-04 -9.69714605e+00] [-1.01406347e-02 6.55408424e-04 9.99948368e-01 -3.85504193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734391418 meters 0.040229971805929216 Centerline is valid? [True, True] Translation: X:216.13, Y:-9.70, Z:-3.86 [[ 9.99901038e-01 -1.02831391e-02 9.60060278e-03 2.16128388e+02] [ 1.02887972e-02 9.99946923e-01 -5.40142193e-04 -9.70063761e+00] [-9.59453886e-03 6.38867395e-04 9.99953767e-01 -3.85629240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764391418 meters 0.040747682558386324 Centerline is valid? [True, True] Translation: X:216.16, Y:-9.70, Z:-3.86 [[ 9.99854740e-01 -1.43721503e-02 9.16184629e-03 2.16159107e+02] [ 1.43774897e-02 9.99896505e-01 -5.17193380e-04 -9.69763358e+00] [-9.15346490e-03 6.48842603e-04 9.99957896e-01 -3.85635703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.794391418 meters 0.041730532959767884 Centerline is valid? [True, True] Translation: X:216.19, Y:-9.70, Z:-3.86 [[ 9.99830482e-01 -1.57793890e-02 9.48775303e-03 2.16191585e+02] [ 1.57851724e-02 9.99875263e-01 -5.34983573e-04 -9.69793924e+00] [-9.47812785e-03 6.84658702e-04 9.99954847e-01 -3.85661645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.824391418 meters 0.042056603384560874 Centerline is valid? [True, True] Translation: X:216.22, Y:-9.70, Z:-3.86 [[ 9.99807729e-01 -1.67678565e-02 1.01658461e-02 2.16223493e+02] [ 1.67745514e-02 9.99859133e-01 -5.73661278e-04 -9.69732077e+00] [-1.01547950e-02 7.44078488e-04 9.99948162e-01 -3.85670972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.854391418 meters 0.042959709580910235 Centerline is valid? [True, True] Translation: X:216.26, Y:-9.70, Z:-3.86 [[ 9.99791619e-01 -1.73836991e-02 1.07016642e-02 2.16255898e+02] [ 1.73911774e-02 9.99848578e-01 -6.06124252e-04 -9.69704549e+00] [-1.06895071e-02 7.92112488e-04 9.99942552e-01 -3.85665904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.884391418 meters 0.04519515726987294 Centerline is valid? [True, True] Translation: X:216.29, Y:-9.70, Z:-3.86 [[ 9.99790209e-01 -1.69793979e-02 1.14559163e-02 2.16287483e+02] [ 1.69879471e-02 9.99855484e-01 -6.49373835e-04 -9.69517893e+00] [-1.14432347e-02 8.43850102e-04 9.99934168e-01 -3.85613487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914391418 meters 0.045010551711071954 Centerline is valid? [True, True] Translation: X:216.32, Y:-9.69, Z:-3.86 [[ 9.99804327e-01 -1.59236170e-02 1.17365253e-02 2.16320202e+02] [ 1.59325462e-02 9.99872846e-01 -6.67695352e-04 -9.69383306e+00] [-1.17244008e-02 8.54557434e-04 9.99930902e-01 -3.85680551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944391418 meters 0.04498604582088477 Centerline is valid? [True, True] Translation: X:216.35, Y:-9.69, Z:-3.86 [[ 9.99825572e-01 -1.43240654e-02 1.19852322e-02 2.16350804e+02] [ 1.43332836e-02 9.99897040e-01 -6.83584058e-04 -9.69273909e+00] [-1.19742065e-02 8.55252554e-04 9.99927941e-01 -3.85730180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974391418 meters 0.04421189352864323 Centerline is valid? [True, True] Translation: X:216.38, Y:-9.69, Z:-3.86 [[ 9.99855328e-01 -1.21524308e-02 1.19013016e-02 2.16382712e+02] [ 1.21613672e-02 9.99925817e-01 -6.78789568e-04 -9.69054885e+00] [-1.18921698e-02 8.23427465e-04 9.99928947e-01 -3.85797784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004391418 meters 0.040775137233692416 Centerline is valid? [True, True] Translation: X:216.41, Y:-9.68, Z:-3.86 [[ 9.99906938e-01 -7.01979489e-03 1.16977503e-02 2.16413824e+02] [ 7.02809084e-03 9.99975079e-01 -6.68234035e-04 -9.68106267e+00] [-1.16927679e-02 7.50384700e-04 9.99931356e-01 -3.85825100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034391418 meters 0.039846634805301984 Centerline is valid? [True, True] Translation: X:216.45, Y:-9.68, Z:-3.86 [[ 9.99923623e-01 -4.25041227e-03 1.16052689e-02 2.16445227e+02] [ 4.25838896e-03 9.99990713e-01 -6.62709551e-04 -9.67814873e+00] [-1.16023443e-02 7.12078685e-04 9.99932437e-01 -3.85908726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064391418 meters 0.03852624117464987 Centerline is valid? [True, True] Translation: X:216.48, Y:-9.68, Z:-3.86 [[ 9.99936031e-01 -1.62652128e-03 1.11932322e-02 2.16477370e+02] [ 1.63378101e-03 9.99998461e-01 -6.39468744e-04 -9.67524093e+00] [-1.11921749e-02 6.57715128e-04 9.99937149e-01 -3.85956052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09439141800001 meters 0.03447075841604627 Centerline is valid? [True, True] Translation: X:216.51, Y:-9.67, Z:-3.86 [[ 9.99934430e-01 2.94359426e-03 1.10666717e-02 2.16508374e+02] [-2.93676510e-03 9.99995487e-01 -6.33292480e-04 -9.66560277e+00] [-1.10684859e-02 6.00750739e-04 9.99938562e-01 -3.85994676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12439141800002 meters 0.033783643561945034 Centerline is valid? [True, True] Translation: X:216.54, Y:-9.66, Z:-3.86 [[ 9.99922863e-01 5.36306109e-03 1.12029623e-02 2.16538666e+02] [-5.35621563e-03 9.99985450e-01 -6.40954672e-04 -9.66416465e+00] [-1.12062368e-02 5.80899749e-04 9.99937039e-01 -3.86062110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15439141800002 meters 0.032974577912085065 Centerline is valid? [True, True] Translation: X:216.57, Y:-9.66, Z:-3.86 [[ 9.99910608e-01 7.60063721e-03 1.10002504e-02 2.16569887e+02] [-7.59417144e-03 9.99970966e-01 -6.29435503e-04 -9.66217296e+00] [-1.10047151e-02 5.45841450e-04 9.99939297e-01 -3.86161247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters 0.030534094435563326 Centerline is valid? [True, True] Translation: X:216.60, Y:-9.66, Z:-3.86 [[ 9.99866620e-01 1.27897644e-02 1.01569989e-02 2.16599905e+02] [-1.27845124e-02 9.99918106e-01 -5.81844655e-04 -9.65516816e+00] [-1.01636087e-02 4.51914770e-04 9.99948247e-01 -3.86269989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214391418 meters 0.029852271844382623 Centerline is valid? [True, True] Translation: X:216.63, Y:-9.65, Z:-3.86 [[ 9.99836268e-01 1.51586653e-02 9.88192080e-03 2.16630994e+02] [-1.51538125e-02 9.99885014e-01 -5.65772332e-04 -9.65280781e+00] [-9.88936088e-03 4.15930922e-04 9.99951013e-01 -3.86400015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters 0.02832054205921649 Centerline is valid? [True, True] Translation: X:216.66, Y:-9.65, Z:-3.86 [[ 9.99793942e-01 1.81141847e-02 9.16242072e-03 2.16662377e+02] [-1.81101339e-02 9.99835860e-01 -5.24885226e-04 -9.64981992e+00] [-9.17042467e-03 3.58844403e-04 9.99957886e-01 -3.86486861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274391418 meters 0.02578024782597823 Centerline is valid? [True, True] Translation: X:216.69, Y:-9.64, Z:-3.86 [[ 9.99676773e-01 2.36216740e-02 9.40029852e-03 2.16692944e+02] [-2.36176467e-02 9.99720919e-01 -5.39223030e-04 -9.64210347e+00] [-9.41041242e-03 3.17035809e-04 9.99955671e-01 -3.86499161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304391418 meters 0.024595053047566054 Centerline is valid? [True, True] Translation: X:216.72, Y:-9.64, Z:-3.87 [[ 9.99608143e-01 2.61739992e-02 9.92381753e-03 2.16722468e+02] [-2.61696334e-02 9.99657354e-01 -5.69554913e-04 -9.63934657e+00] [-9.93532471e-03 3.09629062e-04 9.99950596e-01 -3.86504981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334391418 meters 0.02089007536150417 Centerline is valid? [True, True] Translation: X:216.75, Y:-9.63, Z:-3.86 [[ 9.99546986e-01 2.82642940e-02 1.03418251e-02 2.16752003e+02] [-2.82596653e-02 9.99600440e-01 -5.93463455e-04 -9.63281762e+00] [-1.03544667e-02 3.00938093e-04 9.99946346e-01 -3.86392510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364391418 meters 0.02103117926951294 Centerline is valid? [True, True] Translation: X:216.78, Y:-9.63, Z:-3.86 [[ 9.99501961e-01 2.98596116e-02 1.02094882e-02 2.16779956e+02] [-2.98551904e-02 9.99554063e-01 -5.85220971e-04 -9.63229780e+00] [-1.02224099e-02 2.80123293e-04 9.99947711e-01 -3.86465081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394391418 meters 0.019757408708111334 Centerline is valid? [True, True] Translation: X:216.81, Y:-9.63, Z:-3.86 [[ 9.99446730e-01 3.14519571e-02 1.08170477e-02 2.16808716e+02] [-3.14471018e-02 9.99505226e-01 -6.18691964e-04 -9.62825785e+00] [-1.08311548e-02 2.78184859e-04 9.99941303e-01 -3.86435507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424391418 meters 0.01923347520023763 Centerline is valid? [True, True] Translation: X:216.84, Y:-9.63, Z:-3.86 [[ 9.99445525e-01 3.14481074e-02 1.09388586e-02 2.16837295e+02] [-3.14431515e-02 9.99505347e-01 -6.24782273e-04 -9.62696772e+00] [-1.09530959e-02 2.80483659e-04 9.99939974e-01 -3.86478675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454391418 meters 0.019411900561597056 Centerline is valid? [True, True] Translation: X:216.87, Y:-9.63, Z:-3.87 [[ 9.99464104e-01 3.09303984e-02 1.07151822e-02 2.16865608e+02] [-3.09256209e-02 9.99521502e-01 -6.11307922e-04 -9.62741912e+00] [-1.07289630e-02 2.79606664e-04 9.99942404e-01 -3.86530238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484391418 meters 0.020064378190161884 Centerline is valid? [True, True] Translation: X:216.89, Y:-9.63, Z:-3.87 [[ 9.99494440e-01 2.98330237e-02 1.09934516e-02 2.16894348e+02] [-2.98279429e-02 9.99554852e-01 -6.25874112e-04 -9.62791921e+00] [-1.10072296e-02 2.97645648e-04 9.99939374e-01 -3.86664854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514391418 meters 0.020659909008159626 Centerline is valid? [True, True] Translation: X:216.92, Y:-9.63, Z:-3.87 [[ 9.99525597e-01 2.89078309e-02 1.06263184e-02 2.16921869e+02] [-2.89030381e-02 9.99582037e-01 -6.04364716e-04 -9.62976219e+00] [-1.06393479e-02 2.96945119e-04 9.99943356e-01 -3.86730196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.544391418 meters 0.025172181843401285 Centerline is valid? [True, True] Translation: X:216.95, Y:-9.64, Z:-3.87 [[ 9.99543666e-01 2.82360037e-02 1.07325714e-02 2.16949410e+02] [-2.82310893e-02 9.99601238e-01 -6.09156562e-04 -9.63722051e+00] [-1.07454918e-02 3.05886401e-04 9.99942219e-01 -3.86984873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.574391418 meters 0.0206555907496456 Centerline is valid? [True, True] Translation: X:216.98, Y:-9.63, Z:-3.87 [[ 9.99563902e-01 2.75903455e-02 1.05250972e-02 2.16978269e+02] [-2.75855955e-02 9.99619267e-01 -5.96240506e-04 -9.62995146e+00] [-1.05375405e-02 3.05639412e-04 9.99944432e-01 -3.86852678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.604391418 meters 0.02034376297188368 Centerline is valid? [True, True] Translation: X:217.01, Y:-9.63, Z:-3.87 [[ 9.99557909e-01 2.79880638e-02 1.00327136e-02 2.17006951e+02] [-2.79837753e-02 9.99608216e-01 -5.67598481e-04 -9.62994920e+00] [-1.00446690e-02 2.86594346e-04 9.99949510e-01 -3.86904373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.634391418 meters 0.02561367591908529 Centerline is valid? [True, True] Translation: X:217.03, Y:-9.64, Z:-3.87 [[ 9.99537819e-01 2.85838520e-02 1.03495182e-02 2.17034267e+02] [-2.85793276e-02 9.99591357e-01 -5.84814838e-04 -9.63824282e+00] [-1.03620052e-02 2.88762277e-04 9.99946271e-01 -3.87182881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664391418 meters 0.02033128664963854 Centerline is valid? [True, True] Translation: X:217.06, Y:-9.63, Z:-3.87 [[ 9.99457369e-01 3.12724470e-02 1.03441656e-02 2.17063897e+02] [-3.12680848e-02 9.99510864e-01 -5.83201953e-04 -9.62932580e+00] [-1.03573440e-02 2.59443244e-04 9.99946328e-01 -3.87050353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694391418 meters 0.018199670924438745 Centerline is valid? [True, True] Translation: X:217.09, Y:-9.63, Z:-3.87 [[ 9.99404174e-01 3.29482882e-02 1.02813622e-02 2.17093142e+02] [-3.29440751e-02 9.99457029e-01 -5.78913083e-04 -9.62602046e+00] [-1.02948539e-02 2.39858185e-04 9.99946978e-01 -3.87006070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724391418 meters 0.01750763097279633 Centerline is valid? [True, True] Translation: X:217.12, Y:-9.63, Z:-3.87 [[ 9.99325944e-01 3.51403210e-02 1.06214890e-02 2.17121826e+02] [-3.51359582e-02 9.99382363e-01 -5.97134622e-04 -9.62531141e+00] [-1.06359123e-02 2.23535927e-04 9.99943412e-01 -3.87048575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754391418 meters 0.01678352756810839 Centerline is valid? [True, True] Translation: X:217.15, Y:-9.62, Z:-3.87 [[ 9.99230300e-01 3.76695200e-02 1.09459757e-02 2.17150388e+02] [-3.76650486e-02 9.99290231e-01 -6.14429765e-04 -9.62421253e+00] [-1.09613519e-02 2.01676132e-04 9.99939902e-01 -3.87043742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784391418 meters 0.015544941923118947 Centerline is valid? [True, True] Translation: X:217.18, Y:-9.62, Z:-3.87 [[ 9.99014913e-01 4.28619415e-02 1.14916129e-02 2.17179059e+02] [-4.28573683e-02 9.99080993e-01 -6.44043402e-04 -9.61993713e+00] [-1.15086570e-02 1.50908677e-04 9.99933762e-01 -3.87061400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814391418 meters 0.01484003581945679 Centerline is valid? [True, True] Translation: X:217.21, Y:-9.62, Z:-3.87 [[ 9.98908309e-01 4.53410809e-02 1.12417070e-02 2.17208099e+02] [-4.53368713e-02 9.98971557e-01 -6.29155681e-04 -9.61849702e+00] [-1.12586721e-02 1.18805016e-04 9.99936612e-01 -3.87126379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84439141800001 meters 0.014478584144983445 Centerline is valid? [True, True] Translation: X:217.24, Y:-9.62, Z:-3.87 [[ 9.98798898e-01 4.77191911e-02 1.11193262e-02 2.17235846e+02] [-4.77152282e-02 9.98860786e-01 -6.21562461e-04 -9.61752095e+00] [-1.11363194e-02 9.02547138e-05 9.99937985e-01 -3.87228996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87439141800002 meters 0.013781344130253077 Centerline is valid? [True, True] Translation: X:217.26, Y:-9.62, Z:-3.87 [[ 9.98679952e-01 5.02505975e-02 1.06410237e-02 2.17264735e+02] [-5.02471237e-02 9.98736639e-01 -5.93720722e-04 -9.61577268e+00] [-1.06574151e-02 5.82561461e-05 9.99943206e-01 -3.87314297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90439141800002 meters 0.013955512360543583 Centerline is valid? [True, True] Translation: X:217.29, Y:-9.62, Z:-3.87 [[ 9.98661716e-01 5.06663049e-02 1.03780295e-02 2.17291888e+02] [-5.06630269e-02 9.98715637e-01 -5.78691556e-04 -9.61702462e+00] [-1.03940205e-02 5.21347166e-05 9.99945979e-01 -3.87425979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934391418 meters 0.013957891597057757 Centerline is valid? [True, True] Translation: X:217.32, Y:-9.62, Z:-3.88 [[ 9.98682836e-01 5.03494411e-02 9.87553188e-03 2.17320359e+02] [-5.03464748e-02 9.98731661e-01 -5.48897892e-04 -9.61870628e+00] [-9.89064307e-03 5.09766865e-05 9.99951085e-01 -3.87529291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters 0.014055363343653367 Centerline is valid? [True, True] Translation: X:217.35, Y:-9.62, Z:-3.88 [[ 9.98721271e-01 4.95703105e-02 9.93008884e-03 2.17348848e+02] [-4.95672808e-02 9.98770635e-01 -5.51138557e-04 -9.62055226e+00] [-9.94520124e-03 5.82262992e-05 9.99950544e-01 -3.87582525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994391418 meters 0.014397769513164736 Centerline is valid? [True, True] Translation: X:217.38, Y:-9.62, Z:-3.88 [[ 9.98838238e-01 4.72325033e-02 9.55322350e-03 2.17376723e+02] [-4.72295975e-02 9.98883919e-01 -5.29668061e-04 -9.62355087e+00] [-9.56757888e-03 7.78578124e-05 9.99954227e-01 -3.87601425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024391418 meters 0.014638842115493728 Centerline is valid? [True, True] Translation: X:217.41, Y:-9.63, Z:-3.88 [[ 9.98920405e-01 4.53335519e-02 1.01436468e-02 2.17405653e+02] [-4.53301910e-02 9.98971901e-01 -5.61119621e-04 -9.62622727e+00] [-1.01586557e-02 1.00700393e-04 9.99948394e-01 -3.87600911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054391418 meters 0.015894739933689308 Centerline is valid? [True, True] Translation: X:217.43, Y:-9.63, Z:-3.88 [[ 9.99108119e-01 4.09308759e-02 1.03745262e-02 2.17433592e+02] [-4.09271281e-02 9.99161970e-01 -5.73384793e-04 -9.63174204e+00] [-1.03893012e-02 1.48273839e-04 9.99946019e-01 -3.87628862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084391418 meters 0.01632770298963518 Centerline is valid? [True, True] Translation: X:217.46, Y:-9.63, Z:-3.88 [[ 9.99208547e-01 3.82994378e-02 1.07439308e-02 2.17462478e+02] [-3.82952857e-02 9.99266291e-01 -5.91991974e-04 -9.63496359e+00] [-1.07587208e-02 1.80081540e-04 9.99942107e-01 -3.87658975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114391418 meters 0.01681906496138914 Centerline is valid? [True, True] Translation: X:217.49, Y:-9.64, Z:-3.88 [[ 9.99311426e-01 3.55558898e-02 1.06043805e-02 2.17491379e+02] [-3.55516991e-02 9.99367668e-01 -5.83485037e-04 -9.63823013e+00] [-1.06184214e-02 2.06079519e-04 9.99943602e-01 -3.87709796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144391418 meters 0.01906788955954403 Centerline is valid? [True, True] Translation: X:217.52, Y:-9.65, Z:-3.88 [[ 9.99499602e-01 3.00541491e-02 9.86378774e-03 2.17519830e+02] [-3.00502643e-02 9.99548242e-01 -5.41853598e-04 -9.64534404e+00] [-9.87561664e-03 2.45173027e-04 9.99951205e-01 -3.87905138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174391418 meters 0.02027157280948931 Centerline is valid? [True, True] Translation: X:217.55, Y:-9.65, Z:-3.88 [[ 9.99582215e-01 2.71468578e-02 9.92188771e-03 2.17548936e+02] [-2.71427901e-02 9.99631418e-01 -5.44426589e-04 -9.64900185e+00] [-9.93301015e-03 2.74891420e-04 9.99950629e-01 -3.87962287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204391418 meters 0.021654960914948205 Centerline is valid? [True, True] Translation: X:217.58, Y:-9.65, Z:-3.88 [[ 9.99659545e-01 2.42622416e-02 9.59884725e-03 2.17577829e+02] [-2.42583069e-02 9.99705586e-01 -5.26149469e-04 -9.65294889e+00] [-9.60878678e-03 2.93118556e-04 9.99953792e-01 -3.88032841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234391418 meters 0.025267131353729454 Centerline is valid? [True, True] Translation: X:217.61, Y:-9.66, Z:-3.88 [[ 9.99716987e-01 2.15874744e-02 9.99635501e-03 2.17606406e+02] [-2.15830799e-02 9.99766908e-01 -5.47287397e-04 -9.66045842e+00] [-1.00058395e-02 3.31380378e-04 9.99949885e-01 -3.88152299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264391418 meters 0.025267131353729454 Centerline is valid? [True, True] Translation: X:217.64, Y:-9.66, Z:-3.88 [[ 9.99717794e-01 2.15500402e-02 9.99639719e-03 2.17635531e+02] [-2.15456516e-02 9.99767716e-01 -5.46515472e-04 -9.66200908e+00] [-1.00058526e-02 3.30982351e-04 9.99949885e-01 -3.88204915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.294391418 meters 0.026430287623039003 Centerline is valid? [True, True] Translation: X:217.67, Y:-9.67, Z:-3.88 [[ 9.99817451e-01 1.55586077e-02 1.10903236e-02 2.17665277e+02] [-1.55528447e-02 9.99878864e-01 -6.05708957e-04 -9.66573987e+00] [-1.10984041e-02 4.33112305e-04 9.99938317e-01 -3.88155950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.324391418 meters 0.02855435495617497 Centerline is valid? [True, True] Translation: X:217.70, Y:-9.67, Z:-3.88 [[ 9.99849262e-01 1.26648754e-02 1.18766618e-02 2.17695590e+02] [-1.26580682e-02 9.99919673e-01 -6.48153074e-04 -9.67065187e+00] [-1.18839166e-02 4.97719776e-04 9.99929260e-01 -3.88155273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.354391418 meters 0.03039181258337455 Centerline is valid? [True, True] Translation: X:217.73, Y:-9.68, Z:-3.88 [[ 9.99872016e-01 1.01881834e-02 1.23349745e-02 2.17727266e+02] [-1.01806658e-02 9.99947950e-01 -6.72097337e-04 -9.67517475e+00] [-1.23411799e-02 5.46433067e-04 9.99923695e-01 -3.88128836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.384391418 meters 0.035650418039100906 Centerline is valid? [True, True] Translation: X:217.76, Y:-9.68, Z:-3.88 [[ 9.99890087e-01 5.68581933e-03 1.36925303e-02 2.17756702e+02] [-5.67606515e-03 9.99983609e-01 -7.51129110e-04 -9.68331530e+00] [-1.36965766e-02 6.73326857e-04 9.99905971e-01 -3.88113264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414391418 meters 0.0299300216991967 Centerline is valid? [True, True] Translation: X:217.79, Y:-9.68, Z:-3.88 [[ 9.99892337e-01 4.04860992e-03 1.41039953e-02 2.17788974e+02] [-4.03810638e-03 9.99991548e-01 -7.73119693e-04 -9.67699777e+00] [-1.41070062e-02 7.16083023e-04 9.99900235e-01 -3.88023671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444391418 meters 0.03505057711933345 Centerline is valid? [True, True] Translation: X:217.82, Y:-9.69, Z:-3.88 [[ 9.99896236e-01 2.66816672e-03 1.41562210e-02 2.17819335e+02] [-2.65741139e-03 9.99996166e-01 -7.78516667e-04 -9.68500054e+00] [-1.41582439e-02 7.40816982e-04 9.99899493e-01 -3.88128173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474391418 meters 0.03252352386668021 Centerline is valid? [True, True] Translation: X:217.85, Y:-9.68, Z:-3.88 [[ 9.99901575e-01 1.64970509e-03 1.39326743e-02 2.17851845e+02] [-1.63919410e-03 9.99998363e-01 -7.65798677e-04 -9.68258738e+00] [-1.39339148e-02 7.42884946e-04 9.99902642e-01 -3.88159904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504391418 meters 0.03216480621369987 Centerline is valid? [True, True] Translation: X:217.89, Y:-9.68, Z:-3.88 [[ 9.99898237e-01 2.01749899e-03 1.41224894e-02 2.17885027e+02] [-2.00668045e-03 9.99997682e-01 -7.80178836e-04 -9.68344149e+00] [-1.41240307e-02 7.51760119e-04 9.99899968e-01 -3.88247183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534391418 meters 0.033833840590661524 Centerline is valid? [True, True] Translation: X:217.92, Y:-9.69, Z:-3.88 [[ 9.99897407e-01 2.80626276e-03 1.40463808e-02 2.17915999e+02] [-2.79556988e-03 9.99995788e-01 -7.80832271e-04 -9.68669127e+00] [-1.40485129e-02 7.41484524e-04 9.99901040e-01 -3.88334106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564391418 meters 0.03260663289434694 Centerline is valid? [True, True] Translation: X:217.95, Y:-9.69, Z:-3.88 [[ 9.99888996e-01 3.71915001e-03 1.44278422e-02 2.17948704e+02] [-3.70790704e-03 9.99992801e-01 -8.05926755e-04 -9.68573919e+00] [-1.44307357e-02 7.52340196e-04 9.99895588e-01 -3.88381416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59439141800001 meters 0.03129066601386831 Centerline is valid? [True, True] Translation: X:217.98, Y:-9.68, Z:-3.88 [[ 9.99889295e-01 5.69307831e-03 1.37472608e-02 2.17981024e+02] [-5.68299485e-03 9.99983553e-01 -7.72441729e-04 -9.68343326e+00] [-1.37514323e-02 6.94230603e-04 9.99905204e-01 -3.88464375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62439141800002 meters 0.030757847461679845 Centerline is valid? [True, True] Translation: X:218.01, Y:-9.68, Z:-3.89 [[ 9.99887678e-01 7.19168302e-03 1.31495968e-02 2.18012956e+02] [-7.18258646e-03 9.99973932e-01 -7.38871309e-04 -9.68332710e+00] [-1.31545677e-02 6.44340202e-04 9.99913267e-01 -3.88577640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65439141800002 meters 0.029591799824496313 Centerline is valid? [True, True] Translation: X:218.05, Y:-9.68, Z:-3.89 [[ 9.99884238e-01 8.95404715e-03 1.23018503e-02 2.18045111e+02] [-8.94617995e-03 9.99959741e-01 -6.94395583e-04 -9.68217121e+00] [-1.23075727e-02 5.84260632e-04 9.99924088e-01 -3.88656085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters 0.029216871017333775 Centerline is valid? [True, True] Translation: X:218.08, Y:-9.68, Z:-3.89 [[ 9.99849781e-01 1.32118143e-02 1.12188600e-02 2.18075448e+02] [-1.32054862e-02 9.99912600e-01 -6.37958464e-04 -9.68033749e+00] [-1.12263081e-02 4.89712130e-04 9.99936863e-01 -3.88838417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714391418 meters 0.026229164518499284 Centerline is valid? [True, True] Translation: X:218.11, Y:-9.68, Z:-3.89 [[ 9.99817893e-01 1.58173220e-02 1.06767383e-02 2.18107532e+02] [-1.58117438e-02 9.99874803e-01 -6.06683215e-04 -9.67649787e+00] [-1.06849977e-02 4.37754884e-04 9.99942818e-01 -3.88871284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744391418 meters 0.024616478275296883 Centerline is valid? [True, True] Translation: X:218.14, Y:-9.67, Z:-3.89 [[ 9.99762810e-01 1.86622846e-02 1.12268830e-02 2.18138753e+02] [-1.86562843e-02 9.99825752e-01 -6.38962436e-04 -9.67397158e+00] [-1.12368512e-02 4.29358961e-04 9.99936772e-01 -3.88922845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774391418 meters 0.021213370114345226 Centerline is valid? [True, True] Translation: X:218.17, Y:-9.67, Z:-3.89 [[ 9.99585724e-01 2.60455724e-02 1.22478341e-02 2.18169218e+02] [-2.60389776e-02 9.99660685e-01 -6.97628702e-04 -9.66692759e+00] [-1.22618484e-02 3.78418612e-04 9.99924749e-01 -3.88786181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804391418 meters 0.01939281861138431 Centerline is valid? [True, True] Translation: X:218.20, Y:-9.66, Z:-3.89 [[ 9.99471431e-01 2.97584535e-02 1.30879284e-02 2.18198939e+02] [-2.97512439e-02 9.99557056e-01 -7.45256164e-04 -9.66313301e+00] [-1.31043089e-02 3.55480094e-04 9.99914072e-01 -3.88766314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834391418 meters 0.018008366942895798 Centerline is valid? [True, True] Translation: X:218.23, Y:-9.66, Z:-3.89 [[ 9.99339793e-01 3.38086340e-02 1.33023870e-02 2.18226581e+02] [-3.38015534e-02 9.99428278e-01 -7.56812781e-04 -9.66054043e+00] [-1.33203685e-02 3.06671785e-04 9.99911233e-01 -3.88725357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864391418 meters 0.01712537800521003 Centerline is valid? [True, True] Translation: X:218.25, Y:-9.66, Z:-3.89 [[ 9.99204329e-01 3.73224097e-02 1.40622431e-02 2.18254691e+02] [-3.73148667e-02 9.99303239e-01 -7.98491732e-04 -9.65828186e+00] [-1.40822468e-02 2.73125667e-04 9.99900803e-01 -3.88727413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894391418 meters 0.015078236887389997 Centerline is valid? [True, True] Translation: X:218.28, Y:-9.65, Z:-3.89 [[ 9.98932589e-01 4.38913111e-02 1.43957014e-02 2.18284289e+02] [-4.38841114e-02 9.99036295e-01 -8.15788810e-04 -9.65283528e+00] [-1.44176342e-02 1.83175466e-04 9.99896044e-01 -3.88752901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924391418 meters 0.014565358019122425 Centerline is valid? [True, True] Translation: X:218.31, Y:-9.65, Z:-3.89 [[ 9.98826228e-01 4.61974723e-02 1.45588088e-02 2.18313390e+02] [-4.61903654e-02 9.98932315e-01 -8.24208548e-04 -9.65206420e+00] [-1.45813409e-02 1.50764419e-04 9.99893675e-01 -3.88852940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954391418 meters 0.014085708219173244 Centerline is valid? [True, True] Translation: X:218.34, Y:-9.65, Z:-3.89 [[ 9.98736676e-01 4.82477504e-02 1.40430229e-02 2.18341995e+02] [-4.82413560e-02 9.98835392e-01 -7.93929542e-04 -9.65150101e+00] [-1.40649736e-02 1.15472086e-04 9.99901077e-01 -3.88890063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984391418 meters 0.0141006674473155 Centerline is valid? [True, True] Translation: X:218.37, Y:-9.65, Z:-3.89 [[ 9.98653068e-01 5.01105074e-02 1.34531039e-02 2.18370012e+02] [-5.01048208e-02 9.98743676e-01 -7.59619128e-04 -9.65199975e+00] [-1.34742674e-02 8.45306117e-05 9.99909214e-01 -3.89061725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014391418 meters 0.013931323173288913 Centerline is valid? [True, True] Translation: X:218.40, Y:-9.65, Z:-3.89 [[ 9.98581536e-01 5.16998764e-02 1.27294549e-02 2.18398550e+02] [-5.16949310e-02 9.98662665e-01 -7.17450928e-04 -9.65145166e+00] [-1.27495234e-02 5.83849602e-05 9.99918720e-01 -3.89111796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.044391418 meters 0.013719463764554563 Centerline is valid? [True, True] Translation: X:218.43, Y:-9.65, Z:-3.89 [[ 9.98497739e-01 5.34150697e-02 1.22104889e-02 2.18426542e+02] [-5.34106562e-02 9.98572396e-01 -6.87493601e-04 -9.65145348e+00] [-1.22297796e-02 3.42905830e-05 9.99925213e-01 -3.89180138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.074391418 meters 0.013803908180863626 Centerline is valid? [True, True] Translation: X:218.45, Y:-9.65, Z:-3.89 [[ 9.98334951e-01 5.66613421e-02 1.08082175e-02 2.18454711e+02] [-5.66580877e-02 9.98393456e-01 -6.07307407e-04 -9.65038500e+00] [-1.08252644e-02 -6.07672309e-06 9.99941405e-01 -3.89278164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.104391418 meters 0.013951424383917145 Centerline is valid? [True, True] Translation: X:218.48, Y:-9.65, Z:-3.89 [[ 9.98233344e-01 5.84492659e-02 1.06711618e-02 2.18482983e+02] [-5.84462072e-02 9.98290380e-01 -5.98533863e-04 -9.65034220e+00] [-1.06879020e-02 -2.62124728e-05 9.99942882e-01 -3.89376938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.134391418 meters 0.01396780824186728 Centerline is valid? [True, True] Translation: X:218.51, Y:-9.65, Z:-3.89 [[ 9.98138022e-01 6.00643148e-02 1.06192188e-02 2.18511792e+02] [-6.00613899e-02 9.98194508e-01 -5.94422156e-04 -9.65084103e+00] [-1.06357494e-02 -4.44896840e-05 9.99943438e-01 -3.89350257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164391418 meters 0.014231563653726314 Centerline is valid? [True, True] Translation: X:218.54, Y:-9.65, Z:-3.89 [[ 9.98046910e-01 6.15428948e-02 1.07161862e-02 2.18540451e+02] [-6.15400109e-02 9.98104438e-01 -5.98970453e-04 -9.65116602e+00] [-1.07327353e-02 -6.16736024e-05 9.99942401e-01 -3.89394674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194391418 meters 0.014418758402381137 Centerline is valid? [True, True] Translation: X:218.57, Y:-9.65, Z:-3.89 [[ 9.97964276e-01 6.28080411e-02 1.10658606e-02 2.18568186e+02] [-6.28050526e-02 9.98025623e-01 -6.17711135e-04 -9.65180618e+00] [-1.10828096e-02 -7.85383104e-05 9.99938581e-01 -3.89437158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224391418 meters 0.014617703380369652 Centerline is valid? [True, True] Translation: X:218.60, Y:-9.65, Z:-3.89 [[ 9.97817915e-01 6.49280596e-02 1.19898150e-02 2.18596427e+02] [-6.49247201e-02 9.97889941e-01 -6.67955165e-04 -9.65382258e+00] [-1.20078848e-02 -1.11937750e-04 9.99927896e-01 -3.89374003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254391418 meters 0.014718814004279802 Centerline is valid? [True, True] Translation: X:218.62, Y:-9.66, Z:-3.89 [[ 9.97813780e-01 6.48876630e-02 1.25399716e-02 2.18623804e+02] [-6.48840225e-02 9.97892568e-01 -6.97360222e-04 -9.65622054e+00] [-1.25587945e-02 -1.17808160e-04 9.99921128e-01 -3.89410811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284391418 meters 0.0146849835556581 Centerline is valid? [True, True] Translation: X:218.65, Y:-9.66, Z:-3.89 [[ 9.97849320e-01 6.43164870e-02 1.26540211e-02 2.18652905e+02] [-6.43127568e-02 9.97929545e-01 -7.01909535e-04 -9.65886345e+00] [-1.26729658e-02 -1.13415028e-04 9.99919688e-01 -3.89452170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314391418 meters 0.014637790703789568 Centerline is valid? [True, True] Translation: X:218.68, Y:-9.66, Z:-3.90 [[ 9.97922363e-01 6.32015880e-02 1.25106398e-02 2.18680623e+02] [-6.31978654e-02 9.98000776e-01 -6.93067555e-04 -9.66140377e+00] [-1.25294312e-02 -9.90181156e-05 9.99921499e-01 -3.89519545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34439141800001 meters 0.013993661655059993 Centerline is valid? [True, True] Translation: X:218.71, Y:-9.67, Z:-3.90 [[ 9.98114548e-01 5.99646683e-02 1.30991550e-02 2.18709624e+02] [-5.99603293e-02 9.98200498e-01 -7.24075426e-04 -9.66806289e+00] [-1.31190020e-02 -6.27194291e-05 9.99913940e-01 -3.89524829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37439141800002 meters 0.013777002325849268 Centerline is valid? [True, True] Translation: X:218.74, Y:-9.67, Z:-3.90 [[ 9.98255930e-01 5.75905593e-02 1.29779161e-02 2.18737755e+02] [-5.75861082e-02 9.98340286e-01 -7.16713323e-04 -9.67290619e+00] [-1.29976524e-02 -3.18843581e-05 9.99915526e-01 -3.89547754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40439141800002 meters 0.013718106668784901 Centerline is valid? [True, True] Translation: X:218.76, Y:-9.68, Z:-3.90 [[ 9.98551227e-01 5.23209597e-02 1.25684122e-02 2.18764235e+02] [-5.23163757e-02 9.98630320e-01 -6.93450633e-04 -9.68196573e+00] [-1.25874795e-02 3.49122053e-05 9.99920774e-01 -3.89697259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434391418 meters 0.013952766377806857 Centerline is valid? [True, True] Translation: X:218.79, Y:-9.69, Z:-3.90 [[ 9.98712857e-01 4.91968286e-02 1.23410380e-02 2.18792281e+02] [-4.91921955e-02 9.98789100e-01 -6.78881259e-04 -9.68762834e+00] [-1.23594931e-02 7.09246870e-05 9.99923616e-01 -3.89805109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters 0.014536946285479892 Centerline is valid? [True, True] Translation: X:218.82, Y:-9.69, Z:-3.90 [[ 9.98861641e-01 4.63002385e-02 1.14765074e-02 2.18819734e+02] [-4.62960486e-02 9.98927564e-01 -6.30622852e-04 -9.69387019e+00] [-1.14933976e-02 9.85880305e-05 9.99933944e-01 -3.89970117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494391418 meters 0.015889535290085223 Centerline is valid? [True, True] Translation: X:218.85, Y:-9.70, Z:-3.90 [[ 9.99113033e-01 4.08378927e-02 1.02671716e-02 2.18846831e+02] [-4.08342597e-02 9.99165775e-01 -5.63315136e-04 -9.70421898e+00] [-1.02816111e-02 1.43563140e-04 9.99947133e-01 -3.90224851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524391418 meters 0.01618727847484396 Centerline is valid? [True, True] Translation: X:218.87, Y:-9.71, Z:-3.90 [[ 9.99205180e-01 3.85712967e-02 1.00629464e-02 2.18874980e+02] [-3.85677014e-02 9.99255837e-01 -5.51169177e-04 -9.70878387e+00] [-1.00767172e-02 1.62626386e-04 9.99949215e-01 -3.90278262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554391418 meters 0.017370206247509085 Centerline is valid? [True, True] Translation: X:218.90, Y:-9.72, Z:-3.90 [[ 9.99312017e-01 3.57246643e-02 9.96200039e-03 2.18902658e+02] [-3.57210085e-02 9.99361653e-01 -5.44717117e-04 -9.71706880e+00] [-9.97510101e-03 1.88489660e-04 9.99950230e-01 -3.90403850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584391418 meters 0.017491809752002697 Centerline is valid? [True, True] Translation: X:218.93, Y:-9.72, Z:-3.90 [[ 9.99331053e-01 3.51137810e-02 1.02209997e-02 2.18931228e+02] [-3.51099149e-02 9.99383301e-01 -5.57499073e-04 -9.72108315e+00] [-1.02342724e-02 1.98267705e-04 9.99947609e-01 -3.90437301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614391418 meters 0.017670427349896024 Centerline is valid? [True, True] Translation: X:218.96, Y:-9.72, Z:-3.90 [[ 9.99321589e-01 3.53273023e-02 1.04088471e-02 2.18959941e+02] [-3.53233132e-02 9.99375776e-01 -5.66891901e-04 -9.72432311e+00] [-1.04223764e-02 1.98832350e-04 9.99945666e-01 -3.90483638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644391418 meters 0.016671258316230987 Centerline is valid? [True, True] Translation: X:218.99, Y:-9.73, Z:-3.91 [[ 9.99262645e-01 3.70364342e-02 1.01227154e-02 2.18989031e+02] [-3.70327566e-02 9.99313901e-01 -5.50565523e-04 -9.72668695e+00] [-1.01361612e-02 1.75287507e-04 9.99948612e-01 -3.90510291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674391418 meters 0.016299618222214478 Centerline is valid? [True, True] Translation: X:219.02, Y:-9.73, Z:-3.91 [[ 9.99211897e-01 3.84010935e-02 1.00469515e-02 2.19017709e+02] [-3.83975476e-02 9.99262393e-01 -5.45662501e-04 -9.72757783e+00] [-1.00604948e-02 1.59454166e-04 9.99949379e-01 -3.90573982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704391418 meters 0.015868704033266595 Centerline is valid? [True, True] Translation: X:219.05, Y:-9.73, Z:-3.91 [[ 9.99143962e-01 4.01120277e-02 1.01177744e-02 2.19046277e+02] [-4.01085278e-02 9.99195179e-01 -5.48671630e-04 -9.72901032e+00] [-1.01316398e-02 1.42392909e-04 9.99948663e-01 -3.90599569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734391418 meters 0.01522493788024488 Centerline is valid? [True, True] Translation: X:219.08, Y:-9.73, Z:-3.91 [[ 9.98956601e-01 4.44964700e-02 1.02846252e-02 2.19075339e+02] [-4.44930949e-02 9.99009537e-01 -5.56854753e-04 -9.73003545e+00] [-1.02992167e-02 9.86789267e-05 9.99946957e-01 -3.90700975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764391418 meters 0.014512894292534209 Centerline is valid? [True, True] Translation: X:219.10, Y:-9.73, Z:-3.91 [[ 9.98849072e-01 4.69314854e-02 9.89780531e-03 2.19102891e+02] [-4.69284848e-02 9.98898108e-01 -5.35316816e-04 -9.73122395e+00] [-9.91202222e-03 7.02116982e-05 9.99950872e-01 -3.90752514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.794391418 meters 0.014291729236897999 Centerline is valid? [True, True] Translation: X:219.13, Y:-9.73, Z:-3.91 [[ 9.98709088e-01 4.98053233e-02 9.97934762e-03 2.19131975e+02] [-4.98024283e-02 9.98758944e-01 -5.38544924e-04 -9.73191358e+00] [-9.99378510e-03 4.08539654e-05 9.99950060e-01 -3.90831656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.824391418 meters 0.01413606759414315 Centerline is valid? [True, True] Translation: X:219.16, Y:-9.73, Z:-3.91 [[ 9.98398841e-01 5.57713030e-02 9.45075917e-03 2.19159966e+02] [-5.57689768e-02 9.98443569e-01 -5.09703835e-04 -9.73083377e+00] [-9.46447657e-03 -1.81714506e-05 9.99955211e-01 -3.90862528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.854391418 meters 0.014340848484220127 Centerline is valid? [True, True] Translation: X:219.19, Y:-9.73, Z:-3.91 [[ 9.98224608e-01 5.88583119e-02 9.12855216e-03 2.19188744e+02] [-5.88562834e-02 9.98266346e-01 -4.90926365e-04 -9.73100112e+00] [-9.14162150e-03 -4.72178745e-05 9.99958213e-01 -3.90904496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.884391418 meters 0.015021148983288147 Centerline is valid? [True, True] Translation: X:219.22, Y:-9.73, Z:-3.91 [[ 9.98049657e-01 6.18038104e-02 8.78472768e-03 2.19217757e+02] [-6.18020517e-02 9.98088315e-01 -4.71782384e-04 -9.73134604e+00] [-8.79709199e-03 -7.20519484e-05 9.99961302e-01 -3.91011620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914391418 meters 0.015343321613249215 Centerline is valid? [True, True] Translation: X:219.25, Y:-9.73, Z:-3.91 [[ 9.97864392e-01 6.47254632e-02 8.79036446e-03 2.19246977e+02] [-6.47238217e-02 9.97903104e-01 -4.71393745e-04 -9.73234412e+00] [-8.80244315e-03 -9.85589485e-05 9.99961253e-01 -3.91018560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944391418 meters 0.01649085212898856 Centerline is valid? [True, True] Translation: X:219.28, Y:-9.73, Z:-3.91 [[ 9.97536760e-01 6.96168825e-02 8.59663899e-03 2.19275960e+02] [-6.96154998e-02 9.97573792e-01 -4.60338199e-04 -9.73361526e+00] [-8.60782906e-03 -1.39255045e-04 9.99962942e-01 -3.91105197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974391418 meters 0.01713018417755632 Centerline is valid? [True, True] Translation: X:219.30, Y:-9.74, Z:-3.91 [[ 9.97421924e-01 7.12417330e-02 8.60931965e-03 2.19303549e+02] [-7.12404112e-02 9.97459068e-01 -4.60500227e-04 -9.73525292e+00] [-8.62025079e-03 -1.54018450e-04 9.99962833e-01 -3.91162329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004391418 meters 0.01806016650295777 Centerline is valid? [True, True] Translation: X:219.33, Y:-9.74, Z:-3.91 [[ 9.97340617e-01 7.23327692e-02 8.92545903e-03 2.19331264e+02] [-7.23314008e-02 9.97380540e-01 -4.76444638e-04 -9.73664873e+00] [-8.93654171e-03 -1.70413365e-04 9.99960054e-01 -3.91228158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034391418 meters 0.017911406427493747 Centerline is valid? [True, True] Translation: X:219.36, Y:-9.74, Z:-3.91 [[ 9.97298339e-01 7.28560137e-02 9.38218018e-03 2.19359497e+02] [-7.28545360e-02 9.97342452e-01 -4.99632512e-04 -9.73998238e+00] [-9.39364782e-03 -1.85251710e-04 9.99955862e-01 -3.91199712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064391418 meters 0.018071168592311528 Centerline is valid? [True, True] Translation: X:219.39, Y:-9.74, Z:-3.91 [[ 9.97328818e-01 7.22855806e-02 1.04892137e-02 2.19386791e+02] [-7.22837110e-02 9.97383955e-01 -5.57732283e-04 -9.74488538e+00] [-1.05020895e-02 -2.01956814e-04 9.99944831e-01 -3.91205185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09439141800001 meters 0.0168683274256094 Centerline is valid? [True, True] Translation: X:219.41, Y:-9.75, Z:-3.91 [[ 9.97420377e-01 7.09268383e-02 1.10442102e-02 2.19414879e+02] [-7.09246966e-02 9.97481501e-01 -5.85953027e-04 -9.75098548e+00] [-1.10579552e-02 -1.98865768e-04 9.99938839e-01 -3.91159639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12439141800002 meters 0.015604694906976066 Centerline is valid? [True, True] Translation: X:219.44, Y:-9.76, Z:-3.91 [[ 9.97746828e-01 6.59754882e-02 1.21861430e-02 2.19442276e+02] [-6.59725240e-02 9.97821231e-01 -6.45513490e-04 -9.76038546e+00] [-1.22021803e-02 -1.59891576e-04 9.99925538e-01 -3.91142220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15439141800002 meters 0.015017748691184732 Centerline is valid? [True, True] Translation: X:219.47, Y:-9.77, Z:-3.91 [[ 9.97961308e-01 6.26399614e-02 1.22255250e-02 2.19469423e+02] [-6.26367403e-02 9.98036182e-01 -6.46569271e-04 -9.76661079e+00] [-1.22420174e-02 -1.20515921e-04 9.99925056e-01 -3.91230066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters 0.015017748691184732 Centerline is valid? [True, True] Translation: X:219.50, Y:-9.77, Z:-3.91 [[ 9.97968698e-01 6.25220883e-02 1.22256189e-02 2.19496850e+02] [-6.25188802e-02 9.98043573e-01 -6.44788900e-04 -9.76794225e+00] [-1.22420139e-02 -1.20852862e-04 9.99925056e-01 -3.91279643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214391418 meters 0.014097793472591588 Centerline is valid? [True, True] Translation: X:219.52, Y:-9.78, Z:-3.91 [[ 9.98473935e-01 5.38892771e-02 1.20725560e-02 2.19524595e+02] [-5.38855373e-02 9.98546917e-01 -6.35079654e-04 -9.78061827e+00] [-1.20892375e-02 -1.64256847e-05 9.99926922e-01 -3.91402337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244391418 meters 0.013977880913643478 Centerline is valid? [True, True] Translation: X:219.55, Y:-9.79, Z:-3.91 [[ 9.98742339e-01 4.86148257e-02 1.22613163e-02 2.19552543e+02] [-4.86105825e-02 9.98817599e-01 -6.44028958e-04 -9.78843615e+00] [-1.22781278e-02 4.71892617e-05 9.99924620e-01 -3.91461105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274391418 meters 0.01471074716870878 Centerline is valid? [True, True] Translation: X:219.58, Y:-9.80, Z:-3.92 [[ 9.98989299e-01 4.32326133e-02 1.23013192e-02 2.19581163e+02] [-4.32279465e-02 9.99065027e-01 -6.45129481e-04 -9.79673346e+00] [-1.23177084e-02 1.12716681e-04 9.99924128e-01 -3.91559779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304391418 meters 0.01645300015534891 Centerline is valid? [True, True] Translation: X:219.61, Y:-9.81, Z:-3.92 [[ 9.99224052e-01 3.73228253e-02 1.25817306e-02 2.19608311e+02] [-3.73174868e-02 9.99303243e-01 -6.58891188e-04 -9.80613673e+00] [-1.25975559e-02 1.88861356e-04 9.99920630e-01 -3.91635428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334391418 meters 0.020061867559245876 Centerline is valid? [True, True] Translation: X:219.64, Y:-9.82, Z:-3.92 [[ 9.99583469e-01 2.57961754e-02 1.29400715e-02 2.19638202e+02] [-2.57895868e-02 9.99667165e-01 -6.75802038e-04 -9.82017043e+00] [-1.29531977e-02 3.41801448e-04 9.99916045e-01 -3.91636680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364391418 meters 0.02230213550010452 Centerline is valid? [True, True] Translation: X:219.67, Y:-9.83, Z:-3.92 [[ 9.99697796e-01 2.07405208e-02 1.31964594e-02 2.19668196e+02] [-2.07332284e-02 9.99784806e-01 -6.89192031e-04 -9.82791186e+00] [-1.32079138e-02 4.15378548e-04 9.99912685e-01 -3.91677078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394391418 meters 0.02451843539298915 Centerline is valid? [True, True] Translation: X:219.70, Y:-9.84, Z:-3.92 [[ 9.99785013e-01 1.59772847e-02 1.32156837e-02 2.19698740e+02] [-1.59695589e-02 9.99872240e-01 -6.89917665e-04 -9.83521057e+00] [-1.32250183e-02 4.78720701e-04 9.99912431e-01 -3.91757306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424391418 meters 0.027659391879516392 Centerline is valid? [True, True] Translation: X:219.73, Y:-9.84, Z:-3.92 [[ 9.99877892e-01 8.10399131e-03 1.33614015e-02 2.19728585e+02] [-8.09537848e-03 9.99966988e-01 -6.98565028e-04 -9.84463148e+00] [-1.33666216e-02 5.90314126e-04 9.99910488e-01 -3.91832069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454391418 meters 0.029654680450849995 Centerline is valid? [True, True] Translation: X:219.76, Y:-9.85, Z:-3.92 [[ 9.99902442e-01 5.46968832e-03 1.28526064e-02 2.19759499e+02] [-5.46151851e-03 9.99984861e-01 -6.70666737e-04 -9.85077900e+00] [-1.28560801e-02 6.00406560e-04 9.99917177e-01 -3.91920363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484391418 meters 0.033307974733397736 Centerline is valid? [True, True] Translation: X:219.79, Y:-9.86, Z:-3.92 [[ 9.99914324e-01 3.03132521e-03 1.27340768e-02 2.19790587e+02] [-3.02306545e-03 9.99995208e-01 -6.67833399e-04 -9.85857300e+00] [-1.27360402e-02 6.29280233e-04 9.99918695e-01 -3.92082135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514391418 meters 0.030858049578351497 Centerline is valid? [True, True] Translation: X:219.82, Y:-9.86, Z:-3.92 [[ 9.99913856e-01 9.35642155e-04 1.30921643e-02 2.19822784e+02] [-9.26674088e-04 9.99999332e-01 -6.91044644e-04 -9.85789773e+00] [-1.30928022e-02 6.78852945e-04 9.99914055e-01 -3.92104204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.544391418 meters 0.03272030036891797 Centerline is valid? [True, True] Translation: X:219.85, Y:-9.86, Z:-3.92 [[ 9.99915346e-01 -8.92289703e-04 1.29809682e-02 2.19853971e+02] [ 9.01269822e-04 9.99999359e-01 -6.85957752e-04 -9.86248305e+00] [-1.29803478e-02 6.97599037e-04 9.99915508e-01 -3.92160962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.574391418 meters 0.03412992473249806 Centerline is valid? [True, True] Translation: X:219.89, Y:-9.87, Z:-3.92 [[ 9.99909160e-01 -3.16885383e-03 1.31007323e-02 2.19885555e+02] [ 3.17822019e-03 9.99994708e-01 -6.94191179e-04 -9.86617110e+00] [-1.30984632e-02 7.35765131e-04 9.99913941e-01 -3.92186706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.604391418 meters 0.034258456836776766 Centerline is valid? [True, True] Translation: X:219.92, Y:-9.87, Z:-3.92 [[ 9.99906659e-01 -3.82281093e-03 1.31171206e-02 2.19917204e+02] [ 3.83228453e-03 9.99992414e-01 -6.97172812e-04 -9.86795993e+00] [-1.31143559e-02 7.47376276e-04 9.99913724e-01 -3.92219388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.634391418 meters 0.03517859767051467 Centerline is valid? [True, True] Translation: X:219.95, Y:-9.87, Z:-3.92 [[ 9.99909439e-01 -4.36726652e-03 1.27295374e-02 2.19949320e+02] [ 4.37624079e-03 9.99990195e-01 -6.77226015e-04 -9.86995461e+00] [-1.27264549e-02 7.32872205e-04 9.99918747e-01 -3.92253038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664391418 meters 0.03481163582122133 Centerline is valid? [True, True] Translation: X:219.98, Y:-9.87, Z:-3.92 [[ 9.99908557e-01 -4.42092747e-03 1.27801548e-02 2.19981978e+02] [ 4.42999106e-03 9.99989956e-01 -6.80970266e-04 -9.87050015e+00] [-1.27770159e-02 7.37523968e-04 9.99918099e-01 -3.92321407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694391418 meters 0.03807821967699717 Centerline is valid? [True, True] Translation: X:220.01, Y:-9.88, Z:-3.92 [[ 9.99912430e-01 -4.19140731e-03 1.25524672e-02 2.20013010e+02] [ 4.20014695e-03 9.99990955e-01 -6.69967452e-04 -9.87616642e+00] [-1.25495456e-02 7.22630990e-04 9.99920990e-01 -3.92445250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724391418 meters 0.0357001444249798 Centerline is valid? [True, True] Translation: X:220.05, Y:-9.87, Z:-3.93 [[ 9.99921961e-01 -3.75588859e-03 1.19149450e-02 2.20045624e+02] [ 3.76373875e-03 9.99992715e-01 -6.36495134e-04 -9.87367683e+00] [-1.19124676e-02 6.81290202e-04 9.99928812e-01 -3.92603213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754391418 meters 0.03456840343343315 Centerline is valid? [True, True] Translation: X:220.08, Y:-9.87, Z:-3.93 [[ 9.99928209e-01 -3.44032830e-03 1.14778349e-02 2.20077880e+02] [ 3.44760240e-03 9.99993868e-01 -6.14025901e-04 -9.87225461e+00] [-1.14756521e-02 6.53552831e-04 9.99933939e-01 -3.92630842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784391418 meters 0.03663355675602232 Centerline is valid? [True, True] Translation: X:220.11, Y:-9.88, Z:-3.93 [[ 9.99937125e-01 -3.02817903e-03 1.07970825e-02 2.20108585e+02] [ 3.03459440e-03 9.99995229e-01 -5.77842807e-04 -9.87558251e+00] [-1.07952812e-02 6.10571241e-04 9.99941543e-01 -3.92758742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814391418 meters 0.03372756606037072 Centerline is valid? [True, True] Translation: X:220.14, Y:-9.87, Z:-3.93 [[ 9.99947414e-01 -2.35078961e-03 9.98212287e-03 2.20141243e+02] [ 2.35625950e-03 9.99997080e-01 -5.36243154e-04 -9.87053267e+00] [-9.98083313e-03 5.59735427e-04 9.99950034e-01 -3.92887615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84439141800001 meters 0.03622920448078241 Centerline is valid? [True, True] Translation: X:220.17, Y:-9.87, Z:-3.93 [[ 9.99952860e-01 -1.97465789e-03 9.50675577e-03 2.20172614e+02] [ 1.97961077e-03 9.99997910e-01 -5.11604360e-04 -9.87404575e+00] [-9.50572565e-03 5.30399919e-04 9.99954679e-01 -3.93001082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87439141800002 meters 0.03479695562308655 Centerline is valid? [True, True] Translation: X:220.20, Y:-9.87, Z:-3.93 [[ 9.99956044e-01 -1.20193913e-03 9.29866978e-03 2.20204562e+02] [ 1.20664782e-03 9.99999147e-01 -5.00790255e-04 -9.87235715e+00] [-9.29805993e-03 5.11988462e-04 9.99956641e-01 -3.93035338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90439141800002 meters 0.0325494452806426 Centerline is valid? [True, True] Translation: X:220.24, Y:-9.87, Z:-3.93 [[ 9.99951213e-01 4.37168161e-04 9.86814485e-03 2.20237520e+02] [-4.31937648e-04 9.99999765e-01 -5.32165268e-04 -9.86645363e+00] [-9.86837517e-03 5.27876882e-04 9.99951167e-01 -3.92940843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934391418 meters 0.03225211753807981 Centerline is valid? [True, True] Translation: X:220.27, Y:-9.87, Z:-3.93 [[ 9.99941278e-01 1.66827600e-03 1.07078511e-02 2.20270058e+02] [-1.66217265e-03 9.99998451e-01 -5.78862404e-04 -9.86521023e+00] [-1.07088002e-02 5.61030114e-04 9.99942502e-01 -3.92914968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters 0.03220859991963366 Centerline is valid? [True, True] Translation: X:220.30, Y:-9.86, Z:-3.93 [[ 9.99934300e-01 2.91665049e-03 1.10855417e-02 2.20301559e+02] [-2.91017318e-03 9.99995585e-01 -6.00388840e-04 -9.86407950e+00] [-1.10872439e-02 5.68088549e-04 9.99938373e-01 -3.92883206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994391418 meters 0.030836225001910588 Centerline is valid? [True, True] Translation: X:220.33, Y:-9.86, Z:-3.93 [[ 9.99922422e-01 4.26047289e-03 1.17046241e-02 2.20333905e+02] [-4.25333614e-03 9.99990753e-01 -6.34562574e-04 -9.86141166e+00] [-1.17072194e-02 5.84729645e-04 9.99931297e-01 -3.92867064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024391418 meters 0.030625386601210825 Centerline is valid? [True, True] Translation: X:220.36, Y:-9.86, Z:-3.93 [[ 9.99893365e-01 7.34449367e-03 1.26220684e-02 2.20364904e+02] [-7.33642191e-03 9.99972853e-01 -6.85679568e-04 -9.85796916e+00] [-1.26267618e-02 5.93005631e-04 9.99920103e-01 -3.92872140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054391418 meters 0.030488192207183473 Centerline is valid? [True, True] Translation: X:220.40, Y:-9.86, Z:-3.93 [[ 9.99873710e-01 9.15630218e-03 1.29894599e-02 2.20396097e+02] [-9.14790676e-03 9.99957908e-01 -7.05595086e-04 -9.85714092e+00] [-1.29953738e-02 5.86679608e-04 9.99915384e-01 -3.92909520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084391418 meters 0.028113293052908106 Centerline is valid? [True, True] Translation: X:220.43, Y:-9.85, Z:-3.93 [[ 9.99859825e-01 1.10957240e-02 1.25385546e-02 2.20428648e+02] [-1.10880382e-02 9.99938293e-01 -6.82321886e-04 -9.85316456e+00] [-1.25453517e-02 5.43198269e-04 9.99921156e-01 -3.92936806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114391418 meters 0.026827294118254866 Centerline is valid? [True, True] Translation: X:220.46, Y:-9.85, Z:-3.93 [[ 9.99823343e-01 1.43206331e-02 1.21738363e-02 2.20460705e+02] [-1.43135703e-02 9.99897333e-01 -6.67094258e-04 -9.84786825e+00] [-1.21821397e-02 4.92725349e-04 9.99925674e-01 -3.92991903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144391418 meters 0.02725031881375123 Centerline is valid? [True, True] Translation: X:220.49, Y:-9.85, Z:-3.93 [[ 9.99800639e-01 1.60488669e-02 1.18791907e-02 2.20491967e+02] [-1.60422699e-02 9.99871103e-01 -6.50425811e-04 -9.84759139e+00] [-1.18880981e-02 4.59726959e-04 9.99929228e-01 -3.93101872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174391418 meters 0.026317568159425715 Centerline is valid? [True, True] Translation: X:220.52, Y:-9.85, Z:-3.93 [[ 9.99770892e-01 1.76940632e-02 1.20450271e-02 2.20523728e+02] [-1.76873456e-02 9.99843346e-01 -6.64011487e-04 -9.84567693e+00] [-1.20548892e-02 4.50814800e-04 9.99927236e-01 -3.93139559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204391418 meters 0.025119439309268996 Centerline is valid? [True, True] Translation: X:220.56, Y:-9.84, Z:-3.93 [[ 9.99747667e-01 1.91126027e-02 1.18030294e-02 2.20555520e+02] [-1.91062458e-02 9.99817247e-01 -6.51118369e-04 -9.84322280e+00] [-1.18133170e-02 4.25442488e-04 9.99930130e-01 -3.93192019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234391418 meters 0.02312625391490571 Centerline is valid? [True, True] Translation: X:220.59, Y:-9.84, Z:-3.93 [[ 9.99702969e-01 2.15413117e-02 1.13993945e-02 2.20586438e+02] [-2.15355320e-02 9.99767885e-01 -6.29545071e-04 -9.83748337e+00] [-1.14103098e-02 3.83866051e-04 9.99934827e-01 -3.93243742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264391418 meters 0.02307615069092234 Centerline is valid? [True, True] Translation: X:220.62, Y:-9.84, Z:-3.93 [[ 9.99678801e-01 2.26285170e-02 1.14125362e-02 2.20616213e+02] [-2.26227931e-02 9.99743873e-01 -6.30403607e-04 -9.83654843e+00] [-1.14238783e-02 3.72017676e-04 9.99934676e-01 -3.93262753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.294391418 meters 0.023535046317210012 Centerline is valid? [True, True] Translation: X:220.65, Y:-9.84, Z:-3.93 [[ 9.99654599e-01 2.37252362e-02 1.13046945e-02 2.20645860e+02] [-2.37196927e-02 9.99718454e-01 -6.24221044e-04 -9.83627438e+00] [-1.13163215e-02 3.55861558e-04 9.99935905e-01 -3.93318065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.324391418 meters 0.02162737021158193 Centerline is valid? [True, True] Translation: X:220.68, Y:-9.83, Z:-3.93 [[ 9.99596829e-01 2.62586098e-02 1.08011574e-02 2.20675589e+02] [-2.62536975e-02 9.99655134e-01 -5.96361255e-04 -9.82963070e+00] [-1.08130921e-02 3.12550500e-04 9.99941488e-01 -3.93374715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.354391418 meters 0.020274237177243505 Centerline is valid? [True, True] Translation: X:220.70, Y:-9.83, Z:-3.93 [[ 9.99555178e-01 2.77651754e-02 1.08876561e-02 2.20704856e+02] [-2.77602749e-02 9.99614429e-01 -6.00991407e-04 -9.82704756e+00] [-1.09001447e-02 2.98479747e-04 9.99940547e-01 -3.93393158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.384391418 meters 0.019731266264509828 Centerline is valid? [True, True] Translation: X:220.73, Y:-9.83, Z:-3.93 [[ 9.99515116e-01 2.91318917e-02 1.09939324e-02 2.20733790e+02] [-2.91269878e-02 9.99575536e-01 -6.05946460e-04 -9.82553277e+00] [-1.10069182e-02 2.85432513e-04 9.99939381e-01 -3.93431535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414391418 meters 0.020033225747923454 Centerline is valid? [True, True] Translation: X:220.76, Y:-9.82, Z:-3.94 [[ 9.99418686e-01 3.21724595e-02 1.12793332e-02 2.20761897e+02] [-3.21675004e-02 9.99482299e-01 -6.20847837e-04 -9.82378649e+00] [-1.12934680e-02 2.57658975e-04 9.99936194e-01 -3.93539609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444391418 meters 0.018157519427068527 Centerline is valid? [True, True] Translation: X:220.79, Y:-9.82, Z:-3.93 [[ 9.99377245e-01 3.33908621e-02 1.14092829e-02 2.20791308e+02] [-3.33858824e-02 9.99442340e-01 -6.26695973e-04 -9.82003753e+00] [-1.14238463e-02 2.45396718e-04 9.99934716e-01 -3.93496741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474391418 meters 0.017692125113672026 Centerline is valid? [True, True] Translation: X:220.82, Y:-9.82, Z:-3.94 [[ 9.99297600e-01 3.56673147e-02 1.14956616e-02 2.20818932e+02] [-3.56624194e-02 9.99363695e-01 -6.30617936e-04 -9.81751818e+00] [-1.15108393e-02 2.20211886e-04 9.99933724e-01 -3.93541633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504391418 meters 0.01759831042637504 Centerline is valid? [True, True] Translation: X:220.85, Y:-9.82, Z:-3.94 [[ 9.99266994e-01 3.65720271e-02 1.13120340e-02 2.20847185e+02] [-3.65673576e-02 9.99330999e-01 -6.19415979e-04 -9.81708744e+00] [-1.13271195e-02 2.05310751e-04 9.99935825e-01 -3.93588809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534391418 meters 0.017117822199334647 Centerline is valid? [True, True] Translation: X:220.88, Y:-9.82, Z:-3.94 [[ 9.99227677e-01 3.76402186e-02 1.12811126e-02 2.20876096e+02] [-3.76356567e-02 9.99291338e-01 -6.16475851e-04 -9.81662093e+00] [-1.12963224e-02 1.91427652e-04 9.99936176e-01 -3.93597469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564391418 meters 0.016658902030339266 Centerline is valid? [True, True] Translation: X:220.91, Y:-9.82, Z:-3.94 [[ 9.99150722e-01 3.93954449e-02 1.20761326e-02 2.20905149e+02] [-3.93903583e-02 9.99223681e-01 -6.58862179e-04 -9.81585024e+00] [-1.20927139e-02 1.82619429e-04 9.99926864e-01 -3.93614570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59439141800001 meters 0.016413996000388086 Centerline is valid? [True, True] Translation: X:220.93, Y:-9.82, Z:-3.94 [[ 9.99130370e-01 3.98381963e-02 1.23053288e-02 2.20934437e+02] [-3.98329620e-02 9.99206128e-01 -6.70256495e-04 -9.81689821e+00] [-1.23222618e-02 1.79515924e-04 9.99924062e-01 -3.93629065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62439141800002 meters 0.01633638276723643 Centerline is valid? [True, True] Translation: X:220.96, Y:-9.82, Z:-3.94 [[ 9.99109999e-01 4.02151966e-02 1.27258807e-02 2.20963679e+02] [-4.02096377e-02 9.99191026e-01 -6.92480877e-04 -9.81796344e+00] [-1.27434341e-02 1.80161515e-04 9.99918783e-01 -3.93665798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65439141800002 meters 0.016394010213109073 Centerline is valid? [True, True] Translation: X:220.99, Y:-9.82, Z:-3.94 [[ 9.99110085e-01 4.02368923e-02 1.26503187e-02 2.20991230e+02] [-4.02314123e-02 9.99190152e-01 -6.87476880e-04 -9.81963078e+00] [-1.26677358e-02 1.77924894e-04 9.99919745e-01 -3.93675156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters 0.016370175541589305 Centerline is valid? [True, True] Translation: X:221.02, Y:-9.82, Z:-3.94 [[ 9.99138554e-01 3.92869417e-02 1.33673583e-02 2.21019847e+02] [-3.92807577e-02 9.99227950e-01 -7.24955151e-04 -9.82116367e+00] [-1.33855193e-02 1.99250677e-04 9.99910390e-01 -3.93739151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714391418 meters 0.017199873750934562 Centerline is valid? [True, True] Translation: X:221.05, Y:-9.83, Z:-3.94 [[ 9.99186334e-01 3.82170715e-02 1.28889647e-02 2.21047513e+02] [-3.82112445e-02 9.99269440e-01 -6.98138947e-04 -9.82503320e+00] [-1.29062294e-02 2.05067514e-04 9.99916690e-01 -3.93869708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744391418 meters 0.017261057764984072 Centerline is valid? [True, True] Translation: X:221.08, Y:-9.83, Z:-3.94 [[ 9.99237089e-01 3.69647055e-02 1.26035786e-02 2.21075947e+02] [-3.69590519e-02 9.99316549e-01 -6.81272733e-04 -9.82726130e+00] [-1.26201477e-02 2.14936666e-04 9.99920340e-01 -3.93957638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774391418 meters 0.018535554644231993 Centerline is valid? [True, True] Translation: X:221.10, Y:-9.83, Z:-3.94 [[ 9.99382598e-01 3.30909620e-02 1.18072038e-02 2.21103900e+02] [-3.30857385e-02 9.99452314e-01 -6.37510809e-04 -9.83290639e+00] [-1.18218330e-02 2.46467151e-04 9.99930089e-01 -3.94116456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804391418 meters 0.020692744283368723 Centerline is valid? [True, True] Translation: X:221.13, Y:-9.84, Z:-3.94 [[ 9.99459139e-01 3.07972975e-02 1.15306236e-02 2.21131482e+02] [-3.07921747e-02 9.99525615e-01 -6.21587958e-04 -9.83944902e+00] [-1.15442969e-02 2.66198790e-04 9.99933327e-01 -3.94258938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834391418 meters 0.0220582643292009 Centerline is valid? [True, True] Translation: X:221.16, Y:-9.84, Z:-3.94 [[ 9.99528680e-01 2.85901354e-02 1.11813266e-02 2.21159793e+02] [-2.85851974e-02 9.99591179e-01 -6.01229708e-04 -9.84412226e+00] [-1.11939447e-02 2.81325907e-04 9.99937306e-01 -3.94376366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864391418 meters 0.020756922486236187 Centerline is valid? [True, True] Translation: X:221.19, Y:-9.84, Z:-3.94 [[ 9.99592638e-01 2.63489486e-02 1.09677052e-02 2.21189240e+02] [-2.63440738e-02 9.99652761e-01 -5.88728936e-04 -9.84452126e+00] [-1.09794092e-02 2.99555075e-04 9.99939680e-01 -3.94351318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894391418 meters 0.023322186558880968 Centerline is valid? [True, True] Translation: X:221.22, Y:-9.85, Z:-3.94 [[ 9.99706778e-01 2.17251168e-02 1.06947267e-02 2.21217303e+02] [-2.17202201e-02 9.99763924e-01 -5.73808790e-04 -9.85248522e+00] [-1.07046680e-02 3.41348718e-04 9.99942645e-01 -3.94440615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924391418 meters 0.02436285844505892 Centerline is valid? [True, True] Translation: X:221.25, Y:-9.86, Z:-3.94 [[ 9.99750139e-01 1.94874357e-02 1.09498318e-02 2.21246467e+02] [-1.94821775e-02 9.99810032e-01 -5.86676768e-04 -9.85644228e+00] [-1.09591845e-02 3.73203614e-04 9.99939877e-01 -3.94494137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954391418 meters 0.025295224991549067 Centerline is valid? [True, True] Translation: X:221.28, Y:-9.86, Z:-3.94 [[ 9.99816043e-01 1.54120340e-02 1.14170492e-02 2.21277065e+02] [-1.54060606e-02 9.99881133e-01 -6.10969078e-04 -9.86134677e+00] [-1.14251084e-02 4.34964934e-04 9.99934637e-01 -3.94431731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984391418 meters 0.028343825177707373 Centerline is valid? [True, True] Translation: X:221.31, Y:-9.87, Z:-3.95 [[ 9.99834292e-01 1.37775194e-02 1.18982880e-02 2.21307354e+02] [-1.37709192e-02 9.99904974e-01 -6.36473790e-04 -9.86823153e+00] [-1.19059264e-02 4.72517958e-04 9.99929010e-01 -3.94520648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014391418 meters 0.026086186247803286 Centerline is valid? [True, True] Translation: X:221.34, Y:-9.87, Z:-3.95 [[ 9.99847113e-01 1.29746806e-02 1.17221185e-02 2.21340019e+02] [-1.29682320e-02 9.99915713e-01 -6.25966484e-04 -9.86771059e+00] [-1.17292522e-02 4.73855630e-04 9.99931098e-01 -3.94509410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.044391418 meters 0.02678701259633249 Centerline is valid? [True, True] Translation: X:221.37, Y:-9.87, Z:-3.95 [[ 9.99861175e-01 1.15818193e-02 1.19788287e-02 2.21372332e+02] [-1.15749428e-02 9.99932801e-01 -6.43228806e-04 -9.87161469e+00] [-1.19854735e-02 5.04485253e-04 9.99928044e-01 -3.94582224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.074391418 meters 0.028597438068792187 Centerline is valid? [True, True] Translation: X:221.40, Y:-9.88, Z:-3.95 [[ 9.99863563e-01 1.13257261e-02 1.20242423e-02 2.21403322e+02] [-1.13187353e-02 9.99935730e-01 -6.49286554e-04 -9.87655940e+00] [-1.20308232e-02 5.13098751e-04 9.99927495e-01 -3.94656115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.104391418 meters 0.028597438068792187 Centerline is valid? [True, True] Translation: X:221.44, Y:-9.88, Z:-3.95 [[ 9.99859911e-01 1.16438846e-02 1.20240875e-02 2.21435897e+02] [-1.16368826e-02 9.99932077e-01 -6.52138843e-04 -9.87847694e+00] [-1.20308642e-02 5.12124592e-04 9.99927495e-01 -3.94714817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.134391418 meters 0.027884645472568154 Centerline is valid? [True, True] Translation: X:221.47, Y:-9.88, Z:-3.95 [[ 9.99860699e-01 1.15624200e-02 1.20371343e-02 2.21468385e+02] [-1.15553480e-02 9.99933019e-01 -6.56899952e-04 -9.87976666e+00] [-1.20439234e-02 5.17715169e-04 9.99927335e-01 -3.94767587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164391418 meters 0.027601065110236626 Centerline is valid? [True, True] Translation: X:221.50, Y:-9.88, Z:-3.95 [[ 9.99863588e-01 1.11557934e-02 1.21800691e-02 2.21500897e+02] [-1.11484796e-02 9.99937631e-01 -6.68206733e-04 -9.88159457e+00] [-1.21867638e-02 5.32326329e-04 9.99925597e-01 -3.94816160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194391418 meters 0.028047680633208488 Centerline is valid? [True, True] Translation: X:221.53, Y:-9.88, Z:-3.95 [[ 9.99876528e-01 1.08827650e-02 1.13354900e-02 2.21532661e+02] [-1.08763798e-02 9.99940655e-01 -6.24792227e-04 -9.88388227e+00] [-1.13416168e-02 5.01425989e-04 9.99935556e-01 -3.94893735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224391418 meters 0.028478115088140896 Centerline is valid? [True, True] Translation: X:221.56, Y:-9.89, Z:-3.95 [[ 9.99881653e-01 1.08464211e-02 1.09103043e-02 2.21564360e+02] [-1.08404715e-02 9.99941058e-01 -6.04304602e-04 -9.88642464e+00] [-1.09162157e-02 4.85960241e-04 9.99940298e-01 -3.95007104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254391418 meters 0.029086877383819935 Centerline is valid? [True, True] Translation: X:221.60, Y:-9.89, Z:-3.95 [[ 9.99886551e-01 1.09164970e-02 1.03786087e-02 2.21596778e+02] [-1.09110887e-02 9.99940305e-01 -5.77582959e-04 -9.88936798e+00] [-1.03842943e-02 4.64275513e-04 9.99945974e-01 -3.95147302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284391418 meters 0.029705084153978517 Centerline is valid? [True, True] Translation: X:221.63, Y:-9.89, Z:-3.95 [[ 9.99893428e-01 1.12035243e-02 9.36025223e-03 2.21628000e+02] [-1.11991075e-02 9.99937151e-01 -5.24145190e-04 -9.89205898e+00] [-9.36553622e-03 4.19262860e-04 9.99956055e-01 -3.95314069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314391418 meters 0.03009998365519716 Centerline is valid? [True, True] Translation: X:221.66, Y:-9.89, Z:-3.95 [[ 9.99886274e-01 1.18420155e-02 9.33842728e-03 2.21658839e+02] [-1.18376416e-02 9.99929796e-01 -5.23510666e-04 -9.89406558e+00] [-9.34397110e-03 4.12906173e-04 9.99956259e-01 -3.95356089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34439141800001 meters 0.029271999680447944 Centerline is valid? [True, True] Translation: X:221.69, Y:-9.89, Z:-3.95 [[ 9.99875765e-01 1.26228116e-02 9.44024656e-03 2.21690442e+02] [-1.26183356e-02 9.99920243e-01 -5.33554649e-04 -9.89414219e+00] [-9.44622860e-03 4.14368163e-04 9.99955298e-01 -3.95362781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37439141800002 meters 0.02884781634154531 Centerline is valid? [True, True] Translation: X:221.72, Y:-9.89, Z:-3.95 [[ 9.99838049e-01 1.48884546e-02 1.01098654e-02 2.21720661e+02] [-1.48834305e-02 9.99889072e-01 -5.72009885e-04 -9.89354468e+00] [-1.01172603e-02 4.21447769e-04 9.99948730e-01 -3.95312239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40439141800002 meters 0.02721841814047401 Centerline is valid? [True, True] Translation: X:221.75, Y:-9.89, Z:-3.95 [[ 9.99806043e-01 1.68019267e-02 1.02748522e-02 2.21752248e+02] [-1.67968375e-02 9.99858754e-01 -5.81398933e-04 -9.89178294e+00] [-1.02831696e-02 4.08701143e-04 9.99947043e-01 -3.95288331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434391418 meters 0.023763511969511156 Centerline is valid? [True, True] Translation: X:221.78, Y:-9.89, Z:-3.95 [[ 9.99681888e-01 2.27225173e-02 1.09458204e-02 2.21782967e+02] [-2.27170879e-02 9.99741741e-01 -6.20123377e-04 -9.88572442e+00] [-1.09570843e-02 3.71268945e-04 9.99939900e-01 -3.95249403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters 0.0226667570040624 Centerline is valid? [True, True] Translation: X:221.81, Y:-9.88, Z:-3.95 [[ 9.99594119e-01 2.62352880e-02 1.11044085e-02 2.21811775e+02] [-2.62299120e-02 9.99655738e-01 -6.29518199e-04 -9.88437685e+00] [-1.11171013e-02 3.37995031e-04 9.99938146e-01 -3.95298792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494391418 meters 0.02213470523554343 Centerline is valid? [True, True] Translation: X:221.84, Y:-9.88, Z:-3.95 [[ 9.99492036e-01 2.97796004e-02 1.13510138e-02 2.21840636e+02] [-2.97742193e-02 9.99556443e-01 -6.42792570e-04 -9.88392965e+00] [-1.13651211e-02 3.04498481e-04 9.99935369e-01 -3.95360911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524391418 meters 0.018638374890564986 Centerline is valid? [True, True] Translation: X:221.87, Y:-9.88, Z:-3.95 [[ 9.99384352e-01 3.30928064e-02 1.16526104e-02 2.21870389e+02] [-3.30873687e-02 9.99452246e-01 -6.59180519e-04 -9.87808372e+00] [-1.16680418e-02 2.73220478e-04 9.99931889e-01 -3.95294666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554391418 meters 0.01661115299825595 Centerline is valid? [True, True] Translation: X:221.90, Y:-9.87, Z:-3.95 [[ 9.99148153e-01 3.95531393e-02 1.17693262e-02 2.21898885e+02] [-3.95480473e-02 9.99217449e-01 -6.65167382e-04 -9.87274248e+00] [-1.17864256e-02 1.99146893e-04 9.99930518e-01 -3.95318569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584391418 meters 0.015740001457165233 Centerline is valid? [True, True] Translation: X:221.93, Y:-9.87, Z:-3.95 [[ 9.99049168e-01 4.19610848e-02 1.18333346e-02 2.21928008e+02] [-4.19561173e-02 9.99119231e-01 -6.67837113e-04 -9.87107920e+00] [-1.18509353e-02 1.70721339e-04 9.99929761e-01 -3.95350413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614391418 meters 0.015324842807736973 Centerline is valid? [True, True] Translation: X:221.96, Y:-9.87, Z:-3.95 [[ 9.98964549e-01 4.39651294e-02 1.17003237e-02 2.21955581e+02] [-4.39604200e-02 9.99033056e-01 -6.59504976e-04 -9.87075129e+00] [-1.17180053e-02 1.44470948e-04 9.99931331e-01 -3.95460867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644391418 meters 0.0149385146022921 Centerline is valid? [True, True] Translation: X:221.98, Y:-9.87, Z:-3.96 [[ 9.98876092e-01 4.62541438e-02 1.03492808e-02 2.21983549e+02] [-4.62505909e-02 9.98929699e-01 -5.82498089e-04 -9.86973840e+00] [-1.03651469e-02 1.03183062e-04 9.99946275e-01 -3.95706241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674391418 meters 0.015011742175533018 Centerline is valid? [True, True] Translation: X:222.01, Y:-9.87, Z:-3.96 [[ 9.98875709e-01 4.64983547e-02 9.23151471e-03 2.22012273e+02] [-4.64955468e-02 9.98918363e-01 -5.18668346e-04 -9.87036164e+00] [-9.24564678e-03 8.88608878e-05 9.99957254e-01 -3.95845526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704391418 meters 0.01494815483135071 Centerline is valid? [True, True] Translation: X:222.04, Y:-9.87, Z:-3.96 [[ 9.98893839e-01 4.62011355e-02 8.74943736e-03 2.22041407e+02] [-4.61986072e-02 9.98932154e-01 -4.90959615e-04 -9.87123799e+00] [-8.76277720e-03 8.62047150e-05 9.99961602e-01 -3.95935382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734391418 meters 0.015343411364251216 Centerline is valid? [True, True] Translation: X:222.07, Y:-9.87, Z:-3.96 [[ 9.98964083e-01 4.46885005e-02 8.58477423e-03 2.22068695e+02] [-4.46860116e-02 9.99000965e-01 -4.81615718e-04 -9.87256090e+00] [-8.59772043e-03 9.74974837e-05 9.99963034e-01 -3.96006655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764391418 meters 0.0154544546756842 Centerline is valid? [True, True] Translation: X:222.10, Y:-9.87, Z:-3.96 [[ 9.99012011e-01 4.35300991e-02 8.95167328e-03 2.22097671e+02] [-4.35273635e-02 9.99052110e-01 -5.00283122e-04 -9.87384746e+00] [-8.96496545e-03 1.10146111e-04 9.99959808e-01 -3.96003102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.794391418 meters 0.01572829108768048 Centerline is valid? [True, True] Translation: X:222.13, Y:-9.88, Z:-3.96 [[ 9.99068833e-01 4.21154682e-02 9.36769150e-03 2.22126240e+02] [-4.21124180e-02 9.99112742e-01 -5.22711714e-04 -9.87578791e+00] [-9.38139419e-03 1.27728841e-04 9.99955986e-01 -3.95983967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.824391418 meters 0.016620522163613052 Centerline is valid? [True, True] Translation: X:222.16, Y:-9.88, Z:-3.96 [[ 9.99176761e-01 3.90758530e-02 1.09031199e-02 2.22155296e+02] [-3.90715521e-02 9.99236231e-01 -6.07278935e-04 -9.87897234e+00] [-1.09185223e-02 1.80777183e-04 9.99940375e-01 -3.95912211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.854391418 meters 0.01691365105094473 Centerline is valid? [True, True] Translation: X:222.18, Y:-9.88, Z:-3.96 [[ 9.99249691e-01 3.69792197e-02 1.15148559e-02 2.22184368e+02] [-3.69742947e-02 9.99316012e-01 -6.40365517e-04 -9.88103525e+00] [-1.15306601e-02 2.14131371e-04 9.99933497e-01 -3.95890218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.884391418 meters 0.018211592416396218 Centerline is valid? [True, True] Translation: X:222.21, Y:-9.88, Z:-3.96 [[ 9.99321070e-01 3.48140432e-02 1.20574030e-02 2.22212308e+02] [-3.48084969e-02 9.99393776e-01 -6.69602825e-04 -9.88475607e+00] [-1.20734051e-02 2.49448138e-04 9.99927083e-01 -3.95942170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914391418 meters 0.019935325873073704 Centerline is valid? [True, True] Translation: X:222.24, Y:-9.89, Z:-3.96 [[ 9.99452481e-01 3.05323096e-02 1.27482047e-02 2.22241191e+02] [-3.05257820e-02 9.99533730e-01 -7.06357520e-04 -9.88938207e+00] [-1.27638274e-02 3.16821857e-04 9.99918489e-01 -3.95974766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944391418 meters 0.020494295877986554 Centerline is valid? [True, True] Translation: X:222.27, Y:-9.89, Z:-3.96 [[ 9.99525773e-01 2.81161045e-02 1.25584151e-02 2.22269783e+02] [-2.81095869e-02 9.99604606e-01 -6.95232151e-04 -9.89165824e+00] [-1.25729968e-02 3.41890592e-04 9.99920898e-01 -3.96031060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974391418 meters 0.021766396360296737 Centerline is valid? [True, True] Translation: X:222.30, Y:-9.90, Z:-3.96 [[ 9.99626070e-01 2.41579165e-02 1.28107664e-02 2.22299132e+02] [-2.41508256e-02 9.99708076e-01 -7.07943852e-04 -9.89528672e+00] [-1.28241291e-02 3.98288545e-04 9.99917688e-01 -3.96123509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004391418 meters 0.022238574714942835 Centerline is valid? [True, True] Translation: X:222.33, Y:-9.90, Z:-3.96 [[ 9.99667305e-01 2.24123807e-02 1.27657834e-02 2.22328540e+02] [-2.24052040e-02 9.99748723e-01 -7.04941179e-04 -9.89786223e+00] [-1.27783750e-02 4.18686668e-04 9.99918266e-01 -3.96207124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034391418 meters 0.023327011080894085 Centerline is valid? [True, True] Translation: X:222.36, Y:-9.90, Z:-3.96 [[ 9.99689682e-01 2.14495388e-02 1.26671235e-02 2.22357403e+02] [-2.14424019e-02 9.99769841e-01 -6.98977813e-04 -9.90143302e+00] [-1.26792008e-02 4.27147355e-04 9.99919524e-01 -3.96289430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064391418 meters 0.025581726634393696 Centerline is valid? [True, True] Translation: X:222.39, Y:-9.91, Z:-3.96 [[ 9.99706230e-01 2.06370714e-02 1.27108223e-02 2.22386732e+02] [-2.06298298e-02 9.99786937e-01 -7.00581649e-04 -9.90662207e+00] [-1.27225721e-02 4.38153737e-04 9.99918969e-01 -3.96398213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09439141800001 meters 0.023315161711339225 Centerline is valid? [True, True] Translation: X:222.42, Y:-9.90, Z:-3.96 [[ 9.99722414e-01 2.00858110e-02 1.23148012e-02 2.22417735e+02] [-2.00789689e-02 9.99798167e-01 -6.78996055e-04 -9.90474977e+00] [-1.23259539e-02 4.31539063e-04 9.99923939e-01 -3.96421468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12439141800002 meters 0.02357631444663334 Centerline is valid? [True, True] Translation: X:222.45, Y:-9.91, Z:-3.97 [[ 9.99709413e-01 2.05123952e-02 1.26622336e-02 2.22447438e+02] [-2.05051945e-02 9.99789503e-01 -6.98260146e-04 -9.90632109e+00] [-1.26738912e-02 4.38415679e-04 9.99919587e-01 -3.96506575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15439141800002 meters 0.023444128057115987 Centerline is valid? [True, True] Translation: X:222.48, Y:-9.91, Z:-3.97 [[ 9.99686728e-01 2.15638917e-02 1.27061060e-02 2.22477998e+02] [-2.15567304e-02 9.99767381e-01 -7.00314467e-04 -9.90734470e+00] [-1.27182519e-02 4.26192976e-04 9.99919029e-01 -3.96558555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters 0.023184534894402937 Centerline is valid? [True, True] Translation: X:222.51, Y:-9.91, Z:-3.97 [[ 9.99658513e-01 2.27435905e-02 1.28680217e-02 2.22507221e+02] [-2.27363418e-02 9.99741244e-01 -7.09340387e-04 -9.90819949e+00] [-1.28808250e-02 4.16526417e-04 9.99916952e-01 -3.96601861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214391418 meters 0.021791525600662255 Centerline is valid? [True, True] Translation: X:222.54, Y:-9.91, Z:-3.97 [[ 9.99591290e-01 2.54299156e-02 1.30603315e-02 2.22536818e+02] [-2.54226798e-02 9.99676532e-01 -7.19775483e-04 -9.90669862e+00] [-1.30744107e-02 3.87452677e-04 9.99914451e-01 -3.96665289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244391418 meters 0.020360434994467498 Centerline is valid? [True, True] Translation: X:222.57, Y:-9.91, Z:-3.97 [[ 9.99562541e-01 2.67052090e-02 1.27105403e-02 2.22566702e+02] [-2.66984648e-02 9.99643287e-01 -7.00018283e-04 -9.90527923e+00] [-1.27247004e-02 3.60360142e-04 9.99918973e-01 -3.96726003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274391418 meters 0.020119099202650585 Centerline is valid? [True, True] Translation: X:222.60, Y:-9.91, Z:-3.97 [[ 9.99520428e-01 2.83812210e-02 1.23863067e-02 2.22595165e+02] [-2.83749497e-02 9.99597118e-01 -6.81785049e-04 -9.90510620e+00] [-1.24006663e-02 3.29997256e-04 9.99923054e-01 -3.96838605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304391418 meters 0.02094210872449862 Centerline is valid? [True, True] Translation: X:222.62, Y:-9.91, Z:-3.97 [[ 9.99514917e-01 2.87545490e-02 1.19627125e-02 2.22622995e+02] [-2.87487312e-02 9.99586453e-01 -6.58047922e-04 -9.90705533e+00] [-1.19766872e-02 3.13815908e-04 9.99928228e-01 -3.96975252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334391418 meters 0.019597204214158392 Centerline is valid? [True, True] Translation: X:222.65, Y:-9.91, Z:-3.97 [[ 9.99529715e-01 2.85682295e-02 1.11446996e-02 2.22651931e+02] [-2.85631821e-02 9.99591802e-01 -6.11837033e-04 -9.90577753e+00] [-1.11576295e-02 2.93221211e-04 9.99937709e-01 -3.97008387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364391418 meters 0.020232763953514893 Centerline is valid? [True, True] Translation: X:222.68, Y:-9.91, Z:-3.97 [[ 9.99571517e-01 2.73477780e-02 1.04345874e-02 2.22681128e+02] [-2.73432948e-02 9.99625939e-01 -5.72095803e-04 -9.90677609e+00] [-1.04463298e-02 2.86534670e-04 9.99945395e-01 -3.97185079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394391418 meters 0.022276717951959298 Centerline is valid? [True, True] Translation: X:222.71, Y:-9.91, Z:-3.97 [[ 9.99605832e-01 2.62636369e-02 9.91975285e-03 2.22709083e+02] [-2.62595376e-02 9.99655011e-01 -5.43293660e-04 -9.91101934e+00] [-9.93059952e-03 2.82591388e-04 9.99950650e-01 -3.97346965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424391418 meters 0.021787072626218883 Centerline is valid? [True, True] Translation: X:222.74, Y:-9.91, Z:-3.97 [[ 9.99659612e-01 2.42257551e-02 9.68366768e-03 2.22738217e+02] [-2.42217653e-02 9.99706470e-01 -5.29099746e-04 -9.91087226e+00] [-9.69364308e-03 2.94364121e-04 9.99952972e-01 -3.97330281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454391418 meters 0.0217120995870028 Centerline is valid? [True, True] Translation: X:222.77, Y:-9.91, Z:-3.97 [[ 9.99675100e-01 2.33706155e-02 1.01738827e-02 2.22767261e+02] [-2.33661723e-02 9.99726819e-01 -5.55384369e-04 -9.91163719e+00] [-1.01840830e-02 3.17479229e-04 9.99948090e-01 -3.97309544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484391418 meters 0.02230831046525444 Centerline is valid? [True, True] Translation: X:222.80, Y:-9.91, Z:-3.97 [[ 9.99683264e-01 2.29201587e-02 1.03941264e-02 2.22795440e+02] [-2.29155075e-02 9.99737245e-01 -5.66374379e-04 -9.91345081e+00] [-1.04043767e-02 3.28008307e-04 9.99945819e-01 -3.97330111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514391418 meters 0.022065394492291394 Centerline is valid? [True, True] Translation: X:222.83, Y:-9.91, Z:-3.97 [[ 9.99679786e-01 2.28289747e-02 1.09161798e-02 2.22825336e+02] [-2.28238484e-02 9.99739326e-01 -5.93966469e-04 -9.91388401e+00] [-1.09268939e-02 3.44627040e-04 9.99940240e-01 -3.97290721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.544391418 meters 0.022221779845153045 Centerline is valid? [True, True] Translation: X:222.85, Y:-9.92, Z:-3.97 [[ 9.99668640e-01 2.30768632e-02 1.14047535e-02 2.22854198e+02] [-2.30712881e-02 9.99733630e-01 -6.20186527e-04 -9.91501531e+00] [-1.14160276e-02 3.56858670e-04 9.99934771e-01 -3.97279314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.574391418 meters 0.021457252113678518 Centerline is valid? [True, True] Translation: X:222.88, Y:-9.91, Z:-3.97 [[ 9.99615126e-01 2.45113299e-02 1.29921100e-02 2.22883626e+02] [-2.45042291e-02 9.99699477e-01 -7.05476888e-04 -9.91374114e+00] [-1.30054978e-02 3.86843729e-04 9.99915350e-01 -3.97208424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.604391418 meters 0.02181182489347848 Centerline is valid? [True, True] Translation: X:222.91, Y:-9.91, Z:-3.97 [[ 9.99572393e-01 2.59084309e-02 1.35567363e-02 2.22912696e+02] [-2.59008345e-02 9.99664246e-01 -7.35645874e-04 -9.91409172e+00] [-1.35712440e-02 3.84200524e-04 9.99907833e-01 -3.97227909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.634391418 meters 0.02142314697367693 Centerline is valid? [True, True] Translation: X:222.94, Y:-9.91, Z:-3.97 [[ 9.99537327e-01 2.68382184e-02 1.43123190e-02 2.22941959e+02] [-2.68298610e-02 9.99639714e-01 -7.75654129e-04 -9.91447599e+00] [-1.43279796e-02 3.91297725e-04 9.99897273e-01 -3.97233645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664391418 meters 0.020234085363708125 Centerline is valid? [True, True] Translation: X:222.97, Y:-9.91, Z:-3.97 [[ 9.99509761e-01 2.75807748e-02 1.48168635e-02 2.22971652e+02] [-2.75719081e-02 9.99619501e-01 -8.02398180e-04 -9.91357286e+00] [-1.48333565e-02 3.93475613e-04 9.99889902e-01 -3.97230772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694391418 meters 0.019829717613445614 Centerline is valid? [True, True] Translation: X:223.00, Y:-9.91, Z:-3.97 [[ 9.99481733e-01 2.85011638e-02 1.49649173e-02 2.23000974e+02] [-2.84922303e-02 9.99593686e-01 -8.09867344e-04 -9.91413557e+00] [-1.49819190e-02 3.83063747e-04 9.99887691e-01 -3.97256724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724391418 meters 0.01864738465926769 Centerline is valid? [True, True] Translation: X:223.03, Y:-9.91, Z:-3.97 [[ 9.99404658e-01 3.09179441e-02 1.53104888e-02 2.23029771e+02] [-3.09088903e-02 9.99521863e-01 -8.27679667e-04 -9.91271699e+00] [-1.53287585e-02 3.53956695e-04 9.99882445e-01 -3.97273331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754391418 meters 0.018202638214237107 Centerline is valid? [True, True] Translation: X:223.06, Y:-9.91, Z:-3.97 [[ 9.99371462e-01 3.17857126e-02 1.56955483e-02 2.23058758e+02] [-3.17763250e-02 9.99494646e-01 -8.47192981e-04 -9.91275066e+00] [-1.57145451e-02 3.47913645e-04 9.99876458e-01 -3.97337211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784391418 meters 0.018544357230736754 Centerline is valid? [True, True] Translation: X:223.09, Y:-9.91, Z:-3.97 [[ 9.99328742e-01 3.30662855e-02 1.57697636e-02 2.23086512e+02] [-3.30569880e-02 9.99453107e-01 -8.49949772e-04 -9.91463812e+00] [-1.57892439e-02 3.28078351e-04 9.99875288e-01 -3.97396981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814391418 meters 0.01765430801783196 Centerline is valid? [True, True] Translation: X:223.12, Y:-9.91, Z:-3.97 [[ 9.99286223e-01 3.43767808e-02 1.56614540e-02 2.23115342e+02] [-3.43677969e-02 9.99408898e-01 -8.42490536e-04 -9.91423699e+00] [-1.56811586e-02 3.03639513e-04 9.99876997e-01 -3.97492497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84439141800001 meters 0.01773451257500234 Centerline is valid? [True, True] Translation: X:223.14, Y:-9.92, Z:-3.98 [[ 9.99286228e-01 3.45088237e-02 1.53680225e-02 2.23144543e+02] [-3.45002074e-02 9.99404350e-01 -8.25506840e-04 -9.91572329e+00] [-1.53873558e-02 2.94717652e-04 9.99881564e-01 -3.97605432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87439141800002 meters 0.01719783456060652 Centerline is valid? [True, True] Translation: X:223.17, Y:-9.92, Z:-3.98 [[ 9.99275958e-01 3.49944307e-02 1.49314729e-02 2.23173812e+02] [-3.49863657e-02 9.99387469e-01 -8.01083978e-04 -9.91627552e+00] [-1.49503604e-02 2.78105987e-04 9.99888198e-01 -3.97739474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90439141800002 meters 0.016962573213112463 Centerline is valid? [True, True] Translation: X:223.20, Y:-9.92, Z:-3.98 [[ 9.99300882e-01 3.49342312e-02 1.33171252e-02 2.23202320e+02] [-3.49278343e-02 9.99389583e-01 -7.12698817e-04 -9.91811421e+00] [-1.33338938e-02 2.47062214e-04 9.99911069e-01 -3.97949521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934391418 meters 0.017518562468822954 Centerline is valid? [True, True] Translation: X:223.23, Y:-9.92, Z:-3.98 [[ 9.99308106e-01 3.48671882e-02 1.29456226e-02 2.23230271e+02] [-3.48611496e-02 9.99391926e-01 -6.91895225e-04 -9.92124968e+00] [-1.29618752e-02 2.40117219e-04 9.99915963e-01 -3.98114226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters 0.017558734282478495 Centerline is valid? [True, True] Translation: X:223.26, Y:-9.92, Z:-3.98 [[ 9.99325962e-01 3.45033067e-02 1.25356878e-02 2.23258590e+02] [-3.44976327e-02 9.99404556e-01 -6.68648160e-04 -9.92294878e+00] [-1.25512941e-02 2.35745912e-04 9.99921202e-01 -3.98200408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994391418 meters 0.017558734282478495 Centerline is valid? [True, True] Translation: X:223.29, Y:-9.92, Z:-3.98 [[ 9.99328678e-01 3.44245343e-02 1.25357404e-02 2.23286859e+02] [-3.44188664e-02 9.99407272e-01 -6.67660917e-04 -9.92437600e+00] [-1.25512940e-02 2.35746729e-04 9.99921202e-01 -3.98251486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024391418 meters 0.017739691869615264 Centerline is valid? [True, True] Translation: X:223.32, Y:-9.93, Z:-3.98 [[ 9.99334301e-01 3.42393018e-02 1.25946483e-02 2.23315611e+02] [-3.42335784e-02 9.99413635e-01 -6.69796345e-04 -9.92639585e+00] [-1.26101966e-02 2.38190583e-04 9.99920460e-01 -3.98330474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054391418 meters 0.017242629674497988 Centerline is valid? [True, True] Translation: X:223.34, Y:-9.93, Z:-3.98 [[ 9.99355828e-01 3.37361368e-02 1.22394074e-02 2.23344431e+02] [-3.37307053e-02 9.99430746e-01 -6.49989395e-04 -9.92811172e+00] [-1.22543682e-02 2.36726847e-04 9.99924884e-01 -3.98317218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084391418 meters 0.01789784685449516 Centerline is valid? [True, True] Translation: X:223.37, Y:-9.93, Z:-3.98 [[ 9.99367259e-01 3.31524054e-02 1.28841215e-02 2.23372377e+02] [-3.31463513e-02 9.99450275e-01 -6.83202949e-04 -9.93126983e+00] [-1.28996886e-02 2.55709042e-04 9.99916763e-01 -3.98355115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114391418 meters 0.017913304320963545 Centerline is valid? [True, True] Translation: X:223.40, Y:-9.93, Z:-3.98 [[ 9.99380011e-01 3.25635492e-02 1.33868967e-02 2.23401177e+02] [-3.25569809e-02 9.99469630e-01 -7.08345230e-04 -9.93369940e+00] [-1.34028630e-02 2.72069123e-04 9.99910141e-01 -3.98318842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144391418 meters 0.018344198450886303 Centerline is valid? [True, True] Translation: X:223.43, Y:-9.94, Z:-3.98 [[ 9.99386865e-01 3.21127476e-02 1.39522725e-02 2.23429433e+02] [-3.21055851e-02 9.99484211e-01 -7.37094625e-04 -9.93608439e+00] [-1.39687462e-02 2.88696813e-04 9.99902391e-01 -3.98353527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174391418 meters 0.018447685323076047 Centerline is valid? [True, True] Translation: X:223.46, Y:-9.94, Z:-3.98 [[ 9.99399312e-01 3.15790212e-02 1.42752036e-02 2.23457839e+02] [-3.15714855e-02 9.99501213e-01 -7.52992871e-04 -9.93870161e+00] [-1.42918621e-02 3.01851174e-04 9.99897821e-01 -3.98386379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204391418 meters 0.019209808955192875 Centerline is valid? [True, True] Translation: X:223.49, Y:-9.94, Z:-3.98 [[ 9.99443285e-01 2.98823302e-02 1.48380264e-02 2.23486804e+02] [-2.98740199e-02 9.99553366e-01 -7.81454729e-04 -9.94322480e+00] [-1.48547510e-02 3.37748184e-04 9.99889605e-01 -3.98408706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234391418 meters 0.019911566383576954 Centerline is valid? [True, True] Translation: X:223.52, Y:-9.95, Z:-3.98 [[ 9.99461496e-01 2.89928883e-02 1.53665644e-02 2.23515676e+02] [-2.89838908e-02 9.99579552e-01 -8.07953485e-04 -9.94666915e+00] [-1.53835284e-02 3.62135574e-04 9.99881601e-01 -3.98441282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264391418 meters 0.01958997286134776 Centerline is valid? [True, True] Translation: X:223.55, Y:-9.95, Z:-3.98 [[ 9.99487853e-01 2.77645820e-02 1.59110022e-02 2.23545510e+02] [-2.77547924e-02 9.99614412e-01 -8.35802685e-04 -9.94829368e+00] [-1.59280729e-02 3.93768066e-04 9.99873063e-01 -3.98464329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.294391418 meters 0.02009039125358318 Centerline is valid? [True, True] Translation: X:223.57, Y:-9.95, Z:-3.99 [[ 9.99522023e-01 2.64069589e-02 1.60747636e-02 2.23574963e+02] [-2.63968017e-02 9.99651188e-01 -8.43757395e-04 -9.95078746e+00] [-1.60914376e-02 4.19031751e-04 9.99870437e-01 -3.98535165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.324391418 meters 0.02310111228141251 Centerline is valid? [True, True] Translation: X:223.60, Y:-9.96, Z:-3.99 [[ 9.99595114e-01 2.36444500e-02 1.58287143e-02 2.23603979e+02] [-2.36342659e-02 9.99720327e-01 -8.30172065e-04 -9.95862946e+00] [-1.58439164e-02 4.55735898e-04 9.99874373e-01 -3.98676102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.354391418 meters 0.022857231807018392 Centerline is valid? [True, True] Translation: X:223.63, Y:-9.96, Z:-3.99 [[ 9.99638403e-01 2.19849596e-02 1.54830720e-02 2.23634142e+02] [-2.19750221e-02 9.99758191e-01 -8.11692472e-04 -9.96064645e+00] [-1.54971731e-02 4.71158117e-04 9.99879801e-01 -3.98756866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.384391418 meters 0.024131609787000016 Centerline is valid? [True, True] Translation: X:223.66, Y:-9.97, Z:-3.99 [[ 9.99681023e-01 2.06332010e-02 1.45644691e-02 2.23664183e+02] [-2.06242654e-02 9.99787006e-01 -7.63468435e-04 -9.96547143e+00] [-1.45771198e-02 4.62843430e-04 9.99893641e-01 -3.98878773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414391418 meters 0.02616453607029757 Centerline is valid? [True, True] Translation: X:223.70, Y:-9.97, Z:-3.99 [[ 9.99749020e-01 1.73327488e-02 1.41940791e-02 2.23695185e+02] [-1.73239269e-02 9.99849653e-01 -7.44247970e-04 -9.97141503e+00] [-1.42048449e-02 4.98163991e-04 9.99898982e-01 -3.98987807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444391418 meters 0.028790422569083412 Centerline is valid? [True, True] Translation: X:223.73, Y:-9.98, Z:-3.99 [[ 9.99770483e-01 1.63521113e-02 1.38416098e-02 2.23725897e+02] [-1.63436332e-02 9.99866171e-01 -7.25412530e-04 -9.97769093e+00] [-1.38516194e-02 4.99023842e-04 9.99903937e-01 -3.99102895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474391418 meters 0.029779043116346434 Centerline is valid? [True, True] Translation: X:223.76, Y:-9.98, Z:-3.99 [[ 9.99784210e-01 1.55205155e-02 1.38074892e-02 2.23758107e+02] [-1.55119536e-02 9.99879418e-01 -7.26976249e-04 -9.98136667e+00] [-1.38171074e-02 5.12638243e-04 9.99904408e-01 -3.99152006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504391418 meters 0.02544188325843147 Centerline is valid? [True, True] Translation: X:223.79, Y:-9.98, Z:-3.99 [[ 9.99803523e-01 1.47205121e-02 1.32748535e-02 2.23790834e+02] [-1.47124870e-02 9.99891519e-01 -7.01991656e-04 -9.97751662e+00] [-1.32837471e-02 5.06547622e-04 9.99911639e-01 -3.99164482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534391418 meters 0.025043206797558296 Centerline is valid? [True, True] Translation: X:223.82, Y:-9.98, Z:-3.99 [[ 9.99803213e-01 1.49280914e-02 1.30647424e-02 2.23823383e+02] [-1.49202888e-02 9.99888445e-01 -6.94497594e-04 -9.97870864e+00] [-1.30736524e-02 4.99431196e-04 9.99914411e-01 -3.99204408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564391418 meters 0.025950216925340996 Centerline is valid? [True, True] Translation: X:223.85, Y:-9.98, Z:-3.99 [[ 9.99779472e-01 1.64492357e-02 1.30548856e-02 2.23854447e+02] [-1.64415240e-02 9.99864585e-01 -6.97829177e-04 -9.98157268e+00] [-1.30645965e-02 4.83033072e-04 9.99914538e-01 -3.99275281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59439141800001 meters 0.023583777545803063 Centerline is valid? [True, True] Translation: X:223.89, Y:-9.98, Z:-3.99 [[ 9.99761425e-01 1.74330830e-02 1.31597979e-02 2.23886278e+02] [-1.74252715e-02 9.99847918e-01 -7.08025492e-04 -9.97952553e+00] [-1.31701396e-02 4.78543524e-04 9.99913155e-01 -3.99255941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62439141800002 meters 0.023291706131056085 Centerline is valid? [True, True] Translation: X:223.92, Y:-9.98, Z:-3.99 [[ 9.99733845e-01 1.89250798e-02 1.31939501e-02 2.23916308e+02] [-1.89173489e-02 9.99820798e-01 -7.10511692e-04 -9.98046773e+00] [-1.32050322e-02 4.60728029e-04 9.99912704e-01 -3.99267473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65439141800002 meters 0.028529477145912138 Centerline is valid? [True, True] Translation: X:223.95, Y:-9.99, Z:-3.99 [[ 9.99672904e-01 2.18076462e-02 1.33608216e-02 2.23946355e+02] [-2.17999779e-02 9.99762093e-01 -7.19323697e-04 -9.98842219e+00] [-1.33733298e-02 4.27822793e-04 9.99910482e-01 -3.99463722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters 0.02252865611193874 Centerline is valid? [True, True] Translation: X:223.98, Y:-9.98, Z:-3.99 [[ 9.99655122e-01 2.28595760e-02 1.29258530e-02 2.23976652e+02] [-2.28524576e-02 9.99738605e-01 -6.98166164e-04 -9.98058625e+00] [-1.29384341e-02 4.02537873e-04 9.99916214e-01 -3.99386849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714391418 meters 0.021276993628623533 Centerline is valid? [True, True] Translation: X:224.01, Y:-9.98, Z:-3.99 [[ 9.99627617e-01 2.41990212e-02 1.26109130e-02 2.24006633e+02] [-2.41923579e-02 9.99707090e-01 -6.80674719e-04 -9.98010465e+00] [-1.26236908e-02 3.75333526e-04 9.99920248e-01 -3.99423754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744391418 meters 0.02049621501448462 Centerline is valid? [True, True] Translation: X:224.04, Y:-9.98, Z:-3.99 [[ 9.99612777e-01 2.48658007e-02 1.24894979e-02 2.24036795e+02] [-2.48593233e-02 9.99690732e-01 -6.73627698e-04 -9.97956206e+00] [-1.25023856e-02 3.62886388e-04 9.99921776e-01 -3.99475284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774391418 meters 0.021106459616923316 Centerline is valid? [True, True] Translation: X:224.07, Y:-9.98, Z:-4.00 [[ 9.99577439e-01 2.62067949e-02 1.25756298e-02 2.24065775e+02] [-2.62003391e-02 9.99656482e-01 -6.77857440e-04 -9.98132349e+00] [-1.25890743e-02 3.48085239e-04 9.99920694e-01 -3.99559889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804391418 meters 0.020256758136509664 Centerline is valid? [True, True] Translation: X:224.10, Y:-9.98, Z:-4.00 [[ 9.99563876e-01 2.66746389e-02 1.26697452e-02 2.24095072e+02] [-2.66681324e-02 9.99644109e-01 -6.82250309e-04 -9.98112581e+00] [-1.26834349e-02 3.44074320e-04 9.99919503e-01 -3.99572372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834391418 meters 0.02055192024521582 Centerline is valid? [True, True] Translation: X:224.12, Y:-9.98, Z:-4.00 [[ 9.99540846e-01 2.73339486e-02 1.30748988e-02 2.24123340e+02] [-2.73270901e-02 9.99626298e-01 -7.02960912e-04 -9.98277102e+00] [-1.30892273e-02 3.45339208e-04 9.99914273e-01 -3.99633500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864391418 meters 0.019751153854715587 Centerline is valid? [True, True] Translation: X:224.15, Y:-9.98, Z:-4.00 [[ 9.99494751e-01 2.90437960e-02 1.29112973e-02 2.24152227e+02] [-2.90372637e-02 9.99578089e-01 -6.93146639e-04 -9.98161597e+00] [-1.29259815e-02 3.17887681e-04 9.99916405e-01 -3.99629146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894391418 meters 0.01896221858564809 Centerline is valid? [True, True] Translation: X:224.18, Y:-9.98, Z:-4.00 [[ 9.99445381e-01 3.05296556e-02 1.32993008e-02 2.24181591e+02] [-3.05228688e-02 9.99533814e-01 -7.13037170e-04 -9.98106661e+00] [-1.33148696e-02 3.06708891e-04 9.99911306e-01 -3.99614240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924391418 meters 0.01783723205696361 Centerline is valid? [True, True] Translation: X:224.21, Y:-9.98, Z:-4.00 [[ 9.99323626e-01 3.43994468e-02 1.29987767e-02 2.24210517e+02] [-3.43933113e-02 9.99408133e-01 -6.95321410e-04 -9.97856072e+00] [-1.30150018e-02 2.47780138e-04 9.99915271e-01 -3.99731800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954391418 meters 0.01708334774991291 Centerline is valid? [True, True] Translation: X:224.24, Y:-9.98, Z:-4.00 [[ 9.99241955e-01 3.68021378e-02 1.26932112e-02 2.24238816e+02] [-3.67964936e-02 9.99322550e-01 -6.78001528e-04 -9.97830976e+00] [-1.27095641e-02 2.10421906e-04 9.99919208e-01 -3.99815637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984391418 meters 0.0164758377021654 Centerline is valid? [True, True] Translation: X:224.27, Y:-9.98, Z:-4.00 [[ 9.99155828e-01 3.91007569e-02 1.26000755e-02 2.24267793e+02] [-3.90953902e-02 9.99235257e-01 -6.72047668e-04 -9.97777020e+00] [-1.26167173e-02 1.78875475e-04 9.99920390e-01 -3.99901236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014391418 meters 0.01588112525049292 Centerline is valid? [True, True] Translation: X:224.30, Y:-9.98, Z:-4.00 [[ 9.99062859e-01 4.14388261e-02 1.24991262e-02 2.24296611e+02] [-4.14337401e-02 9.99141032e-01 -6.65704384e-04 -9.97713537e+00] [-1.25159759e-02 1.47194979e-04 9.99921661e-01 -3.99951074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.044391418 meters 0.01474647202106836 Centerline is valid? [True, True] Translation: X:224.33, Y:-9.97, Z:-4.00 [[ 9.98871961e-01 4.59359861e-02 1.20287745e-02 2.24325456e+02] [-4.59316121e-02 9.98944382e-01 -6.39785212e-04 -9.97449840e+00] [-1.20454658e-02 8.65625063e-05 9.99927447e-01 -3.99933172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.074391418 meters 0.014359699943019243 Centerline is valid? [True, True] Translation: X:224.35, Y:-9.97, Z:-4.00 [[ 9.98765561e-01 4.80819553e-02 1.24691209e-02 2.24354605e+02] [-4.80774352e-02 9.98843392e-01 -6.62171826e-04 -9.97452211e+00] [-1.24865376e-02 6.18710620e-05 9.99922038e-01 -3.99942231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.104391418 meters 0.014336303887188272 Centerline is valid? [True, True] Translation: X:224.38, Y:-9.97, Z:-4.00 [[ 9.98599963e-01 5.13177149e-02 1.28298778e-02 2.24383829e+02] [-5.13132099e-02 9.98682378e-01 -6.80289078e-04 -9.97402251e+00] [-1.28478838e-02 2.09944342e-05 9.99917462e-01 -3.99984923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.134391418 meters 0.01420719417857241 Centerline is valid? [True, True] Translation: X:224.41, Y:-9.98, Z:-4.00 [[ 9.98541232e-01 5.24038000e-02 1.30096115e-02 2.24411531e+02] [-5.23992704e-02 9.98625977e-01 -6.89024843e-04 -9.97513444e+00] [-1.30278435e-02 6.32556623e-06 9.99915134e-01 -3.99964209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164391418 meters 0.014311873092609468 Centerline is valid? [True, True] Translation: X:224.44, Y:-9.98, Z:-4.00 [[ 9.98502815e-01 5.30799193e-02 1.32155731e-02 2.24438040e+02] [-5.30753251e-02 9.98590267e-01 -6.98362378e-04 -9.97673829e+00] [-1.32340117e-02 -4.10403770e-06 9.99912427e-01 -4.00028417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194391418 meters 0.014222354524945788 Centerline is valid? [True, True] Translation: X:224.47, Y:-9.98, Z:-4.00 [[ 9.98495356e-01 5.31357677e-02 1.35504382e-02 2.24465684e+02] [-5.31309713e-02 9.98587297e-01 -7.13965571e-04 -9.97963032e+00] [-1.35692325e-02 -7.05663417e-06 9.99907934e-01 -4.00053575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224391418 meters 0.01434014183879001 Centerline is valid? [True, True] Translation: X:224.49, Y:-9.98, Z:-4.00 [[ 9.98550300e-01 5.21444008e-02 1.33513661e-02 2.24493349e+02] [-5.21396768e-02 9.98639555e-01 -7.01900402e-04 -9.98239784e+00] [-1.33698025e-02 4.74694443e-06 9.99910620e-01 -4.00109070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254391418 meters 0.01439500949702612 Centerline is valid? [True, True] Translation: X:224.52, Y:-9.99, Z:-4.00 [[ 9.98704569e-01 4.93087070e-02 1.25632602e-02 2.24520440e+02] [-4.93043188e-02 9.98783585e-01 -6.58956607e-04 -9.98817819e+00] [-1.25804704e-02 3.86799864e-05 9.99920862e-01 -4.00249274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284391418 meters 0.014503153444156458 Centerline is valid? [True, True] Translation: X:224.55, Y:-9.99, Z:-4.00 [[ 9.98823590e-01 4.69719443e-02 1.20446336e-02 2.24549488e+02] [-4.69677561e-02 9.98896207e-01 -6.30510305e-04 -9.99225360e+00] [-1.20609551e-02 6.40591553e-05 9.99927262e-01 -4.00328730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314391418 meters 0.014889123461697485 Centerline is valid? [True, True] Translation: X:224.58, Y:-10.00, Z:-4.00 [[ 9.98945082e-01 4.43986619e-02 1.17252724e-02 2.24577278e+02] [-4.43945250e-02 9.99013889e-01 -6.12988363e-04 -9.99719027e+00] [-1.17409258e-02 9.18038136e-05 9.99931069e-01 -4.00435703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34439141800001 meters 0.015215542558432306 Centerline is valid? [True, True] Translation: X:224.61, Y:-10.00, Z:-4.01 [[ 9.99052518e-01 4.20063396e-02 1.13813062e-02 2.24606030e+02] [-4.20023010e-02 9.99117338e-01 -5.93747766e-04 -1.00020932e+01] [-1.13962016e-02 1.15144149e-04 9.99935055e-01 -4.00535648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37439141800002 meters 0.01626557830475526 Centerline is valid? [True, True] Translation: X:224.63, Y:-10.01, Z:-4.01 [[ 9.99228994e-01 3.76163785e-02 1.12438892e-02 2.24634611e+02] [-3.76121689e-02 9.99292240e-01 -5.85691512e-04 -1.00093962e+01] [-1.12579628e-02 1.62332883e-04 9.99936614e-01 -4.00584979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40439141800002 meters 0.016525389318105186 Centerline is valid? [True, True] Translation: X:224.66, Y:-10.01, Z:-4.01 [[ 9.99291675e-01 3.59794371e-02 1.10285413e-02 2.24662761e+02] [-3.59752952e-02 9.99352515e-01 -5.73776095e-04 -1.00128121e+01] [-1.10420447e-02 1.76614644e-04 9.99939019e-01 -4.00613140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434391418 meters 0.017303289998610687 Centerline is valid? [True, True] Translation: X:224.69, Y:-10.02, Z:-4.01 [[ 9.99353634e-01 3.43057352e-02 1.07438633e-02 2.24690047e+02] [-3.43017190e-02 9.99411367e-01 -5.57915138e-04 -1.00179839e+01] [-1.07566788e-02 1.89021541e-04 9.99942127e-01 -4.00675930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464391418 meters 0.017336416401802356 Centerline is valid? [True, True] Translation: X:224.72, Y:-10.02, Z:-4.01 [[ 9.99362070e-01 3.40340148e-02 1.08230522e-02 2.24718455e+02] [-3.40299367e-02 9.99420657e-01 -5.60787235e-04 -1.00198970e+01] [-1.08358678e-02 1.92121709e-04 9.99941272e-01 -4.00743187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494391418 meters 0.016929591450095035 Centerline is valid? [True, True] Translation: X:224.75, Y:-10.02, Z:-4.01 [[ 9.99361687e-01 3.41073566e-02 1.06257945e-02 2.24747279e+02] [-3.41034389e-02 9.99418157e-01 -5.49730634e-04 -1.00216947e+01] [-1.06383618e-02 1.87003600e-04 9.99943394e-01 -4.00744112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524391418 meters 0.017121824156510666 Centerline is valid? [True, True] Translation: X:224.78, Y:-10.02, Z:-4.01 [[ 9.99336654e-01 3.47729396e-02 1.08210615e-02 2.24775130e+02] [-3.47689234e-02 9.99395222e-01 -5.59100644e-04 -1.00248165e+01] [-1.08339588e-02 1.82493107e-04 9.99941294e-01 -4.00829436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554391418 meters 0.017015234075940047 Centerline is valid? [True, True] Translation: X:224.80, Y:-10.03, Z:-4.01 [[ 9.99318197e-01 3.52175586e-02 1.10844443e-02 2.24803594e+02] [-3.52133878e-02 9.99379653e-01 -5.71277981e-04 -1.00266140e+01] [-1.10976871e-02 1.80567647e-04 9.99938402e-01 -4.00853562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584391418 meters 0.017040699994919795 Centerline is valid? [True, True] Translation: X:224.83, Y:-10.03, Z:-4.01 [[ 9.99293955e-01 3.56934439e-02 1.17290217e-02 2.24831650e+02] [-3.56888172e-02 9.99362769e-01 -6.03605090e-04 -1.00286092e+01] [-1.17430924e-02 1.84584005e-04 9.99931030e-01 -4.00885108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614391418 meters 0.01652169474296097 Centerline is valid? [True, True] Translation: X:224.86, Y:-10.03, Z:-4.01 [[ 9.99267884e-01 3.62426496e-02 1.22542486e-02 2.24860228e+02] [-3.62376574e-02 9.99343002e-01 -6.29252813e-04 -1.00290505e+01] [-1.22690033e-02 1.84726867e-04 9.99924716e-01 -4.00860364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644391418 meters 0.016195560994430678 Centerline is valid? [True, True] Translation: X:224.89, Y:-10.03, Z:-4.01 [[ 9.99238083e-01 3.71806356e-02 1.18681786e-02 2.24889400e+02] [-3.71760301e-02 9.99308547e-01 -6.08509278e-04 -1.00315229e+01] [-1.18825971e-02 1.66833880e-04 9.99929386e-01 -4.00920305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674391418 meters 0.016526037770202572 Centerline is valid? [True, True] Translation: X:224.92, Y:-10.03, Z:-4.01 [[ 9.99247331e-01 3.69544801e-02 1.17956937e-02 2.24917064e+02] [-3.69499248e-02 9.99316936e-01 -6.03960427e-04 -1.00342994e+01] [-1.18099555e-02 1.67655851e-04 9.99930246e-01 -4.01017105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704391418 meters 0.016926920181451602 Centerline is valid? [True, True] Translation: X:224.94, Y:-10.04, Z:-4.01 [[ 9.99284489e-01 3.60779545e-02 1.13530655e-02 2.24944715e+02] [-3.60736905e-02 9.99348964e-01 -5.80208028e-04 -1.00389984e+01] [-1.13666070e-02 1.70245912e-04 9.99935384e-01 -4.01166052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734391418 meters 0.016702514314954425 Centerline is valid? [True, True] Translation: X:224.97, Y:-10.04, Z:-4.01 [[ 9.99324244e-01 3.51147904e-02 1.08630620e-02 2.24973683e+02] [-3.51108418e-02 9.99383271e-01 -5.54037634e-04 -1.00411684e+01] [-1.08758174e-02 1.72251987e-04 9.99940842e-01 -4.01234047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764391418 meters 0.016875160616692524 Centerline is valid? [True, True] Translation: X:225.00, Y:-10.04, Z:-4.01 [[ 9.99360076e-01 3.42404161e-02 1.03456714e-02 2.25002815e+02] [-3.42367959e-02 9.99413610e-01 -5.26877473e-04 -1.00444942e+01] [-1.03576453e-02 1.72337670e-04 9.99946343e-01 -4.01317381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.794391418 meters 0.01757951799829498 Centerline is valid? [True, True] Translation: X:225.03, Y:-10.05, Z:-4.01 [[ 9.99447935e-01 3.18381375e-02 9.49512217e-03 2.25031403e+02] [-3.18349858e-02 9.99493022e-01 -4.82921777e-04 -1.00489987e+01] [-9.50568368e-03 1.80378094e-04 9.99954804e-01 -4.01474097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.824391418 meters 0.018166686644074642 Centerline is valid? [True, True] Translation: X:225.06, Y:-10.05, Z:-4.02 [[ 9.99487390e-01 3.08066474e-02 8.71249900e-03 2.25059020e+02] [-3.08039582e-02 9.99525347e-01 -4.42713371e-04 -1.00520196e+01] [-8.72200210e-03 1.74106976e-04 9.99961947e-01 -4.01616893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.854391418 meters 0.018401211274166655 Centerline is valid? [True, True] Translation: X:225.09, Y:-10.05, Z:-4.02 [[ 9.99517339e-01 2.99781936e-02 8.14844529e-03 2.25088071e+02] [-2.99758211e-02 9.99550539e-01 -4.13154613e-04 -1.00542833e+01] [-8.15716851e-03 1.68698861e-04 9.99966716e-01 -4.01696465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.884391418 meters 0.018904654898761555 Centerline is valid? [True, True] Translation: X:225.12, Y:-10.06, Z:-4.02 [[ 9.99544199e-01 2.92288347e-02 7.55438830e-03 2.25115613e+02] [-2.92267764e-02 9.99572733e-01 -3.82735571e-04 -1.00573012e+01] [-7.56234748e-03 1.61770701e-04 9.99971392e-01 -4.01778358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914391418 meters 0.018904654898761555 Centerline is valid? [True, True] Translation: X:225.14, Y:-10.06, Z:-4.02 [[ 9.99546489e-01 2.91504052e-02 7.55443667e-03 2.25143891e+02] [-2.91483520e-02 9.99575024e-01 -3.81777117e-04 -1.00586496e+01] [-7.56235517e-03 1.61404598e-04 9.99971392e-01 -4.01829452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944391418 meters 0.01835042647258601 Centerline is valid? [True, True] Translation: X:225.17, Y:-10.06, Z:-4.02 [[ 9.99556621e-01 2.87965106e-02 7.57109049e-03 2.25172725e+02] [-2.87944424e-02 9.99585281e-01 -3.82045965e-04 -1.00593246e+01] [-7.57895221e-03 1.63871244e-04 9.99971266e-01 -4.01803343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974391418 meters 0.018138466730713437 Centerline is valid? [True, True] Translation: X:225.20, Y:-10.06, Z:-4.02 [[ 9.99555039e-01 2.88194111e-02 7.69188696e-03 2.25201078e+02] [-2.88172821e-02 9.99584621e-01 -3.87500642e-04 -1.00604127e+01] [-7.69985945e-03 1.65668944e-04 9.99970342e-01 -4.01798029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004391418 meters 0.018303878647967505 Centerline is valid? [True, True] Translation: X:225.23, Y:-10.06, Z:-4.02 [[ 9.99530144e-01 2.96606136e-02 7.72916135e-03 2.25229352e+02] [-2.96584940e-02 9.99560015e-01 -3.88733254e-04 -1.00613682e+01] [-7.73729070e-03 1.59315319e-04 9.99970054e-01 -4.01773161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034391418 meters 0.017905615675316344 Centerline is valid? [True, True] Translation: X:225.26, Y:-10.06, Z:-4.02 [[ 9.99509001e-01 3.03194787e-02 7.90487105e-03 2.25258587e+02] [-3.03172877e-02 9.99540247e-01 -3.96887211e-04 -1.00617114e+01] [-7.91327017e-03 1.57038090e-04 9.99968677e-01 -4.01729220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064391418 meters 0.017665281704700393 Centerline is valid? [True, True] Translation: X:225.29, Y:-10.06, Z:-4.02 [[ 9.99481106e-01 3.11335569e-02 8.25952334e-03 2.25287076e+02] [-3.11311987e-02 9.99515221e-01 -4.13961550e-04 -1.00621698e+01] [-8.26840739e-03 1.56617886e-04 9.99965804e-01 -4.01726562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09439141800001 meters 0.016977644536533356 Centerline is valid? [True, True] Translation: X:225.31, Y:-10.06, Z:-4.02 [[ 9.99400515e-01 3.33326683e-02 9.35647976e-03 2.25314579e+02] [-3.33297456e-02 9.99444300e-01 -4.68165923e-04 -1.00615793e+01] [-9.36688558e-03 1.56036174e-04 9.99956118e-01 -4.01639281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12439141800002 meters 0.016522945081162903 Centerline is valid? [True, True] Translation: X:225.34, Y:-10.06, Z:-4.02 [[ 9.99369367e-01 3.40840562e-02 9.95722311e-03 2.25343786e+02] [-3.40807959e-02 9.99418957e-01 -4.96979733e-04 -1.00616898e+01] [-9.96837662e-03 1.57316233e-04 9.99950302e-01 -4.01633310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15439141800002 meters 0.016534480585343184 Centerline is valid? [True, True] Translation: X:225.37, Y:-10.06, Z:-4.02 [[ 9.99354982e-01 3.41777289e-02 1.10228046e-02 2.25371863e+02] [-3.41737491e-02 9.99415756e-01 -5.49248181e-04 -1.00635415e+01] [-1.10351366e-02 1.72203348e-04 9.99939096e-01 -4.01664521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters 0.016311979481836596 Centerline is valid? [True, True] Translation: X:225.40, Y:-10.06, Z:-4.02 [[ 9.99374482e-01 3.36659086e-02 1.08282958e-02 2.25400638e+02] [-3.36620509e-02 9.99433128e-01 -5.38368290e-04 -1.00647543e+01] [-1.08402822e-02 1.73528888e-04 9.99941227e-01 -4.01681222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214391418 meters 0.016748214932602097 Centerline is valid? [True, True] Translation: X:225.43, Y:-10.07, Z:-4.02 [[ 9.99413921e-01 3.24936247e-02 1.07693517e-02 2.25428982e+02] [-3.24897503e-02 9.99471926e-01 -5.34564908e-04 -1.00667579e+01] [-1.07810346e-02 1.84358064e-04 9.99941866e-01 -4.01754108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244391418 meters 0.017537191063797367 Centerline is valid? [True, True] Translation: X:225.46, Y:-10.07, Z:-4.02 [[ 9.99458859e-01 3.11063710e-02 1.06950160e-02 2.25456747e+02] [-3.11024782e-02 9.99516060e-01 -5.30154417e-04 -1.00697925e+01] [-1.07063314e-02 1.97226027e-04 9.99942666e-01 -4.01898691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274391418 meters 0.018002149978319233 Centerline is valid? [True, True] Translation: X:225.49, Y:-10.07, Z:-4.02 [[ 9.99538960e-01 2.87656886e-02 9.71614769e-03 2.25485396e+02] [-2.87623748e-02 9.99586162e-01 -4.80649114e-04 -1.00729074e+01] [-9.72595298e-03 2.00968033e-04 9.99952682e-01 -4.02049864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304391418 meters 0.018946650839166426 Centerline is valid? [True, True] Translation: X:225.51, Y:-10.08, Z:-4.02 [[ 9.99566506e-01 2.78470972e-02 9.55713195e-03 2.25512618e+02] [-2.78438547e-02 9.99612173e-01 -4.72193404e-04 -1.00765950e+01] [-9.56657465e-03 2.05881318e-04 9.99954218e-01 -4.02191518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334391418 meters 0.018865199366511674 Centerline is valid? [True, True] Translation: X:225.54, Y:-10.08, Z:-4.02 [[ 9.99594784e-01 2.70906368e-02 8.73868529e-03 2.25541092e+02] [-2.70879051e-02 9.99632963e-01 -4.30833623e-04 -1.00779554e+01] [-8.74714942e-03 1.93946364e-04 9.99961724e-01 -4.02306838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364391418 meters 0.018556948494662526 Centerline is valid? [True, True] Translation: X:225.57, Y:-10.08, Z:-4.02 [[ 9.99581367e-01 2.73551520e-02 9.42263768e-03 2.25569518e+02] [-2.73519957e-02 9.99625757e-01 -4.63700510e-04 -1.00785780e+01] [-9.43179592e-03 2.05778445e-04 9.99955498e-01 -4.02318572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394391418 meters 0.01852333565166039 Centerline is valid? [True, True] Translation: X:225.60, Y:-10.08, Z:-4.02 [[ 9.99562242e-01 2.80064558e-02 9.53743128e-03 2.25597406e+02] [-2.80032577e-02 9.99607722e-01 -4.68726062e-04 -1.00795378e+01] [-9.54681731e-03 2.01441727e-04 9.99954408e-01 -4.02346132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424391418 meters 0.017706974664202173 Centerline is valid? [True, True] Translation: X:225.63, Y:-10.08, Z:-4.02 [[ 9.99495410e-01 2.98929054e-02 1.07396112e-02 2.25626387e+02] [-2.98889746e-02 9.99553086e-01 -5.26362712e-04 -1.00780913e+01] [-1.07505461e-02 2.05101148e-04 9.99942190e-01 -4.02305698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454391418 meters 0.01735368038280139 Centerline is valid? [True, True] Translation: X:225.65, Y:-10.08, Z:-4.02 [[ 9.99461113e-01 3.09712828e-02 1.08748774e-02 2.25654819e+02] [-3.09673259e-02 9.99520256e-01 -5.32099582e-04 -1.00785511e+01] [-1.08861401e-02 1.95046967e-04 9.99940725e-01 -4.02322383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484391418 meters 0.01744890079008222 Centerline is valid? [True, True] Translation: X:225.68, Y:-10.08, Z:-4.02 [[ 9.99422195e-01 3.20502455e-02 1.13162465e-02 2.25682344e+02] [-3.20460394e-02 9.99486241e-01 -5.52867305e-04 -1.00796908e+01] [-1.13281522e-02 1.89906973e-04 9.99935816e-01 -4.02422593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514391418 meters 0.016456923622959013 Centerline is valid? [True, True] Translation: X:225.71, Y:-10.08, Z:-4.02 [[ 9.99394545e-01 3.28181299e-02 1.15547868e-02 2.25711612e+02] [-3.28138107e-02 9.99461323e-01 -5.63239484e-04 -1.00788359e+01] [-1.15670470e-02 1.83741881e-04 9.99933083e-01 -4.02425813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.544391418 meters 0.016529658346504543 Centerline is valid? [True, True] Translation: X:225.74, Y:-10.08, Z:-4.03 [[ 9.99364093e-01 3.38525140e-02 1.11990143e-02 2.25739354e+02] [-3.38485294e-02 9.99426826e-01 -5.45203585e-04 -1.00795266e+01] [-1.12110518e-02 1.65786722e-04 9.99937140e-01 -4.02556355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.574391418 meters 0.016405740640401113 Centerline is valid? [True, True] Translation: X:225.77, Y:-10.08, Z:-4.03 [[ 9.99366469e-01 3.37844896e-02 1.11923341e-02 2.25768106e+02] [-3.37805209e-02 9.99429128e-01 -5.43503707e-04 -1.00809690e+01] [-1.12043067e-02 1.65076506e-04 9.99937216e-01 -4.02635902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.604391418 meters 0.01712102798680902 Centerline is valid? [True, True] Translation: X:225.80, Y:-10.08, Z:-4.03 [[ 9.99419776e-01 3.21975443e-02 1.11098604e-02 2.25796168e+02] [-3.21935442e-02 9.99481508e-01 -5.38754818e-04 -1.00838442e+01] [-1.11214466e-02 1.80776439e-04 9.99938138e-01 -4.02753237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.634391418 meters 0.017480866465293815 Centerline is valid? [True, True] Translation: X:225.83, Y:-10.09, Z:-4.03 [[ 9.99455502e-01 3.10081540e-02 1.12780403e-02 2.25825271e+02] [-3.10039706e-02 9.99519112e-01 -5.45626993e-04 -1.00863756e+01] [-1.12895357e-02 1.95665873e-04 9.99936252e-01 -4.02799547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664391418 meters 0.01789865953993192 Centerline is valid? [True, True] Translation: X:225.85, Y:-10.09, Z:-4.03 [[ 9.99486602e-01 2.98633229e-02 1.16066866e-02 2.25853626e+02] [-2.98588259e-02 9.99553969e-01 -5.60580662e-04 -1.00889136e+01] [-1.16182504e-02 2.13730828e-04 9.99932483e-01 -4.02837248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694391418 meters 0.01810728005766417 Centerline is valid? [True, True] Translation: X:225.88, Y:-10.09, Z:-4.03 [[ 9.99542424e-01 2.75784808e-02 1.24245812e-02 2.25882731e+02] [-2.75731644e-02 9.99619609e-01 -5.99029269e-04 -1.00921672e+01] [-1.24363753e-02 2.56170149e-04 9.99922632e-01 -4.02819051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724391418 meters 0.018776988601512987 Centerline is valid? [True, True] Translation: X:225.91, Y:-10.10, Z:-4.03 [[ 9.99562816e-01 2.65707636e-02 1.29680661e-02 2.25911319e+02] [-2.65649040e-02 9.99646896e-01 -6.23921244e-04 -1.00953713e+01] [-1.29800651e-02 2.79153045e-04 9.99915716e-01 -4.02898548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754391418 meters 0.018998892038116205 Centerline is valid? [True, True] Translation: X:225.94, Y:-10.10, Z:-4.03 [[ 9.99572902e-01 2.62568531e-02 1.28293320e-02 2.25939654e+02] [-2.62510981e-02 9.99655190e-01 -6.16800578e-04 -1.00985544e+01] [-1.28411036e-02 2.79753090e-04 9.99917510e-01 -4.02999359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784391418 meters 0.018369361710354692 Centerline is valid? [True, True] Translation: X:225.97, Y:-10.10, Z:-4.03 [[ 9.99572205e-01 2.64610317e-02 1.24587937e-02 2.25968885e+02] [-2.64556304e-02 9.99649810e-01 -5.98169632e-04 -1.00988831e+01] [-1.24702589e-02 2.68308497e-04 9.99922207e-01 -4.03038723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814391418 meters 0.018211426492044762 Centerline is valid? [True, True] Translation: X:226.00, Y:-10.10, Z:-4.03 [[ 9.99556794e-01 2.71693298e-02 1.21673357e-02 2.25998951e+02] [-2.71642366e-02 9.99630814e-01 -5.83699824e-04 -1.01000622e+01] [-1.21787024e-02 2.52924739e-04 9.99925805e-01 -4.03116133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84439141800001 meters 0.018593470295594494 Centerline is valid? [True, True] Translation: X:226.03, Y:-10.10, Z:-4.03 [[ 9.99536610e-01 2.79670767e-02 1.20169956e-02 2.26027593e+02] [-2.79621704e-02 9.99608816e-01 -5.76131040e-04 -1.01019193e+01] [-1.20284074e-02 2.39842787e-04 9.99927627e-01 -4.03232584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87439141800002 meters 0.01716620157394881 Centerline is valid? [True, True] Translation: X:226.06, Y:-10.10, Z:-4.03 [[ 9.99472744e-01 3.01568725e-02 1.20331589e-02 2.26056509e+02] [-3.01521188e-02 9.99545155e-01 -5.76316560e-04 -1.01005405e+01] [-1.20450656e-02 2.13187457e-04 9.99927433e-01 -4.03237799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90439141800002 meters 0.017023079414938032 Centerline is valid? [True, True] Translation: X:226.08, Y:-10.10, Z:-4.03 [[ 9.99436609e-01 3.11326933e-02 1.25387295e-02 2.26084409e+02] [-3.11276208e-02 9.99515238e-01 -5.99551296e-04 -1.01019906e+01] [-1.25513169e-02 2.08912698e-04 9.99921207e-01 -4.03225046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934391418 meters 0.01665369080327312 Centerline is valid? [True, True] Translation: X:226.11, Y:-10.10, Z:-4.03 [[ 9.99397911e-01 3.19808872e-02 1.34550313e-02 2.26113595e+02] [-3.19751443e-02 9.99488458e-01 -6.41782232e-04 -1.01026855e+01] [-1.34686733e-02 2.11169254e-04 9.99909271e-01 -4.03183660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964391418 meters 0.01616524419290496 Centerline is valid? [True, True] Translation: X:226.14, Y:-10.10, Z:-4.03 [[ 9.99314116e-01 3.41315584e-02 1.43643502e-02 2.26141698e+02] [-3.41252523e-02 9.99417330e-01 -6.83964238e-04 -1.01032205e+01] [-1.43793253e-02 1.93308042e-04 9.99896593e-01 -4.03148891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994391418 meters 0.015557978678286797 Centerline is valid? [True, True] Translation: X:226.17, Y:-10.10, Z:-4.03 [[ 9.99280420e-01 3.51593800e-02 1.42288450e-02 2.26170899e+02] [-3.51533175e-02 9.99381702e-01 -6.76036818e-04 -1.01030473e+01] [-1.42438163e-02 1.75359251e-04 9.99898536e-01 -4.03165391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024391418 meters 0.015227156658919343 Centerline is valid? [True, True] Translation: X:226.20, Y:-10.10, Z:-4.03 [[ 9.99207495e-01 3.75813374e-02 1.31157961e-02 2.26198415e+02] [-3.75764062e-02 9.99293564e-01 -6.22293315e-04 -1.01033659e+01] [-1.31299172e-02 1.28955664e-04 9.99913791e-01 -4.03350978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054391418 meters 0.015134953800556687 Centerline is valid? [True, True] Translation: X:226.23, Y:-10.10, Z:-4.03 [[ 9.99176333e-01 3.86461335e-02 1.23746605e-02 2.26226493e+02] [-3.86418398e-02 9.99252953e-01 -5.85972497e-04 -1.01045581e+01] [-1.23880616e-02 1.07310203e-04 9.99923259e-01 -4.03496176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084391418 meters 0.014990067954756284 Centerline is valid? [True, True] Translation: X:226.26, Y:-10.11, Z:-4.04 [[ 9.99151865e-01 3.94089768e-02 1.19366005e-02 2.26255517e+02] [-3.94050509e-02 9.99223160e-01 -5.63996879e-04 -1.01057139e+01] [-1.19495542e-02 9.31561843e-05 9.99928597e-01 -4.03594430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114391418 meters 0.014902461884890217 Centerline is valid? [True, True] Translation: X:226.28, Y:-10.11, Z:-4.04 [[ 9.99119571e-01 4.02490888e-02 1.18361497e-02 2.26283242e+02] [-4.02452971e-02 9.99189674e-01 -5.58453471e-04 -1.01074773e+01] [-1.18490358e-02 8.16124310e-05 9.99929794e-01 -4.03685369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144391418 meters 0.014534577789012383 Centerline is valid? [True, True] Translation: X:226.31, Y:-10.11, Z:-4.04 [[ 9.99058718e-01 4.17178587e-02 1.18868561e-02 2.26311954e+02] [-4.17141550e-02 9.99129429e-01 -5.59448661e-04 -1.01091690e+01] [-1.18998467e-02 6.30719054e-05 9.99929192e-01 -4.03654679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174391418 meters 0.014471393930848307 Centerline is valid? [True, True] Translation: X:226.34, Y:-10.11, Z:-4.04 [[ 9.99032550e-01 4.22395954e-02 1.22384595e-02 2.26340563e+02] [-4.22357212e-02 9.99107508e-01 -5.74958631e-04 -1.01109486e+01] [-1.22518228e-02 5.75022246e-05 9.99924942e-01 -4.03684635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204391418 meters 0.014483480509424551 Centerline is valid? [True, True] Translation: X:226.37, Y:-10.11, Z:-4.04 [[ 9.99025124e-01 4.24570718e-02 1.20912822e-02 2.26368386e+02] [-4.24533163e-02 9.99098291e-01 -5.67204007e-04 -1.01128896e+01] [-1.21044612e-02 5.33360260e-05 9.99926737e-01 -4.03739230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234391418 meters 0.014399404662133174 Centerline is valid? [True, True] Translation: X:226.40, Y:-10.12, Z:-4.04 [[ 9.99026554e-01 4.25377364e-02 1.16827077e-02 2.26395701e+02] [-4.25342483e-02 9.99094860e-01 -5.46982643e-04 -1.01160708e+01] [-1.16954007e-02 4.95349925e-05 9.99931605e-01 -4.03857088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264391418 meters 0.014549154047389037 Centerline is valid? [True, True] Translation: X:226.42, Y:-10.12, Z:-4.04 [[ 9.99042830e-01 4.22529839e-02 1.13185484e-02 2.26424805e+02] [-4.22497065e-02 9.99106943e-01 -5.28615388e-04 -1.01187280e+01] [-1.13307759e-02 4.99040645e-05 9.99935803e-01 -4.03922986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.294391418 meters 0.014772395166438156 Centerline is valid? [True, True] Translation: X:226.45, Y:-10.12, Z:-4.04 [[ 9.99053057e-01 4.20018606e-02 1.13504951e-02 2.26452087e+02] [-4.19985577e-02 9.99117531e-01 -5.29304906e-04 -1.01221927e+01] [-1.13627104e-02 5.20992625e-05 9.99935441e-01 -4.04084159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.324391418 meters 0.014595146134522575 Centerline is valid? [True, True] Translation: X:226.48, Y:-10.13, Z:-4.04 [[ 9.99097045e-01 4.10245828e-02 1.10489208e-02 2.26480212e+02] [-4.10214051e-02 9.99158136e-01 -5.14168588e-04 -1.01267549e+01] [-1.10607126e-02 6.04620620e-05 9.99938827e-01 -4.04125046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.354391418 meters 0.014841533418502775 Centerline is valid? [True, True] Translation: X:226.51, Y:-10.13, Z:-4.04 [[ 9.99125588e-01 4.03675094e-02 1.08868903e-02 2.26508124e+02] [-4.03643970e-02 9.99184898e-01 -5.05550871e-04 -1.01297612e+01] [-1.08984242e-02 6.56660495e-05 9.99940608e-01 -4.04200943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.384391418 meters 0.015132286219397679 Centerline is valid? [True, True] Translation: X:226.54, Y:-10.14, Z:-4.04 [[ 9.99184324e-01 3.87856902e-02 1.12408947e-02 2.26535361e+02] [-3.87822846e-02 9.99247548e-01 -5.20872674e-04 -1.01350487e+01] [-1.12526389e-02 8.45002309e-05 9.99936683e-01 -4.04274512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414391418 meters 0.015106449970640458 Centerline is valid? [True, True] Translation: X:226.56, Y:-10.14, Z:-4.04 [[ 9.99215694e-01 3.79466988e-02 1.13156697e-02 2.26563926e+02] [-3.79432106e-02 9.99279760e-01 -5.22864867e-04 -1.01378769e+01] [-1.13273607e-02 9.31019439e-05 9.99935839e-01 -4.04263597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444391418 meters 0.015306688845676444 Centerline is valid? [True, True] Translation: X:226.59, Y:-10.14, Z:-4.04 [[ 9.99259118e-01 3.68098536e-02 1.12361371e-02 2.26592198e+02] [-3.68063522e-02 9.99322282e-01 -5.18321774e-04 -1.01413839e+01] [-1.12476015e-02 1.04376540e-04 9.99936738e-01 -4.04319234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474391418 meters 0.01563318834840046 Centerline is valid? [True, True] Translation: X:226.62, Y:-10.15, Z:-4.04 [[ 9.99361672e-01 3.38714185e-02 1.13567734e-02 2.26621045e+02] [-3.38676618e-02 9.99426189e-01 -5.22999512e-04 -1.01468689e+01] [-1.13679715e-02 1.38038306e-04 9.99935373e-01 -4.04327738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504391418 meters 0.016706683505150994 Centerline is valid? [True, True] Translation: X:226.65, Y:-10.15, Z:-4.04 [[ 9.99422250e-01 3.19860089e-02 1.14917622e-02 2.26648339e+02] [-3.19820460e-02 9.99488304e-01 -5.28497276e-04 -1.01520887e+01] [-1.15027865e-02 1.60661868e-04 9.99933828e-01 -4.04427989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534391418 meters 0.016629700477334305 Centerline is valid? [True, True] Translation: X:226.68, Y:-10.15, Z:-4.04 [[ 9.99484278e-01 2.99236227e-02 1.16514078e-02 2.26677521e+02] [-2.99194275e-02 9.99552171e-01 -5.34236516e-04 -1.01548358e+01] [-1.16621763e-02 1.85357547e-04 9.99931977e-01 -4.04408186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564391418 meters 0.017129527672179207 Centerline is valid? [True, True] Translation: X:226.71, Y:-10.16, Z:-4.04 [[ 9.99534837e-01 2.79038994e-02 1.23077649e-02 2.26705981e+02] [-2.78990783e-02 9.99610586e-01 -5.63267162e-04 -1.01587026e+01] [-1.23186894e-02 2.19629855e-04 9.99924098e-01 -4.04400275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59439141800001 meters 0.018167450165255592 Centerline is valid? [True, True] Translation: X:226.74, Y:-10.17, Z:-4.04 [[ 9.99626125e-01 2.38126962e-02 1.34375068e-02 2.26735732e+02] [-2.38065985e-02 9.99716394e-01 -6.13575029e-04 -1.01653072e+01] [-1.34483067e-02 2.93444300e-04 9.99909524e-01 -4.04385621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62439141800002 meters 0.018943384892394593 Centerline is valid? [True, True] Translation: X:226.77, Y:-10.17, Z:-4.04 [[ 9.99666835e-01 2.20498091e-02 1.34173582e-02 2.26765774e+02] [-2.20435809e-02 9.99756823e-01 -6.11919226e-04 -1.01696241e+01] [-1.34275881e-02 3.15948736e-04 9.99909796e-01 -4.04467540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65439141800002 meters 0.019712203311065914 Centerline is valid? [True, True] Translation: X:226.80, Y:-10.17, Z:-4.05 [[ 9.99706187e-01 2.02038963e-02 1.33918645e-02 2.26796626e+02] [-2.01975288e-02 9.99795823e-01 -6.10569662e-04 -1.01735091e+01] [-1.34014660e-02 3.39907701e-04 9.99910139e-01 -4.04517555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters 0.021398099799112492 Centerline is valid? [True, True] Translation: X:226.83, Y:-10.18, Z:-4.05 [[ 9.99780964e-01 1.63668132e-02 1.30442398e-02 2.26827493e+02] [-1.63604389e-02 9.99865982e-01 -5.95231380e-04 -1.01799248e+01] [-1.30522336e-02 3.81691516e-04 9.99914743e-01 -4.04596811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714391418 meters 0.021887995526329227 Centerline is valid? [True, True] Translation: X:226.86, Y:-10.18, Z:-4.05 [[ 9.99811731e-01 1.46702311e-02 1.26998649e-02 2.26859050e+02] [-1.46640612e-02 9.99892309e-01 -5.78813745e-04 -1.01831307e+01] [-1.27069885e-02 3.92473177e-04 9.99919186e-01 -4.04656007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744391418 meters 0.024425724160175525 Centerline is valid? [True, True] Translation: X:226.89, Y:-10.19, Z:-4.05 [[ 9.99870935e-01 1.05101285e-02 1.21511300e-02 2.26888407e+02] [-1.05041250e-02 9.99944675e-01 -5.57782830e-04 -1.01902666e+01] [-1.21563201e-02 4.30073851e-04 9.99926017e-01 -4.04799829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774391418 meters 0.0258666746344473 Centerline is valid? [True, True] Translation: X:226.92, Y:-10.19, Z:-4.05 [[ 9.99893391e-01 8.49395277e-03 1.18768611e-02 2.26919843e+02] [-8.48806474e-03 9.99963827e-01 -5.46077159e-04 -1.01948252e+01] [-1.18810698e-02 4.45207377e-04 9.99929318e-01 -4.04915985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804391418 meters 0.0258666746344473 Centerline is valid? [True, True] Translation: X:226.95, Y:-10.20, Z:-4.05 [[ 9.99890627e-01 8.81335929e-03 1.18768316e-02 2.26952414e+02] [-8.80748611e-03 9.99961064e-01 -5.46721247e-04 -1.01964769e+01] [-1.18811876e-02 4.42056421e-04 9.99929318e-01 -4.04974722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834391418 meters 0.026492583238935323 Centerline is valid? [True, True] Translation: X:226.98, Y:-10.20, Z:-4.05 [[ 9.99909711e-01 6.92511120e-03 1.15157328e-02 2.26983981e+02] [-6.91941984e-03 9.99975918e-01 -5.33994484e-04 -1.02000092e+01] [-1.15191534e-02 4.54264081e-04 9.99933549e-01 -4.05034951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864391418 meters 0.028681884572654102 Centerline is valid? [True, True] Translation: X:227.02, Y:-10.21, Z:-4.05 [[ 9.99923281e-01 5.17680206e-03 1.12531002e-02 2.27015357e+02] [-5.17122475e-03 9.99986491e-01 -5.24664891e-04 -1.02054693e+01] [-1.12556643e-02 4.66432329e-04 9.99936544e-01 -4.05167586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894391418 meters 0.03000071972917754 Centerline is valid? [True, True] Translation: X:227.05, Y:-10.21, Z:-4.05 [[ 9.99942889e-01 1.76424973e-03 1.05407162e-02 2.27046768e+02] [-1.75912421e-03 9.99998330e-01 -4.95511095e-04 -1.02101772e+01] [-1.05415728e-02 4.76940366e-04 9.99944322e-01 -4.05269752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924391418 meters 0.0319321419892018 Centerline is valid? [True, True] Translation: X:227.08, Y:-10.21, Z:-4.05 [[ 9.99943669e-01 5.65108665e-04 1.05989870e-02 2.27077325e+02] [-5.59854604e-04 9.99999719e-01 -4.98673982e-04 -1.02148354e+01] [-1.05992658e-02 4.92711999e-04 9.99943705e-01 -4.05324082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954391418 meters 0.030595312690498144 Centerline is valid? [True, True] Translation: X:227.11, Y:-10.21, Z:-4.05 [[ 9.99941198e-01 -1.10990528e-04 1.08438122e-02 2.27109246e+02] [ 1.16515885e-04 9.99999864e-01 -5.08909604e-04 -1.02145646e+01] [-1.08437542e-02 5.10143155e-04 9.99941075e-01 -4.05363215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984391418 meters 0.030477319831582396 Centerline is valid? [True, True] Translation: X:227.14, Y:-10.22, Z:-4.05 [[ 9.99947105e-01 -3.11729891e-04 1.02805535e-02 2.27141862e+02] [ 3.16749613e-04 9.99999831e-01 -4.86648989e-04 -1.02157716e+01] [-1.02804001e-02 4.89879609e-04 9.99947035e-01 -4.05424796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014391418 meters 0.031419136965999 Centerline is valid? [True, True] Translation: X:227.17, Y:-10.22, Z:-4.06 [[ 9.99949603e-01 3.96222415e-04 1.00316756e-02 2.27173113e+02] [-3.91468908e-04 9.99999810e-01 -4.75808903e-04 -1.02181466e+01] [-1.00318622e-02 4.71857835e-04 9.99949568e-01 -4.05513863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.044391418 meters 0.02863773213604448 Centerline is valid? [True, True] Translation: X:227.20, Y:-10.21, Z:-4.06 [[ 9.99942204e-01 3.70983412e-03 1.00908990e-02 2.27204890e+02] [-3.70518650e-03 9.99993021e-01 -4.79230812e-04 -1.02146372e+01] [-1.00926064e-02 4.41814452e-04 9.99948971e-01 -4.05559177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.074391418 meters 0.02759187894789541 Centerline is valid? [True, True] Translation: X:227.24, Y:-10.21, Z:-4.06 [[ 9.99929043e-01 6.27482273e-03 1.01259568e-02 2.27236359e+02] [-6.27026618e-03 9.99980226e-01 -4.81671415e-04 -1.02137582e+01] [-1.01287789e-02 4.18144793e-04 9.99948615e-01 -4.05594064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.104391418 meters 0.024528293700445798 Centerline is valid? [True, True] Translation: X:227.27, Y:-10.21, Z:-4.06 [[ 9.99865371e-01 1.21285344e-02 1.10516598e-02 2.27267315e+02] [-1.21234564e-02 9.99926370e-01 -5.26358557e-04 -1.02081361e+01] [-1.10572301e-02 3.92303378e-04 9.99938790e-01 -4.05518141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.134391418 meters 0.0233825808612719 Centerline is valid? [True, True] Translation: X:227.30, Y:-10.21, Z:-4.06 [[ 9.99816703e-01 1.55109255e-02 1.12236871e-02 2.27298447e+02] [-1.55058999e-02 9.99879633e-01 -5.34646827e-04 -1.02063200e+01] [-1.12306290e-02 3.60515458e-04 9.99936870e-01 -4.05546251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164391418 meters 0.023565527865936433 Centerline is valid? [True, True] Translation: X:227.33, Y:-10.21, Z:-4.06 [[ 9.99748743e-01 1.90936018e-02 1.17424935e-02 2.27329083e+02] [-1.90883475e-02 9.99817644e-01 -5.59378099e-04 -1.02069390e+01] [-1.17510328e-02 3.35092754e-04 9.99930898e-01 -4.05599998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194391418 meters 0.022192009550681093 Centerline is valid? [True, True] Translation: X:227.36, Y:-10.20, Z:-4.06 [[ 9.99675901e-01 2.23339550e-02 1.22183248e-02 2.27360198e+02] [-2.23284825e-02 9.99750518e-01 -5.84140084e-04 -1.02043434e+01] [-1.22283227e-02 3.11134114e-04 9.99925183e-01 -4.05617749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224391418 meters 0.017352013186619476 Centerline is valid? [True, True] Translation: X:227.39, Y:-10.19, Z:-4.06 [[ 9.99493863e-01 2.92432061e-02 1.25240812e-02 2.27390779e+02] [-2.92379926e-02 9.99572299e-01 -5.99210907e-04 -1.01940785e+01] [-1.25362475e-02 2.32728630e-04 9.99921391e-01 -4.05530896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254391418 meters 0.017107577563694423 Centerline is valid? [True, True] Translation: X:227.42, Y:-10.19, Z:-4.06 [[ 9.99390469e-01 3.25619253e-02 1.25861405e-02 2.27419896e+02] [-3.25569250e-02 9.99469701e-01 -6.02029764e-04 -1.01937833e+01] [-1.25990693e-02 1.91896777e-04 9.99920610e-01 -4.05621239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284391418 meters 0.01601043398929919 Centerline is valid? [True, True] Translation: X:227.45, Y:-10.19, Z:-4.06 [[ 9.99278719e-01 3.58548094e-02 1.25089869e-02 2.27448602e+02] [-3.58501320e-02 9.99356998e-01 -5.98029655e-04 -1.01915532e+01] [-1.25223858e-02 1.49149476e-04 9.99921581e-01 -4.05665674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314391418 meters 0.014682595189929098 Centerline is valid? [True, True] Translation: X:227.48, Y:-10.19, Z:-4.06 [[ 9.99040556e-01 4.19649702e-02 1.25262826e-02 2.27476336e+02] [-4.19607705e-02 9.99119080e-01 -5.98015822e-04 -1.01858697e+01] [-1.25403436e-02 7.18295911e-05 9.99921364e-01 -4.05736199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34439141800001 meters 0.014389501605804543 Centerline is valid? [True, True] Translation: X:227.50, Y:-10.18, Z:-4.06 [[ 9.98925365e-01 4.46813231e-02 1.23164349e-02 2.27504917e+02] [-4.46774839e-02 9.99001290e-01 -5.86815400e-04 -1.01838477e+01] [-1.23303541e-02 3.59174652e-05 9.99923978e-01 -4.05736708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37439141800002 meters 0.014397048715824104 Centerline is valid? [True, True] Translation: X:227.53, Y:-10.18, Z:-4.06 [[ 9.98724085e-01 4.91784945e-02 1.14750860e-02 2.27532721e+02] [-4.91754668e-02 9.98790006e-01 -5.46026872e-04 -1.01814355e+01] [-1.14880540e-02 -1.89625211e-05 9.99934010e-01 -4.05885303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters 0.014351183865212235 Centerline is valid? [True, True] Translation: X:227.56, Y:-10.18, Z:-4.06 [[ 9.98640237e-01 5.07676168e-02 1.18459742e-02 2.27560316e+02] [-5.07645155e-02 9.98710492e-01 -5.62544299e-04 -1.01812499e+01] [-1.18592578e-02 -3.95757697e-05 9.99929676e-01 -4.05932573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434391418 meters 0.014424559235923345 Centerline is valid? [True, True] Translation: X:227.59, Y:-10.18, Z:-4.06 [[ 9.98578838e-01 5.19975946e-02 1.16856874e-02 2.27589196e+02] [-5.19946798e-02 9.98647209e-01 -5.53314484e-04 -1.01815783e+01] [-1.16986501e-02 -5.50654397e-05 9.99931567e-01 -4.06000457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464391418 meters 0.014681296834243998 Centerline is valid? [True, True] Translation: X:227.62, Y:-10.18, Z:-4.06 [[ 9.98550767e-01 5.24625580e-02 1.20019171e-02 2.27617527e+02] [-5.24595259e-02 9.98622890e-01 -5.67529890e-04 -1.01826227e+01] [-1.20151632e-02 -6.29074751e-05 9.99927813e-01 -4.06082679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494391418 meters 0.014481077603793215 Centerline is valid? [True, True] Translation: X:227.65, Y:-10.19, Z:-4.06 [[ 9.98592570e-01 5.15586365e-02 1.24332299e-02 2.27645679e+02] [-5.15553331e-02 9.98669967e-01 -5.86275837e-04 -1.01858369e+01] [-1.24469208e-02 -5.55486109e-05 9.99922533e-01 -4.06183620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524391418 meters 0.014387641026961558 Centerline is valid? [True, True] Translation: X:227.67, Y:-10.19, Z:-4.06 [[ 9.98659448e-01 5.01832485e-02 1.26865139e-02 2.27674658e+02] [-5.01797155e-02 9.98740026e-01 -5.96845538e-04 -1.01892764e+01] [-1.27004809e-02 -4.05602240e-05 9.99919345e-01 -4.06219865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554391418 meters 0.014198288969720287 Centerline is valid? [True, True] Translation: X:227.70, Y:-10.19, Z:-4.06 [[ 9.98761329e-01 4.80843114e-02 1.27947910e-02 2.27702453e+02] [-4.80805574e-02 9.98843280e-01 -6.01019991e-04 -1.01929270e+01] [-1.28088907e-02 -1.49051593e-05 9.99917963e-01 -4.06251727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584391418 meters 0.014336133653633341 Centerline is valid? [True, True] Translation: X:227.73, Y:-10.20, Z:-4.06 [[ 9.99013438e-01 4.23190072e-02 1.34629995e-02 2.27730529e+02] [-4.23143471e-02 9.99104148e-01 -6.30937479e-04 -1.02009289e+01] [-1.34776393e-02 6.06369877e-05 9.99909171e-01 -4.06225747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614391418 meters 0.014807353152947303 Centerline is valid? [True, True] Translation: X:227.76, Y:-10.21, Z:-4.06 [[ 9.99145776e-01 3.88830034e-02 1.39939220e-02 2.27759327e+02] [-3.88776480e-02 9.99243764e-01 -6.54638011e-04 -1.02062836e+01] [-1.40087936e-02 1.10028031e-04 9.99901866e-01 -4.06232955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644391418 meters 0.01667073130259852 Centerline is valid? [True, True] Translation: X:227.79, Y:-10.22, Z:-4.06 [[ 9.99391932e-01 3.13230197e-02 1.53178045e-02 2.27787067e+02] [-3.13157358e-02 9.99509286e-01 -7.15200175e-04 -1.02167972e+01] [-1.53326900e-02 2.35076967e-04 9.99882420e-01 -4.06186159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674391418 meters 0.01792851494666394 Centerline is valid? [True, True] Translation: X:227.82, Y:-10.22, Z:-4.06 [[ 9.99496060e-01 2.75834497e-02 1.57092435e-02 2.27817427e+02] [-2.75753501e-02 9.99619460e-01 -7.32009218e-04 -1.02230700e+01] [-1.57234568e-02 2.98452440e-04 9.99876334e-01 -4.06221343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704391418 meters 0.0183753402082722 Centerline is valid? [True, True] Translation: X:227.85, Y:-10.23, Z:-4.06 [[ 9.99581372e-01 2.41970451e-02 1.58614091e-02 2.27848369e+02] [-2.41883631e-02 9.99707146e-01 -7.39011670e-04 -1.02280468e+01] [-1.58746459e-02 3.55040778e-04 9.99873927e-01 -4.06266019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734391418 meters 0.02264794730073956 Centerline is valid? [True, True] Translation: X:227.88, Y:-10.24, Z:-4.06 [[ 9.99726008e-01 1.77425510e-02 1.52679382e-02 2.27877987e+02] [-1.77337459e-02 9.99842491e-01 -7.11909650e-04 -1.02405226e+01] [-1.52781644e-02 4.40956856e-04 9.99883185e-01 -4.06427999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764391418 meters 0.02199020955500414 Centerline is valid? [True, True] Translation: X:227.91, Y:-10.24, Z:-4.06 [[ 9.99773965e-01 1.49345240e-02 1.51320261e-02 2.27909972e+02] [-1.49255412e-02 9.99888358e-01 -7.06394705e-04 -1.02427049e+01] [-1.51408864e-02 4.80381358e-04 9.99885255e-01 -4.06485034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.794391418 meters 0.025140558579269202 Centerline is valid? [True, True] Translation: X:227.94, Y:-10.25, Z:-4.07 [[ 9.99806272e-01 1.26765739e-02 1.50573458e-02 2.27940423e+02] [-1.26674079e-02 9.99919517e-01 -7.03962525e-04 -1.02504997e+01] [-1.50650577e-02 5.13088607e-04 9.99886384e-01 -4.06615765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.824391418 meters 0.02969833736327539 Centerline is valid? [True, True] Translation: X:227.97, Y:-10.26, Z:-4.07 [[ 9.99830741e-01 1.11257659e-02 1.46528734e-02 2.27971034e+02] [-1.11168951e-02 9.99937970e-01 -6.86708432e-04 -1.02602787e+01] [-1.46596047e-02 5.23697743e-04 9.99892405e-01 -4.06757145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.854391418 meters 0.025752989073066057 Centerline is valid? [True, True] Translation: X:228.00, Y:-10.26, Z:-4.07 [[ 9.99852952e-01 9.38848201e-03 1.43502867e-02 2.28002838e+02] [-9.37974551e-03 9.99955781e-01 -6.75988475e-04 -1.02582000e+01] [-1.43559986e-02 5.41287035e-04 9.99896801e-01 -4.06807144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.884391418 meters 0.032004069711043984 Centerline is valid? [True, True] Translation: X:228.03, Y:-10.27, Z:-4.07 [[ 9.99852930e-01 9.82351545e-03 1.40576597e-02 2.28034548e+02] [-9.81512645e-03 9.99951609e-01 -6.65626319e-04 -1.02695557e+01] [-1.40635183e-02 5.27550718e-04 9.99900965e-01 -4.06988078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914391418 meters 0.024498055907173435 Centerline is valid? [True, True] Translation: X:228.07, Y:-10.26, Z:-4.07 [[ 9.99848286e-01 1.05531448e-02 1.38577275e-02 2.28067477e+02] [-1.05450055e-02 9.99944182e-01 -6.60283419e-04 -1.02609372e+01] [-1.38639220e-02 5.14053432e-04 9.99903759e-01 -4.06958872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944391418 meters 0.023972014797862054 Centerline is valid? [True, True] Translation: X:228.10, Y:-10.26, Z:-4.07 [[ 9.99824912e-01 1.29764698e-02 1.34817497e-02 2.28099421e+02] [-1.29689359e-02 9.99915691e-01 -6.46102922e-04 -1.02615437e+01] [-1.34889972e-02 4.71145850e-04 9.99908908e-01 -4.07078107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974391418 meters 0.024632221210370592 Centerline is valid? [True, True] Translation: X:228.13, Y:-10.26, Z:-4.07 [[ 9.99813675e-01 1.46695671e-02 1.25466426e-02 2.28130543e+02] [-1.46631331e-02 9.99892308e-01 -6.04642930e-04 -1.02632101e+01] [-1.25541613e-02 4.20557179e-04 9.99921105e-01 -4.07241166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004391418 meters 0.021762433366777734 Centerline is valid? [True, True] Translation: X:228.16, Y:-10.26, Z:-4.07 [[ 9.99748000e-01 1.82533424e-02 1.30672452e-02 2.28162615e+02] [-1.82466085e-02 9.99833316e-01 -6.34377929e-04 -1.02599932e+01] [-1.30766466e-02 3.95785160e-04 9.99914419e-01 -4.07213551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034391418 meters 0.022769868198748128 Centerline is valid? [True, True] Translation: X:228.19, Y:-10.26, Z:-4.07 [[ 9.99704424e-01 2.07251747e-02 1.27095403e-02 2.28193930e+02] [-2.07190080e-02 9.99785148e-01 -6.16694306e-04 -1.02628417e+01] [-1.27195907e-02 3.53182959e-04 9.99919040e-01 -4.07341685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064391418 meters 0.020410625970294582 Centerline is valid? [True, True] Translation: X:228.23, Y:-10.26, Z:-4.07 [[ 9.99652673e-01 2.30710258e-02 1.27381389e-02 2.28225878e+02] [-2.30649650e-02 9.99733774e-01 -6.22518927e-04 -1.02599614e+01] [-1.27491099e-02 3.28497981e-04 9.99918673e-01 -4.07371442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09439141800001 meters 0.01837518332681367 Centerline is valid? [True, True] Translation: X:228.26, Y:-10.26, Z:-4.07 [[ 9.99535736e-01 2.78974308e-02 1.22492856e-02 2.28257049e+02] [-2.78921771e-02 9.99610758e-01 -5.99554262e-04 -1.02559978e+01] [-1.22612437e-02 2.57616667e-04 9.99924795e-01 -4.07453123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12439141800002 meters 0.01798123774182239 Centerline is valid? [True, True] Translation: X:228.29, Y:-10.26, Z:-4.08 [[ 9.99472246e-01 3.03718581e-02 1.15229737e-02 2.28285880e+02] [-3.03673650e-02 9.99538646e-01 -5.64735538e-04 -1.02557073e+01] [-1.15348096e-02 2.14515148e-04 9.99933449e-01 -4.07567331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154391418 meters 0.017146025787188424 Centerline is valid? [True, True] Translation: X:228.32, Y:-10.25, Z:-4.08 [[ 9.99404102e-01 3.27407762e-02 1.09308484e-02 2.28315902e+02] [-3.27368828e-02 9.99463861e-01 -5.34965145e-04 -1.02546500e+01] [-1.09425032e-02 1.76804456e-04 9.99940113e-01 -4.07675815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters 0.016570377340060168 Centerline is valid? [True, True] Translation: X:228.34, Y:-10.25, Z:-4.08 [[ 9.99336790e-01 3.49056673e-02 1.03717929e-02 2.28344102e+02] [-3.49022776e-02 9.99390601e-01 -5.07700659e-04 -1.02537639e+01] [-1.03831940e-02 1.45364750e-04 9.99946083e-01 -4.07774869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214391418 meters 0.015493360882487131 Centerline is valid? [True, True] Translation: X:228.37, Y:-10.25, Z:-4.08 [[ 9.99197192e-01 3.88495507e-02 9.78176780e-03 2.28372116e+02] [-3.88467334e-02 9.99245066e-01 -4.77919906e-04 -1.02511610e+01] [-9.79295019e-03 9.75465029e-05 9.99952043e-01 -4.07848727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244391418 meters 0.015090963894990561 Centerline is valid? [True, True] Translation: X:228.40, Y:-10.25, Z:-4.08 [[ 9.99136072e-01 4.04327282e-02 9.60750402e-03 2.28400931e+02] [-4.04300939e-02 9.99182260e-01 -4.68331849e-04 -1.02505742e+01] [-9.61858351e-03 7.94949548e-05 9.99953737e-01 -4.07891878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274391418 meters 0.01452310652222628 Centerline is valid? [True, True] Translation: X:228.43, Y:-10.25, Z:-4.08 [[ 9.99032953e-01 4.29017858e-02 9.62268338e-03 2.28429639e+02] [-4.28992643e-02 9.99079293e-01 -4.68388175e-04 -1.02481178e+01] [-9.63391840e-03 5.51291838e-05 9.99953591e-01 -4.07766446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304391418 meters 0.014331365810599303 Centerline is valid? [True, True] Translation: X:228.46, Y:-10.25, Z:-4.08 [[ 9.99003778e-01 4.35893391e-02 9.56144557e-03 2.28457213e+02] [-4.35868852e-02 9.99049532e-01 -4.64975294e-04 -1.02483860e+01] [-9.57262569e-03 4.77584449e-05 9.99954180e-01 -4.07779900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334391418 meters 0.014409577737652581 Centerline is valid? [True, True] Translation: X:228.49, Y:-10.25, Z:-4.08 [[ 9.98992994e-01 4.37932860e-02 9.75430682e-03 2.28485355e+02] [-4.37907535e-02 9.99040613e-01 -4.73161599e-04 -1.02485369e+01] [-9.76566997e-03 4.55366764e-05 9.99952314e-01 -4.07797983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364391418 meters 0.014421606822286322 Centerline is valid? [True, True] Translation: X:228.51, Y:-10.25, Z:-4.08 [[ 9.98988707e-01 4.38982637e-02 9.72140933e-03 2.28514103e+02] [-4.38957680e-02 9.99036006e-01 -4.70038744e-04 -1.02488962e+01] [-9.73267183e-03 4.28346688e-05 9.99952636e-01 -4.07835886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394391418 meters 0.014564855815780648 Centerline is valid? [True, True] Translation: X:228.54, Y:-10.25, Z:-4.08 [[ 9.99011601e-01 4.34102582e-02 9.55882496e-03 2.28542485e+02] [-4.34078303e-02 9.99057329e-01 -4.61418457e-04 -1.02503222e+01] [-9.56984443e-03 4.60345396e-05 9.99954207e-01 -4.07898021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424391418 meters 0.014549907189980643 Centerline is valid? [True, True] Translation: X:228.57, Y:-10.25, Z:-4.08 [[ 9.99059046e-01 4.22986944e-02 9.58344381e-03 2.28570657e+02] [-4.22962081e-02 9.99105008e-01 -4.62055573e-04 -1.02522973e+01] [-9.59441106e-03 5.62774670e-05 9.99953971e-01 -4.07971965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454391418 meters 0.014977237495834671 Centerline is valid? [True, True] Translation: X:228.60, Y:-10.26, Z:-4.08 [[ 9.99183213e-01 3.90865618e-02 1.02541941e-02 2.28599248e+02] [-3.90835611e-02 9.99235824e-01 -4.92932993e-04 -1.02559617e+01] [-1.02656251e-02 9.17599503e-05 9.99947303e-01 -4.07939566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484391418 meters 0.015464721869495204 Centerline is valid? [True, True] Translation: X:228.63, Y:-10.26, Z:-4.08 [[ 9.99269933e-01 3.67494995e-02 1.04439359e-02 2.28626572e+02] [-3.67462667e-02 9.99324502e-01 -5.01329465e-04 -1.02590895e+01] [-1.04553047e-02 1.17187805e-04 9.99945335e-01 -4.07945926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514391418 meters 0.016689746700487024 Centerline is valid? [True, True] Translation: X:228.66, Y:-10.26, Z:-4.08 [[ 9.99449841e-01 3.12053069e-02 1.12358298e-02 2.28656255e+02] [-3.12012336e-02 9.99512978e-01 -5.37674865e-04 -1.02648074e+01] [-1.12471360e-02 1.86807308e-04 9.99936732e-01 -4.07895465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.544391418 meters 0.017643074561934785 Centerline is valid? [True, True] Translation: X:228.69, Y:-10.27, Z:-4.08 [[ 9.99549022e-01 2.77671642e-02 1.14340335e-02 2.28685540e+02] [-2.77627265e-02 9.99614392e-01 -5.46687208e-04 -1.02686633e+01] [-1.14448044e-02 2.29000719e-04 9.99934480e-01 -4.07918467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.574391418 meters 0.01926736758961015 Centerline is valid? [True, True] Translation: X:228.71, Y:-10.27, Z:-4.08 [[ 9.99640665e-01 2.43458471e-02 1.12169438e-02 2.28714231e+02] [-2.43413660e-02 9.99703561e-01 -5.35863641e-04 -1.02736565e+01] [-1.12266647e-02 2.62635352e-04 9.99936945e-01 -4.07970691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.604391418 meters 0.02169193438282397 Centerline is valid? [True, True] Translation: X:228.74, Y:-10.28, Z:-4.08 [[ 9.99783225e-01 1.72474694e-02 1.16631014e-02 2.28744330e+02] [-1.72421508e-02 9.99851188e-01 -5.56423933e-04 -1.02806938e+01] [-1.16709627e-02 3.55206361e-04 9.99931829e-01 -4.08007636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.634391418 meters 0.022817077195945085 Centerline is valid? [True, True] Translation: X:228.78, Y:-10.28, Z:-4.08 [[ 9.99835245e-01 1.38718716e-02 1.17069695e-02 2.28776024e+02] [-1.38663015e-02 9.99903703e-01 -5.56830718e-04 -1.02845525e+01] [-1.17135665e-02 3.94406609e-04 9.99931316e-01 -4.08051876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664391418 meters 0.02571288372218892 Centerline is valid? [True, True] Translation: X:228.81, Y:-10.29, Z:-4.08 [[ 9.99871394e-01 1.09102001e-02 1.17542975e-02 2.28806751e+02] [-1.09043431e-02 9.99940388e-01 -5.62261117e-04 -1.02910207e+01] [-1.17597312e-02 4.34015914e-04 9.99930758e-01 -4.08174554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694391418 meters 0.029772545015021103 Centerline is valid? [True, True] Translation: X:228.84, Y:-10.30, Z:-4.08 [[ 9.99930629e-01 4.11372469e-03 1.10369802e-02 2.28835831e+02] [-4.10809981e-03 9.99991420e-01 -5.32262376e-04 -1.02990440e+01] [-1.10390751e-02 4.86884436e-04 9.99938949e-01 -4.08301497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724391418 meters 0.029772545015021103 Centerline is valid? [True, True] Translation: X:228.87, Y:-10.30, Z:-4.08 [[ 9.99929284e-01 4.42839015e-03 1.10370646e-02 2.28868401e+02] [-4.42280358e-03 9.99990079e-01 -5.30521674e-04 -1.03007686e+01] [-1.10393044e-02 4.81669389e-04 9.99938949e-01 -4.08360292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754391418 meters 0.03188283754300686 Centerline is valid? [True, True] Translation: X:228.90, Y:-10.31, Z:-4.08 [[ 9.99945415e-01 1.20024959e-03 1.03791780e-02 2.28899644e+02] [-1.19508331e-03 9.99999159e-01 -5.03942248e-04 -1.03053143e+01] [-1.03797741e-02 4.91510758e-04 9.99946008e-01 -4.08495652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784391418 meters 0.03202864425779979 Centerline is valid? [True, True] Translation: X:228.93, Y:-10.31, Z:-4.09 [[ 9.99938318e-01 -5.06899830e-03 9.88253538e-03 2.28930555e+02] [ 5.07399351e-03 9.99987012e-01 -4.80450779e-04 -1.03071341e+01] [-9.87997162e-03 5.30565065e-04 9.99951051e-01 -4.08595771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814391418 meters 0.03295928737055182 Centerline is valid? [True, True] Translation: X:228.96, Y:-10.31, Z:-4.09 [[ 9.99919411e-01 -8.02795369e-03 9.83478182e-03 2.28961998e+02] [ 8.03304113e-03 9.99967620e-01 -4.77896494e-04 -1.03103607e+01] [-9.83062684e-03 5.56861188e-04 9.99951523e-01 -4.08642750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84439141800001 meters 0.03641335318196499 Centerline is valid? [True, True] Translation: X:228.99, Y:-10.31, Z:-4.09 [[ 9.99901154e-01 -1.05667825e-02 9.27503240e-03 2.28991506e+02] [ 1.05714227e-02 9.99944019e-01 -4.51406787e-04 -1.03147961e+01] [-9.26974326e-03 5.49412455e-04 9.99956884e-01 -4.08945067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87439141800002 meters 0.03848841398214698 Centerline is valid? [True, True] Translation: X:229.02, Y:-10.32, Z:-4.09 [[ 9.99830494e-01 -1.52218800e-02 1.03575138e-02 2.29020886e+02] [ 1.52279128e-02 9.99883922e-01 -5.03834446e-04 -1.03189746e+01] [-1.03486422e-02 6.61472360e-04 9.99946233e-01 -4.08717982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters 0.038975479914890566 Centerline is valid? [True, True] Translation: X:229.05, Y:-10.32, Z:-4.09 [[ 9.99807865e-01 -1.66140348e-02 1.04022777e-02 2.29052421e+02] [ 1.66201963e-02 9.99861747e-01 -5.06145547e-04 -1.03204350e+01] [-1.03924305e-02 6.78936196e-04 9.99945767e-01 -4.08769490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934391418 meters 0.041183073938598526 Centerline is valid? [True, True] Translation: X:229.08, Y:-10.32, Z:-4.09 [[ 9.99797178e-01 -1.73227750e-02 1.02724913e-02 2.29083734e+02] [ 1.73288274e-02 9.99849719e-01 -5.00456639e-04 -1.03239961e+01] [-1.02622782e-02 6.78365363e-04 9.99947111e-01 -4.08869265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964391418 meters 0.039807045931181874 Centerline is valid? [True, True] Translation: X:229.12, Y:-10.32, Z:-4.09 [[ 9.99795719e-01 -1.74704425e-02 1.01639018e-02 2.29116043e+02] [ 1.74763798e-02 9.99847154e-01 -4.95617052e-04 -1.03225349e+01] [-1.01536896e-02 6.73144014e-04 9.99948223e-01 -4.08904461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994391418 meters 0.040832640529173306 Centerline is valid? [True, True] Translation: X:229.15, Y:-10.32, Z:-4.09 [[ 9.99819539e-01 -1.59959309e-02 1.02479424e-02 2.29147536e+02] [ 1.60019001e-02 9.99871836e-01 -5.00738604e-04 -1.03225990e+01] [-1.02386192e-02 6.64634789e-04 9.99947363e-01 -4.09030410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024391418 meters 0.04067334753475139 Centerline is valid? [True, True] Translation: X:229.18, Y:-10.32, Z:-4.09 [[ 9.99841355e-01 -1.45375089e-02 1.02920435e-02 2.29177723e+02] [ 1.45434622e-02 9.99894111e-01 -5.03831083e-04 -1.03220863e+01] [-1.02836292e-02 6.53433098e-04 9.99946909e-01 -4.09086081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054391418 meters 0.03933129421211424 Centerline is valid? [True, True] Translation: X:229.21, Y:-10.32, Z:-4.09 [[ 9.99890866e-01 -1.06768009e-02 1.02108946e-02 2.29207840e+02] [ 1.06824638e-02 9.99942816e-01 -5.00213434e-04 -1.03176137e+01] [-1.02049700e-02 6.09236355e-04 9.99947742e-01 -4.09112513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084391418 meters 0.036031229387487276 Centerline is valid? [True, True] Translation: X:229.24, Y:-10.31, Z:-4.09 [[ 9.99917211e-01 -8.16414681e-03 9.94569897e-03 2.29239471e+02] [ 8.16939226e-03 9.99966511e-01 -4.86896330e-04 -1.03127005e+01] [-9.94139081e-03 5.68106337e-04 9.99950422e-01 -4.09121498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114391418 meters 0.0369889658081667 Centerline is valid? [True, True] Translation: X:229.27, Y:-10.31, Z:-4.09 [[ 9.99938583e-01 -5.78022117e-03 9.45618445e-03 2.29270337e+02] [ 5.78485999e-03 9.99983160e-01 -4.63281430e-04 -1.03132847e+01] [-9.45334734e-03 5.17955680e-04 9.99955182e-01 -4.09209569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144391418 meters 0.03446290043673318 Centerline is valid? [True, True] Translation: X:229.30, Y:-10.31, Z:-4.09 [[ 9.99960877e-01 -8.27261881e-04 8.80685609e-03 2.29301835e+02] [ 8.31098276e-04 9.99999561e-01 -4.31963681e-04 -1.03064437e+01] [-8.80649488e-03 4.39266144e-04 9.99961126e-01 -4.09285209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174391418 meters 0.03152023170516393 Centerline is valid? [True, True] Translation: X:229.33, Y:-10.30, Z:-4.09 [[ 9.99963952e-01 1.27415048e-03 8.39473370e-03 2.29333209e+02] [-1.27073907e-03 9.99999108e-01 -4.11696556e-04 -1.03012395e+01] [-8.39525077e-03 4.01014199e-04 9.99964679e-01 -4.09296583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204391418 meters 0.03304418246347289 Centerline is valid? [True, True] Translation: X:229.36, Y:-10.30, Z:-4.09 [[ 9.99957032e-01 3.75823412e-03 8.47409529e-03 2.29363410e+02] [-3.75484237e-03 9.99992864e-01 -4.16123731e-04 -1.03024329e+01] [-8.47559871e-03 3.84286959e-04 9.99964008e-01 -4.09434508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234391418 meters 0.03061795017543723 Centerline is valid? [True, True] Translation: X:229.39, Y:-10.30, Z:-4.09 [[ 9.99925978e-01 8.46024066e-03 8.74434877e-03 2.29393432e+02] [-8.45680533e-03 9.99964148e-01 -4.29764071e-04 -1.02950457e+01] [-8.74767118e-03 3.55783003e-04 9.99961675e-01 -4.09392903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264391418 meters 0.024904730475718954 Centerline is valid? [True, True] Translation: X:229.43, Y:-10.29, Z:-4.09 [[ 9.99896801e-01 1.12070587e-02 8.98833459e-03 2.29425873e+02] [-1.12035630e-02 9.99937142e-01 -4.39179146e-04 -1.02854344e+01] [-8.99269151e-03 3.38432450e-04 9.99959508e-01 -4.09285108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.294391418 meters 0.024825592915868427 Centerline is valid? [True, True] Translation: X:229.46, Y:-10.28, Z:-4.09 [[ 9.99861857e-01 1.37690975e-02 9.31010042e-03 2.29456785e+02] [-1.37654116e-02 9.99905146e-01 -4.59875182e-04 -1.02842477e+01] [-9.31554939e-03 3.31654290e-04 9.99956554e-01 -4.09318898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.324391418 meters 0.021838505172550225 Centerline is valid? [True, True] Translation: X:229.49, Y:-10.28, Z:-4.09 [[ 9.99769684e-01 1.91375801e-02 9.71247142e-03 2.29487730e+02] [-1.91338142e-02 9.99816816e-01 -4.80516386e-04 -1.02757219e+01] [-9.71988818e-03 2.94569091e-04 9.99952717e-01 -4.09278408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.354391418 meters 0.021438707451935168 Centerline is valid? [True, True] Translation: X:229.52, Y:-10.27, Z:-4.09 [[ 9.99716166e-01 2.15730686e-02 1.01088743e-02 2.29516933e+02] [-2.15691103e-02 9.99767234e-01 -5.00442937e-04 -1.02735303e+01] [-1.01173174e-02 2.82261470e-04 9.99948779e-01 -4.09346228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.384391418 meters 0.01861892733286371 Centerline is valid? [True, True] Translation: X:229.55, Y:-10.27, Z:-4.09 [[ 9.99579698e-01 2.68297630e-02 1.09814075e-02 2.29547213e+02] [-2.68254142e-02 9.99639986e-01 -5.43140119e-04 -1.02655696e+01] [-1.09920264e-02 2.48331030e-04 9.99939555e-01 -4.09308508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414391418 meters 0.017834967641498275 Centerline is valid? [True, True] Translation: X:229.58, Y:-10.26, Z:-4.09 [[ 9.99526393e-01 2.88518415e-02 1.07033490e-02 2.29575951e+02] [-2.88478274e-02 9.99583675e-01 -5.29268673e-04 -1.02627493e+01] [-1.07141633e-02 2.20249643e-04 9.99942577e-01 -4.09347178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444391418 meters 0.016964697554754993 Centerline is valid? [True, True] Translation: X:229.61, Y:-10.26, Z:-4.09 [[ 9.99449489e-01 3.12737149e-02 1.10757955e-02 2.29605257e+02] [-3.12695756e-02 9.99510838e-01 -5.46747293e-04 -1.02600631e+01] [-1.10874765e-02 2.00110877e-04 9.99938512e-01 -4.09388599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474391418 meters 0.015890321562433002 Centerline is valid? [True, True] Translation: X:229.63, Y:-10.25, Z:-4.09 [[ 9.99319178e-01 3.50788168e-02 1.14305511e-02 2.29634700e+02] [-3.50746678e-02 9.99384536e-01 -5.63297128e-04 -1.02547206e+01] [-1.14432758e-02 1.61990839e-04 9.99934510e-01 -4.09402476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504391418 meters 0.01554938852929106 Centerline is valid? [True, True] Translation: X:229.66, Y:-10.25, Z:-4.09 [[ 9.99256772e-01 3.68062929e-02 1.14542844e-02 2.29663179e+02] [-3.68022509e-02 9.99322409e-01 -5.63534386e-04 -1.02530727e+01] [-1.14672647e-02 1.41572102e-04 9.99934239e-01 -4.09442201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534391418 meters 0.015096628222044585 Centerline is valid? [True, True] Translation: X:229.69, Y:-10.25, Z:-4.10 [[ 9.99171123e-01 3.90988322e-02 1.13290701e-02 2.29691520e+02] [-3.90950341e-02 9.99235342e-01 -5.56602565e-04 -1.02503574e+01] [-1.13421697e-02 1.13230829e-04 9.99935669e-01 -4.09563669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564391418 meters 0.014563612329266078 Centerline is valid? [True, True] Translation: X:229.72, Y:-10.25, Z:-4.10 [[ 9.99135377e-01 3.99819245e-02 1.13992670e-02 2.29720646e+02] [-3.99781513e-02 9.99200398e-01 -5.58775540e-04 -1.02489943e+01] [-1.14124931e-02 1.02570788e-04 9.99934870e-01 -4.09532698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59439141800001 meters 0.014636644740022124 Centerline is valid? [True, True] Translation: X:229.75, Y:-10.25, Z:-4.10 [[ 9.99116564e-01 4.04022884e-02 1.15648974e-02 2.29748819e+02] [-4.03984425e-02 9.99183489e-01 -5.66054879e-04 -1.02492374e+01] [-1.15783244e-02 9.83509646e-05 9.99932964e-01 -4.09613021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62439141800002 meters 0.014604655515787266 Centerline is valid? [True, True] Translation: X:229.78, Y:-10.25, Z:-4.10 [[ 9.99122359e-01 4.04118979e-02 1.10177533e-02 2.29776544e+02] [-4.04084178e-02 9.99183101e-01 -5.38384113e-04 -1.02486896e+01] [-1.10305101e-02 9.27016245e-05 9.99939158e-01 -4.09721736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654391418 meters 0.014837166125437489 Centerline is valid? [True, True] Translation: X:229.81, Y:-10.25, Z:-4.10 [[ 9.99160545e-01 3.94573300e-02 1.10147220e-02 2.29805021e+02] [-3.94538115e-02 9.99221251e-01 -5.36633215e-04 -1.02496698e+01] [-1.10273184e-02 1.01609970e-04 9.99939192e-01 -4.09842782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters 0.015030490281779104 Centerline is valid? [True, True] Translation: X:229.83, Y:-10.25, Z:-4.10 [[ 9.99217540e-01 3.80899402e-02 1.06519494e-02 2.29833366e+02] [-3.80865807e-02 9.99274309e-01 -5.18137713e-04 -1.02514663e+01] [-1.06639552e-02 1.12035961e-04 9.99943132e-01 -4.09931618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714391418 meters 0.01588168628015426 Centerline is valid? [True, True] Translation: X:229.86, Y:-10.25, Z:-4.10 [[ 9.99356569e-01 3.42547077e-02 1.06331045e-02 2.29861451e+02] [-3.42511495e-02 9.99413124e-01 -5.16609637e-04 -1.02547944e+01] [-1.06445605e-02 1.52081184e-04 9.99943333e-01 -4.10060862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744391418 meters 0.016428015764396574 Centerline is valid? [True, True] Translation: X:229.89, Y:-10.26, Z:-4.10 [[ 9.99428148e-01 3.21020298e-02 1.06224241e-02 2.29888725e+02] [-3.20983711e-02 9.99484582e-01 -5.14779452e-04 -1.02576735e+01] [-1.06334745e-02 1.73522565e-04 9.99943448e-01 -4.10110527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774391418 meters 0.01829996270507077 Centerline is valid? [True, True] Translation: X:229.92, Y:-10.26, Z:-4.10 [[ 9.99576452e-01 2.71072731e-02 1.05883004e-02 2.29918319e+02] [-2.71033738e-02 9.99632505e-01 -5.11613801e-04 -1.02623812e+01] [-1.05982777e-02 2.24418444e-04 9.99943811e-01 -4.10186013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804391418 meters 0.019040186625264414 Centerline is valid? [True, True] Translation: X:229.95, Y:-10.27, Z:-4.10 [[ 9.99638541e-01 2.45518030e-02 1.09542592e-02 2.29947450e+02] [-2.45474796e-02 9.99698525e-01 -5.28979649e-04 -1.02651944e+01] [-1.09639442e-02 2.59888989e-04 9.99939860e-01 -4.10224330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834391418 meters 0.01977337106510605 Centerline is valid? [True, True] Translation: X:229.98, Y:-10.27, Z:-4.10 [[ 9.99692416e-01 2.22336943e-02 1.09880201e-02 2.29977358e+02] [-2.22292130e-02 9.99752760e-01 -5.29807537e-04 -1.02678162e+01] [-1.09970830e-02 2.85389537e-04 9.99939490e-01 -4.10232724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864391418 meters 0.021730487858737806 Centerline is valid? [True, True] Translation: X:230.01, Y:-10.27, Z:-4.10 [[ 9.99770697e-01 1.79087721e-02 1.17400459e-02 2.30006953e+02] [-1.79033646e-02 9.99839562e-01 -5.65543301e-04 -1.02724633e+01] [-1.17482906e-02 3.55227297e-04 9.99930923e-01 -4.10244182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894391418 meters 0.02314758615604829 Centerline is valid? [True, True] Translation: X:230.04, Y:-10.28, Z:-4.10 [[ 9.99801298e-01 1.59014808e-02 1.20210938e-02 2.30036672e+02] [-1.58956825e-02 9.99873489e-01 -5.77747319e-04 -1.02761033e+01] [-1.20287600e-02 3.86549030e-04 9.99927577e-01 -4.10299550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924391418 meters 0.0240876272418647 Centerline is valid? [True, True] Translation: X:230.07, Y:-10.28, Z:-4.10 [[ 9.99822692e-01 1.39731314e-02 1.26228818e-02 2.30067814e+02] [-1.39665633e-02 9.99902278e-01 -6.08337400e-04 -1.02789586e+01] [-1.26301487e-02 4.31931258e-04 9.99920143e-01 -4.10319087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954391418 meters 0.02427429115525883 Centerline is valid? [True, True] Translation: X:230.10, Y:-10.28, Z:-4.10 [[ 9.99846861e-01 1.22385767e-02 1.25088953e-02 2.30100243e+02] [-1.22320017e-02 9.99925005e-01 -6.01995566e-04 -1.02808837e+01] [-1.25153247e-02 4.48894548e-04 9.99921579e-01 -4.10356556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984391418 meters 0.026207432423543814 Centerline is valid? [True, True] Translation: X:230.13, Y:-10.29, Z:-4.10 [[ 9.99885353e-01 8.00165443e-03 1.28551455e-02 2.30130931e+02] [-7.99429475e-03 9.99967851e-01 -6.23793998e-04 -1.02851650e+01] [-1.28597236e-02 5.20954660e-04 9.99917175e-01 -4.10409901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014391418 meters 0.02678472683500183 Centerline is valid? [True, True] Translation: X:230.16, Y:-10.29, Z:-4.10 [[ 9.99896712e-01 6.20786958e-03 1.29625835e-02 2.30163440e+02] [-6.20024947e-03 9.99980581e-01 -6.27959110e-04 -1.02879605e+01] [-1.29662301e-02 5.47522997e-04 9.99915785e-01 -4.10463420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.044391418 meters 0.028896160080687933 Centerline is valid? [True, True] Translation: X:230.19, Y:-10.29, Z:-4.11 [[ 9.99906783e-01 3.99413336e-03 1.30565355e-02 2.30194477e+02] [-3.98616453e-03 9.99991853e-01 -6.36299631e-04 -1.02924636e+01] [-1.30589706e-02 5.84194818e-04 9.99914557e-01 -4.10550089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.074391418 meters 0.030473717785114433 Centerline is valid? [True, True] Translation: X:230.22, Y:-10.30, Z:-4.11 [[ 9.99918346e-01 -9.22808151e-04 1.27456083e-02 2.30224933e+02] [ 9.30856751e-04 9.99999371e-01 -6.25562351e-04 -1.02954124e+01] [-1.27450230e-02 6.37375606e-04 9.99918576e-01 -4.10592995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.104391418 meters 0.03176107353066031 Centerline is valid? [True, True] Translation: X:230.26, Y:-10.30, Z:-4.11 [[ 9.99910660e-01 -2.90687086e-03 1.30469331e-02 2.30257347e+02] [ 2.91547795e-03 9.99995545e-01 -6.40730336e-04 -1.02987023e+01] [-1.30450125e-02 6.78711139e-04 9.99914680e-01 -4.10639477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.134391418 meters 0.03486953153318292 Centerline is valid? [True, True] Translation: X:230.29, Y:-10.30, Z:-4.11 [[ 9.99911740e-01 -5.83934348e-03 1.19337494e-02 2.30286769e+02] [ 5.84676876e-03 9.99982735e-01 -5.87414513e-04 -1.03031265e+01] [-1.19301132e-02 6.57136541e-04 9.99928618e-01 -4.10762189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164391418 meters 0.03317815831510692 Centerline is valid? [True, True] Translation: X:230.32, Y:-10.30, Z:-4.11 [[ 9.99909090e-01 -6.58684081e-03 1.17654042e-02 2.30318861e+02] [ 6.59410356e-03 9.99978091e-01 -5.78610840e-04 -1.03015842e+01] [-1.17613352e-02 6.56140532e-04 9.99930618e-01 -4.10797285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194391418 meters 0.03461084502574034 Centerline is valid? [True, True] Translation: X:230.35, Y:-10.30, Z:-4.11 [[ 9.99909430e-01 -6.94391151e-03 1.15288053e-02 2.30349478e+02] [ 6.95092251e-03 9.99975681e-01 -5.68170051e-04 -1.03041920e+01] [-1.15245796e-02 6.48254424e-04 9.99933380e-01 -4.10861113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224391418 meters 0.03720116032034757 Centerline is valid? [True, True] Translation: X:230.38, Y:-10.31, Z:-4.11 [[ 9.99910763e-01 -6.72145557e-03 1.15450813e-02 2.30380570e+02] [ 6.72847568e-03 9.99977201e-01 -5.69326087e-04 -1.03079159e+01] [-1.15409914e-02 6.46956081e-04 9.99933191e-01 -4.10959514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254391418 meters 0.032580238340912275 Centerline is valid? [True, True] Translation: X:230.41, Y:-10.30, Z:-4.11 [[ 9.99924880e-01 -5.29753122e-03 1.10530842e-02 2.30412912e+02] [ 5.30388415e-03 9.99985786e-01 -5.45530855e-04 -1.03009441e+01] [-1.10500371e-02 6.04114153e-04 9.99938764e-01 -4.10950476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284391418 meters 0.036283206281698815 Centerline is valid? [True, True] Translation: X:230.44, Y:-10.31, Z:-4.11 [[ 9.99930292e-01 -3.89517611e-03 1.11462452e-02 2.30443830e+02] [ 3.90156180e-03 9.99992237e-01 -5.51212566e-04 -1.03064918e+01] [-1.11440116e-02 5.94661906e-04 9.99937727e-01 -4.11079254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314391418 meters 0.03195426905673453 Centerline is valid? [True, True] Translation: X:230.48, Y:-10.30, Z:-4.11 [[ 9.99942955e-01 -9.51503945e-04 1.06386356e-02 2.30476156e+02] [ 9.57161627e-04 9.99999403e-01 -5.26726286e-04 -1.02991170e+01] [-1.06381281e-02 5.36879133e-04 9.99943269e-01 -4.11108289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34439141800001 meters 0.030954905733693163 Centerline is valid? [True, True] Translation: X:230.51, Y:-10.30, Z:-4.11 [[ 9.99946413e-01 1.22523406e-03 1.02795865e-02 2.30507693e+02] [-1.22005893e-03 9.99999126e-01 -5.09693061e-04 -1.02974135e+01] [-1.02802020e-02 4.97124047e-04 9.99947034e-01 -4.11184666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37439141800002 meters 0.030272627588738204 Centerline is valid? [True, True] Translation: X:230.54, Y:-10.30, Z:-4.11 [[ 9.99943269e-01 4.02258238e-03 9.86290415e-03 2.30538073e+02] [-4.01795679e-03 9.99991809e-01 -4.88759227e-04 -1.02959289e+01] [-9.86478943e-03 4.49102777e-04 9.99951241e-01 -4.11271288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters 0.026410661422831078 Centerline is valid? [True, True] Translation: X:230.57, Y:-10.29, Z:-4.11 [[ 9.99903698e-01 1.01733191e-02 9.43924021e-03 2.30569815e+02] [-1.01693381e-02 9.99948181e-01 -4.69649360e-04 -1.02874421e+01] [-9.44352897e-03 3.73613306e-04 9.99955339e-01 -4.11300538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434391418 meters 0.023858774712092683 Centerline is valid? [True, True] Translation: X:230.60, Y:-10.28, Z:-4.11 [[ 9.99859334e-01 1.36179444e-02 9.79098433e-03 2.30601933e+02] [-1.36138274e-02 9.99907209e-01 -4.87017829e-04 -1.02828326e+01] [-9.79670799e-03 3.53656551e-04 9.99951949e-01 -4.11264961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464391418 meters 0.022627670453981917 Centerline is valid? [True, True] Translation: X:230.63, Y:-10.28, Z:-4.11 [[ 9.99803107e-01 1.71357807e-02 1.00055693e-02 2.30632258e+02] [-1.71316458e-02 9.99853118e-01 -4.98824472e-04 -1.02802532e+01] [-1.00126474e-02 3.27314388e-04 9.99949819e-01 -4.11258614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494391418 meters 0.01949300798300694 Centerline is valid? [True, True] Translation: X:230.66, Y:-10.27, Z:-4.11 [[ 9.99658202e-01 2.39905471e-02 1.03890541e-02 2.30662410e+02] [-2.39864557e-02 9.99712149e-01 -5.18254116e-04 -1.02723786e+01] [-1.03984968e-02 2.68880391e-04 9.99945898e-01 -4.11190926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524391418 meters 0.018447933687597704 Centerline is valid? [True, True] Translation: X:230.69, Y:-10.27, Z:-4.11 [[ 9.99567946e-01 2.73441431e-02 1.07805178e-02 2.30690905e+02] [-2.73399344e-02 9.99626050e-01 -5.37603021e-04 -1.02698717e+01] [-1.07911867e-02 2.42632099e-04 9.99941744e-01 -4.11223314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554391418 meters 0.017456465070852852 Centerline is valid? [True, True] Translation: X:230.72, Y:-10.27, Z:-4.11 [[ 9.99476881e-01 3.03761138e-02 1.11020395e-02 2.30720413e+02] [-3.03718449e-02 9.99538516e-01 -5.52953563e-04 -1.02669271e+01] [-1.11137127e-02 2.15474881e-04 9.99938218e-01 -4.11250370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584391418 meters 0.015391154553216284 Centerline is valid? [True, True] Translation: X:230.75, Y:-10.26, Z:-4.11 [[ 9.99267970e-01 3.66316069e-02 1.10295194e-02 2.30749359e+02] [-3.66277916e-02 9.99328827e-01 -5.47790141e-04 -1.02604527e+01] [-1.10421832e-02 1.43402203e-04 9.99939023e-01 -4.11260328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614391418 meters 0.015391154553216284 Centerline is valid? [True, True] Translation: X:230.78, Y:-10.26, Z:-4.11 [[ 9.99272388e-01 3.65108635e-02 1.10295497e-02 2.30776781e+02] [-3.65070476e-02 9.99333246e-01 -5.47179695e-04 -1.02616979e+01] [-1.10421737e-02 1.44125264e-04 9.99939023e-01 -4.11309871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644391418 meters 0.014909160634024771 Centerline is valid? [True, True] Translation: X:230.80, Y:-10.26, Z:-4.11 [[ 9.99162993e-01 3.93540689e-02 1.11611082e-02 2.30804595e+02] [-3.93503557e-02 9.99225322e-01 -5.52184243e-04 -1.02597347e+01] [-1.11741926e-02 1.12528485e-04 9.99937560e-01 -4.11365257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674391418 meters 0.014209376576579948 Centerline is valid? [True, True] Translation: X:230.83, Y:-10.25, Z:-4.11 [[ 9.98904801e-01 4.52806114e-02 1.17840791e-02 2.30833615e+02] [-4.52769008e-02 9.98974306e-01 -5.81610822e-04 -1.02538087e+01] [-1.17983279e-02 4.74272613e-05 9.99930396e-01 -4.11359013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704391418 meters 0.014232593432087322 Centerline is valid? [True, True] Translation: X:230.86, Y:-10.25, Z:-4.11 [[ 9.98797411e-01 4.76099919e-02 1.17055613e-02 2.30861856e+02] [-4.76065002e-02 9.98866001e-01 -5.76912065e-04 -1.02523867e+01] [-1.17197540e-02 1.89574719e-05 9.99931321e-01 -4.11459705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734391418 meters 0.014180535836845894 Centerline is valid? [True, True] Translation: X:230.89, Y:-10.25, Z:-4.11 [[ 9.98684348e-01 4.98745477e-02 1.19206570e-02 2.30890265e+02] [-4.98711011e-02 9.98755490e-01 -5.86395465e-04 -1.02513819e+01] [-1.19350679e-02 -8.87231899e-06 9.99928775e-01 -4.11494651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764391418 meters 0.01429468825225053 Centerline is valid? [True, True] Translation: X:230.92, Y:-10.25, Z:-4.12 [[ 9.98525111e-01 5.29017444e-02 1.22068490e-02 2.30919171e+02] [-5.28983780e-02 9.98599721e-01 -5.98710296e-04 -1.02497165e+01] [-1.22214288e-02 -4.78952474e-05 9.99925314e-01 -4.11556845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.794391418 meters 0.014323281481485728 Centerline is valid? [True, True] Translation: X:230.95, Y:-10.25, Z:-4.12 [[ 9.98491409e-01 5.35478832e-02 1.21461880e-02 2.30947813e+02] [-5.35446099e-02 9.98565281e-01 -5.94760753e-04 -1.02504059e+01] [-1.21606098e-02 -5.64993928e-05 9.99926055e-01 -4.11623995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.824391418 meters 0.014261094396384287 Centerline is valid? [True, True] Translation: X:230.97, Y:-10.25, Z:-4.12 [[ 9.98493478e-01 5.35479884e-02 1.19744623e-02 2.30974399e+02] [-5.35448083e-02 9.98565276e-01 -5.86238529e-04 -1.02513598e+01] [-1.19886742e-02 -5.58149434e-05 9.99928132e-01 -4.11728868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.854391418 meters 0.014073932221107914 Centerline is valid? [True, True] Translation: X:231.00, Y:-10.25, Z:-4.12 [[ 9.98569474e-01 5.21651548e-02 1.17388864e-02 2.31002814e+02] [-5.21620430e-02 9.98638471e-01 -5.71311015e-04 -1.02542214e+01] [-1.17527061e-02 -4.18305560e-05 9.99930934e-01 -4.11863078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.884391418 meters 0.014088351765926927 Centerline is valid? [True, True] Translation: X:231.03, Y:-10.26, Z:-4.12 [[ 9.98636799e-01 5.08209673e-02 1.19068628e-02 2.31029427e+02] [-5.08176777e-02 9.98707779e-01 -5.78862076e-04 -1.02568063e+01] [-1.19208949e-02 -2.70061459e-05 9.99928943e-01 -4.11977526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914391418 meters 0.013851114697008053 Centerline is valid? [True, True] Translation: X:231.06, Y:-10.26, Z:-4.12 [[ 9.98822759e-01 4.68772456e-02 1.24748011e-02 2.31057825e+02] [-4.68733547e-02 9.98900657e-01 -6.04265288e-04 -1.02628422e+01] [-1.24894133e-02 1.88181466e-05 9.99922004e-01 -4.12026804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944391418 meters 0.013969290642552243 Centerline is valid? [True, True] Translation: X:231.09, Y:-10.27, Z:-4.12 [[ 9.98926123e-01 4.44754173e-02 1.29821974e-02 2.31086736e+02] [-4.44710147e-02 9.99010478e-01 -6.27752121e-04 -1.02671136e+01] [-1.29972708e-02 4.97465013e-05 9.99915531e-01 -4.12072263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974391418 meters 0.014248499700156531 Centerline is valid? [True, True] Translation: X:231.11, Y:-10.27, Z:-4.12 [[ 9.99040469e-01 4.18000157e-02 1.30728957e-02 2.31114957e+02] [-4.17953364e-02 9.99125994e-01 -6.31065041e-04 -1.02717541e+01] [-1.30878484e-02 8.40734430e-05 9.99914347e-01 -4.12162614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004391418 meters 0.01519635814584933 Centerline is valid? [True, True] Translation: X:231.14, Y:-10.28, Z:-4.12 [[ 9.99268690e-01 3.60359807e-02 1.27864826e-02 2.31142264e+02] [-3.60310418e-02 9.99350481e-01 -6.16487107e-04 -1.02800980e+01] [-1.28003933e-02 1.55325973e-04 9.99918060e-01 -4.12283289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034391418 meters 0.015826279621877017 Centerline is valid? [True, True] Translation: X:231.17, Y:-10.28, Z:-4.12 [[ 9.99372676e-01 3.31181390e-02 1.25476078e-02 2.31171140e+02] [-3.31131762e-02 9.99451426e-01 -6.03122083e-04 -1.02844120e+01] [-1.25606988e-02 1.87252583e-04 9.99921094e-01 -4.12355043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064391418 meters 0.017179586325680892 Centerline is valid? [True, True] Translation: X:231.20, Y:-10.29, Z:-4.12 [[ 9.99456577e-01 3.04444772e-02 1.26366130e-02 2.31198694e+02] [-3.04392419e-02 9.99536435e-01 -6.06470693e-04 -1.02904747e+01] [-1.26492188e-02 2.21492205e-04 9.99919971e-01 -4.12468759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09439141800001 meters 0.017646968823915594 Centerline is valid? [True, True] Translation: X:231.23, Y:-10.29, Z:-4.13 [[ 9.99538857e-01 2.76972717e-02 1.24472724e-02 2.31227035e+02] [-2.76919958e-02 9.99616325e-01 -5.96047572e-04 -1.02942419e+01] [-1.24590055e-02 2.51082895e-04 9.99922352e-01 -4.12512084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12439141800002 meters 0.019089696666263086 Centerline is valid? [True, True] Translation: X:231.26, Y:-10.30, Z:-4.13 [[ 9.99646151e-01 2.35646875e-02 1.23400731e-02 2.31256427e+02] [-2.35592022e-02 9.99722270e-01 -5.89715012e-04 -1.03019150e+01] [-1.23505424e-02 2.98784065e-04 9.99923685e-01 -4.12573703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154391418 meters 0.020050182816101107 Centerline is valid? [True, True] Translation: X:231.29, Y:-10.31, Z:-4.13 [[ 9.99699007e-01 2.12606686e-02 1.22425184e-02 2.31286194e+02] [-2.12551029e-02 9.99773914e-01 -5.84569199e-04 -1.03080217e+01] [-1.22521788e-02 3.24177260e-04 9.99924887e-01 -4.12609172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters 0.0203071533995064 Centerline is valid? [True, True] Translation: X:231.32, Y:-10.31, Z:-4.13 [[ 9.99703484e-01 2.10222515e-02 1.22885541e-02 2.31315295e+02] [-2.10166320e-02 9.99778954e-01 -5.86272836e-04 -1.03110363e+01] [-1.22981625e-02 3.27834978e-04 9.99924321e-01 -4.12672446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214391418 meters 0.019693218281872978 Centerline is valid? [True, True] Translation: X:231.34, Y:-10.31, Z:-4.13 [[ 9.99690906e-01 2.15621855e-02 1.23759675e-02 2.31344946e+02] [-2.15565332e-02 9.99767457e-01 -5.89947624e-04 -1.03129090e+01] [-1.23858101e-02 3.22982320e-04 9.99923241e-01 -4.12706380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244391418 meters 0.019901611206147512 Centerline is valid? [True, True] Translation: X:231.37, Y:-10.32, Z:-4.13 [[ 9.99672467e-01 2.24209038e-02 1.23394019e-02 2.31373288e+02] [-2.24153549e-02 9.99748572e-01 -5.87821852e-04 -1.03157460e+01] [-1.23494789e-02 3.11037249e-04 9.99923694e-01 -4.12796803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274391418 meters 0.017962780911204946 Centerline is valid? [True, True] Translation: X:231.40, Y:-10.32, Z:-4.13 [[ 9.99596842e-01 2.58063303e-02 1.18400887e-02 2.31402975e+02] [-2.58014681e-02 9.99666928e-01 -5.63251168e-04 -1.03155428e+01] [-1.18506806e-02 2.57532417e-04 9.99929745e-01 -4.12881220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304391418 meters 0.017048665425859796 Centerline is valid? [True, True] Translation: X:231.43, Y:-10.32, Z:-4.13 [[ 9.99537093e-01 2.82333078e-02 1.13349178e-02 2.31431693e+02] [-2.82290094e-02 9.99601337e-01 -5.39062111e-04 -1.03160504e+01] [-1.13456185e-02 2.18839073e-04 9.99935612e-01 -4.12966060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334391418 meters 0.01549812873300193 Centerline is valid? [True, True] Translation: X:231.46, Y:-10.31, Z:-4.13 [[ 9.99342470e-01 3.44516850e-02 1.13008074e-02 2.31461018e+02] [-3.44478217e-02 9.99406354e-01 -5.36393707e-04 -1.03147600e+01] [-1.13125784e-02 1.46752815e-04 9.99936000e-01 -4.13056607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364391418 meters 0.014997804626176052 Centerline is valid? [True, True] Translation: X:231.49, Y:-10.31, Z:-4.13 [[ 9.99225936e-01 3.77159833e-02 1.11818357e-02 2.31488610e+02] [-3.77124097e-02 9.99288493e-01 -5.30351955e-04 -1.03146636e+01] [-1.11938825e-02 1.08247458e-04 9.99937341e-01 -4.13140873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394391418 meters 0.014218558383726232 Centerline is valid? [True, True] Translation: X:231.52, Y:-10.31, Z:-4.13 [[ 9.99072517e-01 4.15847875e-02 1.11719252e-02 2.31517344e+02] [-4.15814758e-02 9.99134977e-01 -5.28646326e-04 -1.03132375e+01] [-1.11842449e-02 6.36108771e-05 9.99937452e-01 -4.13092191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424391418 meters 0.014104203975716694 Centerline is valid? [True, True] Translation: X:231.55, Y:-10.31, Z:-4.13 [[ 9.98755797e-01 4.85801280e-02 1.12618870e-02 2.31546183e+02] [-4.85772177e-02 9.98819288e-01 -5.31976480e-04 -1.03110527e+01] [-1.12744334e-02 -1.57565435e-05 9.99936441e-01 -4.13097750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454391418 meters 0.014218386613421358 Centerline is valid? [True, True] Translation: X:231.58, Y:-10.31, Z:-4.13 [[ 9.98600498e-01 5.16590266e-02 1.13309813e-02 2.31575351e+02] [-5.16562889e-02 9.98664780e-01 -5.34336010e-04 -1.03115024e+01] [-1.13434552e-02 -5.17282356e-05 9.99935660e-01 -4.13092727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484391418 meters 0.015090835462695816 Centerline is valid? [True, True] Translation: X:231.60, Y:-10.31, Z:-4.13 [[ 9.98354553e-01 5.64140019e-02 1.02784777e-02 2.31603019e+02] [-5.64120069e-02 9.98407457e-01 -4.84145472e-04 -1.03119148e+01] [-1.02894214e-02 -9.64807194e-05 9.99947058e-01 -4.13251935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514391418 meters 0.015833405839680573 Centerline is valid? [True, True] Translation: X:231.63, Y:-10.31, Z:-4.13 [[ 9.98275044e-01 5.79160043e-02 9.62663316e-03 2.31631135e+02] [-5.79143326e-02 9.98321454e-01 -4.52563787e-04 -1.03129463e+01] [-9.63668510e-03 -1.05736901e-04 9.99953560e-01 -4.13433980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.544391418 meters 0.01592394517332143 Centerline is valid? [True, True] Translation: X:231.66, Y:-10.32, Z:-4.14 [[ 9.98227328e-01 5.88442696e-02 8.91922763e-03 2.31659789e+02] [-5.88428799e-02 9.98267169e-01 -4.18380040e-04 -1.03159713e+01] [-8.92839139e-03 -1.07194651e-04 9.99960135e-01 -4.13537890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.574391418 meters 0.01599304081456017 Centerline is valid? [True, True] Translation: X:231.69, Y:-10.32, Z:-4.14 [[ 9.98223592e-01 5.89889825e-02 8.36422062e-03 2.31688086e+02] [-5.89877704e-02 9.98258629e-01 -3.91755459e-04 -1.03186941e+01] [-8.37276466e-03 -1.02327184e-04 9.99964943e-01 -4.13653374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.604391418 meters 0.016008161860923856 Centerline is valid? [True, True] Translation: X:231.72, Y:-10.32, Z:-4.14 [[ 9.98286712e-01 5.79864221e-02 7.82397215e-03 2.31716093e+02] [-5.79853334e-02 9.98317368e-01 -3.66110524e-04 -1.03237330e+01] [-7.83203672e-03 -8.81923627e-05 9.99969325e-01 -4.13784250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.634391418 meters 0.015570550958314838 Centerline is valid? [True, True] Translation: X:231.74, Y:-10.33, Z:-4.14 [[ 9.98370549e-01 5.65088100e-02 7.93735042e-03 2.31744544e+02] [-5.65076509e-02 9.98402097e-01 -3.70398487e-04 -1.03285309e+01] [-7.94559809e-03 -7.87260858e-05 9.99968430e-01 -4.13792112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664391418 meters 0.014726649654124098 Centerline is valid? [True, True] Translation: X:231.77, Y:-10.34, Z:-4.14 [[ 9.98601045e-01 5.21500995e-02 8.73609107e-03 2.31773045e+02] [-5.21485358e-02 9.98639257e-01 -4.06841337e-04 -1.03375398e+01] [-8.74542030e-03 -4.93021731e-05 9.99961757e-01 -4.13752314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694391418 meters 0.014491069967377384 Centerline is valid? [True, True] Translation: X:231.80, Y:-10.34, Z:-4.14 [[ 9.98740244e-01 4.94148693e-02 8.72332608e-03 2.31800749e+02] [-4.94132067e-02 9.98778339e-01 -4.06148679e-04 -1.03426375e+01] [-8.73273891e-03 -2.54104844e-05 9.99961869e-01 -4.13826720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724391418 meters 0.014417428883966962 Centerline is valid? [True, True] Translation: X:231.83, Y:-10.35, Z:-4.14 [[ 9.98904904e-01 4.58446638e-02 9.34129148e-03 2.31829184e+02] [-4.58426213e-02 9.98948581e-01 -4.32767179e-04 -1.03484728e+01] [-9.35130993e-03 4.06396926e-06 9.99956276e-01 -4.13834224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754391418 meters 0.01475505221678619 Centerline is valid? [True, True] Translation: X:231.86, Y:-10.36, Z:-4.14 [[ 9.99211384e-01 3.83702892e-02 1.02142226e-02 2.31857643e+02] [-3.83674659e-02 9.99263586e-01 -4.72288421e-04 -1.03600445e+01] [-1.02248225e-02 8.00221308e-05 9.99947722e-01 -4.13795542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784391418 meters 0.015567278101159309 Centerline is valid? [True, True] Translation: X:231.89, Y:-10.37, Z:-4.14 [[ 9.99350733e-01 3.43224164e-02 1.09582662e-02 2.31886262e+02] [-3.43189339e-02 9.99410804e-01 -5.05729325e-04 -1.03665257e+01] [-1.09691675e-02 1.29324958e-04 9.99939829e-01 -4.13818022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814391418 meters 0.017627251723013663 Centerline is valid? [True, True] Translation: X:231.92, Y:-10.38, Z:-4.14 [[ 9.99561476e-01 2.71294725e-02 1.18679377e-02 2.31915021e+02] [-2.71248952e-02 9.99631903e-01 -5.46512683e-04 -1.03782032e+01] [-1.18783957e-02 2.24356459e-04 9.99929424e-01 -4.13846567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84439141800001 meters 0.01871387934953074 Centerline is valid? [True, True] Translation: X:231.94, Y:-10.38, Z:-4.14 [[ 9.99636263e-01 2.40158057e-02 1.22711994e-02 2.31943243e+02] [-2.40106869e-02 9.99711543e-01 -5.64309852e-04 -1.03845028e+01] [-1.22812120e-02 2.69464666e-04 9.99924547e-01 -4.13850457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87439141800002 meters 0.019843590941495303 Centerline is valid? [True, True] Translation: X:231.97, Y:-10.39, Z:-4.14 [[ 9.99694890e-01 2.10835669e-02 1.28689603e-02 2.31972927e+02] [-2.10777063e-02 9.99777666e-01 -5.90882730e-04 -1.03902981e+01] [-1.28785571e-02 3.19454280e-04 9.99917017e-01 -4.13885899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters 0.02072803578067653 Centerline is valid? [True, True] Translation: X:232.00, Y:-10.40, Z:-4.14 [[ 9.99747785e-01 1.83421894e-02 1.29587714e-02 2.32003542e+02] [-1.83360259e-02 9.99831704e-01 -5.94287511e-04 -1.03955513e+01] [-1.29674911e-02 3.56525255e-04 9.99915855e-01 -4.13944658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934391418 meters 0.023421727947793926 Centerline is valid? [True, True] Translation: X:232.03, Y:-10.41, Z:-4.14 [[ 9.99825277e-01 1.34557928e-02 1.29752592e-02 2.32033547e+02] [-1.34492038e-02 9.99909378e-01 -5.94943797e-04 -1.04051583e+01] [-1.29820888e-02 4.20332942e-04 9.99915641e-01 -4.14074927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964391418 meters 0.024446555541873805 Centerline is valid? [True, True] Translation: X:232.07, Y:-10.41, Z:-4.14 [[ 9.99850286e-01 1.15629340e-02 1.28726421e-02 2.32065886e+02] [-1.15563058e-02 9.99933050e-01 -5.89170070e-04 -1.04097698e+01] [-1.28785928e-02 4.40321674e-04 9.99916971e-01 -4.14177274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994391418 meters 0.026712129538792786 Centerline is valid? [True, True] Translation: X:232.10, Y:-10.42, Z:-4.14 [[ 9.99880627e-01 8.81182048e-03 1.26918398e-02 2.32096247e+02] [-8.80510269e-03 9.99961063e-01 -5.85082986e-04 -1.04170822e+01] [-1.26965013e-02 4.73260191e-04 9.99919284e-01 -4.14323613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024391418 meters 0.027463299031977053 Centerline is valid? [True, True] Translation: X:232.13, Y:-10.42, Z:-4.14 [[ 9.99885902e-01 8.19859208e-03 1.26872033e-02 2.32128475e+02] [-8.19181675e-03 9.99966275e-01 -5.85904646e-04 -1.04207981e+01] [-1.26915790e-02 4.81906551e-04 9.99919343e-01 -4.14405775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054391418 meters 0.026432981553846907 Centerline is valid? [True, True] Translation: X:232.16, Y:-10.42, Z:-4.14 [[ 9.99897802e-01 7.04571182e-03 1.24395945e-02 2.32160605e+02] [-7.03906923e-03 9.99975059e-01 -5.77690625e-04 -1.04220545e+01] [-1.24433545e-02 4.90068419e-04 9.99922458e-01 -4.14457348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084391418 meters 0.026750560214690404 Centerline is valid? [True, True] Translation: X:232.19, Y:-10.42, Z:-4.15 [[ 9.99902590e-01 6.95860348e-03 1.20990690e-02 2.32192955e+02] [-6.95227358e-03 9.99975673e-01 -5.65153396e-04 -1.04243791e+01] [-1.21027073e-02 4.80982307e-04 9.99926644e-01 -4.14547941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114391418 meters 0.02759453601968577 Centerline is valid? [True, True] Translation: X:232.23, Y:-10.43, Z:-4.15 [[ 9.99907764e-01 7.09038202e-03 1.15840177e-02 2.32225046e+02] [-7.08455451e-03 9.99974756e-01 -5.44022788e-04 -1.04279270e+01] [-1.15875826e-02 4.61905005e-04 9.99932755e-01 -4.14652309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144391418 meters 0.027245754842066965 Centerline is valid? [True, True] Translation: X:232.26, Y:-10.43, Z:-4.15 [[ 9.99920583e-01 6.73902899e-03 1.06495619e-02 2.32257576e+02] [-6.73405316e-03 9.99977199e-01 -5.03022684e-04 -1.04297552e+01] [-1.06527089e-02 4.31268020e-04 9.99943165e-01 -4.14830621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174391418 meters 0.02733701792436389 Centerline is valid? [True, True] Translation: X:232.29, Y:-10.43, Z:-4.15 [[ 9.99923857e-01 6.70614091e-03 1.03589774e-02 2.32289469e+02] [-6.70140242e-03 9.99977424e-01 -4.92072306e-04 -1.04316549e+01] [-1.03620435e-02 4.22615162e-04 9.99946223e-01 -4.14914192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204391418 meters 0.027223660284351636 Centerline is valid? [True, True] Translation: X:232.32, Y:-10.43, Z:-4.15 [[ 9.99934395e-01 6.13891212e-03 9.67050100e-03 2.32321189e+02] [-6.13473171e-03 9.99981076e-01 -4.61890114e-04 -1.04322456e+01] [-9.67315349e-03 4.02533882e-04 9.99953133e-01 -4.14963158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234391418 meters 0.029782841942137477 Centerline is valid? [True, True] Translation: X:232.35, Y:-10.44, Z:-4.15 [[ 9.99939133e-01 5.77678586e-03 9.39989753e-03 2.32352077e+02] [-5.77278929e-03 9.99983235e-01 -4.52249623e-04 -1.04367806e+01] [-9.40235249e-03 3.97958469e-04 9.99955718e-01 -4.15091160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264391418 meters 0.030080890091987035 Centerline is valid? [True, True] Translation: X:232.38, Y:-10.44, Z:-4.15 [[ 9.99943026e-01 5.38562772e-03 9.21624315e-03 2.32383791e+02] [-5.38175622e-03 9.99985419e-01 -4.44823309e-04 -1.04383675e+01] [-9.21850442e-03 3.95198392e-04 9.99957431e-01 -4.15139669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.294391418 meters 0.02839316129449351 Centerline is valid? [True, True] Translation: X:232.42, Y:-10.44, Z:-4.15 [[ 9.99941455e-01 5.20660836e-03 9.48562389e-03 2.32415732e+02] [-5.20249585e-03 9.99986362e-01 -4.58175195e-04 -1.04372662e+01] [-9.48788007e-03 4.08799453e-04 9.99954905e-01 -4.15122053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.324391418 meters 0.03239730900768713 Centerline is valid? [True, True] Translation: X:232.45, Y:-10.44, Z:-4.15 [[ 9.99955100e-01 3.61470802e-03 8.75973022e-03 2.32446917e+02] [-3.61111998e-03 9.99993389e-01 -4.25388231e-04 -1.04429148e+01] [-8.76120997e-03 3.93736694e-04 9.99961542e-01 -4.15246830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.354391418 meters 0.030224542889885277 Centerline is valid? [True, True] Translation: X:232.48, Y:-10.44, Z:-4.15 [[ 9.99955684e-01 1.26245609e-03 9.32930537e-03 2.32478912e+02] [-1.25825930e-03 9.99999105e-01 -4.55705965e-04 -1.04395967e+01] [-9.32987232e-03 4.43947085e-04 9.99956377e-01 -4.15119602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.384391418 meters 0.0330818353086602 Centerline is valid? [True, True] Translation: X:232.51, Y:-10.44, Z:-4.15 [[ 9.99950039e-01 4.30707278e-04 9.98670275e-03 2.32509709e+02] [-4.25826968e-04 9.99999789e-01 -4.90802006e-04 -1.04442315e+01] [-9.98691204e-03 4.86524877e-04 9.99950011e-01 -4.15128440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414391418 meters 0.030724835968654475 Centerline is valid? [True, True] Translation: X:232.54, Y:-10.44, Z:-4.15 [[ 9.99946930e-01 -3.15698004e-04 1.02974559e-02 2.32542193e+02] [ 3.20953456e-04 9.99999819e-01 -5.08715597e-04 -1.04414444e+01] [-1.02972934e-02 5.11993603e-04 9.99946850e-01 -4.15076678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444391418 meters 0.03480607424185429 Centerline is valid? [True, True] Translation: X:232.57, Y:-10.45, Z:-4.15 [[ 9.99942561e-01 -6.05671768e-04 1.07008619e-02 2.32573362e+02] [ 6.11400444e-04 9.99999672e-01 -5.32083999e-04 -1.04477684e+01] [-1.07005361e-02 5.38595949e-04 9.99942603e-01 -4.15146737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474391418 meters 0.03333094781866516 Centerline is valid? [True, True] Translation: X:232.61, Y:-10.44, Z:-4.15 [[ 9.99943273e-01 -1.25230472e-03 1.05774894e-02 2.32605974e+02] [ 1.25796595e-03 9.99999069e-01 -5.28579204e-04 -1.04448833e+01] [-1.05768177e-02 5.41855341e-04 9.99943917e-01 -4.15158559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504391418 meters 0.03356451439069086 Centerline is valid? [True, True] Translation: X:232.64, Y:-10.45, Z:-4.15 [[ 9.99938856e-01 -1.28514050e-03 1.09833142e-02 2.32638948e+02] [ 1.29129445e-03 9.99999013e-01 -5.53226150e-04 -1.04456920e+01] [-1.09825924e-02 5.67375016e-04 9.99939529e-01 -4.15180050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534391418 meters 0.03356451439069086 Centerline is valid? [True, True] Translation: X:232.67, Y:-10.45, Z:-4.15 [[ 9.99939003e-01 -1.16566945e-03 1.09832479e-02 2.32671478e+02] [ 1.17183057e-03 9.99999160e-01 -5.54537332e-04 -1.04474555e+01] [-1.09825923e-02 5.67374013e-04 9.99939529e-01 -4.15238730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564391418 meters 0.032235156686763154 Centerline is valid? [True, True] Translation: X:232.70, Y:-10.45, Z:-4.15 [[ 9.99937631e-01 -1.34223743e-03 1.10875252e-02 2.32703869e+02] [ 1.34854480e-03 9.99998933e-01 -5.61413804e-04 -1.04453941e+01] [-1.10867598e-02 5.76330813e-04 9.99938374e-01 -4.15284299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59439141800001 meters 0.03303960056685283 Centerline is valid? [True, True] Translation: X:232.74, Y:-10.45, Z:-4.15 [[ 9.99938695e-01 -9.45107375e-04 1.10323486e-02 2.32735480e+02] [ 9.51339491e-04 9.99999391e-01 -5.59660524e-04 -1.04453487e+01] [-1.10318130e-02 5.70121724e-04 9.99938985e-01 -4.15316042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62439141800002 meters 0.03169396640399054 Centerline is valid? [True, True] Translation: X:232.77, Y:-10.44, Z:-4.15 [[ 9.99941558e-01 -3.80925128e-04 1.08044150e-02 2.32768109e+02] [ 3.86874756e-04 9.99999775e-01 -5.48581694e-04 -1.04419557e+01] [-1.08042036e-02 5.52729589e-04 9.99941480e-01 -4.15358505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654391418 meters 0.03292972721587461 Centerline is valid? [True, True] Translation: X:232.80, Y:-10.44, Z:-4.15 [[ 9.99942588e-01 -1.74096426e-04 1.07140693e-02 2.32799580e+02] [ 1.79945992e-04 9.99999835e-01 -5.45008931e-04 -1.04434148e+01] [-1.07139727e-02 5.46905595e-04 9.99942454e-01 -4.15453618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684391418 meters 0.03079934704703618 Centerline is valid? [True, True] Translation: X:232.83, Y:-10.44, Z:-4.15 [[ 9.99939296e-01 9.51863441e-04 1.09771523e-02 2.32832546e+02] [-9.45786320e-04 9.99999397e-01 -5.58793358e-04 -1.04388969e+01] [-1.09776776e-02 5.48377396e-04 9.99939593e-01 -4.15426506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714391418 meters 0.03164741383824851 Centerline is valid? [True, True] Translation: X:232.86, Y:-10.44, Z:-4.16 [[ 9.99941013e-01 1.19892250e-03 1.07950066e-02 2.32863971e+02] [-1.19304495e-03 9.99999137e-01 -5.50892892e-04 -1.04400704e+01] [-1.07956578e-02 5.37981469e-04 9.99941580e-01 -4.15512408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744391418 meters 0.029993125885943012 Centerline is valid? [True, True] Translation: X:232.90, Y:-10.44, Z:-4.16 [[ 9.99939101e-01 1.66329007e-03 1.09099459e-02 2.32896306e+02] [-1.65730855e-03 9.99998471e-01 -5.57281235e-04 -1.04379140e+01] [-1.09108562e-02 5.39166151e-04 9.99940329e-01 -4.15544729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774391418 meters 0.03046941521451835 Centerline is valid? [True, True] Translation: X:232.93, Y:-10.44, Z:-4.16 [[ 9.99941775e-01 2.00747118e-03 1.06026876e-02 2.32929380e+02] [-2.00185151e-03 9.99997850e-01 -5.40608916e-04 -1.04386920e+01] [-1.06037500e-02 5.19352433e-04 9.99943644e-01 -4.15639666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804391418 meters 0.03186396997908003 Centerline is valid? [True, True] Translation: X:232.96, Y:-10.44, Z:-4.16 [[ 9.99949604e-01 1.79102029e-03 9.87833668e-03 2.32960384e+02] [-1.78608996e-03 9.99998276e-01 -5.07905213e-04 -1.04390263e+01] [-9.87922932e-03 4.90236018e-04 9.99951079e-01 -4.15875245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834391418 meters 0.03198710502290847 Centerline is valid? [True, True] Translation: X:232.99, Y:-10.44, Z:-4.16 [[ 9.99952875e-01 1.76339863e-03 9.54666268e-03 2.32992310e+02] [-1.75878947e-03 9.99998333e-01 -4.91177113e-04 -1.04396411e+01] [-9.54751291e-03 4.74363397e-04 9.99954309e-01 -4.15936302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864391418 meters 0.031684609367113904 Centerline is valid? [True, True] Translation: X:233.02, Y:-10.44, Z:-4.16 [[ 9.99952383e-01 1.56836447e-03 9.63181482e-03 2.33024735e+02] [-1.56363734e-03 9.99998653e-01 -4.98293903e-04 -1.04395830e+01] [-9.63258336e-03 4.83209510e-04 9.99953489e-01 -4.16010864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894391418 meters 0.03459849227508486 Centerline is valid? [True, True] Translation: X:233.06, Y:-10.44, Z:-4.16 [[ 9.99947268e-01 6.59493412e-04 1.02482623e-02 2.33055841e+02] [-6.54059275e-04 9.99999644e-01 -5.33592094e-04 -1.04419162e+01] [-1.02486106e-02 5.26860985e-04 9.99947343e-01 -4.16035010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924391418 meters 0.03326754961201033 Centerline is valid? [True, True] Translation: X:233.09, Y:-10.44, Z:-4.16 [[ 9.99945155e-01 2.83437892e-04 1.04693239e-02 2.33087845e+02] [-2.77718263e-04 9.99999811e-01 -5.47772497e-04 -1.04399046e+01] [-1.04694772e-02 5.44834932e-04 9.99945045e-01 -4.16001865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954391418 meters 0.03353975653035578 Centerline is valid? [True, True] Translation: X:233.12, Y:-10.44, Z:-4.16 [[ 9.99942582e-01 -4.08101639e-04 1.07082417e-02 2.33119735e+02] [ 4.14168453e-04 9.99999755e-01 -5.64344134e-04 -1.04386963e+01] [-1.07080087e-02 5.68746746e-04 9.99942506e-01 -4.16017388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984391418 meters 0.03374540117355731 Centerline is valid? [True, True] Translation: X:233.15, Y:-10.44, Z:-4.16 [[ 9.99944744e-01 -6.40329608e-04 1.04928121e-02 2.33151634e+02] [ 6.46173393e-04 9.99999638e-01 -5.53551519e-04 -1.04389281e+01] [-1.04924539e-02 5.60301108e-04 9.99944796e-01 -4.16074312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014391418 meters 0.03415016951961627 Centerline is valid? [True, True] Translation: X:233.18, Y:-10.44, Z:-4.16 [[ 9.99942943e-01 -8.20626356e-04 1.06506802e-02 2.33184254e+02] [ 8.26706030e-04 9.99999498e-01 -5.66434859e-04 -1.04398117e+01] [-1.06502100e-02 5.75207522e-04 9.99943119e-01 -4.16110642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.044391418 meters 0.033502245197349484 Centerline is valid? [True, True] Translation: X:233.22, Y:-10.44, Z:-4.16 [[ 9.99934876e-01 -8.63917506e-04 1.13797029e-02 2.33217309e+02] [ 8.70869162e-04 9.99999437e-01 -6.05940976e-04 -1.04374351e+01] [-1.13791730e-02 6.15811747e-04 9.99935065e-01 -4.16119026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.074391418 meters 0.03354576878375417 Centerline is valid? [True, True] Translation: X:233.25, Y:-10.44, Z:-4.16 [[ 9.99928020e-01 -6.98197415e-04 1.19777480e-02 2.33249718e+02] [ 7.05909089e-04 9.99999546e-01 -6.39617667e-04 -1.04373522e+01] [-1.19772960e-02 6.48026829e-04 9.99928060e-01 -4.16136490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.104391418 meters 0.03409847554698552 Centerline is valid? [True, True] Translation: X:233.28, Y:-10.44, Z:-4.16 [[ 9.99928836e-01 7.14898578e-04 1.19084502e-02 2.33280696e+02] [-7.07370195e-04 9.99999547e-01 -6.36388291e-04 -1.04361312e+01] [-1.19088998e-02 6.27919321e-04 9.99928889e-01 -4.16121384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.134391418 meters 0.03457108918834107 Centerline is valid? [True, True] Translation: X:233.31, Y:-10.44, Z:-4.16 [[ 9.99925896e-01 1.05994454e-03 1.21276452e-02 2.33312144e+02] [-1.05212999e-03 9.99999235e-01 -6.50720678e-04 -1.04363221e+01] [-1.21283257e-02 6.37912598e-04 9.99926246e-01 -4.16188700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164391418 meters 0.03423906306560404 Centerline is valid? [True, True] Translation: X:233.34, Y:-10.44, Z:-4.16 [[ 9.99933928e-01 1.54558549e-03 1.13908532e-02 2.33344226e+02] [-1.53871761e-03 9.99998629e-01 -6.11668812e-04 -1.04361038e+01] [-1.13917829e-02 5.94101092e-04 9.99934935e-01 -4.16280758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194391418 meters 0.033784172394617486 Centerline is valid? [True, True] Translation: X:233.38, Y:-10.44, Z:-4.16 [[ 9.99937502e-01 2.04383973e-03 1.09915718e-02 2.33376110e+02] [-2.03746593e-03 9.99997750e-01 -5.91047212e-04 -1.04359815e+01] [-1.09927550e-02 5.68615320e-04 9.99939416e-01 -4.16376804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224391418 meters 0.033986012191380706 Centerline is valid? [True, True] Translation: X:233.41, Y:-10.43, Z:-4.17 [[ 9.99951843e-01 1.58401749e-03 9.68517048e-03 2.33408309e+02] [-1.57905749e-03 9.99998618e-01 -5.19748384e-04 -1.04349886e+01] [-9.68598039e-03 5.04429914e-04 9.99952963e-01 -4.16548327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254391418 meters 0.03452775315373908 Centerline is valid? [True, True] Translation: X:233.44, Y:-10.44, Z:-4.17 [[ 9.99957750e-01 1.21369149e-03 9.11185218e-03 2.33440488e+02] [-1.20926561e-03 9.99999148e-01 -4.91221742e-04 -1.04364394e+01] [-9.11244061e-03 4.80182339e-04 9.99958366e-01 -4.16675966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284391418 meters 0.03412848355350042 Centerline is valid? [True, True] Translation: X:233.47, Y:-10.44, Z:-4.17 [[ 9.99964301e-01 1.09323362e-03 8.37868323e-03 2.33473129e+02] [-1.08947126e-03 9.99999304e-01 -4.53590192e-04 -1.04369364e+01] [-8.37917327e-03 4.44445665e-04 9.99964795e-01 -4.16803399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314391418 meters 0.036700843954915414 Centerline is valid? [True, True] Translation: X:233.50, Y:-10.44, Z:-4.17 [[ 9.99971937e-01 3.75018587e-04 7.48229704e-03 2.33503651e+02] [-3.71975505e-04 9.99999848e-01 -4.08091659e-04 -1.04402933e+01] [-7.48244894e-03 4.05296975e-04 9.99971924e-01 -4.16999020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34439141800001 meters 0.03753527385913592 Centerline is valid? [True, True] Translation: X:233.54, Y:-10.44, Z:-4.17 [[ 9.99975399e-01 3.51239164e-04 7.00558452e-03 2.33535016e+02] [-3.48565965e-04 9.99999866e-01 -3.82798448e-04 -1.04420144e+01] [-7.00571803e-03 3.80347122e-04 9.99975387e-01 -4.17107831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37439141800002 meters 0.03335002748575979 Centerline is valid? [True, True] Translation: X:233.57, Y:-10.44, Z:-4.17 [[ 9.99974582e-01 2.01482795e-03 6.83926761e-03 2.33567347e+02] [-2.01230732e-03 9.99997905e-01 -3.75413833e-04 -1.04357416e+01] [-6.84000968e-03 3.61641583e-04 9.99976541e-01 -4.17111178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters 0.032361643346530966 Centerline is valid? [True, True] Translation: X:233.60, Y:-10.43, Z:-4.17 [[ 9.99966953e-01 3.82945521e-03 7.17136355e-03 2.33599306e+02] [-3.82672489e-03 9.99992600e-01 -3.94408355e-04 -1.04348896e+01] [-7.17282085e-03 3.66952485e-04 9.99974208e-01 -4.17141863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434391418 meters 0.03138069838242467 Centerline is valid? [True, True] Translation: X:233.63, Y:-10.43, Z:-4.17 [[ 9.99953715e-01 5.92007962e-03 7.58423593e-03 2.33631302e+02] [-5.91708051e-03 9.99982407e-01 -4.17817285e-04 -1.04335326e+01] [-7.58657601e-03 3.72921411e-04 9.99971152e-01 -4.17166194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464391418 meters 0.028982940714673305 Centerline is valid? [True, True] Translation: X:233.66, Y:-10.43, Z:-4.17 [[ 9.99903912e-01 1.13236489e-02 7.99637562e-03 2.33662815e+02] [-1.13204798e-02 9.99935824e-01 -4.41470540e-04 -1.04280109e+01] [-8.00086150e-03 3.50905311e-04 9.99967931e-01 -4.17174119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494391418 meters 0.027690526047741925 Centerline is valid? [True, True] Translation: X:233.69, Y:-10.43, Z:-4.17 [[ 9.99857395e-01 1.46753213e-02 8.35615747e-03 2.33693354e+02] [-1.46719743e-02 9.99892254e-01 -4.61707991e-04 -1.04257768e+01] [-8.36203285e-03 3.39040821e-04 9.99964980e-01 -4.17177344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524391418 meters 0.023552306923791518 Centerline is valid? [True, True] Translation: X:233.72, Y:-10.42, Z:-4.17 [[ 9.99733278e-01 2.13907928e-02 8.70668604e-03 2.33724074e+02] [-2.13874118e-02 9.99771147e-01 -4.81257618e-04 -1.04173860e+01] [-8.71498797e-03 2.94915776e-04 9.99961980e-01 -4.17073668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554391418 meters 0.02109310001732531 Centerline is valid? [True, True] Translation: X:233.75, Y:-10.41, Z:-4.17 [[ 9.99562018e-01 2.79529639e-02 9.71622043e-03 2.33753215e+02] [-2.79490636e-02 9.99609204e-01 -5.36995936e-04 -1.04114779e+01] [-9.72743400e-03 2.65201479e-04 9.99952652e-01 -4.17070525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584391418 meters 0.01969339263408359 Centerline is valid? [True, True] Translation: X:233.78, Y:-10.41, Z:-4.17 [[ 9.99466762e-01 3.10857530e-02 9.99335175e-03 2.33782155e+02] [-3.10817846e-02 9.99516692e-01 -5.52206265e-04 -1.04090611e+01] [-1.00056876e-02 2.41300601e-04 9.99949913e-01 -4.17096071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614391418 meters 0.01862215514753145 Centerline is valid? [True, True] Translation: X:233.81, Y:-10.41, Z:-4.17 [[ 9.99388868e-01 3.35711115e-02 9.74022205e-03 2.33811318e+02] [-3.35674667e-02 9.99436309e-01 -5.37489741e-04 -1.04067452e+01] [-9.75277570e-03 2.10206684e-04 9.99952418e-01 -4.17135695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644391418 meters 0.017478091504410743 Centerline is valid? [True, True] Translation: X:233.84, Y:-10.40, Z:-4.17 [[ 9.99309188e-01 3.58902021e-02 9.64570417e-03 2.33840043e+02] [-3.58867428e-02 9.99355722e-01 -5.31534630e-04 -1.04046055e+01] [-9.65856654e-03 1.85014536e-04 9.99953338e-01 -4.17153162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674391418 meters 0.016451643082296654 Centerline is valid? [True, True] Translation: X:233.87, Y:-10.40, Z:-4.17 [[ 9.99170144e-01 3.95558712e-02 9.71371630e-03 2.33868403e+02] [-3.95525422e-02 9.99217349e-01 -5.34654087e-04 -1.04012471e+01] [-9.72726256e-03 1.50008227e-04 9.99952678e-01 -4.17280971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704391418 meters 0.016117248231988218 Centerline is valid? [True, True] Translation: X:233.90, Y:-10.40, Z:-4.17 [[ 9.99119149e-01 4.08701812e-02 9.51597461e-03 2.33896511e+02] [-4.08670547e-02 9.99164456e-01 -5.22854684e-04 -1.04012397e+01] [-9.52939276e-03 1.33504273e-04 9.99954585e-01 -4.17372147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734391418 meters 0.01575106967398615 Centerline is valid? [True, True] Translation: X:233.92, Y:-10.40, Z:-4.17 [[ 9.99079658e-01 4.18396079e-02 9.44900888e-03 2.33924894e+02] [-4.18365788e-02 9.99124333e-01 -5.18098585e-04 -1.04009361e+01] [-9.46241173e-03 1.22307553e-04 9.99955223e-01 -4.17426681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764391418 meters 0.015265647518014538 Centerline is valid? [True, True] Translation: X:233.95, Y:-10.40, Z:-4.17 [[ 9.99059787e-01 4.23661223e-02 9.20079677e-03 2.33954028e+02] [-4.23632787e-02 9.99102146e-01 -5.03823096e-04 -1.04006056e+01] [-9.21388084e-03 1.13573477e-04 9.99957545e-01 -4.17442745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.794391418 meters 0.01531216831146138 Centerline is valid? [True, True] Translation: X:233.98, Y:-10.40, Z:-4.17 [[ 9.99055267e-01 4.22878792e-02 1.00153824e-02 2.33982811e+02] [-4.22845152e-02 9.99105460e-01 -5.47488808e-04 -1.04006146e+01] [-1.00295754e-02 1.23475988e-04 9.99949695e-01 -4.17446270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.824391418 meters 0.015600863972751055 Centerline is valid? [True, True] Translation: X:234.01, Y:-10.40, Z:-4.18 [[ 9.99077541e-01 4.16317753e-02 1.05291604e-02 2.34009515e+02] [-4.16280222e-02 9.99133012e-01 -5.75459078e-04 -1.04025473e+01] [-1.05439892e-02 1.36620117e-04 9.99944401e-01 -4.17507147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.854391418 meters 0.015911157496749064 Centerline is valid? [True, True] Translation: X:234.04, Y:-10.41, Z:-4.18 [[ 9.99110712e-01 4.06771529e-02 1.10974840e-02 2.34037476e+02] [-4.06729574e-02 9.99172331e-01 -6.03586588e-04 -1.04051718e+01] [-1.11128511e-02 1.51682331e-04 9.99938239e-01 -4.17525449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.884391418 meters 0.016692584021316178 Centerline is valid? [True, True] Translation: X:234.07, Y:-10.41, Z:-4.18 [[ 9.99196443e-01 3.81836529e-02 1.21851473e-02 2.34066280e+02] [-3.81784274e-02 9.99270719e-01 -6.61253177e-04 -1.04090571e+01] [-1.22015099e-02 1.95512062e-04 9.99925540e-01 -4.17538699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914391418 meters 0.01708037703860925 Centerline is valid? [True, True] Translation: X:234.10, Y:-10.41, Z:-4.18 [[ 9.99254654e-01 3.65776660e-02 1.23373973e-02 2.34095188e+02] [-3.65721987e-02 9.99330790e-01 -6.68545284e-04 -1.04117756e+01] [-1.23535948e-02 2.16841240e-04 9.99923668e-01 -4.17542116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944391418 meters 0.01846472176674587 Centerline is valid? [True, True] Translation: X:234.12, Y:-10.42, Z:-4.18 [[ 9.99377548e-01 3.31520113e-02 1.20607161e-02 2.34123361e+02] [-3.31465482e-02 9.99450289e-01 -6.52632575e-04 -1.04172712e+01] [-1.20757223e-02 2.52455235e-04 9.99927054e-01 -4.17700478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974391418 meters 0.018535944252018512 Centerline is valid? [True, True] Translation: X:234.15, Y:-10.42, Z:-4.18 [[ 9.99443737e-01 3.12538687e-02 1.16366986e-02 2.34151771e+02] [-3.12486642e-02 9.99511443e-01 -6.28847955e-04 -1.04199237e+01] [-1.16506673e-02 2.64866864e-04 9.99932094e-01 -4.17804417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004391418 meters 0.02038383398067791 Centerline is valid? [True, True] Translation: X:234.18, Y:-10.43, Z:-4.18 [[ 9.99517656e-01 2.88903235e-02 1.13931514e-02 2.34179504e+02] [-2.88851898e-02 9.99582547e-01 -6.14926829e-04 -1.04255724e+01] [-1.14061607e-02 2.85536882e-04 9.99934907e-01 -4.17967336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034391418 meters 0.02206572724580156 Centerline is valid? [True, True] Translation: X:234.21, Y:-10.43, Z:-4.18 [[ 9.99655781e-01 2.41358580e-02 1.02849529e-02 2.34208191e+02] [-2.41314351e-02 9.99708641e-01 -5.53942622e-04 -1.04330332e+01] [-1.02953261e-02 3.05561271e-04 9.99946955e-01 -4.18228351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064391418 meters 0.02499231031283448 Centerline is valid? [True, True] Translation: X:234.24, Y:-10.44, Z:-4.18 [[ 9.99777768e-01 1.87169243e-02 9.70009880e-03 2.34237974e+02] [-1.87127434e-02 9.99824765e-01 -5.21603848e-04 -1.04424354e+01] [-9.70816182e-03 3.39972471e-04 9.99952817e-01 -4.18367638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09439141800001 meters 0.02612079073067151 Centerline is valid? [True, True] Translation: X:234.27, Y:-10.45, Z:-4.18 [[ 9.99822949e-01 1.59556975e-02 9.97427904e-03 2.34266969e+02] [-1.59511386e-02 9.99872629e-01 -5.36459439e-04 -1.04470495e+01] [-9.98156818e-03 3.77263351e-04 9.99950112e-01 -4.18400838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12439141800002 meters 0.025518630891515643 Centerline is valid? [True, True] Translation: X:234.30, Y:-10.45, Z:-4.18 [[ 9.99859373e-01 1.31669239e-02 1.03858733e-02 2.34296552e+02] [-1.31618389e-02 9.99913224e-01 -5.57804425e-04 -1.04488440e+01] [-1.03923166e-02 4.21028791e-04 9.99945910e-01 -4.18379741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154391418 meters 0.027909337587369614 Centerline is valid? [True, True] Translation: X:234.33, Y:-10.46, Z:-4.18 [[ 9.99884970e-01 1.09079865e-02 1.05385875e-02 2.34326870e+02] [-1.09026352e-02 9.99940405e-01 -5.65101151e-04 -1.04555910e+01] [-1.05441236e-02 4.50137773e-04 9.99944308e-01 -4.18412899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184391418 meters 0.03034728352620838 Centerline is valid? [True, True] Translation: X:234.36, Y:-10.46, Z:-4.18 [[ 9.99906521e-01 6.66098821e-03 1.19407466e-02 2.34357287e+02] [-6.65381234e-03 9.99977658e-01 -6.40583618e-04 -1.04632372e+01] [-1.19447467e-02 5.61072249e-04 9.99928502e-01 -4.18366325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214391418 meters 0.03235973544170399 Centerline is valid? [True, True] Translation: X:234.39, Y:-10.47, Z:-4.18 [[ 9.99912770e-01 5.30496759e-03 1.20958448e-02 2.34388322e+02] [-5.29751911e-03 9.99985758e-01 -6.47745411e-04 -1.04692864e+01] [-1.20991088e-02 5.83610939e-04 9.99926633e-01 -4.18381715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244391418 meters 0.0311606138276962 Centerline is valid? [True, True] Translation: X:234.42, Y:-10.47, Z:-4.18 [[ 9.99904910e-01 4.17270830e-03 1.31437680e-02 2.34420498e+02] [-4.16376745e-03 9.99991081e-01 -7.07526508e-04 -1.04707912e+01] [-1.31466031e-02 6.52731636e-04 9.99913367e-01 -4.18358096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274391418 meters 0.03531857078310738 Centerline is valid? [True, True] Translation: X:234.45, Y:-10.48, Z:-4.18 [[ 9.99900144e-01 2.42011076e-03 1.39228026e-02 2.34451409e+02] [-2.40984837e-03 9.99996812e-01 -7.53822055e-04 -1.04807654e+01] [-1.39245825e-02 7.20194938e-04 9.99902789e-01 -4.18379306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304391418 meters 0.032438114492649904 Centerline is valid? [True, True] Translation: X:234.48, Y:-10.48, Z:-4.18 [[ 9.99893824e-01 1.97517244e-03 1.44374123e-02 2.34484232e+02] [-1.96403513e-03 9.99997763e-01 -7.85558314e-04 -1.04797311e+01] [-1.44389316e-02 7.57119322e-04 9.99895467e-01 -4.18369293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334391418 meters 0.034923486964886986 Centerline is valid? [True, True] Translation: X:234.51, Y:-10.49, Z:-4.18 [[ 9.99894661e-01 1.19277138e-03 1.44652448e-02 2.34514836e+02] [-1.18144837e-03 9.99998989e-01 -7.91293283e-04 -1.04871571e+01] [-1.44661740e-02 7.74119990e-04 9.99895060e-01 -4.18432140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364391418 meters 0.03566098664466303 Centerline is valid? [True, True] Translation: X:234.55, Y:-10.49, Z:-4.19 [[ 9.99903372e-01 9.65185795e-04 1.38677592e-02 2.34546770e+02] [-9.54710013e-04 9.99999254e-01 -7.62005788e-04 -1.04910823e+01] [-1.38684843e-02 7.48692469e-04 9.99903548e-01 -4.18530167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394391418 meters 0.03285470598256098 Centerline is valid? [True, True] Translation: X:234.58, Y:-10.49, Z:-4.19 [[ 9.99906691e-01 1.22194959e-03 1.36057447e-02 2.34579809e+02] [-1.21184309e-03 9.99998984e-01 -7.51030617e-04 -1.04904994e+01] [-1.36066486e-02 7.34472511e-04 9.99907156e-01 -4.18589585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424391418 meters 0.03285470598256098 Centerline is valid? [True, True] Translation: X:234.61, Y:-10.49, Z:-4.19 [[ 9.99906240e-01 1.55002272e-03 1.36054964e-02 2.34612418e+02] [-1.53988589e-03 9.99998529e-01 -7.55498378e-04 -1.04924517e+01] [-1.36066474e-02 7.34476630e-04 9.99907156e-01 -4.18648292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454391418 meters 0.03686601126836919 Centerline is valid? [True, True] Translation: X:234.64, Y:-10.50, Z:-4.19 [[ 9.99925741e-01 1.66833428e-03 1.20718206e-02 2.34642933e+02] [-1.66031821e-03 9.99998395e-01 -6.74022578e-04 -1.05014553e+01] [-1.20729257e-02 6.53929463e-04 9.99926906e-01 -4.18927981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484391418 meters 0.03510570555168714 Centerline is valid? [True, True] Translation: X:234.67, Y:-10.50, Z:-4.19 [[ 9.99929135e-01 2.66938524e-03 1.16017182e-02 2.34674975e+02] [-2.66200132e-03 9.99996244e-01 -6.51845973e-04 -1.05022597e+01] [-1.16034146e-02 6.20915991e-04 9.99932485e-01 -4.19021635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514391418 meters 0.03444259891758949 Centerline is valid? [True, True] Translation: X:234.70, Y:-10.50, Z:-4.19 [[ 9.99929336e-01 5.06276658e-03 1.07560300e-02 2.34704894e+02] [-5.05654541e-03 9.99987032e-01 -6.05505438e-04 -1.05047938e+01] [-1.07589561e-02 5.51074296e-04 9.99941969e-01 -4.19171231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.544391418 meters 0.030552768210148715 Centerline is valid? [True, True] Translation: X:234.74, Y:-10.50, Z:-4.19 [[ 9.99915098e-01 7.23661402e-03 1.08364573e-02 2.34736748e+02] [-7.23042608e-03 9.99973674e-01 -6.10098178e-04 -1.05016443e+01] [-1.08405871e-02 5.31694176e-04 9.99941098e-01 -4.19157438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.574391418 meters 0.03212660024473779 Centerline is valid? [True, True] Translation: X:234.77, Y:-10.51, Z:-4.19 [[ 9.99887369e-01 9.87775692e-03 1.12995098e-02 2.34767273e+02] [-9.87119144e-03 9.99951076e-01 -6.36667153e-04 -1.05056998e+01] [-1.13052458e-02 5.25055820e-04 9.99935956e-01 -4.19195154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.604391418 meters 0.0263915147401514 Centerline is valid? [True, True] Translation: X:234.80, Y:-10.50, Z:-4.19 [[ 9.99782694e-01 1.67688090e-02 1.23843459e-02 2.34798392e+02] [-1.67614402e-02 9.99859273e-01 -6.98570573e-04 -1.04988320e+01] [-1.23943172e-02 4.90839297e-04 9.99923067e-01 -4.19045481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.634391418 meters 0.024058426059815122 Centerline is valid? [True, True] Translation: X:234.83, Y:-10.50, Z:-4.19 [[ 9.99694477e-01 2.08082838e-02 1.33404548e-02 2.34829490e+02] [-2.08000927e-02 9.99783372e-01 -7.52472388e-04 -1.04966113e+01] [-1.33532225e-02 4.74759794e-04 9.99910729e-01 -4.18971953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664391418 meters 0.022202031465351726 Centerline is valid? [True, True] Translation: X:234.86, Y:-10.50, Z:-4.19 [[ 9.99578245e-01 2.52735990e-02 1.43030245e-02 2.34859516e+02] [-2.52646319e-02 9.99680472e-01 -8.07311755e-04 -1.04950405e+01] [-1.43188579e-02 4.45610620e-04 9.99897381e-01 -4.18946130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694391418 meters 0.02090885199665155 Centerline is valid? [True, True] Translation: X:234.89, Y:-10.49, Z:-4.19 [[ 9.99446735e-01 2.96983895e-02 1.49743097e-02 2.34888040e+02] [-2.96890599e-02 9.99558826e-01 -8.45002481e-04 -1.04942677e+01] [-1.49927986e-02 3.99961793e-04 9.99887522e-01 -4.18935714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724391418 meters 0.01735735506724806 Centerline is valid? [True, True] Translation: X:234.92, Y:-10.49, Z:-4.19 [[ 9.99116704e-01 3.88042747e-02 1.61257581e-02 2.34918166e+02] [-3.87946574e-02 9.99246791e-01 -9.08898278e-04 -1.04893660e+01] [-1.61488812e-02 2.82502190e-04 9.99869558e-01 -4.18912170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754391418 meters 0.015922046598238565 Centerline is valid? [True, True] Translation: X:234.95, Y:-10.49, Z:-4.19 [[ 9.98929617e-01 4.34472323e-02 1.58731932e-02 2.34945758e+02] [-4.34385090e-02 9.99055702e-01 -8.94092947e-04 -1.04876873e+01] [-1.58970500e-02 2.03628081e-04 9.99873613e-01 -4.18962567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784391418 meters 0.014531450163418924 Centerline is valid? [True, True] Translation: X:234.97, Y:-10.48, Z:-4.19 [[ 9.98550714e-01 5.15461971e-02 1.54745440e-02 2.34974271e+02] [-5.15389020e-02 9.98670609e-01 -8.70119050e-04 -1.04831693e+01] [-1.54988236e-02 7.13169930e-05 9.99879883e-01 -4.19099632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814391418 meters 0.014270220982236606 Centerline is valid? [True, True] Translation: X:235.00, Y:-10.48, Z:-4.19 [[ 9.98360019e-01 5.52339690e-02 1.50492759e-02 2.35002888e+02] [-5.52275052e-02 9.98473439e-01 -8.45078515e-04 -1.04823692e+01] [-1.50729793e-02 1.25586368e-05 9.99886396e-01 -4.19203251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84439141800001 meters 0.014860898308091456 Centerline is valid? [True, True] Translation: X:235.03, Y:-10.48, Z:-4.19 [[ 9.98018879e-01 6.13276198e-02 1.40442261e-02 2.35031285e+02] [-6.13226065e-02 9.98117687e-01 -7.87729919e-04 -1.04805320e+01] [-1.40661001e-02 -7.50592219e-05 9.99901065e-01 -4.19332634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87439141800002 meters 0.015283388118717196 Centerline is valid? [True, True] Translation: X:235.06, Y:-10.48, Z:-4.19 [[ 9.97868671e-01 6.37533569e-02 1.39149199e-02 2.35059073e+02] [-6.37486895e-02 9.97965680e-01 -7.79167498e-04 -1.04809105e+01] [-1.39362871e-02 -1.09551075e-04 9.99902879e-01 -4.19413886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters 0.0158143363472075 Centerline is valid? [True, True] Translation: X:235.09, Y:-10.48, Z:-4.20 [[ 9.97746936e-01 6.56282204e-02 1.39279390e-02 2.35086727e+02] [-6.56237451e-02 9.97844135e-01 -7.78589737e-04 -1.04817441e+01] [-1.39490097e-02 -1.37167993e-04 9.99902698e-01 -4.19506082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934391418 meters 0.016655364562234872 Centerline is valid? [True, True] Translation: X:235.11, Y:-10.48, Z:-4.20 [[ 9.97601236e-01 6.78922048e-02 1.35063633e-02 2.35114416e+02] [-6.78882174e-02 9.97692649e-01 -7.54022536e-04 -1.04836952e+01] [-1.35263917e-02 -1.64709115e-04 9.99908501e-01 -4.19595772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964391418 meters 0.01680831820878699 Centerline is valid? [True, True] Translation: X:235.14, Y:-10.49, Z:-4.20 [[ 9.97605628e-01 6.77419295e-02 1.39299250e-02 2.35142417e+02] [-6.77377025e-02 9.97702863e-01 -7.75584769e-04 -1.04862755e+01] [-1.39504657e-02 -1.69853387e-04 9.99902673e-01 -4.19640718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994391418 meters 0.016467274097601018 Centerline is valid? [True, True] Translation: X:235.17, Y:-10.49, Z:-4.20 [[ 9.97656931e-01 6.69030530e-02 1.43048902e-02 2.35171107e+02] [-6.68985340e-02 9.97759467e-01 -7.94723769e-04 -1.04897633e+01] [-1.43260091e-02 -1.64114505e-04 9.99897364e-01 -4.19664534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024391418 meters 0.015107151331821597 Centerline is valid? [True, True] Translation: X:235.20, Y:-10.50, Z:-4.20 [[ 9.97874913e-01 6.34698047e-02 1.47391297e-02 2.35199058e+02] [-6.34646485e-02 9.97983752e-01 -8.17772364e-04 -1.04996814e+01] [-1.47613158e-02 -1.19379161e-04 9.99891039e-01 -4.19655641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054391418 meters 0.014989713724533024 Centerline is valid? [True, True] Translation: X:235.23, Y:-10.50, Z:-4.20 [[ 9.98038919e-01 6.07763160e-02 1.49851549e-02 2.35226761e+02] [-6.07706998e-02 9.98151408e-01 -8.30269469e-04 -1.05041965e+01] [-1.50079142e-02 -8.20171060e-05 9.99887372e-01 -4.19786624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084391418 meters 0.0145592999441814 Centerline is valid? [True, True] Translation: X:235.26, Y:-10.51, Z:-4.20 [[ 9.98225534e-01 5.76915326e-02 1.47468603e-02 2.35255186e+02] [-5.76857791e-02 9.98334456e-01 -8.15578978e-04 -1.05114945e+01] [-1.47693508e-02 -3.65523661e-05 9.99890927e-01 -4.19804141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114391418 meters 0.014652759328965625 Centerline is valid? [True, True] Translation: X:235.28, Y:-10.52, Z:-4.20 [[ 9.98580360e-01 5.11533255e-02 1.48526994e-02 2.35282487e+02] [-5.11467822e-02 9.98690810e-01 -8.20316607e-04 -1.05226183e+01] [-1.48752163e-02 5.94842731e-05 9.99889356e-01 -4.19865242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144391418 meters 0.01514910253154955 Centerline is valid? [True, True] Translation: X:235.31, Y:-10.53, Z:-4.20 [[ 9.98723652e-01 4.82246642e-02 1.50149572e-02 2.35310649e+02] [-4.82176693e-02 9.98836509e-01 -8.27738967e-04 -1.05289136e+01] [-1.50374048e-02 1.02696245e-04 9.99886927e-01 -4.19947912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174391418 meters 0.015572553322434072 Centerline is valid? [True, True] Translation: X:235.34, Y:-10.53, Z:-4.20 [[ 9.98854703e-01 4.54742675e-02 1.48786270e-02 2.35339519e+02] [-4.54671108e-02 9.98965500e-01 -8.19089463e-04 -1.05349311e+01] [-1.49004825e-02 1.41663180e-04 9.99888972e-01 -4.19986587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204391418 meters 0.0162866696969176 Centerline is valid? [True, True] Translation: X:235.37, Y:-10.54, Z:-4.20 [[ 9.98960265e-01 4.30015982e-02 1.51410523e-02 2.35367940e+02] [-4.29939208e-02 9.99074987e-01 -8.32353339e-04 -1.05408917e+01] [-1.51628391e-02 1.80514710e-04 9.99885021e-01 -4.20046608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234391418 meters 0.017950709274625262 Centerline is valid? [True, True] Translation: X:235.39, Y:-10.55, Z:-4.20 [[ 9.99125768e-01 3.87707914e-02 1.56373056e-02 2.35394677e+02] [-3.87621031e-02 9.99248099e-01 -8.58429251e-04 -1.05513310e+01] [-1.56588299e-02 2.51543932e-04 9.99877361e-01 -4.20111543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264391418 meters 0.01872030121001103 Centerline is valid? [True, True] Translation: X:235.42, Y:-10.56, Z:-4.20 [[ 9.99185660e-01 3.70245721e-02 1.60374002e-02 2.35422820e+02] [-3.70152335e-02 9.99314315e-01 -8.78848343e-04 -1.05571939e+01] [-1.60589426e-02 2.84504549e-04 9.99871006e-01 -4.20191784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.294391418 meters 0.01939932871983207 Centerline is valid? [True, True] Translation: X:235.45, Y:-10.56, Z:-4.20 [[ 9.99251298e-01 3.53275253e-02 1.57736995e-02 2.35451673e+02] [-3.53182987e-02 9.99375741e-01 -8.63205005e-04 -1.05628897e+01] [-1.57943476e-02 3.05458489e-04 9.99875215e-01 -4.20218941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.324391418 meters 0.020946453172851754 Centerline is valid? [True, True] Translation: X:235.48, Y:-10.57, Z:-4.20 [[ 9.99345047e-01 3.25018939e-02 1.59092557e-02 2.35479392e+02] [-3.24921658e-02 9.99471612e-01 -8.69637672e-04 -1.05717484e+01] [-1.59291143e-02 3.52141925e-04 9.99873062e-01 -4.20336705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.354391418 meters 0.021756081984575737 Centerline is valid? [True, True] Translation: X:235.51, Y:-10.58, Z:-4.20 [[ 9.99384107e-01 3.12780829e-02 1.59087713e-02 2.35508852e+02] [-3.12682024e-02 9.99510652e-01 -8.69489810e-04 -1.05768307e+01] [-1.59281823e-02 3.71515616e-04 9.99873069e-01 -4.20421864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.384391418 meters 0.022479041658002977 Centerline is valid? [True, True] Translation: X:235.54, Y:-10.58, Z:-4.20 [[ 9.99417284e-01 3.01267892e-02 1.60458308e-02 2.35538527e+02] [-3.01165989e-02 9.99546008e-01 -8.76390527e-04 -1.05816962e+01] [-1.60649490e-02 3.92633989e-04 9.99870873e-01 -4.20480268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414391418 meters 0.020578361443917725 Centerline is valid? [True, True] Translation: X:235.57, Y:-10.58, Z:-4.21 [[ 9.99444643e-01 2.91982019e-02 1.60583777e-02 2.35567846e+02] [-2.91878851e-02 9.99573559e-01 -8.76499877e-04 -1.05819402e+01] [-1.60771219e-02 4.07303025e-04 9.99870672e-01 -4.20527652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444391418 meters 0.02108809254455587 Centerline is valid? [True, True] Translation: X:235.60, Y:-10.59, Z:-4.21 [[ 9.99508858e-01 2.71859989e-02 1.55872873e-02 2.35597265e+02] [-2.71760434e-02 9.99630302e-01 -8.50188045e-04 -1.05884551e+01] [-1.56046379e-02 4.26169685e-04 9.99878149e-01 -4.20622415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474391418 meters 0.021678629547998044 Centerline is valid? [True, True] Translation: X:235.63, Y:-10.59, Z:-4.21 [[ 9.99529567e-01 2.65260404e-02 1.53952333e-02 2.35626425e+02] [-2.65162623e-02 9.99648030e-01 -8.38952391e-04 -1.05934876e+01] [-1.54120687e-02 4.30333677e-04 9.99881134e-01 -4.20735893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504391418 meters 0.022607290116016476 Centerline is valid? [True, True] Translation: X:235.66, Y:-10.60, Z:-4.21 [[ 9.99582079e-01 2.46122232e-02 1.51626238e-02 2.35656509e+02] [-2.46025136e-02 9.99696971e-01 -8.26586551e-04 -1.06003378e+01] [-1.51783733e-02 4.53202444e-04 9.99884699e-01 -4.20866368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534391418 meters 0.023207922099070657 Centerline is valid? [True, True] Translation: X:235.69, Y:-10.60, Z:-4.21 [[ 9.99616352e-01 2.35067776e-02 1.46485631e-02 2.35687806e+02] [-2.34975987e-02 9.99723574e-01 -7.98430271e-04 -1.06048088e+01] [-1.46632824e-02 4.53917896e-04 9.99892385e-01 -4.20972161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564391418 meters 0.025057425369800983 Centerline is valid? [True, True] Translation: X:235.72, Y:-10.61, Z:-4.21 [[ 9.99668002e-01 2.14063774e-02 1.43406132e-02 2.35718039e+02] [-2.13973555e-02 9.99770744e-01 -7.82269692e-04 -1.06128990e+01] [-1.43540711e-02 4.75158781e-04 9.99896862e-01 -4.21050013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59439141800001 meters 0.024257849485294403 Centerline is valid? [True, True] Translation: X:235.75, Y:-10.61, Z:-4.21 [[ 9.99690856e-01 2.03304188e-02 1.43131258e-02 2.35749402e+02] [-2.03213185e-02 9.99793196e-01 -7.80973820e-04 -1.06149464e+01] [-1.43260433e-02 4.89870799e-04 9.99897257e-01 -4.21114983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62439141800002 meters 0.025279636870007633 Centerline is valid? [True, True] Translation: X:235.78, Y:-10.62, Z:-4.21 [[ 9.99706991e-01 1.97153381e-02 1.40441253e-02 2.35779990e+02] [-1.97065204e-02 9.99805514e-01 -7.65980582e-04 -1.06199001e+01] [-1.40564955e-02 4.88995301e-04 9.99901083e-01 -4.21161185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654391418 meters 0.026113021748606587 Centerline is valid? [True, True] Translation: X:235.81, Y:-10.62, Z:-4.21 [[ 9.99723121e-01 1.91835240e-02 1.36261848e-02 2.35811629e+02] [-1.91751285e-02 9.99815862e-01 -7.46518451e-04 -1.06245804e+01] [-1.36379965e-02 4.85027911e-04 9.99906881e-01 -4.21262910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684391418 meters 0.026277868106158203 Centerline is valid? [True, True] Translation: X:235.84, Y:-10.63, Z:-4.21 [[ 9.99732985e-01 1.88120575e-02 1.34188048e-02 2.35843994e+02] [-1.88038339e-02 9.99822919e-01 -7.38758100e-04 -1.06297797e+01] [-1.34303262e-02 4.86235863e-04 9.99909691e-01 -4.21336826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714391418 meters 0.026521707307587777 Centerline is valid? [True, True] Translation: X:235.88, Y:-10.63, Z:-4.21 [[ 9.99726836e-01 1.90628161e-02 1.35226598e-02 2.35875758e+02] [-1.90544366e-02 9.99818168e-01 -7.48249111e-04 -1.06332569e+01] [-1.35344647e-02 4.90378053e-04 9.99908285e-01 -4.21346912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744391418 meters 0.02662235327971381 Centerline is valid? [True, True] Translation: X:235.91, Y:-10.64, Z:-4.21 [[ 9.99711015e-01 1.95973511e-02 1.39222965e-02 2.35907579e+02] [-1.95884656e-02 9.99807828e-01 -7.74314445e-04 -1.06361013e+01] [-1.39347956e-02 5.01374253e-04 9.99902780e-01 -4.21363614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774391418 meters 0.02414186852398365 Centerline is valid? [True, True] Translation: X:235.94, Y:-10.64, Z:-4.21 [[ 9.99685054e-01 2.08989110e-02 1.38934519e-02 2.35939692e+02] [-2.08901362e-02 9.99781476e-01 -7.76419183e-04 -1.06362520e+01] [-1.39066422e-02 4.85938551e-04 9.99903180e-01 -4.21392792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804391418 meters 0.023862530367966706 Centerline is valid? [True, True] Translation: X:235.97, Y:-10.64, Z:-4.21 [[ 9.99676821e-01 2.15872018e-02 1.34255992e-02 2.35970952e+02] [-2.15790055e-02 9.99766861e-01 -7.55074919e-04 -1.06386996e+01] [-1.34387691e-02 4.65119814e-04 9.99909587e-01 -4.21492406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834391418 meters 0.023979070920761594 Centerline is valid? [True, True] Translation: X:236.00, Y:-10.64, Z:-4.22 [[ 9.99653984e-01 2.25192665e-02 1.35939027e-02 2.36001332e+02] [-2.25109405e-02 9.99746304e-01 -7.65199549e-04 -1.06418750e+01] [-1.36076857e-02 4.58923244e-04 9.99907306e-01 -4.21548715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864391418 meters 0.023270035619503863 Centerline is valid? [True, True] Translation: X:236.03, Y:-10.64, Z:-4.22 [[ 9.99611578e-01 2.44979396e-02 1.32869569e-02 2.36032596e+02] [-2.44901578e-02 9.99699791e-01 -7.48090593e-04 -1.06445825e+01] [-1.33012947e-02 4.22400348e-04 9.99911445e-01 -4.21605557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894391418 meters 0.022569731578352067 Centerline is valid? [True, True] Translation: X:236.06, Y:-10.65, Z:-4.22 [[ 9.99577749e-01 2.56159999e-02 1.37165988e-02 2.36063020e+02] [-2.56078016e-02 9.99671768e-01 -7.73026361e-04 -1.06459498e+01] [-1.37318984e-02 4.21448009e-04 9.99905624e-01 -4.21629003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924391418 meters 0.022718092017869188 Centerline is valid? [True, True] Translation: X:236.09, Y:-10.65, Z:-4.22 [[ 9.99540645e-01 2.69419710e-02 1.38791183e-02 2.36092826e+02] [-2.69337060e-02 9.99636916e-01 -7.82102953e-04 -1.06484552e+01] [-1.38951504e-02 4.07927598e-04 9.99903375e-01 -4.21670427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954391418 meters 0.0210966340259434 Centerline is valid? [True, True] Translation: X:236.12, Y:-10.65, Z:-4.22 [[ 9.99449404e-01 3.00244510e-02 1.41216231e-02 2.36122944e+02] [-3.00161958e-02 9.99549095e-01 -7.96212992e-04 -1.06484331e+01] [-1.41391615e-02 3.71897196e-04 9.99899968e-01 -4.21713713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984391418 meters 0.020528869121661252 Centerline is valid? [True, True] Translation: X:236.15, Y:-10.65, Z:-4.22 [[ 9.99387802e-01 3.20121606e-02 1.41153204e-02 2.36152436e+02] [-3.20041149e-02 9.99487420e-01 -7.95573954e-04 -1.06499067e+01] [-1.41335533e-02 3.43338568e-04 9.99900057e-01 -4.21779957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014391418 meters 0.018486077789364435 Centerline is valid? [True, True] Translation: X:236.18, Y:-10.65, Z:-4.22 [[ 9.99252187e-01 3.63395581e-02 1.32099368e-02 2.36182215e+02] [-3.63328912e-02 9.99339465e-01 -7.44405900e-04 -1.06482778e+01] [-1.32282626e-02 2.63894025e-04 9.99912468e-01 -4.21911922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.044391418 meters 0.017673006857380526 Centerline is valid? [True, True] Translation: X:236.21, Y:-10.65, Z:-4.22 [[ 9.99155386e-01 3.90850059e-02 1.26837410e-02 2.36210283e+02] [-3.90790828e-02 9.99235865e-01 -7.14587316e-04 -1.06481445e+01] [-1.27019785e-02 2.18314803e-04 9.99919303e-01 -4.21965011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.074391418 meters 0.01684827141834822 Centerline is valid? [True, True] Translation: X:236.24, Y:-10.65, Z:-4.22 [[ 9.99032623e-01 4.19809594e-02 1.30926404e-02 2.36239420e+02] [-4.19749164e-02 9.99118394e-01 -7.36127964e-04 -1.06475891e+01] [-1.31120012e-02 1.85853364e-04 9.99914017e-01 -4.21985355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.104391418 meters 0.0164741658869632 Centerline is valid? [True, True] Translation: X:236.27, Y:-10.65, Z:-4.22 [[ 9.98905838e-01 4.49583433e-02 1.28792453e-02 2.36267781e+02] [-4.49527565e-02 9.98988852e-01 -7.23088989e-04 -1.06479741e+01] [-1.28987314e-02 1.43340233e-04 9.99916798e-01 -4.22018722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.134391418 meters 0.015684718183157215 Centerline is valid? [True, True] Translation: X:236.30, Y:-10.65, Z:-4.22 [[ 9.98749992e-01 4.81364321e-02 1.34661845e-02 2.36296398e+02] [-4.81306290e-02 9.98840764e-01 -7.54879735e-04 -1.06467707e+01] [-1.34869112e-02 1.05800200e-04 9.99909042e-01 -4.21987681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164391418 meters 0.015308144474931153 Centerline is valid? [True, True] Translation: X:236.33, Y:-10.64, Z:-4.22 [[ 9.98455495e-01 5.37468159e-02 1.40678706e-02 2.36325404e+02] [-5.37410562e-02 9.98554595e-01 -7.87401804e-04 -1.06445418e+01] [-1.40898572e-02 3.01634309e-05 9.99900733e-01 -4.21955430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194391418 meters 0.015167952615362648 Centerline is valid? [True, True] Translation: X:236.35, Y:-10.64, Z:-4.22 [[ 9.98336532e-01 5.59218164e-02 1.40327967e-02 2.36353248e+02] [-5.59163137e-02 9.98435151e-01 -7.84480150e-04 -1.06447224e+01] [-1.40547070e-02 -1.48707048e-06 9.99901228e-01 -4.21952557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224391418 meters 0.015233022139659953 Centerline is valid? [True, True] Translation: X:236.38, Y:-10.65, Z:-4.22 [[ 9.98183532e-01 5.85438629e-02 1.42215690e-02 2.36381738e+02] [-5.85385045e-02 9.98284836e-01 -7.93120994e-04 -1.06459312e+01] [-1.42436090e-02 -4.08290645e-05 9.99898554e-01 -4.21979900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254391418 meters 0.015280196365666153 Centerline is valid? [True, True] Translation: X:236.41, Y:-10.65, Z:-4.22 [[ 9.98170695e-01 5.87839374e-02 1.41319489e-02 2.36409214e+02] [-5.87786844e-02 9.98270728e-01 -7.87132957e-04 -1.06480830e+01] [-1.41537817e-02 -4.49643136e-05 9.99899829e-01 -4.22070229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284391418 meters 0.015291801602518118 Centerline is valid? [True, True] Translation: X:236.44, Y:-10.65, Z:-4.22 [[ 9.98209648e-01 5.82173767e-02 1.37199042e-02 2.36437132e+02] [-5.82123940e-02 9.98303930e-01 -7.62583162e-04 -1.06511450e+01] [-1.37410299e-02 -3.74506030e-05 9.99905587e-01 -4.22161825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314391418 meters 0.014980632568400721 Centerline is valid? [True, True] Translation: X:236.46, Y:-10.66, Z:-4.22 [[ 9.98408517e-01 5.48657243e-02 1.30455378e-02 2.36464628e+02] [-5.48609526e-02 9.98493742e-01 -7.23625210e-04 -1.06576968e+01] [-1.30655901e-02 6.78294015e-06 9.99914642e-01 -4.22271524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34439141800001 meters 0.014980632568400721 Centerline is valid? [True, True] Translation: X:236.49, Y:-10.66, Z:-4.22 [[ 9.98415135e-01 5.47451398e-02 1.30456246e-02 2.36492052e+02] [-5.47403783e-02 9.98500360e-01 -7.22056156e-04 -1.06591004e+01] [-1.30655900e-02 6.78936702e-06 9.99914642e-01 -4.22321088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37439141800002 meters 0.015157648767902298 Centerline is valid? [True, True] Translation: X:236.52, Y:-10.66, Z:-4.22 [[ 9.98559965e-01 5.21369243e-02 1.26387248e-02 2.36520657e+02] [-5.21322675e-02 9.98639945e-01 -6.97857670e-04 -1.06638030e+01] [-1.26579196e-02 3.79673504e-05 9.99919885e-01 -4.22419381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters 0.015787161128576265 Centerline is valid? [True, True] Translation: X:236.55, Y:-10.67, Z:-4.23 [[ 9.98887815e-01 4.55516449e-02 1.21729511e-02 2.36549133e+02] [-4.55468474e-02 9.98961978e-01 -6.71201680e-04 -1.06732095e+01] [-1.21908896e-02 1.16015636e-04 9.99925682e-01 -4.22501382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434391418 meters 0.01672470028135819 Centerline is valid? [True, True] Translation: X:236.58, Y:-10.68, Z:-4.23 [[ 9.99044729e-01 4.18751970e-02 1.24938799e-02 2.36576986e+02] [-4.18698665e-02 9.99122836e-01 -6.88030996e-04 -1.06792266e+01] [-1.25117321e-02 1.64256659e-04 9.99921712e-01 -4.22563403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464391418 meters 0.017638075496855195 Centerline is valid? [True, True] Translation: X:236.61, Y:-10.68, Z:-4.23 [[ 9.99192133e-01 3.81355913e-02 1.26790015e-02 2.36605856e+02] [-3.81298213e-02 9.99272551e-01 -6.96587924e-04 -1.06848767e+01] [-1.26963429e-02 2.12577114e-04 9.99919376e-01 -4.22578373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494391418 meters 0.0186608517128462 Centerline is valid? [True, True] Translation: X:236.64, Y:-10.69, Z:-4.23 [[ 9.99312279e-01 3.49120287e-02 1.24947665e-02 2.36635558e+02] [-3.49061883e-02 9.99390358e-01 -6.85266986e-04 -1.06902348e+01] [-1.25110732e-02 2.48651042e-04 9.99921703e-01 -4.22596989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524391418 meters 0.021511909763465096 Centerline is valid? [True, True] Translation: X:236.66, Y:-10.70, Z:-4.23 [[ 9.99517085e-01 2.86601067e-02 1.20080871e-02 2.36663895e+02] [-2.86542720e-02 9.99589166e-01 -6.57701649e-04 -1.06997181e+01] [-1.20220036e-02 3.13301041e-04 9.99927684e-01 -4.22720369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554391418 meters 0.022470890656498214 Centerline is valid? [True, True] Translation: X:236.69, Y:-10.70, Z:-4.23 [[ 9.99581860e-01 2.64161182e-02 1.17598162e-02 2.36694550e+02] [-2.64103606e-02 9.99650978e-01 -6.44650521e-04 -1.07044091e+01] [-1.17727409e-02 3.33799981e-04 9.99930643e-01 -4.22804210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584391418 meters 0.02412607739094725 Centerline is valid? [True, True] Translation: X:236.72, Y:-10.71, Z:-4.23 [[ 9.99652842e-01 2.33674488e-02 1.21720347e-02 2.36724195e+02] [-2.33610533e-02 9.99726871e-01 -6.67360567e-04 -1.07106514e+01] [-1.21843047e-02 3.82777335e-04 9.99925695e-01 -4.22857860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614391418 meters 0.02427033384795064 Centerline is valid? [True, True] Translation: X:236.76, Y:-10.71, Z:-4.23 [[ 9.99661228e-01 2.29470189e-02 1.22826536e-02 2.36755852e+02] [-2.29404819e-02 9.99736606e-01 -6.72851304e-04 -1.07136846e+01] [-1.22948583e-02 3.90853368e-04 9.99924339e-01 -4.22924227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644391418 meters 0.02446776839762318 Centerline is valid? [True, True] Translation: X:236.79, Y:-10.72, Z:-4.23 [[ 9.99665053e-01 2.26404862e-02 1.25375778e-02 2.36786910e+02] [-2.26336447e-02 9.99743590e-01 -6.87317126e-04 -1.07161688e+01] [-1.25499242e-02 4.03315829e-04 9.99921165e-01 -4.22989581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674391418 meters 0.025101627407917954 Centerline is valid? [True, True] Translation: X:236.82, Y:-10.72, Z:-4.23 [[ 9.99659761e-01 2.28091708e-02 1.26532056e-02 2.36816735e+02] [-2.28022084e-02 9.99739755e-01 -6.94259067e-04 -1.07194091e+01] [-1.26657482e-02 4.05501821e-04 9.99919704e-01 -4.23065970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704391418 meters 0.024931228532994204 Centerline is valid? [True, True] Translation: X:236.85, Y:-10.72, Z:-4.23 [[ 9.99649633e-01 2.32509683e-02 1.26492849e-02 2.36848200e+02] [-2.32440438e-02 9.99729580e-01 -6.94186707e-04 -1.07212330e+01] [-1.26620048e-02 3.99922955e-04 9.99919754e-01 -4.23136590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734391418 meters 0.023616552694876856 Centerline is valid? [True, True] Translation: X:236.88, Y:-10.72, Z:-4.23 [[ 9.99641968e-01 2.34059186e-02 1.29653067e-02 2.36879189e+02] [-2.33986502e-02 9.99725961e-01 -7.12037638e-04 -1.07212818e+01] [-1.29784196e-02 4.08412030e-04 9.99915693e-01 -4.23123366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764391418 meters 0.02229235388313934 Centerline is valid? [True, True] Translation: X:236.91, Y:-10.72, Z:-4.23 [[ 9.99634186e-01 2.38324145e-02 1.27870916e-02 2.36910917e+02] [-2.38253731e-02 9.99715889e-01 -7.02734350e-04 -1.07209727e+01] [-1.28002065e-02 3.97820051e-04 9.99917995e-01 -4.23178881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.794391418 meters 0.021581549584174055 Centerline is valid? [True, True] Translation: X:236.94, Y:-10.72, Z:-4.23 [[ 9.99615372e-01 2.44996550e-02 1.29951758e-02 2.36942297e+02] [-2.44924319e-02 9.99699760e-01 -7.14711174e-04 -1.07225061e+01] [-1.30087843e-02 3.96152817e-04 9.99915304e-01 -4.23293126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.824391418 meters 0.023234034380127406 Centerline is valid? [True, True] Translation: X:236.97, Y:-10.73, Z:-4.23 [[ 9.99612743e-01 2.47914241e-02 1.26391942e-02 2.36972081e+02] [-2.47846068e-02 9.99692572e-01 -6.95749258e-04 -1.07269660e+01] [-1.26525572e-02 3.82222366e-04 9.99919880e-01 -4.23415091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.854391418 meters 0.022912180430330675 Centerline is valid? [True, True] Translation: X:237.00, Y:-10.73, Z:-4.24 [[ 9.99612225e-01 2.49960023e-02 1.22719383e-02 2.37003343e+02] [-2.49895892e-02 9.99687483e-01 -6.75666114e-04 -1.07278598e+01] [-1.22849921e-02 3.68733409e-04 9.99924469e-01 -4.23522748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.884391418 meters 0.021982147221818998 Centerline is valid? [True, True] Translation: X:237.03, Y:-10.73, Z:-4.24 [[ 9.99603047e-01 2.55317609e-02 1.19112418e-02 2.37034360e+02] [-2.55257506e-02 9.99673949e-01 -6.56373789e-04 -1.07280402e+01] [-1.19241165e-02 3.52069852e-04 9.99928843e-01 -4.23598301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914391418 meters 0.022404643019457594 Centerline is valid? [True, True] Translation: X:237.06, Y:-10.73, Z:-4.24 [[ 9.99606150e-01 2.57435068e-02 1.11721797e-02 2.37064251e+02] [-2.57382301e-02 9.99668527e-01 -6.15852117e-04 -1.07301504e+01] [-1.11843306e-02 3.28057431e-04 9.99937400e-01 -4.23716218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944391418 meters 0.021144733687071166 Centerline is valid? [True, True] Translation: X:237.09, Y:-10.73, Z:-4.24 [[ 9.99607305e-01 2.59213316e-02 1.06452132e-02 2.37094676e+02] [-2.59165474e-02 9.99663937e-01 -5.87144072e-04 -1.07293532e+01] [-1.06568553e-02 3.11026330e-04 9.99943166e-01 -4.23808839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974391418 meters 0.02216662239666567 Centerline is valid? [True, True] Translation: X:237.12, Y:-10.73, Z:-4.24 [[ 9.99615131e-01 2.59931491e-02 9.69259528e-03 2.37124382e+02] [-2.59891847e-02 9.99662081e-01 -5.34772083e-04 -1.07323678e+01] [-9.70322038e-03 2.82663617e-04 9.99952883e-01 -4.24003058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004391418 meters 0.023242802233604132 Centerline is valid? [True, True] Translation: X:237.15, Y:-10.73, Z:-4.24 [[ 9.99637808e-01 2.56293944e-02 8.20898289e-03 2.37153201e+02] [-2.56265376e-02 9.99671484e-01 -4.53028850e-04 -1.07341306e+01] [-8.21789696e-03 2.42496958e-04 9.99966203e-01 -4.24198139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034391418 meters 0.02185046793588443 Centerline is valid? [True, True] Translation: X:237.18, Y:-10.73, Z:-4.24 [[ 9.99660731e-01 2.47728806e-02 8.04528370e-03 2.37182935e+02] [-2.47701118e-02 9.99693075e-01 -4.43633884e-04 -1.07324422e+01] [-8.05380449e-03 2.44200797e-04 9.99967538e-01 -4.24145050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064391418 meters 0.02279264946166075 Centerline is valid? [True, True] Translation: X:237.21, Y:-10.73, Z:-4.24 [[ 9.99720031e-01 2.22060834e-02 8.16998400e-03 2.37212931e+02] [-2.22031452e-02 9.99753378e-01 -4.50170469e-04 -1.07338656e+01] [-8.17796563e-03 2.68645094e-04 9.99966524e-01 -4.24145695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09439141800001 meters 0.023382249887281766 Centerline is valid? [True, True] Translation: X:237.24, Y:-10.74, Z:-4.24 [[ 9.99744963e-01 2.08471548e-02 8.68358176e-03 2.37242265e+02] [-2.08437878e-02 9.99782630e-01 -4.78065680e-04 -1.07361157e+01] [-8.69166052e-03 2.96945020e-04 9.99962183e-01 -4.24130640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12439141800002 meters 0.02594232532870604 Centerline is valid? [True, True] Translation: X:237.27, Y:-10.74, Z:-4.24 [[ 9.99761217e-01 1.96004858e-02 9.66078378e-03 2.37271891e+02] [-1.95962666e-02 9.99807834e-01 -5.31212095e-04 -1.07413134e+01] [-9.66933932e-03 3.41769956e-04 9.99953192e-01 -4.24190127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154391418 meters 0.025788530902795013 Centerline is valid? [True, True] Translation: X:237.30, Y:-10.74, Z:-4.24 [[ 9.99773011e-01 1.79832467e-02 1.14249795e-02 2.37302281e+02] [-1.79772452e-02 9.99838199e-01 -6.27787214e-04 -1.07414748e+01] [-1.14344206e-02 4.22255056e-04 9.99934536e-01 -4.23976879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184391418 meters 0.026082939619715254 Centerline is valid? [True, True] Translation: X:237.33, Y:-10.74, Z:-4.24 [[ 9.99767167e-01 1.80501901e-02 1.18237924e-02 2.37333618e+02] [-1.80437698e-02 9.99836987e-01 -6.49456628e-04 -1.07426661e+01] [-1.18335878e-02 4.35959623e-04 9.99929886e-01 -4.23968366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214391418 meters 0.024447305963694856 Centerline is valid? [True, True] Translation: X:237.36, Y:-10.74, Z:-4.24 [[ 9.99749799e-01 1.88400508e-02 1.20578970e-02 2.37364753e+02] [-1.88334253e-02 9.99822416e-01 -6.62800426e-04 -1.07391881e+01] [-1.20682429e-02 4.35543089e-04 9.99927081e-01 -4.23926086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244391418 meters 0.02453245566738712 Centerline is valid? [True, True] Translation: X:237.40, Y:-10.74, Z:-4.24 [[ 9.99731428e-01 1.97230394e-02 1.21685367e-02 2.37396079e+02] [-1.97163667e-02 9.99805390e-01 -6.68087324e-04 -1.07401143e+01] [-1.21793453e-02 4.27988563e-04 9.99925737e-01 -4.23982725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274391418 meters 0.024445362344877482 Centerline is valid? [True, True] Translation: X:237.43, Y:-10.74, Z:-4.24 [[ 9.99719032e-01 2.03225256e-02 1.22004688e-02 2.37427341e+02] [-2.03158072e-02 9.99793385e-01 -6.74365040e-04 -1.07412357e+01] [-1.22116528e-02 4.26313194e-04 9.99925344e-01 -4.24047474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304391418 meters 0.02417450319112771 Centerline is valid? [True, True] Translation: X:237.46, Y:-10.74, Z:-4.24 [[ 9.99709578e-01 2.06969506e-02 1.23448428e-02 2.37459122e+02] [-2.06900945e-02 9.99785704e-01 -6.82848228e-04 -1.07422186e+01] [-1.23563302e-02 4.27233950e-04 9.99923566e-01 -4.24110220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334391418 meters 0.022715734738669113 Centerline is valid? [True, True] Translation: X:237.49, Y:-10.74, Z:-4.24 [[ 9.99689512e-01 2.14379396e-02 1.27001512e-02 2.37490880e+02] [-2.14307362e-02 9.99770088e-01 -7.03027213e-04 -1.07416253e+01] [-1.27123027e-02 4.30635342e-04 9.99919103e-01 -4.24196356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364391418 meters 0.022888595568663985 Centerline is valid? [True, True] Translation: X:237.52, Y:-10.74, Z:-4.24 [[ 9.99670520e-01 2.23570156e-02 1.26101125e-02 2.37521796e+02] [-2.23499958e-02 9.99749964e-01 -6.97340934e-04 -1.07436201e+01] [-1.26225500e-02 4.15275213e-04 9.99920246e-01 -4.24283430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394391418 meters 0.022072657784926463 Centerline is valid? [True, True] Translation: X:237.55, Y:-10.74, Z:-4.24 [[ 9.99632786e-01 2.40828667e-02 1.24220833e-02 2.37552866e+02] [-2.40761316e-02 9.99709889e-01 -6.91473071e-04 -1.07420073e+01] [-1.24351322e-02 3.92143440e-04 9.99922604e-01 -4.24319989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424391418 meters 0.021756733382709528 Centerline is valid? [True, True] Translation: X:237.58, Y:-10.74, Z:-4.24 [[ 9.99596690e-01 2.54894675e-02 1.25197470e-02 2.37583297e+02] [-2.54827283e-02 9.99675019e-01 -6.97548780e-04 -1.07422162e+01] [-1.25334585e-02 3.78230141e-04 9.99921382e-01 -4.24367083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454391418 meters 0.021187547049089 Centerline is valid? [True, True] Translation: X:237.61, Y:-10.74, Z:-4.24 [[ 9.99558704e-01 2.70904057e-02 1.21863272e-02 2.37614079e+02] [-2.70841351e-02 9.99632927e-01 -6.79331727e-04 -1.07417250e+01] [-1.22002573e-02 3.48975809e-04 9.99925513e-01 -4.24419880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484391418 meters 0.021254600731664373 Centerline is valid? [True, True] Translation: X:237.64, Y:-10.74, Z:-4.25 [[ 9.99506215e-01 2.91588908e-02 1.17083128e-02 2.37643287e+02] [-2.91532428e-02 9.99574741e-01 -6.52811814e-04 -1.07426697e+01] [-1.17223690e-02 3.11154181e-04 9.99931242e-01 -4.24526458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514391418 meters 0.019113968469741012 Centerline is valid? [True, True] Translation: X:237.67, Y:-10.74, Z:-4.25 [[ 9.99360356e-01 3.37648676e-02 1.17818462e-02 2.37673516e+02] [-3.37594712e-02 9.99429771e-01 -6.56669411e-04 -1.07391765e+01] [-1.17973002e-02 2.58500478e-04 9.99930376e-01 -4.24592866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.544391418 meters 0.01806925834075772 Centerline is valid? [True, True] Translation: X:237.70, Y:-10.74, Z:-4.25 [[ 9.99274251e-01 3.62796387e-02 1.16085400e-02 2.37702729e+02] [-3.62745676e-02 9.99341652e-01 -6.47165419e-04 -1.07383498e+01] [-1.16243765e-02 2.25600970e-04 9.99932409e-01 -4.24651365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.574391418 meters 0.017487003355092366 Centerline is valid? [True, True] Translation: X:237.73, Y:-10.74, Z:-4.25 [[ 9.99196300e-01 3.82872563e-02 1.18675997e-02 2.37731318e+02] [-3.82821095e-02 9.99266753e-01 -6.60627526e-04 -1.07377724e+01] [-1.18841914e-02 2.05779830e-04 9.99929359e-01 -4.24710527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.604391418 meters 0.016621876004076216 Centerline is valid? [True, True] Translation: X:237.76, Y:-10.74, Z:-4.25 [[ 9.99072170e-01 4.13941888e-02 1.18878382e-02 2.37759077e+02] [-4.13892544e-02 9.99142879e-01 -6.60908517e-04 -1.07354604e+01] [-1.19050067e-02 1.68266545e-04 9.99929119e-01 -4.24772787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.634391418 meters 0.016529071896818927 Centerline is valid? [True, True] Translation: X:237.79, Y:-10.74, Z:-4.25 [[ 9.99048506e-01 4.19566960e-02 1.19045639e-02 2.37788265e+02] [-4.19518025e-02 9.99119417e-01 -6.60599301e-04 -1.07359093e+01] [-1.19217975e-02 1.60552833e-04 9.99928920e-01 -4.24841849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664391418 meters 0.016530945467315716 Centerline is valid? [True, True] Translation: X:237.82, Y:-10.74, Z:-4.25 [[ 9.99062341e-01 4.17415770e-02 1.14925591e-02 2.37816541e+02] [-4.17370118e-02 9.99128428e-01 -6.36894346e-04 -1.07372749e+01] [-1.15091275e-02 1.56632082e-04 9.99933756e-01 -4.24941915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694391418 meters 0.017157922097926083 Centerline is valid? [True, True] Translation: X:237.84, Y:-10.74, Z:-4.25 [[ 9.99168608e-01 3.91994947e-02 1.12023433e-02 2.37844964e+02] [-3.91950065e-02 9.99231388e-01 -6.19990386e-04 -1.07405270e+01] [-1.12180364e-02 1.80399011e-04 9.99937060e-01 -4.25066943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724391418 meters 0.018225772336557394 Centerline is valid? [True, True] Translation: X:237.87, Y:-10.74, Z:-4.25 [[ 9.99259552e-01 3.67628802e-02 1.13507069e-02 2.37872225e+02] [-3.67581231e-02 9.99323995e-01 -6.27512494e-04 -1.07448103e+01] [-1.13661030e-02 2.09817170e-04 9.99935382e-01 -4.25143384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754391418 meters 0.018905273454521157 Centerline is valid? [True, True] Translation: X:237.90, Y:-10.75, Z:-4.25 [[ 9.99355249e-01 3.39117017e-02 1.17933016e-02 2.37901192e+02] [-3.39063879e-02 9.99424802e-01 -6.50282203e-04 -1.07480921e+01] [-1.18085703e-02 2.49994673e-04 9.99930245e-01 -4.25198549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784391418 meters 0.023169298042623604 Centerline is valid? [True, True] Translation: X:237.93, Y:-10.76, Z:-4.25 [[ 9.99555503e-01 2.72142522e-02 1.21729248e-02 2.37930155e+02] [-2.72081063e-02 9.99629566e-01 -6.70236121e-04 -1.07577684e+01] [-1.21866555e-02 3.38735972e-04 9.99925683e-01 -4.25266228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814391418 meters 0.025654831990124805 Centerline is valid? [True, True] Translation: X:237.96, Y:-10.76, Z:-4.25 [[ 9.99635478e-01 2.37700715e-02 1.28021353e-02 2.37958982e+02] [-2.37629938e-02 9.99717372e-01 -7.04705795e-04 -1.07636260e+01] [-1.28152679e-02 4.00231854e-04 9.99917801e-01 -4.25277836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84439141800001 meters 0.027701959711019398 Centerline is valid? [True, True] Translation: X:237.99, Y:-10.77, Z:-4.25 [[ 9.99785365e-01 1.68642569e-02 1.20341271e-02 2.37990063e+02] [-1.68575136e-02 9.99857683e-01 -6.61575833e-04 -1.07690367e+01] [-1.20435714e-02 4.58568375e-04 9.99927368e-01 -4.25381055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87439141800002 meters 0.02997393950292031 Centerline is valid? [True, True] Translation: X:238.02, Y:-10.77, Z:-4.25 [[ 9.99839161e-01 1.36474974e-02 1.16360454e-02 2.38021154e+02] [-1.36409705e-02 9.99906753e-01 -6.40102706e-04 -1.07746576e+01] [-1.16436962e-02 4.81272800e-04 9.99932094e-01 -4.25493465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters 0.031694509105528595 Centerline is valid? [True, True] Translation: X:238.05, Y:-10.78, Z:-4.26 [[ 9.99883759e-01 1.05392889e-02 1.10177986e-02 2.38052225e+02] [-1.05332446e-02 9.99944340e-01 -6.06479865e-04 -1.07793823e+01] [-1.10235772e-02 4.90356199e-04 9.99939118e-01 -4.25607151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934391418 meters 0.034048311108112475 Centerline is valid? [True, True] Translation: X:238.08, Y:-10.78, Z:-4.26 [[ 9.99909056e-01 7.99037784e-03 1.08643648e-02 2.38083181e+02] [-7.98436224e-03 9.99967946e-01 -5.96961836e-04 -1.07847084e+01] [-1.08687866e-02 5.10162522e-04 9.99940803e-01 -4.25744891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964391418 meters 0.037753217821819465 Centerline is valid? [True, True] Translation: X:238.11, Y:-10.79, Z:-4.26 [[ 9.99938325e-01 3.06949359e-03 1.06735277e-02 2.38112059e+02] [-3.06336043e-03 9.99995133e-01 -5.90915629e-04 -1.07913804e+01] [-1.06752896e-02 5.58182322e-04 9.99942862e-01 -4.25856688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994391418 meters 0.03936268639738039 Centerline is valid? [True, True] Translation: X:238.14, Y:-10.79, Z:-4.26 [[ 9.99940814e-01 1.18960946e-03 1.08145043e-02 2.38143863e+02] [-1.18321178e-03 9.99999121e-01 -5.97962067e-04 -1.07947873e+01] [-1.08152061e-02 5.85130828e-04 9.99941343e-01 -4.25903532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024391418 meters 0.04086803673029071 Centerline is valid? [True, True] Translation: X:238.18, Y:-10.80, Z:-4.26 [[ 9.99936880e-01 -4.47671322e-04 1.12265430e-02 2.38175876e+02] [ 4.54678752e-04 9.99999703e-01 -6.21639585e-04 -1.07976817e+01] [-1.12262614e-02 6.26704818e-04 9.99936787e-01 -4.25899701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054391418 meters 0.04342570468193984 Centerline is valid? [True, True] Translation: X:238.21, Y:-10.80, Z:-4.26 [[ 9.99920764e-01 -2.29759341e-03 1.23768578e-02 2.38206598e+02] [ 2.30626751e-03 9.99997105e-01 -6.86605134e-04 -1.08002508e+01] [-1.23752444e-02 7.15095075e-04 9.99923168e-01 -4.25853984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084391418 meters 0.04389316957352115 Centerline is valid? [True, True] Translation: X:238.24, Y:-10.80, Z:-4.26 [[ 9.99916888e-01 -2.42787654e-03 1.26618778e-02 2.38238864e+02] [ 2.43696888e-03 9.99996784e-01 -7.02709003e-04 -1.08013597e+01] [-1.26601310e-02 7.33507201e-04 9.99919588e-01 -4.25887397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114391418 meters 0.034824907829297855 Centerline is valid? [True, True] Translation: X:238.27, Y:-10.79, Z:-4.26 [[ 9.99904550e-01 -1.71276413e-03 1.37097733e-02 2.38271655e+02] [ 1.72337160e-03 9.99998225e-01 -7.61939899e-04 -1.07879908e+01] [-1.37084439e-02 7.85494205e-04 9.99905726e-01 -4.25773276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144391418 meters 0.03539560963515153 Centerline is valid? [True, True] Translation: X:238.30, Y:-10.79, Z:-4.26 [[ 9.99903393e-01 -1.09830805e-03 1.38563477e-02 2.38303399e+02] [ 1.10910084e-03 9.99999088e-01 -7.71245454e-04 -1.07884940e+01] [-1.38554880e-02 7.86539033e-04 9.99903699e-01 -4.25818833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174391418 meters 0.03341319797187443 Centerline is valid? [True, True] Translation: X:238.34, Y:-10.79, Z:-4.26 [[ 9.99903382e-01 -5.82403129e-05 1.39004554e-02 2.38335500e+02] [ 6.90174707e-05 9.99999697e-01 -7.74831251e-04 -1.07858218e+01] [-1.39004061e-02 7.75715762e-04 9.99903084e-01 -4.25866474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204391418 meters 0.03270892983981123 Centerline is valid? [True, True] Translation: X:238.37, Y:-10.78, Z:-4.26 [[ 9.99916126e-01 2.48102643e-03 1.27116594e-02 2.38367201e+02] [-2.47220391e-03 9.99996692e-01 -7.09715548e-04 -1.07823674e+01] [-1.27133782e-02 6.78230207e-04 9.99918952e-01 -4.26044115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234391418 meters 0.03270892983981123 Centerline is valid? [True, True] Translation: X:238.40, Y:-10.78, Z:-4.26 [[ 9.99915259e-01 2.80830536e-03 1.27117150e-02 2.38399780e+02] [-2.79952175e-03 9.99995830e-01 -7.08726617e-04 -1.07843312e+01] [-1.27136523e-02 6.73079836e-04 9.99918952e-01 -4.26102943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264391418 meters 0.03303256300132685 Centerline is valid? [True, True] Translation: X:238.43, Y:-10.78, Z:-4.26 [[ 9.99915619e-01 4.65568746e-03 1.21276414e-02 2.38431488e+02] [-4.64776543e-03 9.99988967e-01 -6.81323214e-04 -1.07846228e+01] [-1.21306796e-02 6.24899291e-04 9.99926225e-01 -4.26213435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.294391418 meters 0.030077055171508164 Centerline is valid? [True, True] Translation: X:238.46, Y:-10.78, Z:-4.26 [[ 9.99904154e-01 8.00322676e-03 1.12974205e-02 2.38463905e+02] [-7.99655466e-03 9.99967825e-01 -6.35635012e-04 -1.07785204e+01] [-1.13021442e-02 5.45233648e-04 9.99935980e-01 -4.26341869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.324391418 meters 0.029630128902815963 Centerline is valid? [True, True] Translation: X:238.50, Y:-10.78, Z:-4.26 [[ 9.99891183e-01 9.98139980e-03 1.08624982e-02 2.38496334e+02] [-9.97535842e-03 9.99950059e-01 -6.10207683e-04 -1.07776988e+01] [-1.08680465e-02 5.01783968e-04 9.99940815e-01 -4.26445572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.354391418 meters 0.0293200322388759 Centerline is valid? [True, True] Translation: X:238.53, Y:-10.78, Z:-4.27 [[ 9.99870437e-01 1.20462775e-02 1.06769199e-02 2.38528099e+02] [-1.20405267e-02 9.99927329e-01 -6.02742743e-04 -1.07765440e+01] [-1.06834048e-02 4.74108911e-04 9.99942818e-01 -4.26510558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.384391418 meters 0.02591394905077476 Centerline is valid? [True, True] Translation: X:238.56, Y:-10.77, Z:-4.27 [[ 9.99811938e-01 1.64800181e-02 1.02224415e-02 2.38560579e+02] [-1.64749332e-02 9.99864110e-01 -5.81444019e-04 -1.07683541e+01] [-1.02306346e-02 4.12920630e-04 9.99947580e-01 -4.26529978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414391418 meters 0.025611764185607677 Centerline is valid? [True, True] Translation: X:238.59, Y:-10.77, Z:-4.27 [[ 9.99776795e-01 1.87137590e-02 9.80587276e-03 2.38590542e+02] [-1.87091769e-02 9.99824812e-01 -5.58812207e-04 -1.07669623e+01] [-9.81461237e-03 3.75227670e-04 9.99951765e-01 -4.26611985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444391418 meters 0.02562185847417624 Centerline is valid? [True, True] Translation: X:238.62, Y:-10.77, Z:-4.27 [[ 9.99725578e-01 2.11589371e-02 1.00532799e-02 2.38620497e+02] [-2.11542443e-02 9.99776060e-01 -5.72911322e-04 -1.07661250e+01] [-1.00631508e-02 3.60084564e-04 9.99949300e-01 -4.26677572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474391418 meters 0.024636043865568825 Centerline is valid? [True, True] Translation: X:238.65, Y:-10.76, Z:-4.27 [[ 9.99670560e-01 2.35556197e-02 1.01933325e-02 2.38650911e+02] [-2.35509182e-02 9.99722470e-01 -5.81044189e-04 -1.07638323e+01] [-1.02041904e-02 3.40790430e-04 9.99947878e-01 -4.26717702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504391418 meters 0.022124606258690605 Centerline is valid? [True, True] Translation: X:238.68, Y:-10.76, Z:-4.27 [[ 9.99518550e-01 2.89669607e-02 1.11167871e-02 2.38681178e+02] [-2.89617043e-02 9.99580321e-01 -6.33567964e-04 -1.07569530e+01] [-1.11304742e-02 3.11301831e-04 9.99938006e-01 -4.26630154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534391418 meters 0.019898315421334554 Centerline is valid? [True, True] Translation: X:238.71, Y:-10.75, Z:-4.27 [[ 9.99430672e-01 3.16447474e-02 1.17022108e-02 2.38710364e+02] [-3.16391088e-02 9.99499136e-01 -6.66701988e-04 -1.07526887e+01] [-1.17174472e-02 2.96074895e-04 9.99931305e-01 -4.26559867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564391418 meters 0.01746270788326391 Centerline is valid? [True, True] Translation: X:238.74, Y:-10.74, Z:-4.27 [[ 9.99242227e-01 3.69437816e-02 1.22526963e-02 2.38740024e+02] [-3.69380122e-02 9.99317316e-01 -6.96915054e-04 -1.07444999e+01] [-1.22700783e-02 2.43796705e-04 9.99924690e-01 -4.26550006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59439141800001 meters 0.016990599636166955 Centerline is valid? [True, True] Translation: X:238.77, Y:-10.74, Z:-4.27 [[ 9.99143226e-01 3.95005889e-02 1.23498041e-02 2.38768163e+02] [-3.94949296e-02 9.99219524e-01 -7.01900682e-04 -1.07427818e+01] [-1.23678909e-02 2.13544666e-04 9.99923492e-01 -4.26607962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62439141800002 meters 0.015807604786533012 Centerline is valid? [True, True] Translation: X:238.80, Y:-10.74, Z:-4.27 [[ 9.99051560e-01 4.17507549e-02 1.23634633e-02 2.38796970e+02] [-4.17452723e-02 9.99128040e-01 -7.01300059e-04 -1.07390540e+01] [-1.23819626e-02 1.84518776e-04 9.99923324e-01 -4.26605295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654391418 meters 0.015509921863881844 Centerline is valid? [True, True] Translation: X:238.83, Y:-10.74, Z:-4.27 [[ 9.98972868e-01 4.36379156e-02 1.22041140e-02 2.38825072e+02] [-4.36327250e-02 9.99047400e-01 -6.91382167e-04 -1.07373499e+01] [-1.22226588e-02 1.58173277e-04 9.99925288e-01 -4.26648182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684391418 meters 0.01497286807607518 Centerline is valid? [True, True] Translation: X:238.85, Y:-10.73, Z:-4.27 [[ 9.98824686e-01 4.68659973e-02 1.23622463e-02 2.38853421e+02] [-4.68609338e-02 9.98901178e-01 -6.99101490e-04 -1.07334920e+01] [-1.23814265e-02 1.18973420e-04 9.99923340e-01 -4.26713664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714391418 meters 0.014652031210958306 Centerline is valid? [True, True] Translation: X:238.88, Y:-10.73, Z:-4.27 [[ 9.98784782e-01 4.77324389e-02 1.22708678e-02 2.38881882e+02] [-4.77275344e-02 9.98860152e-01 -6.92380569e-04 -1.07326451e+01] [-1.22899298e-02 1.05880912e-04 9.99924470e-01 -4.26754847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744391418 meters 0.014694152037015615 Centerline is valid? [True, True] Translation: X:238.91, Y:-10.73, Z:-4.27 [[ 9.98749511e-01 4.84555570e-02 1.23074461e-02 2.38910689e+02] [-4.84506905e-02 9.98825335e-01 -6.93443286e-04 -1.07323775e+01] [-1.23265902e-02 9.62718796e-05 9.99924020e-01 -4.26804840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774391418 meters 0.014487973323827803 Centerline is valid? [True, True] Translation: X:238.94, Y:-10.73, Z:-4.27 [[ 9.98739205e-01 4.86030592e-02 1.25596106e-02 2.38937842e+02] [-4.85980120e-02 9.98818168e-01 -7.06931203e-04 -1.07319928e+01] [-1.25791263e-02 9.56678020e-05 9.99920875e-01 -4.26797806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804391418 meters 0.014711132821654165 Centerline is valid? [True, True] Translation: X:238.97, Y:-10.73, Z:-4.27 [[ 9.98763105e-01 4.79587912e-02 1.31230233e-02 2.38965102e+02] [-4.79532486e-02 9.98849309e-01 -7.36867576e-04 -1.07331959e+01] [-1.31432621e-02 1.06664549e-04 9.99913618e-01 -4.26876043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834391418 meters 0.01502676120203465 Centerline is valid? [True, True] Translation: X:238.99, Y:-10.73, Z:-4.27 [[ 9.98854717e-01 4.60509453e-02 1.29832873e-02 2.38993584e+02] [-4.60453946e-02 9.98939084e-01 -7.26289346e-04 -1.07345916e+01] [-1.30029594e-02 1.27636954e-04 9.99915450e-01 -4.26924502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864391418 meters 0.014990601409872528 Centerline is valid? [True, True] Translation: X:239.02, Y:-10.74, Z:-4.27 [[ 9.98918334e-01 4.46674339e-02 1.29221780e-02 2.39022001e+02] [-4.46618325e-02 9.99001902e-01 -7.21866508e-04 -1.07363216e+01] [-1.29415243e-02 1.43957540e-04 9.99916245e-01 -4.26960858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894391418 meters 0.015407326465447884 Centerline is valid? [True, True] Translation: X:239.05, Y:-10.74, Z:-4.27 [[ 9.98983470e-01 4.31472961e-02 1.30513133e-02 2.39049231e+02] [-4.31414648e-02 9.99068708e-01 -7.28138098e-04 -1.07388211e+01] [-1.30705759e-02 1.64345149e-04 9.99914563e-01 -4.27023403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924391418 meters 0.015811402624733326 Centerline is valid? [True, True] Translation: X:239.08, Y:-10.74, Z:-4.27 [[ 9.99049424e-01 4.16802418e-02 1.27673739e-02 2.39078138e+02] [-4.16745609e-02 9.99130985e-01 -7.10794889e-04 -1.07414327e+01] [-1.27859050e-02 1.78044522e-04 9.99918241e-01 -4.27128879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954391418 meters 0.016853617592960987 Centerline is valid? [True, True] Translation: X:239.11, Y:-10.75, Z:-4.27 [[ 9.99174069e-01 3.87913976e-02 1.20999242e-02 2.39106108e+02] [-3.87860917e-02 9.99247310e-01 -6.72950918e-04 -1.07451757e+01] [-1.21169214e-02 2.03086337e-04 9.99926567e-01 -4.27226350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984391418 meters 0.0172373500122573 Centerline is valid? [True, True] Translation: X:239.14, Y:-10.75, Z:-4.27 [[ 9.99241812e-01 3.71439211e-02 1.16674586e-02 2.39135274e+02] [-3.71388931e-02 9.99309904e-01 -6.47387516e-04 -1.07474872e+01] [-1.16834534e-02 2.13580177e-04 9.99931723e-01 -4.27302384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014391418 meters 0.018031674697257704 Centerline is valid? [True, True] Translation: X:239.16, Y:-10.75, Z:-4.27 [[ 9.99307458e-01 3.53448500e-02 1.16337875e-02 2.39163252e+02] [-3.53397385e-02 9.99375148e-01 -6.44716564e-04 -1.07504480e+01] [-1.16493055e-02 2.33135064e-04 9.99932117e-01 -4.27363712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.044391418 meters 0.01880934252848844 Centerline is valid? [True, True] Translation: X:239.19, Y:-10.75, Z:-4.27 [[ 9.99449853e-01 3.13249494e-02 1.08967615e-02 2.39192181e+02] [-3.13202396e-02 9.99509219e-01 -6.02641383e-04 -1.07533664e+01] [-1.09102913e-02 2.61020661e-04 9.99940447e-01 -4.27455052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.074391418 meters 0.019735074660045076 Centerline is valid? [True, True] Translation: X:239.22, Y:-10.76, Z:-4.28 [[ 9.99525113e-01 2.89911368e-02 1.04432823e-02 2.39220682e+02] [-2.89866882e-02 9.99579631e-01 -5.77118845e-04 -1.07565796e+01] [-1.04556236e-02 2.74128610e-04 9.99945301e-01 -4.27532328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.104391418 meters 0.022709844427128836 Centerline is valid? [True, True] Translation: X:239.25, Y:-10.76, Z:-4.28 [[ 9.99642581e-01 2.48835728e-02 9.77332177e-03 2.39249226e+02] [-2.48794887e-02 9.99690312e-01 -5.39255791e-04 -1.07637477e+01] [-9.78371371e-03 2.95907802e-04 9.99952095e-01 -4.27713372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.134391418 meters 0.022587452038907954 Centerline is valid? [True, True] Translation: X:239.28, Y:-10.77, Z:-4.28 [[ 9.99688201e-01 2.31489229e-02 9.36094429e-03 2.39278596e+02] [-2.31451074e-02 9.99731983e-01 -5.15739411e-04 -1.07655762e+01] [-9.37037421e-03 2.98918543e-04 9.99956052e-01 -4.27750092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164391418 meters 0.023275956888719973 Centerline is valid? [True, True] Translation: X:239.31, Y:-10.77, Z:-4.28 [[ 9.99731068e-01 2.13467335e-02 9.06132946e-03 2.39308505e+02] [-2.13430875e-02 9.99772086e-01 -4.98896631e-04 -1.07680152e+01] [-9.06991407e-03 3.05365715e-04 9.99958821e-01 -4.27831603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194391418 meters 0.024542786587503633 Centerline is valid? [True, True] Translation: X:239.34, Y:-10.77, Z:-4.28 [[ 9.99796710e-01 1.81699493e-02 8.74022160e-03 2.39337827e+02] [-1.81664386e-02 9.99834861e-01 -4.80893011e-04 -1.07710276e+01] [-8.74751605e-03 3.22016551e-04 9.99961688e-01 -4.27886143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224391418 meters 0.027064799452529424 Centerline is valid? [True, True] Translation: X:239.37, Y:-10.78, Z:-4.28 [[ 9.99818802e-01 1.68707259e-02 8.81715848e-03 2.39366461e+02] [-1.68671044e-02 9.99857623e-01 -4.84944307e-04 -1.07757684e+01] [-8.82408448e-03 3.36136504e-04 9.99961011e-01 -4.28009602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254391418 meters 0.027816857987642857 Centerline is valid? [True, True] Translation: X:239.40, Y:-10.78, Z:-4.28 [[ 9.99833658e-01 1.57852704e-02 9.13677321e-03 2.39396129e+02] [-1.57813434e-02 9.99875341e-01 -5.01744683e-04 -1.07782729e+01] [-9.14355440e-03 3.57470666e-04 9.99958133e-01 -4.28037273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284391418 meters 0.029487627489867444 Centerline is valid? [True, True] Translation: X:239.43, Y:-10.78, Z:-4.28 [[ 9.99862039e-01 1.38384773e-02 9.18694072e-03 2.39425460e+02] [-1.38344299e-02 9.99904173e-01 -5.03969678e-04 -1.07816083e+01] [-9.19303453e-03 3.76804063e-04 9.99957672e-01 -4.28056691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314391418 meters 0.027262471460499472 Centerline is valid? [True, True] Translation: X:239.46, Y:-10.78, Z:-4.28 [[ 9.99871928e-01 1.30122316e-02 9.31713577e-03 2.39456479e+02] [-1.30080377e-02 9.99915262e-01 -5.10587710e-04 -1.07797532e+01] [-9.32299014e-03 3.89324665e-04 9.99956464e-01 -4.27995815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34439141800001 meters 0.027315916726302576 Centerline is valid? [True, True] Translation: X:239.49, Y:-10.78, Z:-4.28 [[ 9.99881510e-01 1.23264012e-02 9.22098154e-03 2.39487887e+02] [-1.23222642e-02 9.99923950e-01 -5.05322194e-04 -1.07810974e+01] [-9.22650909e-03 3.91638947e-04 9.99957358e-01 -4.27964963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37439141800002 meters 0.029163686777065077 Centerline is valid? [True, True] Translation: X:239.52, Y:-10.78, Z:-4.28 [[ 9.99890212e-01 1.15569542e-02 9.27361969e-03 2.39518140e+02] [-1.15527371e-02 9.99933136e-01 -5.08186170e-04 -1.07842846e+01] [-9.27887271e-03 4.00994687e-04 9.99956870e-01 -4.27983646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404391418 meters 0.028330593383455442 Centerline is valid? [True, True] Translation: X:239.55, Y:-10.78, Z:-4.28 [[ 9.99896984e-01 1.11073608e-02 9.09105593e-03 2.39549338e+02] [-1.11032789e-02 9.99938232e-01 -4.99347205e-04 -1.07837820e+01] [-9.09604083e-03 3.98355234e-04 9.99958551e-01 -4.28010553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434391418 meters 0.029309212604066028 Centerline is valid? [True, True] Translation: X:239.58, Y:-10.79, Z:-4.28 [[ 9.99893817e-01 1.14723468e-02 8.98550806e-03 2.39580046e+02] [-1.14683803e-02 9.99934115e-01 -4.92844418e-04 -1.07863717e+01] [-8.99057013e-03 3.89742863e-04 9.99959508e-01 -4.28121738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464391418 meters 0.02759626100380812 Centerline is valid? [True, True] Translation: X:239.61, Y:-10.78, Z:-4.28 [[ 9.99896825e-01 1.21871525e-02 7.60341896e-03 2.39611776e+02] [-1.21843179e-02 9.99925681e-01 -4.19019735e-04 -1.07843133e+01] [-7.60796053e-03 3.26334029e-04 9.99971006e-01 -4.28235496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494391418 meters 0.027627856480164165 Centerline is valid? [True, True] Translation: X:239.64, Y:-10.79, Z:-4.28 [[ 9.99890829e-01 1.28314697e-02 7.32696826e-03 2.39642608e+02] [-1.28288496e-02 9.99917625e-01 -4.04485749e-04 -1.07852077e+01] [-7.33155485e-03 3.10445017e-04 9.99973076e-01 -4.28372856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524391418 meters 0.027460404731309746 Centerline is valid? [True, True] Translation: X:239.67, Y:-10.79, Z:-4.28 [[ 9.99885844e-01 1.35572860e-02 6.67079999e-03 2.39672786e+02] [-1.35551287e-02 9.99908057e-01 -3.68488471e-04 -1.07856365e+01] [-6.67518236e-03 2.78022853e-04 9.99977682e-01 -4.28457655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554391418 meters 0.026836744423810323 Centerline is valid? [True, True] Translation: X:239.70, Y:-10.78, Z:-4.29 [[ 9.99865469e-01 1.55837962e-02 5.11749184e-03 2.39702266e+02] [-1.55825572e-02 9.99878545e-01 -2.81904016e-04 -1.07836857e+01] [-5.12126343e-03 2.02122482e-04 9.99986866e-01 -4.28595226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584391418 meters 0.02528550687279695 Centerline is valid? [True, True] Translation: X:239.73, Y:-10.78, Z:-4.29 [[ 9.99846683e-01 1.68663928e-02 4.70480142e-03 2.39731299e+02] [-1.68653516e-02 9.99857736e-01 -2.60896130e-04 -1.07813153e+01] [-4.70853248e-03 1.81508000e-04 9.99988898e-01 -4.28605040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614391418 meters 0.026810692667480446 Centerline is valid? [True, True] Translation: X:239.76, Y:-10.78, Z:-4.29 [[ 9.99819006e-01 1.85282637e-02 4.31947772e-03 2.39759564e+02] [-1.85274026e-02 9.99828324e-01 -2.39287904e-04 -1.07835139e+01] [-4.32316976e-03 1.59215891e-04 9.99990642e-01 -4.28759908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644391418 meters 0.024132565067873986 Centerline is valid? [True, True] Translation: X:239.79, Y:-10.78, Z:-4.29 [[ 9.99784378e-01 2.02510882e-02 4.59254822e-03 2.39789069e+02] [-2.02501363e-02 9.99794913e-01 -2.53683105e-04 -1.07797845e+01] [-4.59674370e-03 1.60628678e-04 9.99989422e-01 -4.28646432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674391418 meters 0.022575144906811995 Centerline is valid? [True, True] Translation: X:239.82, Y:-10.78, Z:-4.29 [[ 9.99681821e-01 2.46820610e-02 5.20115845e-03 2.39818427e+02] [-2.46809036e-02 9.99695339e-01 -2.86585960e-04 -1.07763497e+01] [-5.20664739e-03 1.58125484e-04 9.99986433e-01 -4.28588024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704391418 meters 0.021757834945068142 Centerline is valid? [True, True] Translation: X:239.85, Y:-10.78, Z:-4.29 [[ 9.99619331e-01 2.70030297e-02 5.65945548e-03 2.39847446e+02] [-2.70016956e-02 9.99635339e-01 -3.12023409e-04 -1.07750220e+01] [-5.66581728e-03 1.59089738e-04 9.99983936e-01 -4.28592703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734391418 meters 0.020587687202834874 Centerline is valid? [True, True] Translation: X:239.88, Y:-10.77, Z:-4.29 [[ 9.99539303e-01 2.97528497e-02 5.99582539e-03 2.39876701e+02] [-2.97514050e-02 9.99557274e-01 -3.30015254e-04 -1.07731742e+01] [-6.00298978e-03 1.51478987e-04 9.99981970e-01 -4.28584322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764391418 meters 0.0181098824567741 Centerline is valid? [True, True] Translation: X:239.91, Y:-10.77, Z:-4.29 [[ 9.99334993e-01 3.58923249e-02 6.42750689e-03 2.39907043e+02] [-3.58907971e-02 9.99355655e-01 -3.52923355e-04 -1.07677009e+01] [-6.43603261e-03 1.22000313e-04 9.99979281e-01 -4.28523403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.794391418 meters 0.0168875676248805 Centerline is valid? [True, True] Translation: X:239.94, Y:-10.76, Z:-4.28 [[ 9.99209516e-01 3.91830314e-02 6.71063079e-03 2.39936209e+02] [-3.91814413e-02 9.99232045e-01 -3.68306810e-04 -1.07649661e+01] [-6.71990871e-03 1.05083483e-04 9.99977416e-01 -4.28495923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.824391418 meters 0.016196638748793013 Centerline is valid? [True, True] Translation: X:239.96, Y:-10.76, Z:-4.29 [[ 9.99076883e-01 4.23809469e-02 7.01694634e-03 2.39964194e+02] [-4.23792900e-02 9.99101520e-01 -3.84711226e-04 -1.07635750e+01] [-7.02694618e-03 8.69828892e-05 9.99975307e-01 -4.28525845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.854391418 meters 0.014711604114468705 Centerline is valid? [True, True] Translation: X:239.99, Y:-10.76, Z:-4.28 [[ 9.98783572e-01 4.87563112e-02 7.36200924e-03 2.39993739e+02] [-4.87546694e-02 9.98810703e-01 -4.02417701e-04 -1.07583630e+01] [-7.37287402e-03 4.29958619e-05 9.99972819e-01 -4.28412505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.884391418 meters 0.014566229165905682 Centerline is valid? [True, True] Translation: X:240.02, Y:-10.76, Z:-4.28 [[ 9.98627436e-01 5.18047995e-02 7.71405454e-03 2.40021594e+02] [-5.18030887e-02 9.98657230e-01 -4.21551481e-04 -1.07570248e+01] [-7.72553473e-03 2.13610223e-05 9.99970157e-01 -4.28479542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914391418 meters 0.014561593422536153 Centerline is valid? [True, True] Translation: X:240.05, Y:-10.75, Z:-4.28 [[ 9.98349255e-01 5.70192110e-02 6.89750819e-03 2.40050502e+02] [-5.70179721e-02 9.98373081e-01 -3.76288487e-04 -1.07535824e+01] [-6.90774218e-03 -1.76145987e-05 9.99976141e-01 -4.28414664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944391418 meters 0.014719383728638256 Centerline is valid? [True, True] Translation: X:240.08, Y:-10.75, Z:-4.28 [[ 9.98226248e-01 5.92035459e-02 6.26878853e-03 2.40079534e+02] [-5.92025679e-02 9.98245931e-01 -3.41624877e-04 -1.07532308e+01] [-6.27801804e-03 -3.01094593e-05 9.99980293e-01 -4.28471228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974391418 meters 0.014900084300327006 Centerline is valid? [True, True] Translation: X:240.11, Y:-10.75, Z:-4.29 [[ 9.98120816e-01 6.10095227e-02 5.71621817e-03 2.40108334e+02] [-6.10087411e-02 9.98137183e-01 -3.11170543e-04 -1.07532169e+01] [-5.72455427e-03 -3.81534784e-05 9.99983614e-01 -4.28564585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004391418 meters 0.015271268956594955 Centerline is valid? [True, True] Translation: X:240.14, Y:-10.75, Z:-4.29 [[ 9.98039117e-01 6.23662126e-02 5.32694171e-03 2.40135764e+02] [-6.23655536e-02 9.98053332e-01 -2.89888682e-04 -1.07533077e+01] [-5.33465118e-03 -4.28974247e-05 9.99985770e-01 -4.28669772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034391418 meters 0.015791512326402204 Centerline is valid? [True, True] Translation: X:240.16, Y:-10.75, Z:-4.29 [[ 9.97939541e-01 6.40007330e-02 4.53647684e-03 2.40164502e+02] [-6.40002618e-02 9.97949851e-01 -2.49108330e-04 -1.07540105e+01] [-4.54311950e-03 -4.17406533e-05 9.99989679e-01 -4.28781827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064391418 meters 0.015936851833659598 Centerline is valid? [True, True] Translation: X:240.19, Y:-10.76, Z:-4.29 [[ 9.97914685e-01 6.43696441e-02 4.77807720e-03 2.40191658e+02] [-6.43691423e-02 9.97926123e-01 -2.58888360e-04 -1.07554767e+01] [-4.78483260e-03 -4.92122344e-05 9.99988551e-01 -4.28897890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09439141800001 meters 0.015786807463594038 Centerline is valid? [True, True] Translation: X:240.22, Y:-10.76, Z:-4.29 [[ 9.97937798e-01 6.39973909e-02 4.94824885e-03 2.40218524e+02] [-6.39968521e-02 9.97950065e-01 -2.67311907e-04 -1.07576737e+01] [-4.95521252e-03 -4.99116936e-05 9.99987722e-01 -4.28932241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12439141800002 meters 0.01592734806228007 Centerline is valid? [True, True] Translation: X:240.25, Y:-10.76, Z:-4.29 [[ 9.97979016e-01 6.33266720e-02 5.25507481e-03 2.40246644e+02] [-6.33260589e-02 9.97992851e-01 -2.83132948e-04 -1.07595194e+01] [-5.26245696e-03 -5.02224365e-05 9.99986152e-01 -4.28979658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154391418 meters 0.01592734806228007 Centerline is valid? [True, True] Translation: X:240.27, Y:-10.76, Z:-4.29 [[ 9.97998573e-01 6.30177177e-02 5.25500531e-03 2.40273983e+02] [-6.30170935e-02 9.98012407e-01 -2.84446595e-04 -1.07608345e+01] [-5.26248567e-03 -4.72778651e-05 9.99986152e-01 -4.29029101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184391418 meters 0.016137777410594866 Centerline is valid? [True, True] Translation: X:240.30, Y:-10.76, Z:-4.29 [[ 9.98061399e-01 6.19619236e-02 5.84491104e-03 2.40301882e+02] [-6.19611628e-02 9.98078513e-01 -3.11327578e-04 -1.07618376e+01] [-5.85297058e-03 -5.14334469e-05 9.99982870e-01 -4.29157354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214391418 meters 0.015911774123010366 Centerline is valid? [True, True] Translation: X:240.33, Y:-10.76, Z:-4.29 [[ 9.98133445e-01 6.07589811e-02 6.16208544e-03 2.40330607e+02] [-6.07581186e-02 9.98152465e-01 -3.27248600e-04 -1.07645057e+01] [-6.17058407e-03 -4.77589455e-05 9.99980961e-01 -4.29170074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244391418 meters 0.014531774340872541 Centerline is valid? [True, True] Translation: X:240.36, Y:-10.77, Z:-4.29 [[ 9.98289656e-01 5.80830028e-02 6.64278195e-03 2.40358931e+02] [-5.80819445e-02 9.98311757e-01 -3.52291812e-04 -1.07710422e+01] [-6.65202948e-03 -3.41364205e-05 9.99977874e-01 -4.28914094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274391418 meters 0.014572249186160088 Centerline is valid? [True, True] Translation: X:240.39, Y:-10.77, Z:-4.29 [[ 9.98377733e-01 5.64962192e-02 7.07663130e-03 2.40386472e+02] [-5.64949814e-02 9.98402813e-01 -3.74851517e-04 -1.07745436e+01] [-7.08650629e-03 -2.55507458e-05 9.99974890e-01 -4.29033688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304391418 meters 0.014230093469681553 Centerline is valid? [True, True] Translation: X:240.41, Y:-10.78, Z:-4.29 [[ 9.98492536e-01 5.43889071e-02 7.38251731e-03 2.40414648e+02] [-5.43875097e-02 9.98519828e-01 -3.90071027e-04 -1.07788719e+01] [-7.39280545e-03 -1.20337230e-05 9.99972673e-01 -4.28926856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334391418 meters 0.014320464732529063 Centerline is valid? [True, True] Translation: X:240.44, Y:-10.79, Z:-4.29 [[ 9.98659276e-01 5.11031947e-02 8.25307224e-03 2.40442146e+02] [-5.11013415e-02 9.98693378e-01 -4.35408358e-04 -1.07858106e+01] [-8.26453935e-03 1.30815333e-05 9.99965848e-01 -4.29035364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364391418 meters 0.014396526022440804 Centerline is valid? [True, True] Translation: X:240.47, Y:-10.79, Z:-4.29 [[ 9.98745935e-01 4.94641247e-02 7.73672763e-03 2.40470553e+02] [-4.94624540e-02 9.98775901e-01 -4.07248170e-04 -1.07900239e+01] [-7.74740129e-03 2.40599196e-05 9.99969988e-01 -4.29122333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394391418 meters 0.014521808001473463 Centerline is valid? [True, True] Translation: X:240.50, Y:-10.79, Z:-4.29 [[ 9.98811282e-01 4.80781731e-02 8.03190721e-03 2.40498365e+02] [-4.80763301e-02 9.98843575e-01 -4.22490912e-04 -1.07940444e+01] [-8.04293151e-03 3.58440669e-05 9.99967654e-01 -4.29190015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424391418 meters 0.015673326724287465 Centerline is valid? [True, True] Translation: X:240.53, Y:-10.80, Z:-4.29 [[ 9.98903199e-01 4.61726658e-02 7.77716732e-03 2.40526871e+02] [-4.61708895e-02 9.98933473e-01 -4.07874273e-04 -1.08005475e+01] [-7.78770540e-03 4.83481832e-05 9.99969674e-01 -4.29407726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454391418 meters 0.01469678257017869 Centerline is valid? [True, True] Translation: X:240.56, Y:-10.80, Z:-4.29 [[ 9.98945493e-01 4.52139940e-02 7.97473796e-03 2.40555497e+02] [-4.52121009e-02 9.98977323e-01 -4.17600892e-04 -1.08039980e+01] [-7.98546378e-03 5.66058716e-05 9.99968114e-01 -4.29363878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484391418 meters 0.01464316474092431 Centerline is valid? [True, True] Translation: X:240.58, Y:-10.81, Z:-4.29 [[ 9.98974233e-01 4.45499636e-02 8.11061327e-03 2.40583561e+02] [-4.45479858e-02 9.99007156e-01 -4.24433578e-04 -1.08075664e+01] [-8.12146919e-03 6.26867237e-05 9.99967018e-01 -4.29410263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514391418 meters 0.014787100552618794 Centerline is valid? [True, True] Translation: X:240.61, Y:-10.81, Z:-4.29 [[ 9.98986492e-01 4.41479939e-02 8.77177682e-03 2.40609913e+02] [-4.41456744e-02 9.99025000e-01 -4.57973212e-04 -1.08126790e+01] [-8.78344293e-03 7.02730489e-05 9.99961422e-01 -4.29479227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.544391418 meters 0.014824713776279967 Centerline is valid? [True, True] Translation: X:240.64, Y:-10.82, Z:-4.30 [[ 9.98951339e-01 4.49278097e-02 8.81557693e-03 2.40638133e+02] [-4.49255131e-02 9.98990234e-01 -4.58463915e-04 -1.08156055e+01] [-8.82727304e-03 6.19388247e-05 9.99961037e-01 -4.29560650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.574391418 meters 0.014754886652592681 Centerline is valid? [True, True] Translation: X:240.67, Y:-10.82, Z:-4.30 [[ 9.98909353e-01 4.57606571e-02 9.27723894e-03 2.40667024e+02] [-4.57581571e-02 9.98952431e-01 -4.81663921e-04 -1.08177404e+01] [-9.28956165e-03 5.66292385e-05 9.99956849e-01 -4.29577920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.604391418 meters 0.014290032766652376 Centerline is valid? [True, True] Translation: X:240.70, Y:-10.82, Z:-4.30 [[ 9.98752535e-01 4.89803432e-02 9.71077649e-03 2.40695528e+02] [-4.89777643e-02 9.98799742e-01 -5.03346281e-04 -1.08194226e+01] [-9.72377513e-03 2.71062523e-05 9.99952723e-01 -4.29580150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.634391418 meters 0.015517136543445461 Centerline is valid? [True, True] Translation: X:240.72, Y:-10.82, Z:-4.30 [[ 9.98635304e-01 5.13387075e-02 9.58467745e-03 2.40723183e+02] [-5.13363076e-02 9.98681299e-01 -4.96409617e-04 -1.08207517e+01] [-9.59752316e-03 3.69021967e-06 9.99953943e-01 -4.29728818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664391418 meters 0.014188301430445695 Centerline is valid? [True, True] Translation: X:240.75, Y:-10.82, Z:-4.30 [[ 9.98546480e-01 5.29581887e-02 1.00179046e-02 2.40751308e+02] [-5.29556611e-02 9.98596730e-01 -5.17580601e-04 -1.08218141e+01] [-1.00312569e-02 -1.36764722e-05 9.99949686e-01 -4.29619275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694391418 meters 0.014686759450516932 Centerline is valid? [True, True] Translation: X:240.78, Y:-10.82, Z:-4.30 [[ 9.98300218e-01 5.73870975e-02 1.01683820e-02 2.40780153e+02] [-5.73847386e-02 9.98352001e-01 -5.23834708e-04 -1.08230525e+01] [-1.01816858e-02 -6.05656389e-05 9.99948163e-01 -4.29696935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724391418 meters 0.01495147988401661 Centerline is valid? [True, True] Translation: X:240.81, Y:-10.83, Z:-4.30 [[ 9.98174127e-01 5.95285202e-02 1.02355738e-02 2.40808802e+02] [-5.95262504e-02 9.98226602e-01 -5.26534187e-04 -1.08254437e+01] [-1.02487659e-02 -8.37125286e-05 9.99947477e-01 -4.29741897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754391418 meters 0.014987604991327336 Centerline is valid? [True, True] Translation: X:240.84, Y:-10.83, Z:-4.30 [[ 9.98057619e-01 6.15322092e-02 9.73528841e-03 2.40837940e+02] [-6.15302581e-02 9.98105093e-01 -5.00087337e-04 -1.08276138e+01] [-9.74761242e-03 -9.98988313e-05 9.99952486e-01 -4.29835158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784391418 meters 0.015965028864602285 Centerline is valid? [True, True] Translation: X:240.87, Y:-10.83, Z:-4.30 [[ 9.97846806e-01 6.49801372e-02 8.90694950e-03 2.40866360e+02] [-6.49786467e-02 9.97886550e-01 -4.56927391e-04 -1.08303603e+01] [-8.91781632e-03 -1.22817987e-04 9.99960228e-01 -4.29994121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814391418 meters 0.016343496547126787 Centerline is valid? [True, True] Translation: X:240.90, Y:-10.83, Z:-4.30 [[ 9.97774415e-01 6.61297442e-02 8.54832361e-03 2.40895377e+02] [-6.61284190e-02 9.97811024e-01 -4.37886990e-04 -1.08325698e+01] [-8.55856889e-03 -1.28374690e-04 9.99963367e-01 -4.30093989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84439141800001 meters 0.016735162319599834 Centerline is valid? [True, True] Translation: X:240.92, Y:-10.84, Z:-4.30 [[ 9.97706031e-01 6.72067261e-02 8.11982323e-03 2.40922744e+02] [-6.72055693e-02 9.97739063e-01 -4.15543950e-04 -1.08366351e+01] [-8.12939217e-03 -1.31106638e-04 9.99966947e-01 -4.30132093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87439141800002 meters 0.017016608731221232 Centerline is valid? [True, True] Translation: X:240.95, Y:-10.84, Z:-4.30 [[ 9.97728583e-01 6.68506449e-02 8.28643986e-03 2.40950409e+02] [-6.68494351e-02 9.97762985e-01 -4.23194365e-04 -1.08397347e+01] [-8.29619378e-03 -1.31710709e-04 9.99965577e-01 -4.30203706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904391418 meters 0.016148537872654436 Centerline is valid? [True, True] Translation: X:240.98, Y:-10.84, Z:-4.30 [[ 9.97772391e-01 6.61922202e-02 8.29729250e-03 2.40978828e+02] [-6.61909929e-02 9.97806882e-01 -4.22743804e-04 -1.08448259e+01] [-8.30707791e-03 -1.27403932e-04 9.99965488e-01 -4.30140660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934391418 meters 0.016161934628003412 Centerline is valid? [True, True] Translation: X:241.01, Y:-10.85, Z:-4.30 [[ 9.97866176e-01 6.47151802e-02 8.66263428e-03 2.41006484e+02] [-6.47137879e-02 9.97903768e-01 -4.41230099e-04 -1.08490778e+01] [-8.67302968e-03 -1.20303286e-04 9.99962381e-01 -4.30234670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964391418 meters 0.015194636064463439 Centerline is valid? [True, True] Translation: X:241.03, Y:-10.86, Z:-4.30 [[ 9.98109954e-01 6.07254944e-02 9.43046190e-03 2.41033562e+02] [-6.07236858e-02 9.98154500e-01 -4.78268910e-04 -1.08579568e+01] [-9.44210110e-03 -9.52874450e-05 9.99955418e-01 -4.30212179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994391418 meters 0.014729769397779615 Centerline is valid? [True, True] Translation: X:241.06, Y:-10.86, Z:-4.30 [[ 9.98261446e-01 5.80778634e-02 1.00522742e-02 2.41061816e+02] [-5.80756870e-02 9.98312053e-01 -5.08527184e-04 -1.08635394e+01] [-1.00648407e-02 -7.61496474e-05 9.99949345e-01 -4.30247775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024391418 meters 0.013810983014824472 Centerline is valid? [True, True] Translation: X:241.09, Y:-10.87, Z:-4.30 [[ 9.98612632e-01 5.15443039e-02 1.07701878e-02 2.41090141e+02] [-5.15414351e-02 9.98670709e-01 -5.43936255e-04 -1.08745542e+01] [-1.07839079e-02 -1.19293217e-05 9.99941852e-01 -4.30170071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054391418 meters 0.013734988362211296 Centerline is valid? [True, True] Translation: X:241.12, Y:-10.88, Z:-4.30 [[ 9.98802525e-01 4.76366183e-02 1.11476117e-02 2.41117626e+02] [-4.76333092e-02 9.98864731e-01 -5.62313001e-04 -1.08808977e+01] [-1.11617429e-02 3.06420093e-05 9.99937705e-01 -4.30235692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084391418 meters 0.014033901754910037 Centerline is valid? [True, True] Translation: X:241.15, Y:-10.89, Z:-4.30 [[ 9.98999853e-01 4.32768399e-02 1.12431797e-02 2.41146316e+02] [-4.32732164e-02 9.99063116e-01 -5.65465396e-04 -1.08876101e+01] [-1.12571177e-02 7.83712994e-05 9.99936634e-01 -4.30310342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114391418 meters 0.015973553217771483 Centerline is valid? [True, True] Translation: X:241.17, Y:-10.90, Z:-4.30 [[ 9.99348050e-01 3.42715733e-02 1.13549476e-02 2.41174937e+02] [-3.42673072e-02 9.99412541e-01 -5.70108611e-04 -1.09003893e+01] [-1.13678156e-02 1.80633449e-04 9.99935368e-01 -4.30439085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144391418 meters 0.017703504240791184 Centerline is valid? [True, True] Translation: X:241.20, Y:-10.91, Z:-4.31 [[ 9.99497112e-01 2.96056542e-02 1.13590258e-02 2.41202809e+02] [-2.96010932e-02 9.99561629e-01 -5.69478468e-04 -1.09080384e+01] [-1.13709061e-02 2.32952503e-04 9.99935322e-01 -4.30508733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174391418 meters 0.019310225411233152 Centerline is valid? [True, True] Translation: X:241.23, Y:-10.91, Z:-4.31 [[ 9.99633359e-01 2.45380549e-02 1.14468922e-02 2.41232097e+02] [-2.45331047e-02 9.99698854e-01 -5.72684442e-04 -1.09144033e+01] [-1.14574975e-02 2.91646669e-04 9.99934318e-01 -4.30516236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204391418 meters 0.020965500231414663 Centerline is valid? [True, True] Translation: X:241.26, Y:-10.92, Z:-4.31 [[ 9.99732296e-01 1.99659330e-02 1.16917851e-02 2.41261747e+02] [-1.99604635e-02 9.99800599e-01 -5.84319537e-04 -1.09207174e+01] [-1.17011202e-02 3.50789663e-04 9.99931478e-01 -4.30535786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234391418 meters 0.025556349777055426 Centerline is valid? [True, True] Translation: X:241.29, Y:-10.93, Z:-4.31 [[ 9.99861950e-01 1.08821343e-02 1.25563002e-02 2.41291079e+02] [-1.08751169e-02 9.99940668e-01 -6.27019446e-04 -1.09323696e+01] [-1.25623785e-02 4.90381653e-04 9.99920970e-01 -4.30541124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264391418 meters 0.028124066060245916 Centerline is valid? [True, True] Translation: X:241.32, Y:-10.94, Z:-4.31 [[ 9.99902155e-01 7.00014779e-03 1.21110839e-02 2.41320915e+02] [-6.99333070e-03 9.99975363e-01 -6.05139001e-04 -1.09386675e+01] [-1.21150216e-02 5.20382976e-04 9.99926475e-01 -4.30663590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.294391418 meters 0.02979818008880903 Centerline is valid? [True, True] Translation: X:241.35, Y:-10.94, Z:-4.31 [[ 9.99921321e-01 3.66868246e-03 1.19954968e-02 2.41351976e+02] [-3.66175853e-03 9.99993116e-01 -5.99122847e-04 -1.09433002e+01] [-1.19976122e-02 5.55151096e-04 9.99927872e-01 -4.30764112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.324391418 meters 0.030485210439045552 Centerline is valid? [True, True] Translation: X:241.38, Y:-10.95, Z:-4.31 [[ 9.99941886e-01 -7.19657685e-04 1.07567036e-02 2.41382972e+02] [ 7.25482069e-04 9.99999592e-01 -5.37573292e-04 -1.09466180e+01] [-1.07563123e-02 5.45345847e-04 9.99942000e-01 -4.30863360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.354391418 meters 0.03445143219228256 Centerline is valid? [True, True] Translation: X:241.41, Y:-10.95, Z:-4.31 [[ 9.99948034e-01 -1.57077886e-03 1.00728604e-02 2.41413698e+02] [ 1.57591562e-03 9.99998632e-01 -5.02042782e-04 -1.09537385e+01] [-1.00720580e-02 5.17890671e-04 9.99949141e-01 -4.31065914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.384391418 meters 0.030689181335598597 Centerline is valid? [True, True] Translation: X:241.45, Y:-10.95, Z:-4.31 [[ 9.99955573e-01 -1.95469346e-03 9.22125572e-03 2.41446349e+02] [ 1.95904826e-03 9.99997974e-01 -4.63247121e-04 -1.09503400e+01] [-9.22033153e-03 4.81291425e-04 9.99957376e-01 -4.31078818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414391418 meters 0.0332218829462807 Centerline is valid? [True, True] Translation: X:241.48, Y:-10.95, Z:-4.31 [[ 9.99961142e-01 -1.83616356e-03 8.62225150e-03 2.41478272e+02] [ 1.83997027e-03 9.99998213e-01 -4.33586406e-04 -1.09547745e+01] [-8.62143996e-03 4.49434244e-04 9.99962734e-01 -4.31226471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444391418 meters 0.03173182142101461 Centerline is valid? [True, True] Translation: X:241.51, Y:-10.95, Z:-4.31 [[ 9.99969225e-01 -2.41302289e-04 7.84156372e-03 2.41510676e+02] [ 2.44408814e-04 9.99999892e-01 -3.95205584e-04 -1.09524196e+01] [-7.84146751e-03 3.97109969e-04 9.99969176e-01 -4.31284051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474391418 meters 0.030700870481888725 Centerline is valid? [True, True] Translation: X:241.54, Y:-10.95, Z:-4.31 [[ 9.99971704e-01 1.28703635e-03 7.41186091e-03 2.41543054e+02] [-1.28429900e-03 9.99999105e-01 -3.74068203e-04 -1.09514256e+01] [-7.41233572e-03 3.64538573e-04 9.99972462e-01 -4.31312101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504391418 meters 0.02859713996087246 Centerline is valid? [True, True] Translation: X:241.58, Y:-10.95, Z:-4.31 [[ 9.99966690e-01 3.00944744e-03 7.58702772e-03 2.41575572e+02] [-3.00662383e-03 9.99995407e-01 -3.83541341e-04 -1.09486379e+01] [-7.58814712e-03 3.60717227e-04 9.99971145e-01 -4.31281711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534391418 meters 0.028177433081032863 Centerline is valid? [True, True] Translation: X:241.61, Y:-10.95, Z:-4.31 [[ 9.99940508e-01 6.74318797e-03 8.57378109e-03 2.41605870e+02] [-6.73970622e-03 9.99977193e-01 -4.34921090e-04 -1.09459747e+01] [-8.57651830e-03 3.77110450e-04 9.99963150e-01 -4.31186972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564391418 meters 0.026908781236159855 Centerline is valid? [True, True] Translation: X:241.64, Y:-10.94, Z:-4.31 [[ 9.99914656e-01 9.22681642e-03 9.24912873e-03 2.41638538e+02] [-9.22288976e-03 9.99957359e-01 -4.67108005e-04 -1.09438794e+01] [-9.25304426e-03 3.81764446e-04 9.99957117e-01 -4.31144542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59439141800001 meters 0.024220255421507856 Centerline is valid? [True, True] Translation: X:241.67, Y:-10.94, Z:-4.31 [[ 9.99857716e-01 1.38941261e-02 9.56566358e-03 2.41670535e+02] [-1.38900939e-02 9.99903409e-01 -4.87843525e-04 -1.09374517e+01] [-9.57151778e-03 3.54906147e-04 9.99954129e-01 -4.31024973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62439141800002 meters 0.023198951464347056 Centerline is valid? [True, True] Translation: X:241.70, Y:-10.94, Z:-4.31 [[ 9.99815827e-01 1.63386940e-02 1.00677236e-02 2.41701717e+02] [-1.63343412e-02 9.99866453e-01 -5.14438941e-04 -1.09353431e+01] [-1.00747843e-02 3.49894563e-04 9.99949187e-01 -4.31009006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654391418 meters 0.022335561450963222 Centerline is valid? [True, True] Translation: X:241.73, Y:-10.93, Z:-4.31 [[ 9.99777514e-01 1.85027459e-02 1.01277291e-02 2.41732763e+02] [-1.84984498e-02 9.99828755e-01 -5.17713336e-04 -1.09332076e+01] [-1.01355739e-02 3.30250864e-04 9.99948579e-01 -4.31021747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684391418 meters 0.022073108304017236 Centerline is valid? [True, True] Translation: X:241.76, Y:-10.93, Z:-4.31 [[ 9.99730435e-01 2.09599545e-02 9.98688039e-03 2.41762247e+02] [-2.09558943e-02 9.99780271e-01 -5.11034295e-04 -1.09325960e+01] [-9.99539723e-03 3.01612529e-04 9.99949999e-01 -4.31098394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714391418 meters 0.019295641796624626 Centerline is valid? [True, True] Translation: X:241.79, Y:-10.93, Z:-4.31 [[ 9.99632681e-01 2.55007910e-02 9.17675607e-03 2.41792523e+02] [-2.54975537e-02 9.99674774e-01 -4.69605902e-04 -1.09251907e+01] [-9.18574688e-03 2.35448576e-04 9.99957782e-01 -4.31144905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744391418 meters 0.018628582584470286 Centerline is valid? [True, True] Translation: X:241.82, Y:-10.92, Z:-4.31 [[ 9.99577026e-01 2.77003304e-02 8.85786357e-03 2.41821980e+02] [-2.76973972e-02 9.99616251e-01 -4.53667149e-04 -1.09233366e+01] [-8.86703110e-03 2.08135494e-04 9.99960665e-01 -4.31204323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774391418 meters 0.017702370417645004 Centerline is valid? [True, True] Translation: X:241.85, Y:-10.92, Z:-4.31 [[ 9.99523314e-01 2.97626930e-02 8.20525577e-03 2.41850486e+02] [-2.97602554e-02 9.99556978e-01 -4.19052936e-04 -1.09212609e+01] [-8.21409281e-03 1.74662672e-04 9.99966249e-01 -4.31260918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804391418 meters 0.015982314413521978 Centerline is valid? [True, True] Translation: X:241.88, Y:-10.92, Z:-4.31 [[ 9.99401203e-01 3.36932049e-02 7.87423001e-03 2.41879574e+02] [-3.36910863e-02 9.99432214e-01 -4.01588317e-04 -1.09157082e+01] [-7.88328992e-03 1.36056485e-04 9.99968917e-01 -4.31275581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834391418 meters 0.01597732413488296 Centerline is valid? [True, True] Translation: X:241.91, Y:-10.92, Z:-4.31 [[ 9.99339006e-01 3.55374707e-02 7.65760933e-03 2.41907194e+02] [-3.55355236e-02 9.99368338e-01 -3.90219139e-04 -1.09150376e+01] [-7.66663971e-03 1.17844049e-04 9.99970604e-01 -4.31395436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864391418 meters 0.014810686350458194 Centerline is valid? [True, True] Translation: X:241.94, Y:-10.91, Z:-4.31 [[ 9.99193976e-01 3.94324328e-02 7.51541149e-03 2.41935983e+02] [-3.94306755e-02 9.99222236e-01 -3.81920978e-04 -1.09094036e+01] [-7.52462635e-03 8.52753892e-05 9.99971686e-01 -4.31365548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894391418 meters 0.014429251743499112 Centerline is valid? [True, True] Translation: X:241.96, Y:-10.91, Z:-4.31 [[ 9.99120861e-01 4.12323878e-02 7.57602778e-03 2.41963604e+02] [-4.12306570e-02 9.99149581e-01 -3.84570641e-04 -1.09084404e+01] [-7.58544175e-03 7.18679469e-05 9.99971228e-01 -4.31449612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924391418 meters 0.014141672361015378 Centerline is valid? [True, True] Translation: X:241.99, Y:-10.91, Z:-4.31 [[ 9.99050492e-01 4.29021314e-02 7.58426651e-03 2.41993002e+02] [-4.29004524e-02 9.99079278e-01 -3.84003152e-04 -1.09068894e+01] [-7.59375806e-03 5.82700743e-05 9.99971165e-01 -4.31434522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954391418 meters 0.014035344722850175 Centerline is valid? [True, True] Translation: X:242.02, Y:-10.90, Z:-4.32 [[ 9.98968752e-01 4.46292091e-02 8.34658944e-03 2.42020714e+02] [-4.46272412e-02 9.99003619e-01 -4.21961582e-04 -1.09048078e+01] [-8.35710487e-03 4.90411751e-05 9.99965078e-01 -4.31511824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984391418 meters 0.013691280705113027 Centerline is valid? [True, True] Translation: X:242.05, Y:-10.90, Z:-4.31 [[ 9.98951587e-01 4.49068512e-02 8.89385468e-03 2.42049844e+02] [-4.49046384e-02 9.98991177e-01 -4.48435967e-04 -1.09047920e+01] [-8.90502020e-03 4.85904928e-05 9.99960348e-01 -4.31465416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014391418 meters 0.0137342812108706 Centerline is valid? [True, True] Translation: X:242.08, Y:-10.91, Z:-4.32 [[ 9.98966993e-01 4.44186637e-02 9.58798682e-03 2.42077040e+02] [-4.44160733e-02 9.99013002e-01 -4.83041805e-04 -1.09063299e+01] [-9.59997957e-03 5.66820941e-05 9.99953918e-01 -4.31542273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.044391418 meters 0.0137342812108706 Centerline is valid? [True, True] Translation: X:242.10, Y:-10.91, Z:-4.32 [[ 9.98972137e-01 4.43028046e-02 9.58806477e-03 2.42104467e+02] [-4.43002238e-02 9.99018147e-01 -4.81487492e-04 -1.09075875e+01] [-9.59998195e-03 5.62391742e-05 9.99953918e-01 -4.31591853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.074391418 meters 0.014051900380282992 Centerline is valid? [True, True] Translation: X:242.13, Y:-10.91, Z:-4.32 [[ 9.99045313e-01 4.22649189e-02 1.10516421e-02 2.42131813e+02] [-4.22613817e-02 9.99106435e-01 -5.53507147e-04 -1.09100206e+01] [-1.10651606e-02 8.59210571e-05 9.99938776e-01 -4.31607480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.104391418 meters 0.014258931950295876 Centerline is valid? [True, True] Translation: X:242.16, Y:-10.91, Z:-4.32 [[ 9.99120142e-01 4.02212766e-02 1.18823627e-02 2.42160054e+02] [-4.02170669e-02 9.99190790e-01 -5.93116973e-04 -1.09120501e+01] [-1.18966033e-02 1.14721337e-04 9.99929226e-01 -4.31575435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.134391418 meters 0.01468990433392843 Centerline is valid? [True, True] Translation: X:242.19, Y:-10.92, Z:-4.32 [[ 9.99201257e-01 3.79797572e-02 1.24252294e-02 2.42188686e+02] [-3.79749984e-02 9.99278498e-01 -6.18787313e-04 -1.09151511e+01] [-1.24397660e-02 1.46444993e-04 9.99922612e-01 -4.31610717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164391418 meters 0.016672189880962408 Centerline is valid? [True, True] Translation: X:242.22, Y:-10.92, Z:-4.32 [[ 9.99375970e-01 3.28335668e-02 1.30241061e-02 2.42216379e+02] [-3.28279143e-02 9.99460809e-01 -6.47604046e-04 -1.09219483e+01] [-1.30383467e-02 2.19645683e-04 9.99914973e-01 -4.31742524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194391418 meters 0.01677348927371039 Centerline is valid? [True, True] Translation: X:242.25, Y:-10.92, Z:-4.32 [[ 9.99455116e-01 3.03825962e-02 1.28983821e-02 2.42245267e+02] [-3.03768657e-02 9.99538312e-01 -6.40013647e-04 -1.09237576e+01] [-1.29118723e-02 2.47852494e-04 9.99916608e-01 -4.31788110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224391418 meters 0.018049391799918404 Centerline is valid? [True, True] Translation: X:242.28, Y:-10.93, Z:-4.32 [[ 9.99565878e-01 2.64868250e-02 1.29035942e-02 2.42275001e+02] [-2.64807814e-02 9.99649118e-01 -6.39024196e-04 -1.09286318e+01] [-1.29159923e-02 2.97049526e-04 9.99916541e-01 -4.31922381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254391418 meters 0.01857882599427228 Centerline is valid? [True, True] Translation: X:242.30, Y:-10.93, Z:-4.32 [[ 9.99596721e-01 2.52477069e-02 1.29980189e-02 2.42304822e+02] [-2.52414768e-02 9.99681176e-01 -6.43167424e-04 -1.09313639e+01] [-1.30101134e-02 3.14818855e-04 9.99915315e-01 -4.32026945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284391418 meters 0.018610281423468825 Centerline is valid? [True, True] Translation: X:242.33, Y:-10.93, Z:-4.32 [[ 9.99616460e-01 2.45225756e-02 1.28676780e-02 2.42334193e+02] [-2.45164163e-02 9.99699225e-01 -6.36205074e-04 -1.09329025e+01] [-1.28794091e-02 3.20491713e-04 9.99917006e-01 -4.32110006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314391418 meters 0.01935212998334726 Centerline is valid? [True, True] Translation: X:242.36, Y:-10.94, Z:-4.32 [[ 9.99611702e-01 2.44799537e-02 1.33107615e-02 2.42362604e+02] [-2.44733655e-02 9.99700266e-01 -6.57633507e-04 -1.09351906e+01] [-1.33228707e-02 3.31619018e-04 9.99911192e-01 -4.32199009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34439141800001 meters 0.01877735378825442 Centerline is valid? [True, True] Translation: X:242.39, Y:-10.94, Z:-4.32 [[ 9.99558267e-01 2.65220692e-02 1.34108601e-02 2.42390844e+02] [-2.65155765e-02 9.99648181e-01 -6.61742873e-04 -1.09352241e+01] [-1.34236927e-02 3.05853872e-04 9.99909851e-01 -4.32286057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37439141800002 meters 0.017717576421711137 Centerline is valid? [True, True] Translation: X:242.42, Y:-10.93, Z:-4.32 [[ 9.99505247e-01 2.84199578e-02 1.34746900e-02 2.42421033e+02] [-2.84135888e-02 9.99596032e-01 -6.63907097e-04 -1.09341713e+01] [-1.34881149e-02 2.80714325e-04 9.99908992e-01 -4.32356127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404391418 meters 0.01729878643498961 Centerline is valid? [True, True] Translation: X:242.45, Y:-10.93, Z:-4.32 [[ 9.99432141e-01 3.07917704e-02 1.36843621e-02 2.42450162e+02] [-3.07854265e-02 9.99525789e-01 -6.74042469e-04 -1.09343434e+01] [-1.36986277e-02 2.52380785e-04 9.99906138e-01 -4.32446434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434391418 meters 0.015136458078333288 Centerline is valid? [True, True] Translation: X:242.48, Y:-10.93, Z:-4.32 [[ 9.99212406e-01 3.71083398e-02 1.40548491e-02 2.42479053e+02] [-3.71022782e-02 9.99311234e-01 -6.91870147e-04 -1.09299063e+01] [-1.40708428e-02 1.69858311e-04 9.99900986e-01 -4.32493748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464391418 meters 0.014329748840800766 Centerline is valid? [True, True] Translation: X:242.51, Y:-10.93, Z:-4.33 [[ 9.99066529e-01 4.06339758e-02 1.46612207e-02 2.42508183e+02] [-4.06277772e-02 9.99174091e-01 -7.20502238e-04 -1.09278731e+01] [-1.46783887e-02 1.24176863e-04 9.99892259e-01 -4.32520595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494391418 meters 0.013730494971267021 Centerline is valid? [True, True] Translation: X:242.54, Y:-10.92, Z:-4.33 [[ 9.98706131e-01 4.85433296e-02 1.51528768e-02 2.42536727e+02] [-4.85376379e-02 9.98821078e-01 -7.43377596e-04 -1.09228158e+01] [-1.51710987e-02 6.93091675e-06 9.99884912e-01 -4.32559971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524391418 meters 0.013739292352685412 Centerline is valid? [True, True] Translation: X:242.57, Y:-10.92, Z:-4.33 [[ 9.98507394e-01 5.24739681e-02 1.51481672e-02 2.42565737e+02] [-5.24687507e-02 9.98622291e-01 -7.41921608e-04 -1.09209081e+01] [-1.51662290e-02 -5.39911990e-05 9.99884985e-01 -4.32580055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554391418 meters 0.0149717245141427 Centerline is valid? [True, True] Translation: X:242.59, Y:-10.92, Z:-4.33 [[ 9.98132778e-01 5.92235917e-02 1.49507365e-02 2.42594664e+02] [-5.92192835e-02 9.98244731e-01 -7.31098069e-04 -1.09172404e+01] [-1.49677922e-02 -1.55638956e-04 9.99887964e-01 -4.32705483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584391418 meters 0.01544472394053946 Centerline is valid? [True, True] Translation: X:242.62, Y:-10.92, Z:-4.33 [[ 9.97987492e-01 6.17175943e-02 1.45569360e-02 2.42623460e+02] [-6.17137913e-02 9.98093634e-01 -7.10741363e-04 -1.09174294e+01] [-1.45730504e-02 -1.89052721e-04 9.99893790e-01 -4.32810294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614391418 meters 0.016023708652672566 Centerline is valid? [True, True] Translation: X:242.65, Y:-10.92, Z:-4.33 [[ 9.97891569e-01 6.33906185e-02 1.39300404e-02 2.42652227e+02] [-6.33873136e-02 9.97988771e-01 -6.79081172e-04 -1.09177315e+01] [-1.39450713e-02 -2.05338464e-04 9.99902742e-01 -4.32937399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644391418 meters 0.01589314647438891 Centerline is valid? [True, True] Translation: X:242.68, Y:-10.92, Z:-4.33 [[ 9.97834456e-01 6.43574667e-02 1.35835928e-02 2.42681364e+02] [-6.43544277e-02 9.97926886e-01 -6.61163977e-04 -1.09198086e+01] [-1.35979834e-02 -2.14432146e-04 9.99907520e-01 -4.33044835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674391418 meters 0.016117793588959508 Centerline is valid? [True, True] Translation: X:242.71, Y:-10.92, Z:-4.33 [[ 9.97869696e-01 6.40429834e-02 1.24324368e-02 2.42708466e+02] [-6.40404202e-02 9.97947122e-01 -6.04577456e-04 -1.09231299e+01] [-1.24456335e-02 -1.92888953e-04 9.99922531e-01 -4.33279258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704391418 meters 0.01625812381455391 Centerline is valid? [True, True] Translation: X:242.74, Y:-10.93, Z:-4.33 [[ 9.97958514e-01 6.27267240e-02 1.20067822e-02 2.42735997e+02] [-6.27242604e-02 9.98030725e-01 -5.82018949e-04 -1.09257504e+01] [-1.20196457e-02 -1.72285767e-04 9.99927747e-01 -4.33435784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734391418 meters 0.015360895930116948 Centerline is valid? [True, True] Translation: X:242.76, Y:-10.93, Z:-4.33 [[ 9.98071409e-01 6.09521132e-02 1.17601677e-02 2.42764651e+02] [-6.09496414e-02 9.98140680e-01 -5.68807444e-04 -1.09303506e+01] [-1.17729718e-02 -1.49067556e-04 9.99930685e-01 -4.33489120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764391418 meters 0.014514545616143579 Centerline is valid? [True, True] Translation: X:242.79, Y:-10.94, Z:-4.34 [[ 9.98347359e-01 5.62210039e-02 1.19058629e-02 2.42792273e+02] [-5.62181441e-02 9.98418344e-01 -5.74998428e-04 -1.09376772e+01] [-1.19193589e-02 -9.52773529e-05 9.99928957e-01 -4.33565673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.794391418 meters 0.014010582454729815 Centerline is valid? [True, True] Translation: X:242.82, Y:-10.94, Z:-4.34 [[ 9.98517121e-01 5.30300930e-02 1.23032023e-02 2.42821146e+02] [-5.30268140e-02 9.98592913e-01 -5.92803884e-04 -1.09430403e+01] [-1.23173271e-02 -6.04747945e-05 9.99924137e-01 -4.33557854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.824391418 meters 0.013663639646813913 Centerline is valid? [True, True] Translation: X:242.85, Y:-10.95, Z:-4.34 [[ 9.98868088e-01 4.55082096e-02 1.38400298e-02 2.42848287e+02] [-4.55033551e-02 9.98963964e-01 -6.65617012e-04 -1.09528575e+01] [-1.38559820e-02 3.50958023e-05 9.99904001e-01 -4.33568723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.854391418 meters 0.014028985325405861 Centerline is valid? [True, True] Translation: X:242.88, Y:-10.96, Z:-4.34 [[ 9.99043913e-01 4.12661834e-02 1.44347565e-02 2.42876361e+02] [-4.12604823e-02 9.99148184e-01 -6.92669822e-04 -1.09589960e+01] [-1.44510446e-02 9.64225528e-05 9.99895574e-01 -4.33556393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.884391418 meters 0.014843171859802669 Centerline is valid? [True, True] Translation: X:242.91, Y:-10.97, Z:-4.34 [[ 9.99197517e-01 3.67727863e-02 1.58771650e-02 2.42905269e+02] [-3.67653505e-02 9.99323637e-01 -7.60064931e-04 -1.09652508e+01] [-1.58943760e-02 1.75725456e-04 9.99873661e-01 -4.33530978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914391418 meters 0.015890399016046032 Centerline is valid? [True, True] Translation: X:242.93, Y:-10.97, Z:-4.34 [[ 9.99337547e-01 3.21599147e-02 1.70354859e-02 2.42934930e+02] [-3.21507100e-02 9.99482701e-01 -8.13993978e-04 -1.09717384e+01] [-1.70528514e-02 2.65751778e-04 9.99854554e-01 -4.33519018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944391418 meters 0.0191897598973011 Centerline is valid? [True, True] Translation: X:242.96, Y:-10.98, Z:-4.33 [[ 9.99591867e-01 2.21847463e-02 1.79982585e-02 2.42964890e+02] [-2.21728688e-02 9.99753782e-01 -8.59233469e-04 -1.09831555e+01] [-1.80128889e-02 4.59809763e-04 9.99837649e-01 -4.33496085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974391418 meters 0.02198441582517639 Centerline is valid? [True, True] Translation: X:242.99, Y:-10.99, Z:-4.34 [[ 9.99690832e-01 1.70005131e-02 1.81444787e-02 2.42994802e+02] [-1.69875885e-02 9.99855325e-01 -8.66216792e-04 -1.09906235e+01] [-1.81565797e-02 5.57718048e-04 9.99835000e-01 -4.33555707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004391418 meters 0.023363757005728236 Centerline is valid? [True, True] Translation: X:243.03, Y:-11.00, Z:-4.34 [[ 9.99771349e-01 1.16116220e-02 1.79560495e-02 2.43025706e+02] [-1.15980898e-02 9.99932372e-01 -8.57580840e-04 -1.09958372e+01] [-1.79647931e-02 6.49128879e-04 9.99838409e-01 -4.33634758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034391418 meters 0.026445569192724123 Centerline is valid? [True, True] Translation: X:243.06, Y:-11.00, Z:-4.34 [[ 9.99823378e-01 6.48051371e-03 1.76412906e-02 2.43055693e+02] [-6.46664829e-03 9.99978736e-01 -8.42895914e-04 -1.10036296e+01] [-1.76463779e-02 7.28667019e-04 9.99844025e-01 -4.33718906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064391418 meters 0.031500488550000615 Centerline is valid? [True, True] Translation: X:243.09, Y:-11.01, Z:-4.34 [[ 9.99838948e-01 -3.38789921e-03 1.76238484e-02 2.43086124e+02] [ 3.40328215e-03 9.99993854e-01 -8.42928946e-04 -1.10147573e+01] [-1.76208843e-02 9.02772120e-04 9.99844333e-01 -4.33882016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09439141800001 meters 0.03441430119007306 Centerline is valid? [True, True] Translation: X:243.12, Y:-11.02, Z:-4.34 [[ 9.99808794e-01 -7.30610248e-03 1.81382778e-02 2.43116247e+02] [ 7.32304406e-03 9.99972810e-01 -8.67779240e-04 -1.10214235e+01] [-1.81314445e-02 1.00044072e-03 9.99835111e-01 -4.33928588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12439141800002 meters 0.03691699215674725 Centerline is valid? [True, True] Translation: X:243.15, Y:-11.03, Z:-4.34 [[ 9.99759946e-01 -1.30002826e-02 1.76364025e-02 2.43146755e+02] [ 1.30171886e-02 9.99914917e-01 -8.44121996e-04 -1.10263700e+01] [-1.76239281e-02 1.07349574e-03 9.99844110e-01 -4.34012120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154391418 meters 0.03692029844266017 Centerline is valid? [True, True] Translation: X:243.18, Y:-11.03, Z:-4.34 [[ 9.99753526e-01 -1.42208029e-02 1.70486568e-02 2.43178778e+02] [ 1.42367773e-02 9.99898319e-01 -8.15980319e-04 -1.10271410e+01] [-1.70353194e-02 1.05849713e-03 9.99854328e-01 -4.34118427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184391418 meters 0.03725227103575934 Centerline is valid? [True, True] Translation: X:243.21, Y:-11.03, Z:-4.34 [[ 9.99778616e-01 -1.39746404e-02 1.57298467e-02 2.43210680e+02] [ 1.39882269e-02 9.99901876e-01 -7.54047310e-04 -1.10269791e+01] [-1.57177657e-02 9.73913041e-04 9.99875994e-01 -4.34315728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214391418 meters 0.039731087738676917 Centerline is valid? [True, True] Translation: X:243.24, Y:-11.03, Z:-4.34 [[ 9.99799904e-01 -1.30119466e-02 1.51934384e-02 2.43241816e+02] [ 1.30245306e-02 9.99914911e-01 -7.29591158e-04 -1.10302807e+01] [-1.51826522e-02 9.27332574e-04 9.99884307e-01 -4.34465335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244391418 meters 0.036165960133984335 Centerline is valid? [True, True] Translation: X:243.27, Y:-11.03, Z:-4.35 [[ 9.99822950e-01 -1.14933108e-02 1.48987630e-02 2.43274411e+02] [ 1.15052557e-02 9.99933556e-01 -7.16268702e-04 -1.10256592e+01] [-1.48895408e-02 8.87555964e-04 9.99888751e-01 -4.34545738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274391418 meters 0.035066444254491236 Centerline is valid? [True, True] Translation: X:243.31, Y:-11.02, Z:-4.35 [[ 9.99851045e-01 -9.39606968e-03 1.44776422e-02 2.43305633e+02] [ 9.40714832e-03 9.99955509e-01 -6.97312953e-04 -1.10239561e+01] [-1.44704461e-02 8.33402413e-04 9.99894950e-01 -4.34662618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304391418 meters 0.0330154430198106 Centerline is valid? [True, True] Translation: X:243.34, Y:-11.02, Z:-4.35 [[ 9.99897172e-01 -4.84621482e-03 1.34966822e-02 2.43336728e+02] [ 4.85543776e-03 9.99988001e-01 -6.50664813e-04 -1.10185404e+01] [-1.34933670e-02 7.16130207e-04 9.99908704e-01 -4.34775938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334391418 meters 0.03203514930453483 Centerline is valid? [True, True] Translation: X:243.37, Y:-11.02, Z:-4.35 [[ 9.99909637e-01 -2.47020059e-03 1.32142255e-02 2.43368576e+02] [ 2.47883546e-03 9.99996725e-01 -6.37113820e-04 -1.10163398e+01] [-1.32126084e-02 6.69812139e-04 9.99912485e-01 -4.34857681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364391418 meters 0.031320750759056326 Centerline is valid? [True, True] Translation: X:243.40, Y:-11.01, Z:-4.35 [[ 9.99919693e-01 3.35171071e-06 1.26731391e-02 2.43399611e+02] [ 4.40282762e-06 9.99999813e-01 -6.11859783e-04 -1.10142307e+01] [-1.26731388e-02 6.11866444e-04 9.99919505e-01 -4.34935490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394391418 meters 0.02794421320959946 Centerline is valid? [True, True] Translation: X:243.43, Y:-11.01, Z:-4.35 [[ 9.99909084e-01 4.33987021e-03 1.27667171e-02 2.43430413e+02] [-4.33234411e-03 9.99990425e-01 -6.17106824e-04 -1.10053342e+01] [-1.27692730e-02 5.61740907e-04 9.99918312e-01 -4.34936757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424391418 meters 0.027310482221419248 Centerline is valid? [True, True] Translation: X:243.46, Y:-11.00, Z:-4.35 [[ 9.99899572e-01 6.75640182e-03 1.24577904e-02 2.43460869e+02] [-6.74942417e-03 9.99977041e-01 -6.02062458e-04 -1.10034496e+01] [-1.24615722e-02 5.17919082e-04 9.99922217e-01 -4.34981884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454391418 meters 0.026072442670634258 Centerline is valid? [True, True] Translation: X:243.49, Y:-11.00, Z:-4.35 [[ 9.99878269e-01 9.30856508e-03 1.25219113e-02 2.43493507e+02] [-9.30172997e-03 9.99956556e-01 -6.03983005e-04 -1.10010246e+01] [-1.25269895e-02 4.87434043e-04 9.99921415e-01 -4.35009708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484391418 meters 0.024497364304513516 Centerline is valid? [True, True] Translation: X:243.52, Y:-11.00, Z:-4.35 [[ 9.99818439e-01 1.34854442e-02 1.34622029e-02 2.43524679e+02] [-1.34778511e-02 9.99908955e-01 -6.54601156e-04 -1.09957611e+01] [-1.34698048e-02 4.73040740e-04 9.99909166e-01 -4.34965283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514391418 meters 0.022390743195019835 Centerline is valid? [True, True] Translation: X:243.56, Y:-10.99, Z:-4.35 [[ 9.99781876e-01 1.57663303e-02 1.36975850e-02 2.43556958e+02] [-1.57586899e-02 9.99875603e-01 -6.65548815e-04 -1.09920229e+01] [-1.37063743e-02 4.49547649e-04 9.99905962e-01 -4.34960740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.544391418 meters 0.02074324146175741 Centerline is valid? [True, True] Translation: X:243.59, Y:-10.99, Z:-4.35 [[ 9.99704771e-01 1.95902527e-02 1.43733697e-02 2.43588420e+02] [-1.95821590e-02 9.99808004e-01 -7.03641501e-04 -1.09859140e+01] [-1.43843946e-02 4.21972155e-04 9.99896450e-01 -4.34911156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.574391418 meters 0.019979564073526593 Centerline is valid? [True, True] Translation: X:243.62, Y:-10.98, Z:-4.35 [[ 9.99655167e-01 2.18632067e-02 1.45446541e-02 2.43619966e+02] [-2.18551504e-02 9.99760894e-01 -7.12638053e-04 -1.09839741e+01] [-1.45567569e-02 3.94516710e-04 9.99893967e-01 -4.34921270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.604391418 meters 0.019850522799958116 Centerline is valid? [True, True] Translation: X:243.65, Y:-10.98, Z:-4.35 [[ 9.99615212e-01 2.39112132e-02 1.40599315e-02 2.43649954e+02] [-2.39038785e-02 9.99714024e-01 -6.89516126e-04 -1.09829877e+01] [-1.40723978e-02 3.53163915e-04 9.99900917e-01 -4.35030621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.634391418 meters 0.019817879818621844 Centerline is valid? [True, True] Translation: X:243.68, Y:-10.98, Z:-4.35 [[ 9.99561667e-01 2.60659108e-02 1.40371612e-02 2.43679405e+02] [-2.60588061e-02 9.99660174e-01 -6.88838308e-04 -1.09826301e+01] [-1.40503462e-02 3.22744707e-04 9.99901237e-01 -4.35142411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664391418 meters 0.016524614940232645 Centerline is valid? [True, True] Translation: X:243.71, Y:-10.97, Z:-4.35 [[ 9.99450967e-01 3.03893196e-02 1.32005088e-02 2.43709356e+02] [-3.03834152e-02 9.99538108e-01 -6.47648293e-04 -1.09745198e+01] [-1.32140932e-02 2.46216172e-04 9.99912660e-01 -4.35189419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694391418 meters 0.016275928210408228 Centerline is valid? [True, True] Translation: X:243.74, Y:-10.97, Z:-4.35 [[ 9.99386306e-01 3.26475652e-02 1.26943734e-02 2.43737050e+02] [-3.26422892e-02 9.99466905e-01 -6.22643912e-04 -1.09732265e+01] [-1.27079339e-02 2.07888390e-04 9.99919229e-01 -4.35297533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724391418 meters 0.015358592545399867 Centerline is valid? [True, True] Translation: X:243.77, Y:-10.97, Z:-4.35 [[ 9.99296678e-01 3.53963413e-02 1.23793336e-02 2.43766168e+02] [-3.53915513e-02 9.99373339e-01 -6.05859473e-04 -1.09707145e+01] [-1.23930212e-02 1.67309539e-04 9.99923190e-01 -4.35342388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754391418 meters 0.01436507555865338 Centerline is valid? [True, True] Translation: X:243.80, Y:-10.96, Z:-4.35 [[ 9.99076072e-01 4.10958375e-02 1.25751928e-02 2.43795382e+02] [-4.10913593e-02 9.99155205e-01 -6.14391840e-04 -1.09642004e+01] [-1.25898182e-02 9.70924210e-05 9.99920740e-01 -4.35359387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784391418 meters 0.014102555872563587 Centerline is valid? [True, True] Translation: X:243.82, Y:-10.96, Z:-4.35 [[ 9.98963685e-01 4.36562344e-02 1.28720195e-02 2.43823752e+02] [-4.36517666e-02 9.99046610e-01 -6.27981938e-04 -1.09619399e+01] [-1.28871627e-02 6.54447621e-05 9.99916955e-01 -4.35361939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814391418 meters 0.013963321540860094 Centerline is valid? [True, True] Translation: X:243.85, Y:-10.96, Z:-4.35 [[ 9.98745113e-01 4.81478496e-02 1.37834348e-02 2.43852172e+02] [-4.81431793e-02 9.98840220e-01 -6.70637176e-04 -1.09578624e+01] [-1.37997388e-02 6.21723123e-06 9.99904779e-01 -4.35403893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84439141800001 meters 0.013879486121768708 Centerline is valid? [True, True] Translation: X:243.88, Y:-10.96, Z:-4.35 [[ 9.98680654e-01 4.94297726e-02 1.39157742e-02 2.43880285e+02] [-4.94251550e-02 9.98777602e-01 -6.75749746e-04 -1.09572829e+01] [-1.39321658e-02 -1.29310993e-05 9.99902943e-01 -4.35428423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87439141800002 meters 0.013966948505889575 Centerline is valid? [True, True] Translation: X:243.91, Y:-10.96, Z:-4.35 [[ 9.98652923e-01 4.99077089e-02 1.41972155e-02 2.43907799e+02] [-4.99029754e-02 9.98753834e-01 -6.87692518e-04 -1.09577210e+01] [-1.42138445e-02 -2.17171529e-05 9.99898978e-01 -4.35461656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904391418 meters 0.013786783939156284 Centerline is valid? [True, True] Translation: X:243.94, Y:-10.96, Z:-4.36 [[ 9.98667578e-01 4.95369004e-02 1.44625006e-02 2.43935696e+02] [-4.95319748e-02 9.98772294e-01 -6.98801948e-04 -1.09591461e+01] [-1.44793614e-02 -1.84853646e-05 9.99895168e-01 -4.35534297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934391418 meters 0.013786783939156284 Centerline is valid? [True, True] Translation: X:243.96, Y:-10.96, Z:-4.36 [[ 9.98673332e-01 4.94207469e-02 1.44625817e-02 2.43963121e+02] [-4.94158334e-02 9.98778048e-01 -6.97117861e-04 -1.09603506e+01] [-1.44793612e-02 -1.84875122e-05 9.99895168e-01 -4.35583862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964391418 meters 0.013880636349755174 Centerline is valid? [True, True] Translation: X:243.99, Y:-10.96, Z:-4.36 [[ 9.98822038e-01 4.63267631e-02 1.44349077e-02 2.43990532e+02] [-4.63215692e-02 9.98926339e-01 -6.94129733e-04 -1.09637981e+01] [-1.44515663e-02 2.46644997e-05 9.99895570e-01 -4.35615095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994391418 meters 0.013977152648768849 Centerline is valid? [True, True] Translation: X:244.02, Y:-10.97, Z:-4.36 [[ 9.98921110e-01 4.41752223e-02 1.43236324e-02 2.44018247e+02] [-4.41699132e-02 9.99023797e-01 -6.86949305e-04 -1.09669435e+01] [-1.43399958e-02 5.35345601e-05 9.99897176e-01 -4.35691294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024391418 meters 0.014778794331444536 Centerline is valid? [True, True] Translation: X:244.05, Y:-10.97, Z:-4.36 [[ 9.99163784e-01 3.83799462e-02 1.40965190e-02 2.44045682e+02] [-3.83742462e-02 9.99263210e-01 -6.74718403e-04 -1.09736308e+01] [-1.41120285e-02 1.33210902e-04 9.99900411e-01 -4.35778017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054391418 meters 0.015320963960673745 Centerline is valid? [True, True] Translation: X:244.07, Y:-10.98, Z:-4.36 [[ 9.99282216e-01 3.52731899e-02 1.38150276e-02 2.44074240e+02] [-3.52674429e-02 9.99377693e-01 -6.59473964e-04 -1.09779255e+01] [-1.38296921e-02 1.71779908e-04 9.99904350e-01 -4.35865430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084391418 meters 0.01636485913984868 Centerline is valid? [True, True] Translation: X:244.10, Y:-10.98, Z:-4.36 [[ 9.99392211e-01 3.19457047e-02 1.39528011e-02 2.44102227e+02] [-3.19395329e-02 9.99489582e-01 -6.65000403e-04 -1.09826144e+01] [-1.39669233e-02 2.18950272e-04 9.99902434e-01 -4.35934015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114391418 meters 0.019649979386769975 Centerline is valid? [True, True] Translation: X:244.13, Y:-10.99, Z:-4.36 [[ 9.99582746e-01 2.55093825e-02 1.35500893e-02 2.44129931e+02] [-2.55029894e-02 9.99674538e-01 -6.44423670e-04 -1.09930994e+01] [-1.35621181e-02 2.98586997e-04 9.99907986e-01 -4.36124136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144391418 meters 0.02054050984773914 Centerline is valid? [True, True] Translation: X:244.16, Y:-11.00, Z:-4.36 [[ 9.99651816e-01 2.28675149e-02 1.31652023e-02 2.44159240e+02] [-2.28612664e-02 9.99738452e-01 -6.24938054e-04 -1.09968101e+01] [-1.31760497e-02 3.23747264e-04 9.99913140e-01 -4.36270935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174391418 meters 0.02129800822612976 Centerline is valid? [True, True] Translation: X:244.19, Y:-11.00, Z:-4.36 [[ 9.99758594e-01 1.77390655e-02 1.29645435e-02 2.44189066e+02] [-1.77325827e-02 9.99842576e-01 -6.14826081e-04 -1.10019211e+01] [-1.29734090e-02 3.84782817e-04 9.99915768e-01 -4.36310004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204391418 meters 0.022844974559407503 Centerline is valid? [True, True] Translation: X:244.22, Y:-11.01, Z:-4.36 [[ 9.99792413e-01 1.59387958e-02 1.26919500e-02 2.44219029e+02] [-1.59324438e-02 9.99872890e-01 -6.01435521e-04 -1.10066877e+01] [-1.26999229e-02 3.99096891e-04 9.99919273e-01 -4.36412826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234391418 meters 0.02480735886407189 Centerline is valid? [True, True] Translation: X:244.25, Y:-11.01, Z:-4.37 [[ 9.99818358e-01 1.41219879e-02 1.27992393e-02 2.44250061e+02] [-1.41153916e-02 9.99900190e-01 -6.05557307e-04 -1.10125653e+01] [-1.28065135e-02 4.24781037e-04 9.99917903e-01 -4.36502944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264391418 meters 0.024448680567709154 Centerline is valid? [True, True] Translation: X:244.28, Y:-11.01, Z:-4.37 [[ 9.99819932e-01 1.38791969e-02 1.29410536e-02 2.44282064e+02] [-1.38723913e-02 9.99903584e-01 -6.15513188e-04 -1.10134796e+01] [-1.29483488e-02 4.35878994e-04 9.99916072e-01 -4.36543948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.294391418 meters 0.0261054396024827 Centerline is valid? [True, True] Translation: X:244.31, Y:-11.02, Z:-4.37 [[ 9.99822793e-01 1.38796748e-02 1.27175917e-02 2.44313047e+02] [-1.38730510e-02 9.99903579e-01 -6.08916426e-04 -1.10172039e+01] [-1.27248170e-02 4.32376724e-04 9.99918943e-01 -4.36619699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.324391418 meters 0.024750875881182854 Centerline is valid? [True, True] Translation: X:244.35, Y:-11.02, Z:-4.37 [[ 9.99813062e-01 1.42797102e-02 1.30357610e-02 2.44345313e+02] [-1.42727647e-02 9.99897943e-01 -6.25681042e-04 -1.10165919e+01] [-1.30433651e-02 4.39507728e-04 9.99914835e-01 -4.36659289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.354391418 meters 0.02435992373163516 Centerline is valid? [True, True] Translation: X:244.38, Y:-11.02, Z:-4.37 [[ 9.99801459e-01 1.52001601e-02 1.28839906e-02 2.44377447e+02] [-1.51934073e-02 9.99884380e-01 -6.21844949e-04 -1.10169586e+01] [-1.28919531e-02 4.25969772e-04 9.99916805e-01 -4.36713978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.384391418 meters 0.02504950161499158 Centerline is valid? [True, True] Translation: X:244.41, Y:-11.02, Z:-4.37 [[ 9.99793570e-01 1.56824013e-02 1.29182149e-02 2.44408803e+02] [-1.56756057e-02 9.99876933e-01 -6.27142377e-04 -1.10188792e+01] [-1.29264602e-02 4.24512073e-04 9.99916360e-01 -4.36810538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414391418 meters 0.022914474738167045 Centerline is valid? [True, True] Translation: X:244.44, Y:-11.02, Z:-4.37 [[ 9.99793714e-01 1.56306521e-02 1.29696420e-02 2.44440737e+02] [-1.56237417e-02 9.99877741e-01 -6.33971852e-04 -1.10165308e+01] [-1.29779657e-02 4.31206737e-04 9.99915690e-01 -4.36819120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444391418 meters 0.0254758049294644 Centerline is valid? [True, True] Translation: X:244.47, Y:-11.02, Z:-4.37 [[ 9.99797674e-01 1.59259307e-02 1.22872313e-02 2.44471596e+02] [-1.59197606e-02 9.99873093e-01 -5.99813841e-04 -1.10207925e+01] [-1.22952246e-02 4.04082702e-04 9.99924329e-01 -4.37005753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474391418 meters 0.02420553259236836 Centerline is valid? [True, True] Translation: X:244.50, Y:-11.02, Z:-4.37 [[ 9.99811057e-01 1.56907306e-02 1.14739437e-02 2.44502646e+02] [-1.56852874e-02 9.99876819e-01 -5.64243947e-04 -1.10198263e+01] [-1.14813837e-02 3.84165234e-04 9.99934013e-01 -4.37092620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504391418 meters 0.02441299265684407 Centerline is valid? [True, True] Translation: X:244.53, Y:-11.02, Z:-4.37 [[ 9.99816869e-01 1.53870027e-02 1.13784268e-02 2.44534023e+02] [-1.53816250e-02 9.99881539e-01 -5.59987200e-04 -1.10210281e+01] [-1.13856954e-02 3.84865955e-04 9.99935107e-01 -4.37203927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534391418 meters 0.024893217747609914 Centerline is valid? [True, True] Translation: X:244.57, Y:-11.02, Z:-4.37 [[ 9.99828046e-01 1.50684581e-02 1.08082947e-02 2.44565538e+02] [-1.50635830e-02 9.99886396e-01 -5.32318885e-04 -1.10222307e+01] [-1.08150880e-02 3.69415707e-04 9.99941447e-01 -4.37353763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564391418 meters 0.02410399444007778 Centerline is valid? [True, True] Translation: X:244.60, Y:-11.02, Z:-4.37 [[ 9.99829523e-01 1.51401010e-02 1.05689306e-02 2.44596524e+02] [-1.51354363e-02 9.99885317e-01 -5.21214180e-04 -1.10218064e+01] [-1.05756097e-02 3.61159950e-04 9.99944011e-01 -4.37409124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59439141800001 meters 0.023682071506603997 Centerline is valid? [True, True] Translation: X:244.63, Y:-11.02, Z:-4.37 [[ 9.99807877e-01 1.67504378e-02 1.01799375e-02 2.44627167e+02] [-1.67461951e-02 9.99859647e-01 -5.01876825e-04 -1.10207083e+01] [-1.01869153e-02 3.31305184e-04 9.99948057e-01 -4.37489532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62439141800002 meters 0.023317430701092202 Centerline is valid? [True, True] Translation: X:244.66, Y:-11.02, Z:-4.38 [[ 9.99779443e-01 1.83972270e-02 1.01295686e-02 2.44656423e+02] [-1.83931055e-02 9.99830708e-01 -4.99899196e-04 -1.10204285e+01] [-1.01370505e-02 3.13474716e-04 9.99948570e-01 -4.37528175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654391418 meters 0.022487398238761846 Centerline is valid? [True, True] Translation: X:244.69, Y:-11.02, Z:-4.38 [[ 9.99732710e-01 2.05130426e-02 1.06641660e-02 2.44685952e+02] [-2.05085957e-02 9.99789538e-01 -5.26195741e-04 -1.10192640e+01] [-1.06727155e-02 3.07348025e-04 9.99942998e-01 -4.37523528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684391418 meters 0.01912254334853507 Centerline is valid? [True, True] Translation: X:244.72, Y:-11.01, Z:-4.37 [[ 9.99588884e-01 2.62110497e-02 1.16208793e-02 2.44715764e+02] [-2.62061597e-02 9.99656395e-01 -5.72900640e-04 -1.10124824e+01] [-1.16319026e-02 2.68126492e-04 9.99932311e-01 -4.37413330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714391418 meters 0.017763009153950612 Centerline is valid? [True, True] Translation: X:244.74, Y:-11.01, Z:-4.37 [[ 9.99492571e-01 2.94859631e-02 1.20489717e-02 2.44744998e+02] [-2.94809471e-02 9.99565166e-01 -5.93737113e-04 -1.10102100e+01] [-1.20612393e-02 2.38220736e-04 9.99927232e-01 -4.37408303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744391418 meters 0.016047922082241973 Centerline is valid? [True, True] Translation: X:244.77, Y:-11.00, Z:-4.37 [[ 9.99268884e-01 3.59326226e-02 1.30592163e-02 2.44772776e+02] [-3.59272944e-02 9.99354200e-01 -6.42451201e-04 -1.10049445e+01] [-1.30738676e-02 1.72799184e-04 9.99914518e-01 -4.37402563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774391418 meters 0.016047922082241973 Centerline is valid? [True, True] Translation: X:244.80, Y:-11.01, Z:-4.37 [[ 9.99271672e-01 3.58549884e-02 1.30592844e-02 2.44801048e+02] [-3.58496717e-02 9.99356988e-01 -6.41063142e-04 -1.10062535e+01] [-1.30738725e-02 1.72425178e-04 9.99914518e-01 -4.37453649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804391418 meters 0.014632643586295142 Centerline is valid? [True, True] Translation: X:244.83, Y:-11.00, Z:-4.37 [[ 9.99054705e-01 4.13242159e-02 1.34909741e-02 2.44830416e+02] [-4.13190551e-02 9.99145784e-01 -6.61163250e-04 -1.10014189e+01] [-1.35067720e-02 1.03103953e-04 9.99908774e-01 -4.37444653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834391418 meters 0.014499671691676385 Centerline is valid? [True, True] Translation: X:244.86, Y:-11.00, Z:-4.38 [[ 9.98972525e-01 4.32751592e-02 1.34593579e-02 2.44859598e+02] [-4.32702140e-02 9.99063189e-01 -6.58547888e-04 -1.10008903e+01] [-1.34752477e-02 7.54819522e-05 9.99909202e-01 -4.37504350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864391418 meters 0.014303182007478817 Centerline is valid? [True, True] Translation: X:244.89, Y:-11.00, Z:-4.38 [[ 9.98902364e-01 4.48455212e-02 1.35257747e-02 2.44887961e+02] [-4.48406854e-02 9.98993932e-01 -6.60732596e-04 -1.10007226e+01] [-1.35417978e-02 5.35023439e-05 9.99908304e-01 -4.37553434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894391418 meters 0.01424239712747636 Centerline is valid? [True, True] Translation: X:244.92, Y:-11.00, Z:-4.38 [[ 9.98830714e-01 4.64704482e-02 1.33305137e-02 2.44915002e+02] [-4.64659058e-02 9.98919665e-01 -6.50437616e-04 -1.10000831e+01] [-1.33463384e-02 3.02626769e-05 9.99910933e-01 -4.37657101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924391418 meters 0.014189719861577648 Centerline is valid? [True, True] Translation: X:244.94, Y:-11.00, Z:-4.38 [[ 9.98819324e-01 4.68067502e-02 1.30033254e-02 2.44941676e+02] [-4.68024790e-02 9.98903963e-01 -6.32751047e-04 -1.10010786e+01] [-1.30186903e-02 2.34161068e-05 9.99915253e-01 -4.37746772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954391418 meters 0.014369220293933147 Centerline is valid? [True, True] Translation: X:244.97, Y:-11.00, Z:-4.38 [[ 9.98823731e-01 4.69032265e-02 1.22980766e-02 2.44970337e+02] [-4.68994359e-02 9.98899438e-01 -5.96604456e-04 -1.10026696e+01] [-1.23125244e-02 1.91298353e-05 9.99924198e-01 -4.37856646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984391418 meters 0.01429847648466034 Centerline is valid? [True, True] Translation: X:245.00, Y:-11.00, Z:-4.38 [[ 9.98855557e-01 4.63164015e-02 1.19318127e-02 2.44998408e+02] [-4.63127994e-02 9.98926819e-01 -5.78171311e-04 -1.10047505e+01] [-1.19457865e-02 2.49139787e-05 9.99928646e-01 -4.37936125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014391418 meters 0.01440284498841343 Centerline is valid? [True, True] Translation: X:245.03, Y:-11.01, Z:-4.38 [[ 9.98894107e-01 4.54229032e-02 1.21376836e-02 2.45025202e+02] [-4.54191234e-02 9.98967847e-01 -5.87024704e-04 -1.10071226e+01] [-1.21518200e-02 3.50925699e-05 9.99926163e-01 -4.38066435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.044391418 meters 0.01454121178534651 Centerline is valid? [True, True] Translation: X:245.05, Y:-11.01, Z:-4.38 [[ 9.99007846e-01 4.28471737e-02 1.21426243e-02 2.45053515e+02] [-4.28432359e-02 9.99081636e-01 -5.84356542e-04 -1.10110884e+01] [-1.21565110e-02 6.35474543e-05 9.99926105e-01 -4.38082741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.074391418 meters 0.014760163442912099 Centerline is valid? [True, True] Translation: X:245.08, Y:-11.01, Z:-4.38 [[ 9.99076277e-01 4.10772723e-02 1.26194122e-02 2.45081734e+02] [-4.10728913e-02 9.99155969e-01 -6.06240673e-04 -1.10142724e+01] [-1.26336638e-02 8.73649283e-05 9.99920188e-01 -4.38172465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.104391418 meters 0.015053545105121555 Centerline is valid? [True, True] Translation: X:245.11, Y:-11.02, Z:-4.38 [[ 9.99152642e-01 3.92557323e-02 1.23687166e-02 2.45109685e+02] [-3.92513947e-02 9.99229191e-01 -5.93338876e-04 -1.10179827e+01] [-1.23824747e-02 1.07346727e-04 9.99923328e-01 -4.38257833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.134391418 meters 0.015726491785146245 Centerline is valid? [True, True] Translation: X:245.14, Y:-11.02, Z:-4.38 [[ 9.99315216e-01 3.46737595e-02 1.29162742e-02 2.45138000e+02] [-3.46686656e-02 9.99398670e-01 -6.18140718e-04 -1.10238998e+01] [-1.29299406e-02 1.69927432e-04 9.99916390e-01 -4.38239508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164391418 meters 0.016326235930091696 Centerline is valid? [True, True] Translation: X:245.17, Y:-11.03, Z:-4.38 [[ 9.99396508e-01 3.19258224e-02 1.36879808e-02 2.45166794e+02] [-3.19198602e-02 9.99490218e-01 -6.53879686e-04 -1.10279002e+01] [-1.37018785e-02 2.16566642e-04 9.99906101e-01 -4.38275665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194391418 meters 0.017369132393001623 Centerline is valid? [True, True] Translation: X:245.19, Y:-11.03, Z:-4.38 [[ 9.99483704e-01 2.89789504e-02 1.38761082e-02 2.45194842e+02] [-2.89725596e-02 9.99579988e-01 -6.61404641e-04 -1.10328008e+01] [-1.38894469e-02 2.59036787e-04 9.99903503e-01 -4.38306753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224391418 meters 0.01904847840679363 Centerline is valid? [True, True] Translation: X:245.22, Y:-11.04, Z:-4.38 [[ 9.99565277e-01 2.56699001e-02 1.45021483e-02 2.45223201e+02] [-2.56625706e-02 9.99670423e-01 -6.91300984e-04 -1.10386887e+01] [-1.45151143e-02 3.18838056e-04 9.99894599e-01 -4.38345941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254391418 meters 0.01981499027044062 Centerline is valid? [True, True] Translation: X:245.25, Y:-11.04, Z:-4.38 [[ 9.99645248e-01 2.22240055e-02 1.46789665e-02 2.45252608e+02] [-2.22161390e-02 9.99752947e-01 -6.98767499e-04 -1.10427474e+01] [-1.46908694e-02 3.72409650e-04 9.99892014e-01 -4.38347308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284391418 meters 0.023765178926953616 Centerline is valid? [True, True] Translation: X:245.28, Y:-11.05, Z:-4.38 [[ 9.99785839e-01 1.45356772e-02 1.47306217e-02 2.45282193e+02] [-1.45269360e-02 9.99894233e-01 -7.00235547e-04 -1.10532179e+01] [-1.47392421e-02 4.86094784e-04 9.99891253e-01 -4.38459972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314391418 meters 0.02473163754129104 Centerline is valid? [True, True] Translation: X:245.31, Y:-11.06, Z:-4.39 [[ 9.99842312e-01 1.03341707e-02 1.44414750e-02 2.45312683e+02] [-1.03253120e-02 9.99946456e-01 -6.87849840e-04 -1.10576761e+01] [-1.44478101e-02 5.38628640e-04 9.99895480e-01 -4.38545232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34439141800001 meters 0.027141346728999594 Centerline is valid? [True, True] Translation: X:245.34, Y:-11.06, Z:-4.39 [[ 9.99875640e-01 6.44382162e-03 1.43937857e-02 2.45342918e+02] [-6.43461465e-03 9.99979062e-01 -6.85869927e-04 -1.10643157e+01] [-1.43979040e-02 5.93166168e-04 9.99896169e-01 -4.38647620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37439141800002 meters 0.03063776300857285 Centerline is valid? [True, True] Translation: X:245.37, Y:-11.07, Z:-4.39 [[ 9.99902445e-01 -5.94011093e-04 1.39552354e-02 2.45372606e+02] [ 6.03354269e-04 9.99999597e-01 -6.65309791e-04 -1.10734451e+01] [-1.39548346e-02 6.73664837e-04 9.99902400e-01 -4.38768213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404391418 meters 0.030686534155958633 Centerline is valid? [True, True] Translation: X:245.40, Y:-11.08, Z:-4.39 [[ 9.99897887e-01 -3.14493150e-03 1.39400533e-02 2.45404538e+02] [ 3.15449784e-03 9.99994804e-01 -6.64313800e-04 -1.10763781e+01] [-1.39378916e-02 7.08219833e-04 9.99902612e-01 -4.38840241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434391418 meters 0.032949166308617474 Centerline is valid? [True, True] Translation: X:245.44, Y:-11.08, Z:-4.39 [[ 9.99889203e-01 -4.92837894e-03 1.40461208e-02 2.45435258e+02] [ 4.93828020e-03 9.99987582e-01 -6.70314426e-04 -1.10819864e+01] [-1.40426429e-02 7.39603838e-04 9.99901124e-01 -4.38896897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464391418 meters 0.03445835999059093 Centerline is valid? [True, True] Translation: X:245.47, Y:-11.09, Z:-4.39 [[ 9.99886408e-01 -7.19378061e-03 1.32446761e-02 2.45466712e+02] [ 7.20279707e-03 9.99973859e-01 -6.33184389e-04 -1.10865077e+01] [-1.32397748e-02 7.28511178e-04 9.99912085e-01 -4.39012542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494391418 meters 0.035742530895125496 Centerline is valid? [True, True] Translation: X:245.50, Y:-11.09, Z:-4.39 [[ 9.99891620e-01 -7.13477264e-03 1.28780474e-02 2.45498207e+02] [ 7.14334427e-03 9.99974294e-01 -6.19724213e-04 -1.10897888e+01] [-1.28732947e-02 7.11649373e-04 9.99916882e-01 -4.39137962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524391418 meters 0.03369939292085117 Centerline is valid? [True, True] Translation: X:245.53, Y:-11.09, Z:-4.39 [[ 9.99915727e-01 -5.63725716e-03 1.16944520e-02 2.45530279e+02] [ 5.64423668e-03 9.99983912e-01 -5.63904859e-04 -1.10879316e+01] [-1.16910850e-02 6.29863591e-04 9.99931459e-01 -4.39252554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554391418 meters 0.03277823754201917 Centerline is valid? [True, True] Translation: X:245.56, Y:-11.09, Z:-4.39 [[ 9.99932396e-01 -3.96035307e-03 1.09324380e-02 2.45563000e+02] [ 3.96635633e-03 9.99991995e-01 -5.27497308e-04 -1.10877817e+01] [-1.09302614e-02 5.70823592e-04 9.99940100e-01 -4.39362713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584391418 meters 0.03268924730305016 Centerline is valid? [True, True] Translation: X:245.59, Y:-11.09, Z:-4.39 [[ 9.99942528e-01 -1.70770902e-03 1.05841811e-02 2.45593155e+02] [ 1.71322748e-03 9.99998401e-01 -5.12343173e-04 -1.10885283e+01] [-1.05832893e-02 5.30446838e-04 9.99943855e-01 -4.39461371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614391418 meters 0.030243219297677457 Centerline is valid? [True, True] Translation: X:245.62, Y:-11.08, Z:-4.40 [[ 9.99941509e-01 3.78722372e-03 1.01309136e-02 2.45623382e+02] [-3.78242840e-03 9.99992725e-01 -4.92454143e-04 -1.10840829e+01] [-1.01327049e-02 4.54105884e-04 9.99948560e-01 -4.39545715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644391418 meters 0.028089595907047165 Centerline is valid? [True, True] Translation: X:245.66, Y:-11.08, Z:-4.40 [[ 9.99923190e-01 7.13863051e-03 1.01317937e-02 2.45655383e+02] [-7.13401219e-03 9.99974432e-01 -4.91892324e-04 -1.10814376e+01] [-1.01350461e-02 4.19574202e-04 9.99948551e-01 -4.39561884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674391418 meters 0.026720702715248464 Centerline is valid? [True, True] Translation: X:245.69, Y:-11.08, Z:-4.40 [[ 9.99884497e-01 1.10769721e-02 1.04064268e-02 2.45685683e+02] [-1.10723076e-02 9.99938572e-01 -5.05746705e-04 -1.10797381e+01] [-1.04113897e-02 3.90465132e-04 9.99945724e-01 -4.39606725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704391418 meters 0.02491875744199248 Centerline is valid? [True, True] Translation: X:245.72, Y:-11.08, Z:-4.40 [[ 9.99827150e-01 1.53321689e-02 1.05163909e-02 2.45716826e+02] [-1.53276209e-02 9.99882394e-01 -5.12939683e-04 -1.10771165e+01] [-1.05230185e-02 3.51659770e-04 9.99944570e-01 -4.39625016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734391418 meters 0.020030868768382237 Centerline is valid? [True, True] Translation: X:245.75, Y:-11.07, Z:-4.40 [[ 9.99642801e-01 2.47036937e-02 1.01979141e-02 2.45747899e+02] [-2.46998971e-02 9.99694787e-01 -4.98092867e-04 -1.10670980e+01] [-1.02071063e-02 2.46027520e-04 9.99947876e-01 -4.39672589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764391418 meters 0.018112846278926252 Centerline is valid? [True, True] Translation: X:245.78, Y:-11.06, Z:-4.40 [[ 9.99509119e-01 2.96924172e-02 9.99402406e-03 2.45777161e+02] [-2.96890143e-02 9.99559065e-01 -4.88721104e-04 -1.10632199e+01] [-1.00041287e-02 1.91768478e-04 9.99949939e-01 -4.39727239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.794391418 meters 0.015705695159014266 Centerline is valid? [True, True] Translation: X:245.81, Y:-11.06, Z:-4.40 [[ 9.99340455e-01 3.49102560e-02 9.99641658e-03 2.45806826e+02] [-3.49071213e-02 9.99390442e-01 -4.87947191e-04 -1.10575591e+01] [-1.00073575e-02 1.38679242e-04 9.99949916e-01 -4.39702470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.824391418 meters 0.013929660667907028 Centerline is valid? [True, True] Translation: X:245.84, Y:-11.05, Z:-4.40 [[ 9.98905650e-01 4.56855181e-02 1.00168026e-02 2.45836565e+02] [-4.56829181e-02 9.98955871e-01 -4.88327447e-04 -1.10491652e+01] [-1.00286533e-02 3.01962734e-05 9.99949711e-01 -4.39730839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.854391418 meters 0.013995176813179659 Centerline is valid? [True, True] Translation: X:245.86, Y:-11.05, Z:-4.40 [[ 9.98661428e-01 5.07403859e-02 1.00381565e-02 2.45863311e+02] [-5.07380299e-02 9.98711877e-01 -4.89390266e-04 -1.10457062e+01] [-1.00500579e-02 -2.05811011e-05 9.99949497e-01 -4.39831403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.884391418 meters 0.013995176813179659 Centerline is valid? [True, True] Translation: X:245.89, Y:-11.05, Z:-4.40 [[ 9.98667305e-01 5.06245749e-02 1.00382328e-02 2.45890736e+02] [-5.06222289e-02 9.98717754e-01 -4.87818064e-04 -1.10469202e+01] [-1.00500569e-02 -2.09897665e-05 9.99949497e-01 -4.39880983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914391418 meters 0.015133152778558253 Centerline is valid? [True, True] Translation: X:245.92, Y:-11.04, Z:-4.40 [[ 9.98170798e-01 5.97315371e-02 9.33821797e-03 2.45919634e+02] [-5.97299168e-02 9.98214472e-01 -4.52565181e-04 -1.10408213e+01] [-9.34857673e-03 -1.06033634e-04 9.99956295e-01 -4.39908149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944391418 meters 0.015133152778558253 Centerline is valid? [True, True] Translation: X:245.95, Y:-11.04, Z:-4.40 [[ 9.98178116e-01 5.96091170e-02 9.33823794e-03 2.45947057e+02] [-5.96074951e-02 9.98221790e-01 -4.52152998e-04 -1.10420365e+01] [-9.34858504e-03 -1.05299745e-04 9.99956295e-01 -4.39957693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974391418 meters 0.017372062530621894 Centerline is valid? [True, True] Translation: X:245.98, Y:-11.04, Z:-4.40 [[ 9.97743898e-01 6.65975550e-02 8.47823546e-03 2.45975801e+02] [-6.65964823e-02 9.97779906e-01 -4.09082887e-04 -1.10363862e+01] [-8.48665690e-03 -1.56460704e-04 9.99963975e-01 -4.40093438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004391418 meters 0.018185770541469373 Centerline is valid? [True, True] Translation: X:246.00, Y:-11.04, Z:-4.40 [[ 9.97569371e-01 6.92613104e-02 7.63020266e-03 2.46004405e+02] [-6.92605047e-02 9.97598539e-01 -3.70098584e-04 -1.10355327e+01] [-7.63751254e-03 -1.59272676e-04 9.99970821e-01 -4.40173634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034391418 meters 0.019306403204032135 Centerline is valid? [True, True] Translation: X:246.03, Y:-11.03, Z:-4.40 [[ 9.97356373e-01 7.22740467e-02 7.53178253e-03 2.46032814e+02] [-7.22733773e-02 9.97384795e-01 -3.61371397e-04 -1.10347077e+01] [-7.53820314e-03 -1.83931295e-04 9.99971570e-01 -4.40278775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064391418 meters 0.019331704231302555 Centerline is valid? [True, True] Translation: X:246.06, Y:-11.04, Z:-4.40 [[ 9.97353579e-01 7.23020953e-02 7.63184665e-03 2.46060508e+02] [-7.23013973e-02 9.97382761e-01 -3.67684051e-04 -1.10360689e+01] [-7.63845661e-03 -1.85082173e-04 9.99970809e-01 -4.40283017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09439141800001 meters 0.01963947656490755 Centerline is valid? [True, True] Translation: X:246.09, Y:-11.04, Z:-4.40 [[ 9.97361937e-01 7.21378106e-02 8.08107230e-03 2.46088521e+02] [-7.21370643e-02 9.97394654e-01 -3.84171228e-04 -1.10371369e+01] [-8.08773158e-03 -1.99787072e-04 9.99967274e-01 -4.40324659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12439141800002 meters 0.01907817894594025 Centerline is valid? [True, True] Translation: X:246.12, Y:-11.04, Z:-4.40 [[ 9.97523509e-01 6.97430583e-02 9.09696730e-03 2.46116708e+02] [-6.97420251e-02 9.97564967e-01 -4.31149255e-04 -1.10401670e+01] [-9.10488556e-03 -2.04359404e-04 9.99958529e-01 -4.40281555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154391418 meters 0.0179171988637418 Centerline is valid? [True, True] Translation: X:246.15, Y:-11.04, Z:-4.40 [[ 9.97684989e-01 6.73461150e-02 9.44259728e-03 2.46145202e+02] [-6.73449018e-02 9.97729655e-01 -4.46740239e-04 -1.10444714e+01] [-9.45124555e-03 -1.90204757e-04 9.99955318e-01 -4.40274446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184391418 meters 0.017375498492354705 Centerline is valid? [True, True] Translation: X:246.17, Y:-11.05, Z:-4.40 [[ 9.97874656e-01 6.44976566e-02 9.28563554e-03 2.46173314e+02] [-6.44963668e-02 9.97917845e-01 -4.38595120e-04 -1.10479152e+01] [-9.29458977e-03 -1.61226801e-04 9.99956791e-01 -4.40368230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214391418 meters 0.01507897903422618 Centerline is valid? [True, True] Translation: X:246.20, Y:-11.06, Z:-4.40 [[ 9.98356917e-01 5.64993137e-02 9.55475869e-03 2.46201014e+02] [-5.64975894e-02 9.98402634e-01 -4.50501183e-04 -1.10567843e+01] [-9.56494925e-03 -9.00598608e-05 9.99954251e-01 -4.40415329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244391418 meters 0.014400508941838556 Centerline is valid? [True, True] Translation: X:246.23, Y:-11.06, Z:-4.40 [[ 9.98632283e-01 5.14129755e-02 9.50103540e-03 2.46229738e+02] [-5.14110472e-02 9.98677478e-01 -4.47243027e-04 -1.10629637e+01] [-9.51146416e-03 -4.18268540e-05 9.99954764e-01 -4.40498313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274391418 meters 0.013955122748764351 Centerline is valid? [True, True] Translation: X:246.26, Y:-11.07, Z:-4.41 [[ 9.98894303e-01 4.60033985e-02 9.68806278e-03 2.46258563e+02] [-4.60011464e-02 9.98941283e-01 -4.55284327e-04 -1.10698237e+01] [-9.69875050e-03 9.11892515e-06 9.99952966e-01 -4.40568995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304391418 meters 0.014495516001327008 Centerline is valid? [True, True] Translation: X:246.29, Y:-11.08, Z:-4.41 [[ 9.99139189e-01 4.03529595e-02 9.61867436e-03 2.46285895e+02] [-4.03504833e-02 9.99185486e-01 -4.51435820e-04 -1.10774701e+01] [-9.62905659e-03 6.29290594e-05 9.99953638e-01 -4.40681349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334391418 meters 0.017323962893254073 Centerline is valid? [True, True] Translation: X:246.31, Y:-11.09, Z:-4.41 [[ 9.99565863e-01 2.79946135e-02 9.18619978e-03 2.46314763e+02] [-2.79918452e-02 9.99608059e-01 -4.29812708e-04 -1.10910066e+01] [-9.19463177e-03 1.72487428e-04 9.99957714e-01 -4.40743009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364391418 meters 0.020174649284654206 Centerline is valid? [True, True] Translation: X:246.34, Y:-11.10, Z:-4.41 [[ 9.99710528e-01 2.22077648e-02 9.25606427e-03 2.46342483e+02] [-2.22047065e-02 9.99753351e-01 -4.33052439e-04 -1.10997103e+01] [-9.26339840e-03 2.27398891e-04 9.99957068e-01 -4.40846872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394391418 meters 0.023355214631186498 Centerline is valid? [True, True] Translation: X:246.37, Y:-11.11, Z:-4.41 [[ 9.99824565e-01 1.64383634e-02 8.97888365e-03 2.46370960e+02] [-1.64352675e-02 9.99864844e-01 -4.18478743e-04 -1.11077349e+01] [-8.98454921e-03 2.70834972e-04 9.99959601e-01 -4.40948024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424391418 meters 0.027644203877754344 Centerline is valid? [True, True] Translation: X:246.40, Y:-11.12, Z:-4.41 [[ 9.99937329e-01 7.13048128e-03 8.63100815e-03 2.46400779e+02] [-7.12727072e-03 9.99974520e-01 -4.02681188e-04 -1.11184349e+01] [-8.63365954e-03 3.41140420e-04 9.99962671e-01 -4.41013195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454391418 meters 0.02871533575605059 Centerline is valid? [True, True] Translation: X:246.43, Y:-11.12, Z:-4.41 [[ 9.99956179e-01 3.73028431e-03 8.58631264e-03 2.46431894e+02] [-3.72698452e-03 9.99992975e-01 -4.00277618e-04 -1.11228181e+01] [-8.58774546e-03 3.68259023e-04 9.99963057e-01 -4.41057941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484391418 meters 0.03139825601642167 Centerline is valid? [True, True] Translation: X:246.46, Y:-11.13, Z:-4.41 [[ 9.99963088e-01 -9.32623175e-04 8.54127219e-03 2.46462919e+02] [ 9.36061042e-04 9.99999482e-01 -3.98511769e-04 -1.11304141e+01] [-8.54089611e-03 4.06492211e-04 9.99963443e-01 -4.41139086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514391418 meters 0.031782497695558506 Centerline is valid? [True, True] Translation: X:246.50, Y:-11.13, Z:-4.41 [[ 9.99959359e-01 -2.01378082e-03 8.78783334e-03 2.46495415e+02] [ 2.01744559e-03 9.99997882e-01 -4.08183595e-04 -1.11333121e+01] [-8.78699274e-03 4.25895981e-04 9.99961303e-01 -4.41163129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.544391418 meters 0.03219779428596912 Centerline is valid? [True, True] Translation: X:246.53, Y:-11.14, Z:-4.41 [[ 9.99958462e-01 -2.80156379e-03 8.67322867e-03 2.46527179e+02] [ 2.80519952e-03 9.99995983e-01 -4.07053068e-04 -1.11358912e+01] [-8.67205344e-03 4.31366297e-04 9.99962304e-01 -4.41233346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.574391418 meters 0.030681966726088465 Centerline is valid? [True, True] Translation: X:246.56, Y:-11.14, Z:-4.41 [[ 9.99961644e-01 -2.87981257e-03 8.27145366e-03 2.46559375e+02] [ 2.88312666e-03 9.99995768e-01 -3.88769863e-04 -1.11358099e+01] [-8.27029908e-03 4.12602600e-04 9.99965715e-01 -4.41271526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.604391418 meters 0.033582900882231516 Centerline is valid? [True, True] Translation: X:246.59, Y:-11.14, Z:-4.41 [[ 9.99967209e-01 -2.50319559e-03 7.70168271e-03 2.46590228e+02] [ 2.50606341e-03 9.99996794e-01 -3.62735099e-04 -1.11412747e+01] [-7.70075002e-03 3.82024110e-04 9.99970276e-01 -4.41486287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.634391418 meters 0.03266615224611451 Centerline is valid? [True, True] Translation: X:246.62, Y:-11.14, Z:-4.42 [[ 9.99971940e-01 -2.20431306e-03 7.15958463e-03 2.46622600e+02] [ 2.20678490e-03 9.99997508e-01 -3.37366995e-04 -1.11414081e+01] [-7.15882312e-03 3.53157192e-04 9.99974313e-01 -4.41577520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664391418 meters 0.033483779423755626 Centerline is valid? [True, True] Translation: X:246.65, Y:-11.14, Z:-4.42 [[ 9.99980889e-01 -1.01623305e-03 6.09825236e-03 2.46654244e+02] [ 1.01800602e-03 9.99999440e-01 -2.87636562e-04 -1.11433926e+01] [-6.09795664e-03 2.93839123e-04 9.99981364e-01 -4.41789568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694391418 meters 0.03237855042649797 Centerline is valid? [True, True] Translation: X:246.69, Y:-11.14, Z:-4.42 [[ 9.99981767e-01 -4.76904962e-04 6.01990272e-03 2.46686762e+02] [ 4.78625638e-04 9.99999845e-01 -2.84393771e-04 -1.11428738e+01] [-6.01976616e-03 2.87269865e-04 9.99981840e-01 -4.41868971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724391418 meters 0.031688002193406936 Centerline is valid? [True, True] Translation: X:246.72, Y:-11.14, Z:-4.42 [[ 9.99983320e-01 1.49615120e-04 5.77387892e-03 2.46719328e+02] [-1.48040391e-04 9.99999952e-01 -2.73159653e-04 -1.11429539e+01] [-5.77391951e-03 2.72300330e-04 9.99983294e-01 -4.41937056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754391418 meters 0.02911130333288961 Centerline is valid? [True, True] Translation: X:246.75, Y:-11.14, Z:-4.42 [[ 9.99986276e-01 1.78963609e-03 4.92399057e-03 2.46751681e+02] [-1.78850995e-03 9.99998373e-01 -2.33097813e-04 -1.11391553e+01] [-4.92439972e-03 2.24288008e-04 9.99987850e-01 -4.41969802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784391418 meters 0.029684637631690346 Centerline is valid? [True, True] Translation: X:246.78, Y:-11.14, Z:-4.42 [[ 9.99982600e-01 3.42479284e-03 4.80325297e-03 2.46782803e+02] [-3.42373707e-03 9.99994113e-01 -2.28009380e-04 -1.11405685e+01] [-4.80400557e-03 2.11560337e-04 9.99988438e-01 -4.42072429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814391418 meters 0.026653272047828275 Centerline is valid? [True, True] Translation: X:246.81, Y:-11.14, Z:-4.42 [[ 9.99978422e-01 4.91105034e-03 4.36326306e-03 2.46814357e+02] [-4.91019138e-03 9.99987923e-01 -2.07551642e-04 -1.11362754e+01] [-4.36422967e-03 1.86122707e-04 9.99990459e-01 -4.42029335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84439141800001 meters 0.0248658716571575 Centerline is valid? [True, True] Translation: X:246.84, Y:-11.13, Z:-4.42 [[ 9.99949713e-01 9.21877152e-03 3.94779570e-03 2.46844956e+02] [-9.21809923e-03 9.99957495e-01 -1.88457000e-04 -1.11322053e+01] [-3.94936524e-03 1.52056351e-04 9.99992190e-01 -4.42099344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87439141800002 meters 0.02451253502047857 Centerline is valid? [True, True] Translation: X:246.87, Y:-11.13, Z:-4.42 [[ 9.99920099e-01 1.20259497e-02 3.89502170e-03 2.46874719e+02] [-1.20253194e-02 9.99927676e-01 -1.85197263e-04 -1.11314707e+01] [-3.89696717e-03 1.38343585e-04 9.99992397e-01 -4.42195972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904391418 meters 0.02230592595071465 Centerline is valid? [True, True] Translation: X:246.90, Y:-11.13, Z:-4.42 [[ 9.99884952e-01 1.46431467e-02 3.95741107e-03 2.46904112e+02] [-1.46425094e-02 9.99892775e-01 -1.89985168e-04 -1.11276338e+01] [-3.95976872e-03 1.32016882e-04 9.99992151e-01 -4.42141126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934391418 meters 0.02047259404539652 Centerline is valid? [True, True] Translation: X:246.93, Y:-11.12, Z:-4.42 [[ 9.99789930e-01 1.99073815e-02 4.87773611e-03 2.46933753e+02] [-1.99064798e-02 9.99801819e-01 -2.33337869e-04 -1.11221827e+01] [-4.88141458e-03 1.36190296e-04 9.99988077e-01 -4.42063981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964391418 meters 0.019218338218692645 Centerline is valid? [True, True] Translation: X:246.96, Y:-11.12, Z:-4.42 [[ 9.99732955e-01 2.24264814e-02 5.57426749e-03 2.46962682e+02] [-2.24253420e-02 9.99748485e-01 -2.66828554e-04 -1.11197875e+01] [-5.57884951e-03 1.41752444e-04 9.99984428e-01 -4.41995719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994391418 meters 0.01840818225998358 Centerline is valid? [True, True] Translation: X:246.99, Y:-11.12, Z:-4.42 [[ 9.99687862e-01 2.43079235e-02 5.77087780e-03 2.46991389e+02] [-2.43067366e-02 9.99704510e-01 -2.75730465e-04 -1.11175912e+01] [-5.77587499e-03 1.35373193e-04 9.99983310e-01 -4.41938451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024391418 meters 0.0176821070561961 Centerline is valid? [True, True] Translation: X:247.02, Y:-11.11, Z:-4.42 [[ 9.99609097e-01 2.73956438e-02 5.57955873e-03 2.47019854e+02] [-2.73945847e-02 9.99624663e-01 -2.66174364e-04 -1.11145364e+01] [-5.58475653e-03 1.13220621e-04 9.99984399e-01 -4.41908875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054391418 meters 0.01719549889781472 Centerline is valid? [True, True] Translation: X:247.05, Y:-11.11, Z:-4.42 [[ 9.99602230e-01 2.77002062e-02 5.29900655e-03 2.47049015e+02] [-2.76992571e-02 9.99616270e-01 -2.52437216e-04 -1.11139495e+01] [-5.30396573e-03 1.05558259e-04 9.99985928e-01 -4.41878166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084391418 meters 0.017299321844979475 Centerline is valid? [True, True] Translation: X:247.08, Y:-11.11, Z:-4.42 [[ 9.99599751e-01 2.78278288e-02 5.09407617e-03 2.47076780e+02] [-2.78269525e-02 9.99612726e-01 -2.42829301e-04 -1.11142612e+01] [-5.09886078e-03 1.00979493e-04 9.99986996e-01 -4.41928509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114391418 meters 0.017458482530103958 Centerline is valid? [True, True] Translation: X:247.11, Y:-11.11, Z:-4.42 [[ 9.99615443e-01 2.73362709e-02 4.65778719e-03 2.47105402e+02] [-2.73355372e-02 9.99626290e-01 -2.21132325e-04 -1.11145486e+01] [-4.66209146e-03 9.37241719e-05 9.99989128e-01 -4.41965647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144391418 meters 0.01801929498026089 Centerline is valid? [True, True] Translation: X:247.13, Y:-11.12, Z:-4.42 [[ 9.99649563e-01 2.61537301e-02 4.09055648e-03 2.47133246e+02] [-2.61531538e-02 9.99657929e-01 -1.94317437e-04 -1.11156558e+01] [-4.09423934e-03 8.72683886e-05 9.99991615e-01 -4.42006142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174391418 meters 0.01809580205533175 Centerline is valid? [True, True] Translation: X:247.16, Y:-11.12, Z:-4.42 [[ 9.99666901e-01 2.55112472e-02 3.90673775e-03 2.47162222e+02] [-2.55107190e-02 9.99674532e-01 -1.84993858e-04 -1.11167056e+01] [-3.91018566e-03 8.52685480e-05 9.99992352e-01 -4.42012049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204391418 meters 0.018496808303140166 Centerline is valid? [True, True] Translation: X:247.19, Y:-11.12, Z:-4.42 [[ 9.99688312e-01 2.46911544e-02 3.69136628e-03 2.47191072e+02] [-2.46906781e-02 9.99695124e-01 -1.74574163e-04 -1.11183190e+01] [-3.69455131e-03 8.33774135e-05 9.99993172e-01 -4.42036585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234391418 meters 0.018423135925979685 Centerline is valid? [True, True] Translation: X:247.22, Y:-11.12, Z:-4.42 [[ 9.99746879e-01 2.22526807e-02 3.31592563e-03 2.47220297e+02] [-2.22522832e-02 9.99752375e-01 -1.56742030e-04 -1.11192371e+01] [-3.31859245e-03 8.29154395e-05 9.99994490e-01 -4.41887692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264391418 meters 0.020264117960497572 Centerline is valid? [True, True] Translation: X:247.25, Y:-11.12, Z:-4.42 [[ 9.99776259e-01 2.08665197e-02 3.46716331e-03 2.47247506e+02] [-2.08660764e-02 9.99782266e-01 -1.63999543e-04 -1.11232505e+01] [-3.46983049e-03 9.16167551e-05 9.99993976e-01 -4.41999758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.294391418 meters 0.022024286392709667 Centerline is valid? [True, True] Translation: X:247.27, Y:-11.13, Z:-4.42 [[ 9.99830454e-01 1.81728937e-02 2.96817024e-03 2.47274834e+02] [-1.81725577e-02 9.99834856e-01 -1.40126076e-04 -1.11265260e+01] [-2.97022656e-03 8.61630735e-05 9.99995585e-01 -4.41958111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.324391418 meters 0.02067029998474194 Centerline is valid? [True, True] Translation: X:247.30, Y:-11.13, Z:-4.42 [[ 9.99845982e-01 1.73033635e-02 2.93367492e-03 2.47303670e+02] [-1.73030331e-02 9.99850282e-01 -1.37961297e-04 -1.11261182e+01] [-2.93562289e-03 8.71785740e-05 9.99995687e-01 -4.41818429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.354391418 meters 0.0217732360165935 Centerline is valid? [True, True] Translation: X:247.33, Y:-11.13, Z:-4.42 [[ 9.99863377e-01 1.63044372e-02 2.71878017e-03 2.47331187e+02] [-1.63041492e-02 9.99867070e-01 -1.28038502e-04 -1.11291362e+01] [-2.72050636e-03 8.36936118e-05 9.99996296e-01 -4.41910024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.384391418 meters 0.021999135303103646 Centerline is valid? [True, True] Translation: X:247.36, Y:-11.13, Z:-4.42 [[ 9.99878516e-01 1.54043818e-02 2.37866535e-03 2.47359594e+02] [-1.54041596e-02 9.99881343e-01 -1.11685954e-04 -1.11309454e+01] [-2.38010356e-03 7.50310448e-05 9.99997165e-01 -4.41914676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414391418 meters 0.022055889559512317 Centerline is valid? [True, True] Translation: X:247.39, Y:-11.13, Z:-4.42 [[ 9.99878164e-01 1.54163417e-02 2.44825448e-03 2.47388688e+02] [-1.54161069e-02 9.99881158e-01 -1.14714472e-04 -1.11323864e+01] [-2.44973200e-03 7.69579424e-05 9.99996996e-01 -4.41904480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444391418 meters 0.022969698886165284 Centerline is valid? [True, True] Translation: X:247.42, Y:-11.13, Z:-4.42 [[ 9.99879013e-01 1.53556797e-02 2.48259802e-03 2.47416748e+02] [-1.53554380e-02 9.99882092e-01 -1.16401180e-04 -1.11347805e+01] [-2.48409272e-03 7.82657164e-05 9.99996912e-01 -4.41939650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474391418 meters 0.021225189707490544 Centerline is valid? [True, True] Translation: X:247.45, Y:-11.13, Z:-4.42 [[ 9.99845536e-01 1.72964002e-02 3.12078165e-03 2.47445600e+02] [-1.72960310e-02 9.99850402e-01 -1.45268180e-04 -1.11329812e+01] [-3.12282741e-03 9.12686048e-05 9.99995120e-01 -4.41783208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504391418 meters 0.020146848287984236 Centerline is valid? [True, True] Translation: X:247.47, Y:-11.13, Z:-4.42 [[ 9.99818101e-01 1.88832685e-02 2.68089198e-03 2.47474948e+02] [-1.88830026e-02 9.99821692e-01 -1.24489322e-04 -1.11323033e+01] [-2.68276472e-03 7.38433874e-05 9.99996399e-01 -4.41764825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534391418 meters 0.020254030452188567 Centerline is valid? [True, True] Translation: X:247.50, Y:-11.13, Z:-4.42 [[ 9.99734431e-01 2.29746785e-02 1.79759713e-03 2.47503097e+02] [-2.29745646e-02 9.99736046e-01 -8.40369443e-05 -1.11328495e+01] [-1.79905337e-03 4.27156154e-05 9.99998381e-01 -4.42003311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564391418 meters 0.018139517960320737 Centerline is valid? [True, True] Translation: X:247.53, Y:-11.13, Z:-4.42 [[ 9.99675509e-01 2.54042151e-02 1.87156827e-03 2.47532642e+02] [-2.54040968e-02 9.99677260e-01 -8.69627928e-05 -1.11302572e+01] [-1.87317346e-03 3.93890726e-05 9.99998245e-01 -4.41917040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59439141800001 meters 0.017556921047586785 Centerline is valid? [True, True] Translation: X:247.56, Y:-11.13, Z:-4.42 [[ 9.99612888e-01 2.77727156e-02 1.65870957e-03 2.47560838e+02] [-2.77726248e-02 9.99614263e-01 -7.77316827e-05 -1.11305101e+01] [-1.66022857e-03 3.16348732e-05 9.99998621e-01 -4.42026847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141800002 meters 0.01773545764244847 Centerline is valid? [True, True] Translation: X:247.59, Y:-11.13, Z:-4.42 [[ 9.99549301e-01 2.99813503e-02 1.52131040e-03 2.47588694e+02] [-2.99812765e-02 9.99550458e-01 -7.12673863e-05 -1.11320332e+01] [-1.52276320e-03 2.56244383e-05 9.99998840e-01 -4.42251982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654391418 meters 0.015725075110209066 Centerline is valid? [True, True] Translation: X:247.62, Y:-11.13, Z:-4.42 [[ 9.99414845e-01 3.41462723e-02 1.99974932e-03 2.47618037e+02] [-3.41461533e-02 9.99416846e-01 -9.36065130e-05 -1.11297566e+01] [-2.00177947e-03 2.52679919e-05 9.99997996e-01 -4.42161837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684391418 meters 0.015113624529075345 Centerline is valid? [True, True] Translation: X:247.65, Y:-11.13, Z:-4.42 [[ 9.99296269e-01 3.74515335e-02 2.08542415e-03 2.47646488e+02] [-3.74514141e-02 9.99298445e-01 -9.62672361e-05 -1.11289188e+01] [-2.08756647e-03 1.80974064e-05 9.99997821e-01 -4.42197572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714391418 meters 0.014665803522705051 Centerline is valid? [True, True] Translation: X:247.68, Y:-11.13, Z:-4.42 [[ 9.99234440e-01 3.90662338e-02 2.08874364e-03 2.47675166e+02] [-3.90661179e-02 9.99236623e-01 -9.62869384e-05 -1.11292447e+01] [-2.09091071e-03 1.46141196e-05 9.99997814e-01 -4.42199760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744391418 meters 0.014665803522705051 Centerline is valid? [True, True] Translation: X:247.70, Y:-11.13, Z:-4.42 [[ 9.99239202e-01 3.89442599e-02 2.08872211e-03 2.47702595e+02] [-3.89441427e-02 9.99241384e-01 -9.67640273e-05 -1.11303782e+01] [-2.09090597e-03 1.53469177e-05 9.99997814e-01 -4.42249306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774391418 meters 0.014695407043351252 Centerline is valid? [True, True] Translation: X:247.73, Y:-11.13, Z:-4.42 [[ 9.99195814e-01 4.00402666e-02 2.12210594e-03 2.47730505e+02] [-4.00401494e-02 9.99198067e-01 -9.76778065e-05 -1.11312723e+01] [-2.12431520e-03 1.26298163e-05 9.99997744e-01 -4.42370092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804391418 meters 0.014621582518154375 Centerline is valid? [True, True] Translation: X:247.76, Y:-11.13, Z:-4.42 [[ 9.99151541e-01 4.11169481e-02 2.36549911e-03 2.47759072e+02] [-4.11168074e-02 9.99154341e-01 -1.08110681e-04 -1.11326708e+01] [-2.36794388e-03 1.07571822e-05 9.99997196e-01 -4.42451808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834391418 meters 0.014548740854022323 Centerline is valid? [True, True] Translation: X:247.79, Y:-11.13, Z:-4.43 [[ 9.99155865e-01 4.10200975e-02 2.21569523e-03 2.47785984e+02] [-4.10199695e-02 9.99158322e-01 -1.03196691e-04 -1.11346891e+01] [-2.21806346e-03 1.22218286e-05 9.99997540e-01 -4.42589622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864391418 meters 0.014533016262373367 Centerline is valid? [True, True] Translation: X:247.81, Y:-11.14, Z:-4.43 [[ 9.99215250e-01 3.95341601e-02 2.43611771e-03 2.47813414e+02] [-3.95340065e-02 9.99218219e-01 -1.11210076e-04 -1.11387402e+01] [-2.43860980e-03 1.48133103e-05 9.99997026e-01 -4.42633851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894391418 meters 0.014930053772896522 Centerline is valid? [True, True] Translation: X:247.84, Y:-11.14, Z:-4.43 [[ 9.99274992e-01 3.80003167e-02 2.33810678e-03 2.47841185e+02] [-3.80001705e-02 9.99277727e-01 -1.06947849e-04 -1.11422112e+01] [-2.34048208e-03 1.80218550e-05 9.99997261e-01 -4.42769100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924391418 meters 0.014864011870783062 Centerline is valid? [True, True] Translation: X:247.87, Y:-11.15, Z:-4.43 [[ 9.99337015e-01 3.63134831e-02 2.61946580e-03 2.47869646e+02] [-3.63132983e-02 9.99340448e-01 -1.18109022e-04 -1.11453921e+01] [-2.62202708e-03 2.29092744e-05 9.99996562e-01 -4.42768024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954391418 meters 0.015091671687831215 Centerline is valid? [True, True] Translation: X:247.90, Y:-11.15, Z:-4.43 [[ 9.99413376e-01 3.40805154e-02 3.37971017e-03 2.47898734e+02] [-3.40801972e-02 9.99419090e-01 -1.51711309e-04 -1.11489655e+01] [-3.38291726e-03 3.64411225e-05 9.99994277e-01 -4.42746987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984391418 meters 0.01571414886162768 Centerline is valid? [True, True] Translation: X:247.93, Y:-11.15, Z:-4.43 [[ 9.99489680e-01 3.16649982e-02 4.20805237e-03 2.47926084e+02] [-3.16644829e-02 9.99498537e-01 -1.89034702e-04 -1.11532295e+01] [-4.21192797e-03 5.56924312e-05 9.99991128e-01 -4.42823936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014391418 meters 0.016593558905558248 Centerline is valid? [True, True] Translation: X:247.95, Y:-11.16, Z:-4.43 [[ 9.99614865e-01 2.71067148e-02 5.94542979e-03 2.47954925e+02] [-2.71056214e-02 9.99632540e-01 -2.64422498e-04 -1.11600392e+01] [-5.95041271e-03 1.03166091e-04 9.99982291e-01 -4.42766683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.044391418 meters 0.01797226063678464 Centerline is valid? [True, True] Translation: X:247.98, Y:-11.17, Z:-4.43 [[ 9.99676938e-01 2.44516713e-02 6.93801348e-03 2.47982604e+02] [-2.44501225e-02 9.99701004e-01 -3.07983476e-04 -1.11653857e+01] [-6.94346975e-03 1.38248699e-04 9.99975884e-01 -4.42823822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.074391418 meters 0.01908863934513053 Centerline is valid? [True, True] Translation: X:248.01, Y:-11.17, Z:-4.43 [[ 9.99774302e-01 2.00576821e-02 7.00250485e-03 2.48012240e+02] [-2.00560062e-02 9.99798810e-01 -3.09466091e-04 -1.11714658e+01] [-7.00730319e-03 1.68953964e-04 9.99975434e-01 -4.42911526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.104391418 meters 0.019978302242434163 Centerline is valid? [True, True] Translation: X:248.04, Y:-11.18, Z:-4.43 [[ 9.99816958e-01 1.76526132e-02 7.37800683e-03 2.48041246e+02] [-1.76506882e-02 9.99844161e-01 -3.25944332e-04 -1.11750293e+01] [-7.38261082e-03 1.95657773e-04 9.99972729e-01 -4.42966342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.134391418 meters 0.020985106212037016 Centerline is valid? [True, True] Translation: X:248.07, Y:-11.18, Z:-4.43 [[ 9.99852345e-01 1.55943674e-02 7.21832807e-03 2.48071107e+02] [-1.55924758e-02 9.99878379e-01 -3.18264262e-04 -1.11788517e+01] [-7.22241331e-03 2.05665663e-04 9.99973897e-01 -4.43013728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164391418 meters 0.023194589208435576 Centerline is valid? [True, True] Translation: X:248.10, Y:-11.18, Z:-4.43 [[ 9.99904454e-01 1.12515386e-02 8.03024536e-03 2.48100831e+02] [-1.12490623e-02 9.99936665e-01 -3.53463718e-04 -1.11846951e+01] [-8.03371378e-03 2.63097215e-04 9.99967695e-01 -4.43080492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194391418 meters 0.023585190388889076 Centerline is valid? [True, True] Translation: X:248.13, Y:-11.19, Z:-4.43 [[ 9.99921652e-01 9.54283709e-03 8.10088404e-03 2.48131135e+02] [-9.54026401e-03 9.99954427e-01 -3.56213972e-04 -1.11876778e+01] [-8.10391415e-03 2.78901491e-04 9.99967124e-01 -4.43088909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224391418 meters 0.024720421000212673 Centerline is valid? [True, True] Translation: X:248.16, Y:-11.19, Z:-4.43 [[ 9.99932249e-01 7.83222149e-03 8.61125651e-03 2.48162375e+02] [-7.82925383e-03 9.99969279e-01 -3.78283092e-04 -1.11913524e+01] [-8.61395476e-03 3.10837750e-04 9.99962851e-01 -4.43160332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254391418 meters 0.02484977762193935 Centerline is valid? [True, True] Translation: X:248.19, Y:-11.19, Z:-4.43 [[ 9.99943922e-01 5.75131462e-03 8.89244338e-03 2.48194181e+02] [-5.74808269e-03 9.99983404e-01 -3.88962002e-04 -1.11936094e+01] [-8.89453285e-03 3.37825690e-04 9.99960386e-01 -4.43152441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284391418 meters 0.024997756186912638 Centerline is valid? [True, True] Translation: X:248.23, Y:-11.19, Z:-4.43 [[ 9.99947846e-01 5.15915751e-03 8.81411365e-03 2.48226822e+02] [-5.15594097e-03 9.99986633e-01 -3.87614147e-04 -1.11948333e+01] [-8.81599559e-03 3.42148882e-04 9.99961080e-01 -4.43208472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314391418 meters 0.024901619789488738 Centerline is valid? [True, True] Translation: X:248.26, Y:-11.20, Z:-4.43 [[ 9.99949451e-01 5.40539288e-03 8.47799767e-03 2.48260070e+02] [-5.40241023e-03 9.99985337e-01 -3.74673087e-04 -1.11963669e+01] [-8.47989861e-03 3.28852527e-04 9.99963991e-01 -4.43276519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34439141800001 meters 0.025830983692042335 Centerline is valid? [True, True] Translation: X:248.29, Y:-11.20, Z:-4.43 [[ 9.99952171e-01 5.66691430e-03 7.97125777e-03 2.48292494e+02] [-5.66426584e-03 9.99983895e-01 -3.54788133e-04 -1.11988193e+01] [-7.97313995e-03 3.09619841e-04 9.99968166e-01 -4.43428228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37439141800002 meters 0.02763503456583818 Centerline is valid? [True, True] Translation: X:248.32, Y:-11.20, Z:-4.44 [[ 9.99951116e-01 6.67514476e-03 7.29442021e-03 2.48323188e+02] [-6.67293726e-03 9.99977682e-01 -3.26925583e-04 -1.12021682e+01] [-7.29643969e-03 2.78234393e-04 9.99973342e-01 -4.43648366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404391418 meters 0.026088704513694043 Centerline is valid? [True, True] Translation: X:248.35, Y:-11.20, Z:-4.44 [[ 9.99944649e-01 7.47978891e-03 7.39949478e-03 2.48354812e+02] [-7.47750738e-03 9.99971987e-01 -3.35952802e-04 -1.12009674e+01] [-7.40180035e-03 2.80604429e-04 9.99972567e-01 -4.43684463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434391418 meters 0.025402806807588146 Centerline is valid? [True, True] Translation: X:248.39, Y:-11.20, Z:-4.44 [[ 9.99937847e-01 8.31542076e-03 7.42671812e-03 2.48386588e+02] [-8.31314322e-03 9.99965388e-01 -3.37485524e-04 -1.12012533e+01] [-7.42926741e-03 2.75725177e-04 9.99972365e-01 -4.43747417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464391418 meters 0.02413371323712843 Centerline is valid? [True, True] Translation: X:248.42, Y:-11.20, Z:-4.44 [[ 9.99913956e-01 1.08459086e-02 7.37884622e-03 2.48417702e+02] [-1.08437254e-02 9.99941149e-01 -3.35810176e-04 -1.11999510e+01] [-7.38205414e-03 2.55767099e-04 9.99972720e-01 -4.43767769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494391418 meters 0.023124779695155827 Centerline is valid? [True, True] Translation: X:248.45, Y:-11.20, Z:-4.44 [[ 9.99897212e-01 1.22328506e-02 7.47821035e-03 2.48448465e+02] [-1.22306443e-02 9.99925145e-01 -3.40692879e-04 -1.11986632e+01] [-7.48181821e-03 2.49194529e-04 9.99971980e-01 -4.43763837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524391418 meters 0.022600416778394354 Centerline is valid? [True, True] Translation: X:248.48, Y:-11.20, Z:-4.44 [[ 9.99876584e-01 1.36800350e-02 7.72487487e-03 2.48478907e+02] [-1.36777239e-02 9.99906394e-01 -3.51930440e-04 -1.11979439e+01] [-7.72896619e-03 2.46228301e-04 9.99970101e-01 -4.43783776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554391418 meters 0.021807084817355517 Centerline is valid? [True, True] Translation: X:248.51, Y:-11.20, Z:-4.44 [[ 9.99830362e-01 1.65456851e-02 8.09239804e-03 2.48508058e+02] [-1.65432395e-02 9.99863083e-01 -3.69065571e-04 -1.11960960e+01] [-8.09739650e-03 2.35128485e-04 9.99967188e-01 -4.43794680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584391418 meters 0.021208703249049696 Centerline is valid? [True, True] Translation: X:248.54, Y:-11.20, Z:-4.44 [[ 9.99812906e-01 1.76810446e-02 7.84428858e-03 2.48537945e+02] [-1.76787838e-02 9.99843654e-01 -3.57461225e-04 -1.11957875e+01] [-7.84938245e-03 2.18716864e-04 9.99969169e-01 -4.43812925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614391418 meters 0.01958743330930319 Centerline is valid? [True, True] Translation: X:248.57, Y:-11.19, Z:-4.44 [[ 9.99786668e-01 1.91584324e-02 7.71834704e-03 2.48566924e+02] [-1.91562865e-02 9.99816440e-01 -3.51861249e-04 -1.11935350e+01] [-7.72367137e-03 2.03931319e-04 9.99970151e-01 -4.43801794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644391418 meters 0.020239142142780324 Centerline is valid? [True, True] Translation: X:248.60, Y:-11.20, Z:-4.44 [[ 9.99784876e-01 1.93207869e-02 7.54383325e-03 2.48595055e+02] [-1.93187445e-02 9.99813317e-01 -3.43526983e-04 -1.11952986e+01] [-7.54906215e-03 1.97715695e-04 9.99971486e-01 -4.43920759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674391418 meters 0.020153423770509875 Centerline is valid? [True, True] Translation: X:248.62, Y:-11.20, Z:-4.44 [[ 9.99787974e-01 1.93090863e-02 7.15308693e-03 2.48623533e+02] [-1.93072558e-02 9.99813545e-01 -3.24878666e-04 -1.11960100e+01] [-7.15802631e-03 1.86703304e-04 9.99974364e-01 -4.44001677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704391418 meters 0.020715106123214113 Centerline is valid? [True, True] Translation: X:248.65, Y:-11.20, Z:-4.44 [[ 9.99787570e-01 1.97951131e-02 5.74173389e-03 2.48652755e+02] [-1.97939427e-02 9.99804047e-01 -2.60601628e-04 -1.11961094e+01] [-5.74576741e-03 1.46894717e-04 9.99983482e-01 -4.44128634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734391418 meters 0.01988074705057301 Centerline is valid? [True, True] Translation: X:248.68, Y:-11.20, Z:-4.44 [[ 9.99786510e-01 1.97238742e-02 6.15660746e-03 2.48681120e+02] [-1.97225308e-02 9.99805453e-01 -2.78849004e-04 -1.11963745e+01] [-6.16090969e-03 1.57365593e-04 9.99981009e-01 -4.44146733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764391418 meters 0.019996912040620745 Centerline is valid? [True, True] Translation: X:248.71, Y:-11.20, Z:-4.44 [[ 9.99785164e-01 1.98648587e-02 5.91717462e-03 2.48710132e+02] [-1.98636227e-02 9.99802663e-01 -2.67578466e-04 -1.11972965e+01] [-5.92132235e-03 1.49984456e-04 9.99982458e-01 -4.44181447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.794391418 meters 0.020055324462492072 Centerline is valid? [True, True] Translation: X:248.74, Y:-11.20, Z:-4.44 [[ 9.99771842e-01 2.04896487e-02 6.03646533e-03 2.48737977e+02] [-2.04883755e-02 9.99790054e-01 -2.72691148e-04 -1.11970881e+01] [-6.04078534e-03 1.48951563e-04 9.99981743e-01 -4.44179283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.824391418 meters 0.01980051670844996 Centerline is valid? [True, True] Translation: X:248.77, Y:-11.20, Z:-4.44 [[ 9.99758341e-01 2.09935841e-02 6.52146450e-03 2.48766435e+02] [-2.09921154e-02 9.99779598e-01 -2.93585141e-04 -1.11973026e+01] [-6.52619056e-03 1.56614858e-04 9.99978692e-01 -4.44184161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.854391418 meters 0.01988073841252321 Centerline is valid? [True, True] Translation: X:248.79, Y:-11.20, Z:-4.44 [[ 9.99748346e-01 2.14852692e-02 6.45198378e-03 2.48794263e+02] [-2.14838436e-02 9.99769153e-01 -2.90182048e-04 -1.11981738e+01] [-6.45672900e-03 1.51495612e-04 9.99979144e-01 -4.44266718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.884391418 meters 0.018464718937043274 Centerline is valid? [True, True] Translation: X:248.82, Y:-11.20, Z:-4.44 [[ 9.99714716e-01 2.28945680e-02 6.80632814e-03 2.48823291e+02] [-2.28930207e-02 9.99737874e-01 -3.05170972e-04 -1.11954683e+01] [-6.81153078e-03 1.49266501e-04 9.99976790e-01 -4.44203389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914391418 meters 0.01862369750746136 Centerline is valid? [True, True] Translation: X:248.85, Y:-11.20, Z:-4.44 [[ 9.99707781e-01 2.31611372e-02 6.92202726e-03 2.48850661e+02] [-2.31595457e-02 9.99731734e-01 -3.09988522e-04 -1.11959517e+01] [-6.92735000e-03 1.49586930e-04 9.99975994e-01 -4.44256875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944391418 meters 0.01843921463748426 Centerline is valid? [True, True] Translation: X:248.88, Y:-11.20, Z:-4.44 [[ 9.99699775e-01 2.34344247e-02 7.15452458e-03 2.48879540e+02] [-2.34327387e-02 9.99725365e-01 -3.19407261e-04 -1.11960728e+01] [-7.16004482e-03 1.51661262e-04 9.99974355e-01 -4.44263533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974391418 meters 0.018519518148975917 Centerline is valid? [True, True] Translation: X:248.91, Y:-11.20, Z:-4.44 [[ 9.99694928e-01 2.33400816e-02 8.08036013e-03 2.48907255e+02] [-2.33379330e-02 9.99727569e-01 -3.60100267e-04 -1.11969411e+01] [-8.08656355e-03 1.71411507e-04 9.99967289e-01 -4.44256068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004391418 meters 0.018479763507876813 Centerline is valid? [True, True] Translation: X:248.94, Y:-11.20, Z:-4.44 [[ 9.99693134e-01 2.33418146e-02 8.29438986e-03 2.48936044e+02] [-2.33395596e-02 9.99727527e-01 -3.68578560e-04 -1.11979605e+01] [-8.30073316e-03 1.74878050e-04 9.99965533e-01 -4.44271233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034391418 meters 0.01845615298461494 Centerline is valid? [True, True] Translation: X:248.97, Y:-11.20, Z:-4.44 [[ 9.99715798e-01 2.22512546e-02 8.55604515e-03 2.48965097e+02] [-2.22488212e-02 9.99752392e-01 -3.79499685e-04 -1.11988184e+01] [-8.56237095e-03 1.89029912e-04 9.99963324e-01 -4.44296909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064391418 meters 0.020387533726835137 Centerline is valid? [True, True] Translation: X:248.99, Y:-11.20, Z:-4.44 [[ 9.99734527e-01 2.17949301e-02 7.47369911e-03 2.48992594e+02] [-2.17930623e-02 9.99762448e-01 -3.31278514e-04 -1.12013159e+01] [-7.47914391e-03 1.68315778e-04 9.99972017e-01 -4.44464556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09439141800001 meters 0.018941156072441092 Centerline is valid? [True, True] Translation: X:249.02, Y:-11.20, Z:-4.44 [[ 9.99750000e-01 2.07822515e-02 8.24832249e-03 2.49020982e+02] [-2.07799518e-02 9.99784007e-01 -3.64422029e-04 -1.12011989e+01] [-8.25411442e-03 1.92931180e-04 9.99965916e-01 -4.44395204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141800002 meters 0.01943447786175522 Centerline is valid? [True, True] Translation: X:249.05, Y:-11.20, Z:-4.44 [[ 9.99765697e-01 2.01614897e-02 7.87819769e-03 2.49048307e+02] [-2.01593754e-02 9.99796719e-01 -3.47696518e-04 -1.12027278e+01] [-7.88360628e-03 1.88795507e-04 9.99968906e-01 -4.44480082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154391418 meters 0.020095608938392306 Centerline is valid? [True, True] Translation: X:249.08, Y:-11.20, Z:-4.45 [[ 9.99786994e-01 1.94108980e-02 7.01308911e-03 2.49075640e+02] [-1.94092077e-02 9.99811576e-01 -3.08996850e-04 -1.12037788e+01] [-7.01776558e-03 1.72812528e-04 9.99975360e-01 -4.44635212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184391418 meters 0.019703427075515333 Centerline is valid? [True, True] Translation: X:249.10, Y:-11.20, Z:-4.45 [[ 9.99789982e-01 1.93894547e-02 6.63635778e-03 2.49104628e+02] [-1.93879459e-02 9.99811994e-01 -2.91623611e-04 -1.12043469e+01] [-6.64076453e-03 1.62897020e-04 9.99977937e-01 -4.44703334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214391418 meters 0.02130834260995956 Centerline is valid? [True, True] Translation: X:249.13, Y:-11.21, Z:-4.45 [[ 9.99798844e-01 1.92533083e-02 5.61979617e-03 2.49132266e+02] [-1.92522242e-02 9.99814628e-01 -2.46959699e-04 -1.12069274e+01] [-5.62350921e-03 1.38716446e-04 9.99984178e-01 -4.45047701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244391418 meters 0.02011509819976762 Centerline is valid? [True, True] Translation: X:249.16, Y:-11.21, Z:-4.45 [[ 9.99799463e-01 1.93357352e-02 5.21180892e-03 2.49161043e+02] [-1.93348072e-02 9.99813039e-01 -2.28391152e-04 -1.12055356e+01] [-5.21525063e-03 1.27576030e-04 9.99986392e-01 -4.45052904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274391418 meters 0.02013153156574468 Centerline is valid? [True, True] Translation: X:249.19, Y:-11.21, Z:-4.45 [[ 9.99796013e-01 1.95620085e-02 5.02603147e-03 2.49190264e+02] [-1.95611500e-02 9.99808638e-01 -2.19904667e-04 -1.12058917e+01] [-5.02937145e-03 1.21544854e-04 9.99987345e-01 -4.45130951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304391418 meters 0.018964539779985044 Centerline is valid? [True, True] Translation: X:249.22, Y:-11.20, Z:-4.45 [[ 9.99778351e-01 2.04757958e-02 4.89801518e-03 2.49219103e+02] [-2.04749930e-02 9.99790342e-01 -2.13994719e-04 -1.12033207e+01] [-4.90136999e-03 1.13660460e-04 9.99987982e-01 -4.45112620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334391418 meters 0.01900839460683728 Centerline is valid? [True, True] Translation: X:249.25, Y:-11.20, Z:-4.45 [[ 9.99750018e-01 2.18359059e-02 4.80575122e-03 2.49247003e+02] [-2.18351493e-02 9.99761563e-01 -2.09858891e-04 -1.12037613e+01] [-4.80918781e-03 1.04872134e-04 9.99988430e-01 -4.45211907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364391418 meters 0.017986832467843657 Centerline is valid? [True, True] Translation: X:249.27, Y:-11.20, Z:-4.45 [[ 9.99670667e-01 2.51535839e-02 5.08479044e-03 2.49274812e+02] [-2.51527831e-02 9.99683594e-01 -2.21395637e-04 -1.12003895e+01] [-5.08875047e-03 9.34260929e-05 9.99987048e-01 -4.45206272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394391418 meters 0.016732127193528915 Centerline is valid? [True, True] Translation: X:249.30, Y:-11.20, Z:-4.45 [[ 9.99606082e-01 2.75627158e-02 5.28943103e-03 2.49304133e+02] [-2.75618872e-02 9.99620073e-01 -2.29509334e-04 -1.11977256e+01] [-5.29374734e-03 8.36322247e-05 9.99985985e-01 -4.45141781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424391418 meters 0.015552641307432185 Centerline is valid? [True, True] Translation: X:249.33, Y:-11.19, Z:-4.45 [[ 9.99455034e-01 3.24103621e-02 6.26128094e-03 2.49332224e+02] [-3.24092995e-02 9.99474644e-01 -2.71133201e-04 -1.11940836e+01] [-6.26677906e-03 6.80617133e-05 9.99980361e-01 -4.45112523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454391418 meters 0.015077103015459179 Centerline is valid? [True, True] Translation: X:249.36, Y:-11.19, Z:-4.45 [[ 9.99377410e-01 3.46020959e-02 6.89106133e-03 2.49361091e+02] [-3.46008684e-02 9.99401166e-01 -2.97306763e-04 -1.11928628e+01] [-6.89722217e-03 5.86849571e-05 9.99976212e-01 -4.45129274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484391418 meters 0.014716168832674473 Centerline is valid? [True, True] Translation: X:249.39, Y:-11.19, Z:-4.45 [[ 9.99295112e-01 3.68970194e-02 6.92016612e-03 2.49390210e+02] [-3.68958403e-02 9.99319072e-01 -2.98018518e-04 -1.11917671e+01] [-6.92644998e-03 4.24831046e-05 9.99976011e-01 -4.45142710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514391418 meters 0.014563275256264243 Centerline is valid? [True, True] Translation: X:249.42, Y:-11.19, Z:-4.45 [[ 9.99221512e-01 3.87973960e-02 7.15066327e-03 2.49419481e+02] [-3.87961901e-02 9.99247097e-01 -3.07327094e-04 -1.11908727e+01] [-7.15720300e-03 2.96693527e-05 9.99974386e-01 -4.45166059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.544391418 meters 0.014592780084318024 Centerline is valid? [True, True] Translation: X:249.45, Y:-11.19, Z:-4.45 [[ 9.99075355e-01 4.24713525e-02 6.67972726e-03 2.49446905e+02] [-4.24703766e-02 9.99097685e-01 -2.87943948e-04 -1.11888011e+01] [-6.68592941e-03 3.98716978e-06 9.99977649e-01 -4.45321469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.574391418 meters 0.014740270128207007 Centerline is valid? [True, True] Translation: X:249.48, Y:-11.19, Z:-4.45 [[ 9.99014199e-01 4.39716184e-02 6.09322791e-03 2.49475851e+02] [-4.39708479e-02 9.99032781e-01 -2.60409136e-04 -1.11887661e+01] [-6.09878504e-03 -7.77197349e-06 9.99981402e-01 -4.45403256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.604391418 meters 0.01474590211327439 Centerline is valid? [True, True] Translation: X:249.50, Y:-11.19, Z:-4.45 [[ 9.98972797e-01 4.50079911e-02 5.25662988e-03 2.49504453e+02] [-4.50074332e-02 9.98986627e-01 -2.24443776e-04 -1.11891593e+01] [-5.26140472e-03 -1.23741912e-05 9.99986159e-01 -4.45496461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.634391418 meters 0.015131494181153919 Centerline is valid? [True, True] Translation: X:249.53, Y:-11.19, Z:-4.46 [[ 9.98915719e-01 4.63441381e-02 4.42811480e-03 2.49532234e+02] [-4.63437520e-02 9.98925533e-01 -1.89831277e-04 -1.11895360e+01] [-4.43215450e-03 -1.55900078e-05 9.99990178e-01 -4.45675250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664391418 meters 0.015129803098574488 Centerline is valid? [True, True] Translation: X:249.56, Y:-11.19, Z:-4.46 [[ 9.98912753e-01 4.64066971e-02 4.44181190e-03 2.49560058e+02] [-4.64063137e-02 9.98922629e-01 -1.89396078e-04 -1.11909126e+01] [-4.44581567e-03 -1.69379591e-05 9.99990117e-01 -4.45670512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694391418 meters 0.015129803098574488 Centerline is valid? [True, True] Translation: X:249.59, Y:-11.19, Z:-4.46 [[ 9.98918227e-01 4.62887123e-02 4.44183411e-03 2.49587489e+02] [-4.62883301e-02 9.98928103e-01 -1.88871678e-04 -1.11919546e+01] [-4.44581554e-03 -1.69377214e-05 9.99990117e-01 -4.45720080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724391418 meters 0.015124619806810322 Centerline is valid? [True, True] Translation: X:249.62, Y:-11.19, Z:-4.46 [[ 9.98898390e-01 4.66493277e-02 5.08397361e-03 2.49616282e+02] [-4.66488389e-02 9.98911327e-01 -2.14750669e-04 -1.11938488e+01] [-5.08845680e-03 -2.26473680e-05 9.99987053e-01 -4.45707828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754391418 meters 0.016899992872118186 Centerline is valid? [True, True] Translation: X:249.65, Y:-11.20, Z:-4.46 [[ 9.98877872e-01 4.71942838e-02 3.96196398e-03 2.49645102e+02] [-4.71939912e-02 9.98885729e-01 -1.67346858e-04 -1.11954351e+01] [-3.96544709e-03 -1.98218203e-05 9.99992137e-01 -4.45782455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784391418 meters 0.015383937003515633 Centerline is valid? [True, True] Translation: X:249.67, Y:-11.20, Z:-4.46 [[ 9.98909747e-01 4.63955696e-02 5.17385930e-03 2.49673843e+02] [-4.63950643e-02 9.98923146e-01 -2.17705619e-04 -1.11976673e+01] [-5.17838838e-03 -2.25732701e-05 9.99986592e-01 -4.45836047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814391418 meters 0.015475998115585166 Centerline is valid? [True, True] Translation: X:249.70, Y:-11.20, Z:-4.46 [[ 9.98914562e-01 4.62602835e-02 5.44824143e-03 2.49700569e+02] [-4.62597200e-02 9.98929420e-01 -2.29470437e-04 -1.12006833e+01] [-5.45302401e-03 -2.28127620e-05 9.99985132e-01 -4.45926708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84439141800001 meters 0.015177206201195352 Centerline is valid? [True, True] Translation: X:249.73, Y:-11.20, Z:-4.46 [[ 9.98921006e-01 4.60928841e-02 5.68064492e-03 2.49728558e+02] [-4.60922747e-02 9.98937158e-01 -2.38225955e-04 -1.12034503e+01] [-5.68558781e-03 -2.38649350e-05 9.99983837e-01 -4.45833369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87439141800002 meters 0.015281649974234625 Centerline is valid? [True, True] Translation: X:249.76, Y:-11.21, Z:-4.46 [[ 9.98928188e-01 4.59319800e-02 5.72093804e-03 2.49755412e+02] [-4.59313620e-02 9.98944569e-01 -2.39439221e-04 -1.12053768e+01] [-5.72589790e-03 -2.35878888e-05 9.99983607e-01 -4.45925798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904391418 meters 0.015193750648255304 Centerline is valid? [True, True] Translation: X:249.78, Y:-11.21, Z:-4.46 [[ 9.98957022e-01 4.52441793e-02 6.15074296e-03 2.49784533e+02] [-4.52434629e-02 9.98975958e-01 -2.55633918e-04 -1.12096212e+01] [-6.15601028e-03 -2.29136135e-05 9.99981051e-01 -4.45908527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934391418 meters 0.015253674016884463 Centerline is valid? [True, True] Translation: X:249.81, Y:-11.21, Z:-4.46 [[ 9.98987896e-01 4.45590907e-02 6.13772649e-03 2.49812804e+02] [-4.45583644e-02 9.99006750e-01 -2.55082795e-04 -1.12127680e+01] [-6.14299646e-03 -1.86624297e-05 9.99981131e-01 -4.45927694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964391418 meters 0.015254991290362337 Centerline is valid? [True, True] Translation: X:249.84, Y:-11.22, Z:-4.46 [[ 9.99023283e-01 4.36857302e-02 6.63611255e-03 2.49841239e+02] [-4.36848712e-02 9.99045323e-01 -2.74398657e-04 -1.12161432e+01] [-6.64176451e-03 -1.57670751e-05 9.99977943e-01 -4.45952127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994391418 meters 0.0154030531586897 Centerline is valid? [True, True] Translation: X:249.87, Y:-11.22, Z:-4.46 [[ 9.99068340e-01 4.26686826e-02 6.46796447e-03 2.49868174e+02] [-4.26678441e-02 9.99089277e-01 -2.67641021e-04 -1.12193664e+01] [-6.47349384e-03 -8.58242823e-06 9.99979047e-01 -4.46102840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024391418 meters 0.015348759830017553 Centerline is valid? [True, True] Translation: X:249.90, Y:-11.23, Z:-4.46 [[ 9.99160598e-01 4.04622710e-02 6.39567552e-03 2.49896128e+02] [-4.04614128e-02 9.99181067e-01 -2.63572651e-04 -1.12259641e+01] [-6.40110264e-03 4.57334066e-06 9.99979513e-01 -4.45993173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054391418 meters 0.01542554985849828 Centerline is valid? [True, True] Translation: X:249.92, Y:-11.23, Z:-4.46 [[ 9.99257653e-01 3.79443192e-02 6.66115077e-03 2.49922849e+02] [-3.79433335e-02 9.99279855e-01 -2.74337796e-04 -1.12328451e+01] [-6.66676334e-03 2.13878767e-05 9.99977777e-01 -4.46062728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084391418 meters 0.015546188846301394 Centerline is valid? [True, True] Translation: X:249.95, Y:-11.24, Z:-4.46 [[ 9.99298845e-01 3.68403647e-02 6.67878579e-03 2.49951280e+02] [-3.68393645e-02 9.99321163e-01 -2.72772738e-04 -1.12367066e+01] [-6.68430103e-03 2.65392581e-05 9.99977659e-01 -4.46113793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114391418 meters 0.015568326361944697 Centerline is valid? [True, True] Translation: X:249.98, Y:-11.24, Z:-4.46 [[ 9.99319448e-01 3.62849660e-02 6.63646868e-03 2.49978135e+02] [-3.62839652e-02 9.99341483e-01 -2.71182794e-04 -1.12403842e+01] [-6.64193832e-03 3.02008409e-05 9.99977942e-01 -4.46207069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144391418 meters 0.01574103625827456 Centerline is valid? [True, True] Translation: X:250.00, Y:-11.25, Z:-4.46 [[ 9.99348778e-01 3.54658978e-02 6.64756759e-03 2.50004854e+02] [-3.54648815e-02 9.99370887e-01 -2.70746793e-04 -1.12462396e+01] [-6.65298780e-03 3.48152803e-05 9.99977868e-01 -4.46324865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174391418 meters 0.01574103625827456 Centerline is valid? [True, True] Translation: X:250.03, Y:-11.25, Z:-4.46 [[ 9.99352710e-01 3.53549261e-02 6.64761110e-03 2.50032293e+02] [-3.53539145e-02 9.99374819e-01 -2.69670865e-04 -1.12472255e+01] [-6.65298934e-03 3.44772351e-05 9.99977868e-01 -4.46374444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204391418 meters 0.015691223342221488 Centerline is valid? [True, True] Translation: X:250.06, Y:-11.25, Z:-4.47 [[ 9.99348958e-01 3.56356078e-02 5.63600348e-03 2.50060364e+02] [-3.56348883e-02 9.99364850e-01 -2.28072895e-04 -1.12520954e+01] [-5.64055129e-03 2.70860558e-05 9.99984092e-01 -4.46548004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234391418 meters 0.015736602773213485 Centerline is valid? [True, True] Translation: X:250.09, Y:-11.25, Z:-4.47 [[ 9.99345762e-01 3.58370152e-02 4.87406704e-03 2.50088973e+02] [-3.58364817e-02 9.99357648e-01 -1.96765123e-04 -1.12546944e+01] [-4.87798765e-03 2.19669769e-05 9.99988102e-01 -4.46675601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264391418 meters 0.01584388501006952 Centerline is valid? [True, True] Translation: X:250.12, Y:-11.26, Z:-4.47 [[ 9.99307051e-01 3.69896375e-02 4.14546010e-03 2.50117872e+02] [-3.69892620e-02 9.99315649e-01 -1.67239966e-04 -1.12579754e+01] [-4.14880930e-03 1.37865676e-05 9.99991394e-01 -4.46788858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.294391418 meters 0.015623671879106972 Centerline is valid? [True, True] Translation: X:250.15, Y:-11.26, Z:-4.47 [[ 9.99286647e-01 3.75404907e-02 4.11194531e-03 2.50146160e+02] [-3.75401246e-02 9.99295107e-01 -1.66205238e-04 -1.12599698e+01] [-4.11528625e-03 1.17237357e-05 9.99991532e-01 -4.46652760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.324391418 meters 0.0157085318282192 Centerline is valid? [True, True] Translation: X:250.17, Y:-11.26, Z:-4.47 [[ 9.99223542e-01 3.90632003e-02 5.13611083e-03 2.50173684e+02] [-3.90626563e-02 9.99236742e-01 -2.06225823e-04 -1.12636760e+01] [-5.14024649e-03 5.43556510e-06 9.99986789e-01 -4.46823461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.354391418 meters 0.015646899187728443 Centerline is valid? [True, True] Translation: X:250.20, Y:-11.27, Z:-4.47 [[ 9.99195731e-01 3.97396723e-02 5.35254220e-03 2.50202011e+02] [-3.97390936e-02 9.99210067e-01 -2.14464348e-04 -1.12656868e+01] [-5.35683680e-03 1.58668503e-06 9.99985652e-01 -4.46796374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.384391418 meters 0.01524485786101883 Centerline is valid? [True, True] Translation: X:250.23, Y:-11.27, Z:-4.47 [[ 9.99162519e-01 4.04598859e-02 6.10400887e-03 2.50230532e+02] [-4.04591546e-02 9.99181164e-01 -2.43302749e-04 -1.12679912e+01] [-6.10885469e-03 -3.86405045e-06 9.99981341e-01 -4.46629766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414391418 meters 0.015372519669880886 Centerline is valid? [True, True] Translation: X:250.26, Y:-11.27, Z:-4.47 [[ 9.99131212e-01 4.12623024e-02 5.85173109e-03 2.50258906e+02] [-4.12616464e-02 9.99148349e-01 -2.32852255e-04 -1.12725635e+01] [-5.85635548e-03 -8.80210294e-06 9.99982851e-01 -4.46764713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444391418 meters 0.015323580032041728 Centerline is valid? [True, True] Translation: X:250.29, Y:-11.28, Z:-4.47 [[ 9.99185520e-01 4.00034886e-02 5.29324643e-03 2.50286515e+02] [-4.00029344e-02 9.99199540e-01 -2.10588239e-04 -1.12787736e+01] [-5.29743367e-03 -1.32867046e-06 9.99985968e-01 -4.46932417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474391418 meters 0.015290280303217755 Centerline is valid? [True, True] Translation: X:250.32, Y:-11.28, Z:-4.47 [[ 9.99241981e-01 3.86071058e-02 4.99552067e-03 2.50315254e+02] [-3.86065978e-02 9.99254468e-01 -1.98110578e-04 -1.12832436e+01] [-4.99944483e-03 5.10034883e-06 9.99987503e-01 -4.47038658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504391418 meters 0.015413946688232066 Centerline is valid? [True, True] Translation: X:250.34, Y:-11.29, Z:-4.47 [[ 9.99321919e-01 3.64886692e-02 4.92746773e-03 2.50343722e+02] [-3.64881510e-02 9.99334067e-01 -1.95067202e-04 -1.12882201e+01] [-4.93130411e-03 1.51407441e-05 9.99987841e-01 -4.47109450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534391418 meters 0.015475492397141317 Centerline is valid? [True, True] Translation: X:250.37, Y:-11.29, Z:-4.47 [[ 9.99410654e-01 3.39446224e-02 5.10948121e-03 2.50372281e+02] [-3.39440341e-02 9.99423715e-01 -2.01851484e-04 -1.12934164e+01] [-5.11338847e-03 2.82961197e-05 9.99986926e-01 -4.47150855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564391418 meters 0.016496140561680916 Centerline is valid? [True, True] Translation: X:250.40, Y:-11.30, Z:-4.47 [[ 9.99597207e-01 2.79373915e-02 4.99254232e-03 2.50399415e+02] [-2.79367543e-02 9.99609673e-01 -1.97332415e-04 -1.13037789e+01] [-4.99610655e-03 5.77775027e-05 9.99987518e-01 -4.47242827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59439141800001 meters 0.01750673182630197 Centerline is valid? [True, True] Translation: X:250.43, Y:-11.31, Z:-4.47 [[ 9.99683931e-01 2.45409256e-02 5.45713233e-03 2.50427324e+02] [-2.45401194e-02 9.99698823e-01 -2.14662948e-04 -1.13103141e+01] [-5.46075679e-03 8.06764205e-05 9.99985087e-01 -4.47319159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141800002 meters 0.020451038785102096 Centerline is valid? [True, True] Translation: X:250.46, Y:-11.32, Z:-4.47 [[ 9.99814667e-01 1.83929818e-02 5.68598867e-03 2.50455457e+02] [-1.83920132e-02 9.99830828e-01 -2.22581529e-04 -1.13221079e+01] [-5.68912070e-03 1.17963499e-04 9.99983810e-01 -4.47405990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.654391418 meters 0.02222190009585912 Centerline is valid? [True, True] Translation: X:250.48, Y:-11.33, Z:-4.47 [[ 9.99865276e-01 1.53551727e-02 5.80077678e-03 2.50484219e+02] [-1.53541156e-02 9.99882093e-01 -2.26716379e-04 -1.13283863e+01] [-5.80357409e-03 1.37620037e-04 9.99983150e-01 -4.47478143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684391418 meters 0.0213868542964448 Centerline is valid? [True, True] Translation: X:250.51, Y:-11.33, Z:-4.47 [[ 9.99898067e-01 1.29840352e-02 5.93887005e-03 2.50513489e+02] [-1.29828886e-02 9.99915692e-01 -2.31579148e-04 -1.13301129e+01] [-5.94137619e-03 1.54451855e-04 9.99982338e-01 -4.47355086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714391418 meters 0.022639370683984424 Centerline is valid? [True, True] Translation: X:250.54, Y:-11.33, Z:-4.47 [[ 9.99924860e-01 1.06843261e-02 6.00997874e-03 2.50543999e+02] [-1.06831146e-02 9.99942907e-01 -2.33649235e-04 -1.13348370e+01] [-6.01213200e-03 1.69426387e-04 9.99981913e-01 -4.47426159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744391418 meters 0.0230934572413463 Centerline is valid? [True, True] Translation: X:250.57, Y:-11.34, Z:-4.47 [[ 9.99957225e-01 6.82069929e-03 6.24711063e-03 2.50574193e+02] [-6.81931497e-03 9.99976719e-01 -2.42868183e-04 -1.13392932e+01] [-6.24862172e-03 2.00256779e-04 9.99980457e-01 -4.47370567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774391418 meters 0.02323457814331088 Centerline is valid? [True, True] Translation: X:250.61, Y:-11.34, Z:-4.47 [[ 9.99964962e-01 5.11829500e-03 6.62410681e-03 2.50605160e+02] [-5.11670433e-03 9.99986877e-01 -2.57058798e-04 -1.13417763e+01] [-6.62533558e-03 2.23156195e-04 9.99978027e-01 -4.47374657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804391418 meters 0.02420076217551386 Centerline is valid? [True, True] Translation: X:250.64, Y:-11.35, Z:-4.47 [[ 9.99974575e-01 2.04169363e-03 6.83227383e-03 2.50637375e+02] [-2.03993082e-03 9.99997884e-01 -2.64972051e-04 -1.13467067e+01] [-6.83280037e-03 2.51027949e-04 9.99976625e-01 -4.47427159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834391418 meters 0.025191056929032906 Centerline is valid? [True, True] Translation: X:250.67, Y:-11.35, Z:-4.48 [[ 9.99975960e-01 6.61618570e-04 6.90234397e-03 2.50669376e+02] [-6.59798154e-04 9.99999747e-01 -2.66012569e-04 -1.13502351e+01] [-6.90251822e-03 2.61452020e-04 9.99976143e-01 -4.47518524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864391418 meters 0.026084511708870467 Centerline is valid? [True, True] Translation: X:250.70, Y:-11.35, Z:-4.48 [[ 9.99977570e-01 -6.46575664e-04 6.66648719e-03 2.50701571e+02] [ 6.48314455e-04 9.99999756e-01 -2.58667943e-04 -1.13534630e+01] [-6.66631832e-03 2.62984121e-04 9.99977745e-01 -4.47584123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894391418 meters 0.02840788016119081 Centerline is valid? [True, True] Translation: X:250.73, Y:-11.36, Z:-4.48 [[ 9.99968314e-01 -4.53485520e-03 6.54269491e-03 2.50732122e+02] [ 4.53664458e-03 9.99989676e-01 -2.58678247e-04 -1.13585837e+01] [-6.54145429e-03 2.88351932e-04 9.99978563e-01 -4.47686988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924391418 meters 0.031019943432655947 Centerline is valid? [True, True] Translation: X:250.76, Y:-11.36, Z:-4.48 [[ 9.99958439e-01 -6.41971955e-03 6.47359309e-03 2.50762945e+02] [ 6.42150857e-03 9.99979349e-01 -2.55608669e-04 -1.13638052e+01] [-6.47181847e-03 2.97168280e-04 9.99979013e-01 -4.47816542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954391418 meters 0.03153521631788703 Centerline is valid? [True, True] Translation: X:250.79, Y:-11.37, Z:-4.48 [[ 9.99926166e-01 -1.04351120e-02 6.22665735e-03 2.50793847e+02] [ 1.04368499e-02 9.99945504e-01 -2.46667744e-04 -1.13669451e+01] [-6.22374402e-03 3.11636219e-04 9.99980584e-01 -4.47904652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984391418 meters 0.03604561765701294 Centerline is valid? [True, True] Translation: X:250.82, Y:-11.38, Z:-4.48 [[ 9.99909411e-01 -1.20496773e-02 5.99795032e-03 2.50824400e+02] [ 1.20513116e-02 9.99927352e-01 -2.36403313e-04 -1.13750731e+01] [-5.99466600e-03 3.08665065e-04 9.99981984e-01 -4.48120993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014391418 meters 0.033268616931622204 Centerline is valid? [True, True] Translation: X:250.86, Y:-11.37, Z:-4.48 [[ 9.99884952e-01 -1.39765912e-02 5.89382271e-03 2.50856380e+02] [ 1.39782117e-02 9.99902273e-01 -2.33848678e-04 -1.13727505e+01] [-5.88997832e-03 3.16206876e-04 9.99982604e-01 -4.48079613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.044391418 meters 0.03678525404099108 Centerline is valid? [True, True] Translation: X:250.89, Y:-11.38, Z:-4.48 [[ 9.99844474e-01 -1.65334255e-02 6.13789919e-03 2.50885911e+02] [ 1.65352381e-02 9.99863254e-01 -2.44682272e-04 -1.13780479e+01] [-6.13301442e-03 3.46135842e-04 9.99981133e-01 -4.48206592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.074391418 meters 0.037465219057231436 Centerline is valid? [True, True] Translation: X:250.92, Y:-11.38, Z:-4.48 [[ 9.99837550e-01 -1.69457887e-02 6.14112149e-03 2.50918285e+02] [ 1.69476052e-02 9.99856349e-01 -2.43876347e-04 -1.13799054e+01] [-6.13610664e-03 3.47914032e-04 9.99981113e-01 -4.48286464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.104391418 meters 0.034157518594511715 Centerline is valid? [True, True] Translation: X:250.95, Y:-11.38, Z:-4.48 [[ 9.99845631e-01 -1.63575053e-02 6.41455863e-03 2.50950979e+02] [ 1.63594785e-02 9.99866142e-01 -2.55262072e-04 -1.13756161e+01] [-6.40952454e-03 3.60161501e-04 9.99979394e-01 -4.48262803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.134391418 meters 0.035504819293199104 Centerline is valid? [True, True] Translation: X:250.98, Y:-11.38, Z:-4.48 [[ 9.99863261e-01 -1.51049307e-02 6.73055525e-03 2.50982673e+02] [ 1.51070791e-02 9.99885846e-01 -2.68474491e-04 -1.13774930e+01] [-6.72573164e-03 3.70116811e-04 9.99977314e-01 -4.48345468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164391418 meters 0.032005146945172674 Centerline is valid? [True, True] Translation: X:251.01, Y:-11.37, Z:-4.48 [[ 9.99918258e-01 -1.06768521e-02 7.03438487e-03 2.51014186e+02] [ 1.06790988e-02 9.99942937e-01 -2.81901970e-04 -1.13709109e+01] [-7.03097364e-03 3.56999818e-04 9.99975219e-01 -4.48312319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194391418 meters 0.03028887139799778 Centerline is valid? [True, True] Translation: X:251.05, Y:-11.37, Z:-4.48 [[ 9.99943085e-01 -7.44168249e-03 7.64515207e-03 2.51045407e+02] [ 7.44424174e-03 9.99972244e-01 -3.06351952e-04 -1.13681696e+01] [-7.64266010e-03 3.63246876e-04 9.99970728e-01 -4.48315174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224391418 meters 0.02828481747308322 Centerline is valid? [True, True] Translation: X:251.08, Y:-11.36, Z:-4.48 [[ 9.99962730e-01 4.50364686e-04 8.62184708e-03 2.51075640e+02] [-4.47395380e-04 9.99999840e-01 -3.46318984e-04 -1.13621837e+01] [-8.62200167e-03 3.42448702e-04 9.99962771e-01 -4.48276360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254391418 meters 0.02549502420303077 Centerline is valid? [True, True] Translation: X:251.11, Y:-11.36, Z:-4.48 [[ 9.99945450e-01 5.17770793e-03 9.07126370e-03 2.51106215e+02] [-5.17461526e-03 9.99986545e-01 -3.64368316e-04 -1.13570909e+01] [-9.07302824e-03 3.17408140e-04 9.99958789e-01 -4.48246677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284391418 meters 0.022681337548405307 Centerline is valid? [True, True] Translation: X:251.14, Y:-11.35, Z:-4.48 [[ 9.99902130e-01 1.00329185e-02 9.75042594e-03 2.51138058e+02] [-1.00295812e-02 9.99949626e-01 -3.91108600e-04 -1.13517285e+01] [-9.75385873e-03 2.93277633e-04 9.99952387e-01 -4.48209596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314391418 meters 0.020242997747299634 Centerline is valid? [True, True] Translation: X:251.17, Y:-11.35, Z:-4.48 [[ 9.99833706e-01 1.51524237e-02 1.01471600e-02 2.51170003e+02] [-1.51490651e-02 9.99885163e-01 -4.07773146e-04 -1.13467394e+01] [-1.01521735e-02 2.53985349e-04 9.99948433e-01 -4.48191384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34439141800001 meters 0.018150394140553402 Centerline is valid? [True, True] Translation: X:251.20, Y:-11.34, Z:-4.48 [[ 9.99737168e-01 2.03700544e-02 1.05193028e-02 2.51200579e+02] [-2.03667217e-02 9.99792487e-01 -4.23853763e-04 -1.13421339e+01] [-1.05257538e-02 2.09498648e-04 9.99944581e-01 -4.48193049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37439141800002 meters 0.015620994015864139 Centerline is valid? [True, True] Translation: X:251.23, Y:-11.33, Z:-4.48 [[ 9.99457651e-01 3.10266421e-02 1.10341417e-02 2.51229451e+02] [-3.10236197e-02 9.99518553e-01 -4.45014188e-04 -1.13325842e+01] [-1.10426366e-02 1.02453820e-04 9.99939023e-01 -4.48239718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.404391418 meters 0.014908711885516221 Centerline is valid? [True, True] Translation: X:251.26, Y:-11.33, Z:-4.48 [[ 9.99289232e-01 3.62040476e-02 1.05022288e-02 2.51258802e+02] [-3.62016002e-02 9.99344418e-01 -4.23116128e-04 -1.13281166e+01] [-1.05106622e-02 4.26179044e-05 9.99944761e-01 -4.48335214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434391418 meters 0.014763209220602886 Centerline is valid? [True, True] Translation: X:251.29, Y:-11.32, Z:-4.48 [[ 9.99112526e-01 4.09053333e-02 1.00455521e-02 2.51288048e+02] [-4.09033386e-02 9.99163027e-01 -4.04020091e-04 -1.13238495e+01] [-1.00536709e-02 -7.23508754e-06 9.99949461e-01 -4.48365445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464391418 meters 0.015058324460680396 Centerline is valid? [True, True] Translation: X:251.32, Y:-11.32, Z:-4.48 [[ 9.98942925e-01 4.48721661e-02 9.97604827e-03 2.51316766e+02] [-4.48704045e-02 9.98992736e-01 -4.00449051e-04 -1.13206126e+01] [-9.98396878e-03 -4.76035751e-05 9.99950158e-01 -4.48415642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494391418 meters 0.016263351260296936 Centerline is valid? [True, True] Translation: X:251.34, Y:-11.32, Z:-4.48 [[ 9.98645007e-01 5.11032246e-02 9.82904891e-03 2.51344520e+02] [-5.11018221e-02 9.98693371e-01 -3.93952448e-04 -1.13153546e+01] [-9.83633823e-03 -1.08863663e-04 9.99951616e-01 -4.48419731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524391418 meters 0.01696147448678807 Centerline is valid? [True, True] Translation: X:251.37, Y:-11.31, Z:-4.48 [[ 9.98484066e-01 5.41261802e-02 9.99633272e-03 2.51373594e+02] [-5.41248924e-02 9.98534094e-01 -3.99518009e-04 -1.13147873e+01] [-1.00033034e-02 -1.42138066e-04 9.99949956e-01 -4.48400462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554391418 meters 0.01696147448678807 Centerline is valid? [True, True] Translation: X:251.40, Y:-11.32, Z:-4.48 [[ 9.98490493e-01 5.40074851e-02 9.99635153e-03 2.51401033e+02] [-5.40061960e-02 9.98540521e-01 -3.99046934e-04 -1.13157660e+01] [-1.00033136e-02 -1.41420351e-04 9.99949956e-01 -4.48450010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584391418 meters 0.017081597199220026 Centerline is valid? [True, True] Translation: X:251.43, Y:-11.32, Z:-4.49 [[ 9.98486774e-01 5.40636045e-02 1.00642777e-02 2.51428097e+02] [-5.40623114e-02 9.98537483e-01 -4.00693951e-04 -1.13162323e+01] [-1.00712215e-02 -1.44010507e-04 9.99949274e-01 -4.48512100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614391418 meters 0.0165838477079843 Centerline is valid? [True, True] Translation: X:251.46, Y:-11.32, Z:-4.49 [[ 9.98534134e-01 5.32850627e-02 9.50186988e-03 2.51457218e+02] [-5.32838906e-02 9.98579333e-01 -3.76649616e-04 -1.13189298e+01] [-9.50844069e-03 -1.30199097e-04 9.99954785e-01 -4.48519989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644391418 meters 0.0160946884023755 Centerline is valid? [True, True] Translation: X:251.48, Y:-11.32, Z:-4.49 [[ 9.98728000e-01 4.95286913e-02 9.44935751e-03 2.51484975e+02] [-4.95273696e-02 9.98772697e-01 -3.73975362e-04 -1.13229689e+01] [-9.45628279e-03 -9.45021558e-05 9.99955284e-01 -4.48655669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674391418 meters 0.015130345347956565 Centerline is valid? [True, True] Translation: X:251.51, Y:-11.33, Z:-4.49 [[ 9.99029600e-01 4.28954717e-02 9.99183892e-03 2.51512754e+02] [-4.28936733e-02 9.99079565e-01 -3.94314704e-04 -1.13311158e+01] [-9.99955640e-03 -3.46546130e-05 9.99950003e-01 -4.48833726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704391418 meters 0.014755212805541101 Centerline is valid? [True, True] Translation: X:251.54, Y:-11.34, Z:-4.49 [[ 9.99194406e-01 3.86349775e-02 1.08571806e-02 2.51540965e+02] [-3.86326172e-02 9.99253391e-01 -4.27117848e-04 -1.13377699e+01] [-1.08655763e-02 7.33246088e-06 9.99940968e-01 -4.48766445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734391418 meters 0.015016924051368214 Centerline is valid? [True, True] Translation: X:251.57, Y:-11.34, Z:-4.49 [[ 9.99366234e-01 3.36216652e-02 1.16924970e-02 2.51569496e+02] [-3.36185963e-02 9.99434630e-01 -4.58973661e-04 -1.13445637e+01] [-1.17013178e-02 6.55974444e-05 9.99931535e-01 -4.48758407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764391418 meters 0.01577894995194641 Centerline is valid? [True, True] Translation: X:251.60, Y:-11.35, Z:-4.49 [[ 9.99534681e-01 2.80743398e-02 1.19269532e-02 2.51597745e+02] [-2.80707631e-02 9.99605829e-01 -4.67213828e-04 -1.13511289e+01] [-1.19353687e-02 1.32197746e-04 9.99928762e-01 -4.48710641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.794391418 meters 0.01706154848661644 Centerline is valid? [True, True] Translation: X:251.63, Y:-11.36, Z:-4.49 [[ 9.99668321e-01 2.25302769e-02 1.24753929e-02 2.51626935e+02] [-2.25259479e-02 9.99746140e-01 -4.87426419e-04 -1.13578066e+01] [-1.24832078e-02 2.06244699e-04 9.99922060e-01 -4.48685733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.824391418 meters 0.02272091824864191 Centerline is valid? [True, True] Translation: X:251.66, Y:-11.37, Z:-4.49 [[ 9.99871853e-01 1.05408852e-02 1.20485285e-02 2.51655473e+02] [-1.05359846e-02 9.99944384e-01 -4.70140032e-04 -1.13739293e+01] [-1.20528141e-02 3.43136674e-04 9.99927303e-01 -4.48734103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.854391418 meters 0.024324571078675795 Centerline is valid? [True, True] Translation: X:251.69, Y:-11.38, Z:-4.49 [[ 9.99916183e-01 5.00856027e-03 1.19390882e-02 2.51686123e+02] [-5.00335912e-03 9.99987375e-01 -4.65469855e-04 -1.13800948e+01] [-1.19412688e-02 4.05695294e-04 9.99928618e-01 -4.48780278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.884391418 meters 0.029715263653747832 Centerline is valid? [True, True] Translation: X:251.72, Y:-11.39, Z:-4.49 [[ 9.99918728e-01 -5.25465620e-03 1.16157286e-02 2.51716851e+02] [ 5.26027259e-03 9.99986062e-01 -4.53017241e-04 -1.13943640e+01] [-1.16131862e-02 5.14082322e-04 9.99932433e-01 -4.48859183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914391418 meters 0.03308457466843909 Centerline is valid? [True, True] Translation: X:251.75, Y:-11.40, Z:-4.49 [[ 9.99889286e-01 -9.01656744e-03 1.18370993e-02 2.51746209e+02] [ 9.02266958e-03 9.99959188e-01 -4.62206965e-04 -1.14018747e+01] [-1.18324487e-02 5.68958027e-04 9.99929832e-01 -4.48941539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944391418 meters 0.036876028513030144 Centerline is valid? [True, True] Translation: X:251.78, Y:-11.41, Z:-4.49 [[ 9.99799876e-01 -1.59012749e-02 1.21390794e-02 2.51776429e+02] [ 1.59081982e-02 9.99873344e-01 -4.73978438e-04 -1.14121634e+01] [-1.21300051e-02 6.66994464e-04 9.99926206e-01 -4.48900280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974391418 meters 0.037067202473603525 Centerline is valid? [True, True] Translation: X:251.81, Y:-11.41, Z:-4.49 [[ 9.99753967e-01 -1.83031128e-02 1.25300195e-02 2.51807191e+02] [ 1.83106767e-02 9.99832226e-01 -4.89197569e-04 -1.14145023e+01] [-1.25189635e-02 7.18510347e-04 9.99921377e-01 -4.48902584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004391418 meters 0.03461189329629315 Centerline is valid? [True, True] Translation: X:251.84, Y:-11.41, Z:-4.49 [[ 9.99732237e-01 -1.97077763e-02 1.21267111e-02 2.51839339e+02] [ 1.97149623e-02 9.99805529e-01 -4.73306058e-04 -1.14132786e+01] [-1.21150250e-02 7.12256976e-04 9.99926357e-01 -4.48907336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034391418 meters 0.036145367666873325 Centerline is valid? [True, True] Translation: X:251.87, Y:-11.42, Z:-4.49 [[ 9.99733880e-01 -2.03654894e-02 1.08358326e-02 2.51870505e+02] [ 2.03712751e-02 9.99792394e-01 -4.23820923e-04 -1.14174911e+01] [-1.08249517e-02 6.44447862e-04 9.99941201e-01 -4.49035914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064391418 meters 0.039554687537180985 Centerline is valid? [True, True] Translation: X:251.90, Y:-11.42, Z:-4.49 [[ 9.99744887e-01 -2.00879623e-02 1.03263894e-02 2.51901066e+02] [ 2.00932081e-02 9.99798029e-01 -4.04492775e-04 -1.14233493e+01] [-1.03161783e-02 6.11879875e-04 9.99946600e-01 -4.49189076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09439141800001 meters 0.03774114451722314 Centerline is valid? [True, True] Translation: X:251.93, Y:-11.42, Z:-4.49 [[ 9.99786040e-01 -1.85170065e-02 9.21926591e-03 2.51933693e+02] [ 1.85211222e-02 9.99828404e-01 -3.61240553e-04 -1.14219183e+01] [-9.21099483e-03 5.31914413e-04 9.99957436e-01 -4.49285918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141800002 meters 0.03513448650246509 Centerline is valid? [True, True] Translation: X:251.97, Y:-11.42, Z:-4.49 [[ 9.99810551e-01 -1.72678206e-02 8.98247162e-03 2.51966540e+02] [ 1.72716846e-02 9.99850771e-01 -3.52778194e-04 -1.14195076e+01] [-8.97503947e-03 5.07853778e-04 9.99959595e-01 -4.49322641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.154391418 meters 0.04108952452912155 Centerline is valid? [True, True] Translation: X:252.00, Y:-11.43, Z:-4.50 [[ 9.99832574e-01 -1.62533111e-02 8.40563754e-03 2.51997011e+02] [ 1.62566686e-02 9.99867797e-01 -3.31253754e-04 -1.14282818e+01] [-8.39914232e-03 4.67845957e-04 9.99964617e-01 -4.49543364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184391418 meters 0.03459442292847293 Centerline is valid? [True, True] Translation: X:252.03, Y:-11.42, Z:-4.50 [[ 9.99868221e-01 -1.44834374e-02 7.33290002e-03 2.52029876e+02] [ 1.44859458e-02 9.99895031e-01 -2.89073648e-04 -1.14195702e+01] [-7.32794351e-03 3.95259546e-04 9.99973072e-01 -4.49541856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214391418 meters 0.034233986792014066 Centerline is valid? [True, True] Translation: X:252.06, Y:-11.42, Z:-4.50 [[ 9.99883322e-01 -1.39329220e-02 6.26221931e-03 2.52062577e+02] [ 1.39347409e-02 9.99902876e-01 -2.46923556e-04 -1.14196323e+01] [-6.25817073e-03 3.34157149e-04 9.99980362e-01 -4.49633288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244391418 meters 0.034153903539149405 Centerline is valid? [True, True] Translation: X:252.09, Y:-11.42, Z:-4.50 [[ 9.99894701e-01 -1.34175488e-02 5.52777200e-03 2.52094302e+02] [ 1.34189615e-02 9.99909938e-01 -2.18555726e-04 -1.14198748e+01] [-5.52434168e-03 2.92709672e-04 9.99984698e-01 -4.49738062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274391418 meters 0.03477838488150732 Centerline is valid? [True, True] Translation: X:252.13, Y:-11.42, Z:-4.50 [[ 9.99916784e-01 -1.22638246e-02 4.00298063e-03 2.52125839e+02] [ 1.22645571e-02 9.99924775e-01 -1.58478153e-04 -1.14208797e+01] [-4.00073596e-03 2.07559750e-04 9.99991975e-01 -4.49859480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304391418 meters 0.032641576502793423 Centerline is valid? [True, True] Translation: X:252.16, Y:-11.42, Z:-4.50 [[ 9.99923678e-01 -1.17574377e-02 3.79474379e-03 2.52158699e+02] [ 1.17580907e-02 9.99930860e-01 -1.49814578e-04 -1.14182837e+01] [-3.79271999e-03 1.94422085e-04 9.99992789e-01 -4.49839665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334391418 meters 0.03350882979807483 Centerline is valid? [True, True] Translation: X:252.19, Y:-11.42, Z:-4.50 [[ 9.99942046e-01 -1.00934023e-02 3.74530529e-03 2.52190015e+02] [ 1.00940303e-02 9.99949043e-01 -1.48799264e-04 -1.14185851e+01] [-3.74361255e-03 1.86595865e-04 9.99992975e-01 -4.49855973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364391418 meters 0.031533111178834096 Centerline is valid? [True, True] Translation: X:252.22, Y:-11.42, Z:-4.50 [[ 9.99954658e-01 -8.69585991e-03 3.88135214e-03 2.52222464e+02] [ 8.69652377e-03 9.99962173e-01 -1.54193935e-04 -1.14161674e+01] [-3.87986447e-03 1.87941215e-04 9.99992456e-01 -4.49789855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394391418 meters 0.02897747759794262 Centerline is valid? [True, True] Translation: X:252.25, Y:-11.41, Z:-4.50 [[ 9.99970017e-01 -5.97952553e-03 4.92041780e-03 2.52254593e+02] [ 5.98056370e-03 9.99982097e-01 -1.96306261e-04 -1.14114494e+01] [-4.91915589e-03 2.25727248e-04 9.99987875e-01 -4.49602712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424391418 meters 0.028626342052366426 Centerline is valid? [True, True] Translation: X:252.29, Y:-11.41, Z:-4.50 [[ 9.99976036e-01 -4.41918621e-03 5.32904308e-03 2.52286640e+02] [ 4.42038429e-03 9.99990207e-01 -2.13061822e-04 -1.14108866e+01] [-5.32804934e-03 2.36613135e-04 9.99985778e-01 -4.49598039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454391418 meters 0.027832399534127326 Centerline is valid? [True, True] Translation: X:252.32, Y:-11.41, Z:-4.50 [[ 9.99982214e-01 -2.15790805e-03 5.56015081e-03 2.52318346e+02] [ 2.15918312e-03 9.99997644e-01 -2.23329728e-04 -1.14099316e+01] [-5.55965579e-03 2.35331139e-04 9.99984517e-01 -4.49597198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484391418 meters 0.02669172384596429 Centerline is valid? [True, True] Translation: X:252.35, Y:-11.41, Z:-4.50 [[ 9.99984201e-01 1.68626103e-04 5.61872874e-03 2.52350183e+02] [-1.67361764e-04 9.99999961e-01 -2.25491676e-04 -1.14084830e+01] [-5.61876654e-03 2.24547753e-04 9.99984189e-01 -4.49613427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514391418 meters 0.025353394807002525 Centerline is valid? [True, True] Translation: X:252.38, Y:-11.40, Z:-4.50 [[ 9.99968601e-01 5.36456056e-03 5.83245631e-03 2.52379878e+02] [-5.36327679e-03 9.99985590e-01 -2.35726740e-04 -1.14048001e+01] [-5.83363684e-03 2.04438261e-04 9.99982963e-01 -4.49668793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.544391418 meters 0.0230931182575527 Centerline is valid? [True, True] Translation: X:252.41, Y:-11.40, Z:-4.50 [[ 9.99945251e-01 8.55859922e-03 6.02047776e-03 2.52411672e+02] [-8.55729437e-03 9.99963356e-01 -2.42461491e-04 -1.14009616e+01] [-6.02233228e-03 1.90929216e-04 9.99981847e-01 -4.49643998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.574391418 meters 0.021097208333326196 Centerline is valid? [True, True] Translation: X:252.44, Y:-11.40, Z:-4.50 [[ 9.99864541e-01 1.52513435e-02 6.18832130e-03 2.52441764e+02] [-1.52500882e-02 9.99883679e-01 -2.49978099e-04 -1.13961844e+01] [-6.19141398e-03 1.55571791e-04 9.99980821e-01 -4.49726467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.604391418 meters 0.0196122547963572 Centerline is valid? [True, True] Translation: X:252.47, Y:-11.39, Z:-4.50 [[ 9.99806503e-01 1.86908817e-02 6.13249301e-03 2.52471167e+02] [-1.86897054e-02 9.99825301e-01 -2.49075356e-04 -1.13935734e+01] [-6.13607710e-03 1.34412673e-04 9.99981165e-01 -4.49765190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.634391418 meters 0.01890276966358147 Centerline is valid? [True, True] Translation: X:252.50, Y:-11.39, Z:-4.50 [[ 9.99738045e-01 2.20573375e-02 6.10861584e-03 2.52498667e+02] [-2.20562385e-02 9.99756701e-01 -2.47231013e-04 -1.13919549e+01] [-6.11258288e-03 1.12433162e-04 9.99981312e-01 -4.49844779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664391418 meters 0.017585730836079 Centerline is valid? [True, True] Translation: X:252.53, Y:-11.39, Z:-4.50 [[ 9.99658638e-01 2.53615411e-02 6.27694060e-03 2.52527766e+02] [-2.53604512e-02 9.99678340e-01 -2.53179736e-04 -1.13887570e+01] [-6.28134258e-03 9.39072643e-05 9.99980268e-01 -4.49848737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694391418 meters 0.016376402693025 Centerline is valid? [True, True] Translation: X:252.56, Y:-11.38, Z:-4.50 [[ 9.99479661e-01 3.17482520e-02 5.69694691e-03 2.52556656e+02] [-3.17474599e-02 9.99495896e-01 -2.29451142e-04 -1.13841617e+01] [-5.70135973e-03 4.84681558e-05 9.99983746e-01 -4.49920350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724391418 meters 0.015857532180335435 Centerline is valid? [True, True] Translation: X:252.59, Y:-11.38, Z:-4.50 [[ 9.99280578e-01 3.73924228e-02 6.33506600e-03 2.52585598e+02] [-3.73915609e-02 9.99300659e-01 -2.54479500e-04 -1.13797618e+01] [-6.34015124e-03 1.74184159e-05 9.99979901e-01 -4.49914943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754391418 meters 0.015794673389947472 Centerline is valid? [True, True] Translation: X:252.61, Y:-11.38, Z:-4.50 [[ 9.99192574e-01 3.96592936e-02 6.42972193e-03 2.52613075e+02] [-3.96584535e-02 9.99213261e-01 -2.58156456e-04 -1.13784274e+01] [-6.43490172e-03 2.95518514e-06 9.99979296e-01 -4.49979298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784391418 meters 0.01592574403581657 Centerline is valid? [True, True] Translation: X:252.64, Y:-11.38, Z:-4.50 [[ 9.99113347e-01 4.15544559e-02 6.76365620e-03 2.52641022e+02] [-4.15535755e-02 9.99136241e-01 -2.70702829e-04 -1.13778935e+01] [-6.76906294e-03 -1.05912894e-05 9.99977090e-01 -4.50023523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814391418 meters 0.015973333625127727 Centerline is valid? [True, True] Translation: X:252.67, Y:-11.38, Z:-4.50 [[ 9.99031107e-01 4.35216190e-02 6.53570328e-03 2.52668845e+02] [-4.35208429e-02 9.99052485e-01 -2.60989499e-04 -1.13777371e+01] [-6.54086929e-03 -2.37026878e-05 9.99978608e-01 -4.50155391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84439141800001 meters 0.0159479792009285 Centerline is valid? [True, True] Translation: X:252.70, Y:-11.38, Z:-4.50 [[ 9.99023916e-01 4.36681045e-02 6.65671328e-03 2.52696191e+02] [-4.36673046e-02 9.99046093e-01 -2.65528494e-04 -1.13791973e+01] [-6.66195852e-03 -2.54114107e-05 9.99977809e-01 -4.50278796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87439141800002 meters 0.015787788240827032 Centerline is valid? [True, True] Translation: X:252.72, Y:-11.38, Z:-4.50 [[ 9.99045976e-01 4.31675384e-02 6.61066623e-03 2.52724364e+02] [-4.31667514e-02 9.99067847e-01 -2.61746235e-04 -1.13813984e+01] [-6.61580302e-03 -2.38644628e-05 9.99978115e-01 -4.50281443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.904391418 meters 0.015356041093434889 Centerline is valid? [True, True] Translation: X:252.75, Y:-11.39, Z:-4.50 [[ 9.99151167e-01 4.03852649e-02 8.12256289e-03 2.52752833e+02] [-4.03839999e-02 9.99184182e-01 -3.19767786e-04 -1.13864095e+01] [-8.12885027e-03 -8.52522164e-06 9.99966960e-01 -4.50298780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934391418 meters 0.015242139591139516 Centerline is valid? [True, True] Translation: X:252.78, Y:-11.39, Z:-4.50 [[ 9.99245394e-01 3.79812440e-02 8.12822436e-03 2.52781176e+02] [-3.79799027e-02 9.99278452e-01 -3.19369061e-04 -1.13900973e+01] [-8.13448949e-03 1.04188929e-05 9.99966914e-01 -4.50309230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964391418 meters 0.015501445416855969 Centerline is valid? [True, True] Translation: X:252.81, Y:-11.39, Z:-4.50 [[ 9.99356116e-01 3.49505978e-02 8.11230004e-03 2.52809212e+02] [-3.49491655e-02 9.99389041e-01 -3.18292186e-04 -1.13945121e+01] [-8.11846825e-03 3.45691262e-05 9.99967044e-01 -4.50444813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994391418 meters 0.015953046591843954 Centerline is valid? [True, True] Translation: X:252.84, Y:-11.40, Z:-4.50 [[ 9.99556673e-01 2.84567374e-02 8.75624192e-03 2.52837502e+02] [-2.84548301e-02 9.99595021e-01 -3.42357073e-04 -1.14024093e+01] [-8.76243819e-03 9.30479211e-05 9.99961605e-01 -4.50401982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters 0.016658878172830557 Centerline is valid? [True, True] Translation: X:252.87, Y:-11.41, Z:-4.50 [[ 9.99658564e-01 2.46345367e-02 8.71181055e-03 2.52866544e+02] [-2.46325097e-02 9.99696516e-01 -3.39911263e-04 -1.14079582e+01] [-8.71754021e-03 1.25201447e-04 9.99961994e-01 -4.50471870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.054391418 meters 0.0188339020088016 Centerline is valid? [True, True] Translation: X:252.90, Y:-11.42, Z:-4.51 [[ 9.99812960e-01 1.72639984e-02 8.71777219e-03 2.52895622e+02] [-1.72616980e-02 9.99850948e-01 -3.39051832e-04 -1.14184618e+01] [-8.72232619e-03 1.88504864e-04 9.99961942e-01 -4.50565777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters 0.020400036248419864 Centerline is valid? [True, True] Translation: X:252.93, Y:-11.42, Z:-4.51 [[ 9.99864611e-01 1.38228107e-02 8.92689839e-03 2.52925308e+02] [-1.38202682e-02 9.99904436e-01 -3.46439703e-04 -1.14246936e+01] [-8.93083407e-03 2.23020669e-04 9.99960094e-01 -4.50674643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.114391418 meters 0.022563341750366075 Centerline is valid? [True, True] Translation: X:252.96, Y:-11.43, Z:-4.51 [[ 9.99923782e-01 7.83635761e-03 9.54057645e-03 2.52956214e+02] [-7.83318448e-03 9.99969252e-01 -3.69915143e-04 -1.14328400e+01] [-9.54318189e-03 2.95153853e-04 9.99954419e-01 -4.50702315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters 0.02320093037879572 Centerline is valid? [True, True] Translation: X:252.99, Y:-11.44, Z:-4.51 [[ 9.99937106e-01 5.80475314e-03 9.59632157e-03 2.52988106e+02] [-5.80146531e-03 9.99983103e-01 -3.70414998e-04 -1.14367530e+01] [-9.59830959e-03 3.14718975e-04 9.99953886e-01 -4.50737552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.174391418 meters 0.024747484827545154 Centerline is valid? [True, True] Translation: X:253.02, Y:-11.44, Z:-4.51 [[ 9.99941517e-01 4.11431851e-03 1.00017896e-02 2.53018869e+02] [-4.11062114e-03 9.99991475e-01 -3.90200367e-04 -1.14416001e+01] [-1.00033097e-02 3.49063979e-04 9.99949905e-01 -4.50800225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters 0.025311599984978828 Centerline is valid? [True, True] Translation: X:253.05, Y:-11.44, Z:-4.51 [[ 9.99949281e-01 3.31209672e-03 9.51131802e-03 2.53051356e+02] [-3.30871501e-03 9.99994457e-01 -3.71259618e-04 -1.14447455e+01] [-9.51249495e-03 3.39770547e-04 9.99954697e-01 -4.50871964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23439141800003 meters 0.026452314788262352 Centerline is valid? [True, True] Translation: X:253.08, Y:-11.45, Z:-4.51 [[ 9.99951952e-01 3.17068813e-03 9.27582238e-03 2.53082365e+02] [-3.16744118e-03 9.99994917e-01 -3.64714796e-04 -1.14491822e+01] [-9.27693163e-03 3.35316651e-04 9.99956912e-01 -4.50986281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264391418 meters 0.025876102222341005 Centerline is valid? [True, True] Translation: X:253.11, Y:-11.45, Z:-4.51 [[ 9.99944041e-01 4.95041698e-03 9.34923748e-03 2.53114738e+02] [-4.94715890e-03 9.99987694e-01 -3.71580010e-04 -1.14499940e+01] [-9.35096190e-03 3.25307053e-04 9.99956226e-01 -4.51008169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294391418 meters 0.025365688848847618 Centerline is valid? [True, True] Translation: X:253.15, Y:-11.45, Z:-4.51 [[ 9.99932655e-01 6.30747660e-03 9.74177332e-03 2.53147056e+02] [-6.30401111e-03 9.99980055e-01 -3.86401409e-04 -1.14505415e+01] [-9.74401624e-03 3.24963139e-04 9.99952473e-01 -4.51014978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324391418 meters 0.024736022141549463 Centerline is valid? [True, True] Translation: X:253.18, Y:-11.45, Z:-4.51 [[ 9.99917133e-01 8.09420638e-03 1.00105684e-02 2.53179503e+02] [-8.09060790e-03 9.99967191e-01 -3.99912632e-04 -1.14509576e+01] [-1.00134769e-02 3.18887908e-04 9.99949813e-01 -4.51045949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354391418 meters 0.02236547681622202 Centerline is valid? [True, True] Translation: X:253.21, Y:-11.45, Z:-4.51 [[ 9.99881776e-01 1.12706126e-02 1.04597680e-02 2.53211622e+02] [-1.12668267e-02 9.99936439e-01 -4.20812986e-04 -1.14476372e+01] [-1.04638460e-02 3.02914842e-04 9.99945207e-01 -4.51052990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384391418 meters 0.020894727442043605 Centerline is valid? [True, True] Translation: X:253.24, Y:-11.45, Z:-4.51 [[ 9.99860002e-01 1.29485499e-02 1.05977277e-02 2.53244263e+02] [-1.29447264e-02 9.99916121e-01 -4.29306180e-04 -1.14462741e+01] [-1.06023977e-02 2.92061392e-04 9.99943750e-01 -4.51091493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414391418 meters 0.020020071622300743 Centerline is valid? [True, True] Translation: X:253.28, Y:-11.45, Z:-4.51 [[ 9.99820848e-01 1.62499472e-02 9.70619704e-03 2.53275295e+02] [-1.62468707e-02 9.99867933e-01 -3.95734368e-04 -1.14458712e+01] [-9.71134583e-03 2.37968143e-04 9.99952815e-01 -4.51247960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444391418 meters 0.019190565390046488 Centerline is valid? [True, True] Translation: X:253.31, Y:-11.45, Z:-4.51 [[ 9.99798191e-01 1.77524159e-02 9.40368483e-03 2.53305510e+02] [-1.77495513e-02 9.99842389e-01 -3.88007416e-04 -1.14451215e+01] [-9.40909078e-03 2.21017927e-04 9.99955709e-01 -4.51333235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474391418 meters 0.019190565390046488 Centerline is valid? [True, True] Translation: X:253.34, Y:-11.45, Z:-4.51 [[ 9.99798191e-01 1.77524159e-02 9.40368483e-03 2.53335489e+02] [-1.77495513e-02 9.99842389e-01 -3.88007416e-04 -1.14463584e+01] [-9.40909078e-03 2.21017927e-04 9.99955709e-01 -4.51387331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504391418 meters 0.01937310451453831 Centerline is valid? [True, True] Translation: X:253.36, Y:-11.45, Z:-4.52 [[ 9.99773919e-01 1.92951467e-02 8.93355040e-03 2.53364762e+02] [-1.92926213e-02 9.99813812e-01 -3.68793353e-04 -1.14471220e+01] [-8.93900300e-03 1.96358372e-04 9.99960027e-01 -4.51506583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534391418 meters 0.019864512635811474 Centerline is valid? [True, True] Translation: X:253.39, Y:-11.45, Z:-4.52 [[ 9.99723834e-01 2.19389608e-02 8.42250246e-03 2.53394341e+02] [-2.19368112e-02 9.99759299e-01 -3.47540066e-04 -1.14474591e+01] [-8.42809982e-03 1.62681242e-04 9.99964470e-01 -4.51691315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564391418 meters 0.01811607043332216 Centerline is valid? [True, True] Translation: X:253.42, Y:-11.44, Z:-4.52 [[ 9.99689453e-01 2.33913111e-02 8.59320847e-03 2.53423816e+02] [-2.33891270e-02 9.99726374e-01 -3.54590020e-04 -1.14444536e+01] [-8.59915147e-03 1.53492260e-04 9.99963015e-01 -4.51610390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594391418 meters 0.01720545261599183 Centerline is valid? [True, True] Translation: X:253.45, Y:-11.44, Z:-4.52 [[ 9.99652996e-01 2.49195006e-02 8.53852513e-03 2.53453714e+02] [-2.49174027e-02 9.99689451e-01 -3.52014930e-04 -1.14429835e+01] [-8.54464554e-03 1.39134910e-04 9.99963484e-01 -4.51604758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624391418 meters 0.016679190846134343 Centerline is valid? [True, True] Translation: X:253.48, Y:-11.44, Z:-4.52 [[ 9.99591226e-01 2.71574156e-02 8.93620628e-03 2.53481648e+02] [-2.71552056e-02 9.99631161e-01 -3.68577166e-04 -1.14414529e+01] [-8.94291986e-03 1.25761983e-04 9.99960003e-01 -4.51608292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654391418 meters 0.016530256251527212 Centerline is valid? [True, True] Translation: X:253.51, Y:-11.44, Z:-4.52 [[ 9.99567301e-01 2.78856982e-02 9.35942298e-03 2.53510284e+02] [-2.78833174e-02 9.99611111e-01 -3.84793809e-04 -1.14412009e+01] [-9.36651345e-03 1.23655548e-04 9.99956126e-01 -4.51615416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684391418 meters 0.016327922130394322 Centerline is valid? [True, True] Translation: X:253.54, Y:-11.44, Z:-4.52 [[ 9.99539514e-01 2.84386191e-02 1.05832599e-02 2.53539394e+02] [-2.84356167e-02 9.99595532e-01 -4.34094650e-04 -1.14396091e+01] [-1.05913243e-02 1.32953235e-04 9.99943902e-01 -4.51584445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714391418 meters 0.016288645479392384 Centerline is valid? [True, True] Translation: X:253.57, Y:-11.44, Z:-4.52 [[ 9.99550983e-01 2.79401028e-02 1.08251477e-02 2.53568380e+02] [-2.79369418e-02 9.99609589e-01 -4.43148088e-04 -1.14397365e+01] [-1.08333030e-02 1.40527586e-04 9.99941308e-01 -4.51593478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744391418 meters 0.016570697727644246 Centerline is valid? [True, True] Translation: X:253.60, Y:-11.44, Z:-4.52 [[ 9.99562928e-01 2.73897170e-02 1.11245974e-02 2.53597424e+02] [-2.73863562e-02 9.99624820e-01 -4.54357072e-04 -1.14412837e+01] [-1.11328684e-02 1.49496299e-04 9.99938017e-01 -4.51687032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774391418 meters 0.017196586816076335 Centerline is valid? [True, True] Translation: X:253.63, Y:-11.44, Z:-4.52 [[ 9.99632276e-01 2.45499454e-02 1.15157994e-02 2.53626036e+02] [-2.45461623e-02 9.99698587e-01 -4.69757632e-04 -1.14425371e+01] [-1.15238609e-02 1.86916210e-04 9.99933581e-01 -4.51715031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.804391418 meters 0.017282453134153428 Centerline is valid? [True, True] Translation: X:253.66, Y:-11.44, Z:-4.52 [[ 9.99675757e-01 2.26048605e-02 1.17218533e-02 2.53655857e+02] [-2.26008211e-02 9.99744455e-01 -4.76978553e-04 -1.14435643e+01] [-1.17296399e-02 2.11900387e-04 9.99931183e-01 -4.51739022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834391418 meters 0.019555862065004308 Centerline is valid? [True, True] Translation: X:253.69, Y:-11.45, Z:-4.52 [[ 9.99776310e-01 1.76562611e-02 1.16441827e-02 2.53685513e+02] [-1.76519465e-02 9.99844080e-01 -4.73221289e-04 -1.14483479e+01] [-1.16507224e-02 2.67572945e-04 9.99932092e-01 -4.51880020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.864391418 meters 0.02043142278127849 Centerline is valid? [True, True] Translation: X:253.72, Y:-11.45, Z:-4.52 [[ 9.99822851e-01 1.48458405e-02 1.15701172e-02 2.53716969e+02] [-1.48413996e-02 9.99889750e-01 -4.69596002e-04 -1.14509059e+01] [-1.15758132e-02 2.97796079e-04 9.99932954e-01 -4.51940556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894391418 meters 0.02328071820165322 Centerline is valid? [True, True] Translation: X:253.75, Y:-11.46, Z:-4.52 [[ 9.99894114e-01 8.69807327e-03 1.16664033e-02 2.53747405e+02] [-8.69313307e-03 9.99962102e-01 -4.74099467e-04 -1.14562413e+01] [-1.16700850e-02 3.72631670e-04 9.99931833e-01 -4.52039367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.924391418 meters 0.024486510073175344 Centerline is valid? [True, True] Translation: X:253.78, Y:-11.46, Z:-4.52 [[ 9.99918129e-01 5.92919344e-03 1.13392864e-02 2.53778986e+02] [-5.92436422e-03 9.99982345e-01 -4.59426536e-04 -1.14589544e+01] [-1.13418102e-02 3.92210860e-04 9.99935603e-01 -4.52149487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954391418 meters 0.02849113251555018 Centerline is valid? [True, True] Translation: X:253.81, Y:-11.46, Z:-4.52 [[ 9.99942440e-01 2.79598743e-04 1.07256363e-02 2.53809077e+02] [-2.74907868e-04 9.99999866e-01 -4.38823506e-04 -1.14649768e+01] [-1.07257575e-02 4.35849686e-04 9.99942382e-01 -4.52338441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98439141800003 meters 0.02849447973379166 Centerline is valid? [True, True] Translation: X:253.84, Y:-11.47, Z:-4.52 [[ 9.99939321e-01 -2.36024055e-03 1.07602358e-02 2.53840827e+02] [ 2.36509781e-03 9.99997107e-01 -4.38706082e-04 -1.14659230e+01] [-1.07591692e-02 4.64128472e-04 9.99942011e-01 -4.52361307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014391418 meters 0.03011841801581722 Centerline is valid? [True, True] Translation: X:253.87, Y:-11.47, Z:-4.52 [[ 9.99920931e-01 -4.74158439e-03 1.16468113e-02 2.53872920e+02] [ 4.74748945e-03 9.99988616e-01 -4.79415494e-04 -1.14681145e+01] [-1.16444055e-02 5.34670701e-04 9.99932059e-01 -4.52426705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters 0.0317903079884371 Centerline is valid? [True, True] Translation: X:253.90, Y:-11.47, Z:-4.52 [[ 9.99897420e-01 -7.10701860e-03 1.24354467e-02 2.53904256e+02] [ 7.11394309e-03 9.99974564e-01 -5.12688686e-04 -1.14718600e+01] [-1.24314867e-02 6.01101155e-04 9.99922545e-01 -4.52431157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074391418 meters 0.03489032918779768 Centerline is valid? [True, True] Translation: X:253.93, Y:-11.48, Z:-4.52 [[ 9.99858383e-01 -1.05575008e-02 1.31054379e-02 2.53933764e+02] [ 1.05655206e-02 9.99944036e-01 -5.42856393e-04 -1.14754147e+01] [-1.30989732e-02 6.81245289e-04 9.99913973e-01 -4.52455716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters 0.0348183175176924 Centerline is valid? [True, True] Translation: X:253.97, Y:-11.48, Z:-4.53 [[ 9.99841324e-01 -1.26915742e-02 1.25000367e-02 2.53965807e+02] [ 1.26990309e-02 9.99919230e-01 -5.17339530e-04 -1.14750628e+01] [-1.24924612e-02 6.75995793e-04 9.99921738e-01 -4.52622172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134391418 meters 0.036043151643636244 Centerline is valid? [True, True] Translation: X:254.00, Y:-11.48, Z:-4.53 [[ 9.99828625e-01 -1.36656442e-02 1.24888045e-02 2.53996399e+02] [ 1.36731717e-02 9.99906384e-01 -5.17546232e-04 -1.14770186e+01] [-1.24805627e-02 6.88219104e-04 9.99921878e-01 -4.52726886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters 0.03754428077258125 Centerline is valid? [True, True] Translation: X:254.03, Y:-11.48, Z:-4.53 [[ 9.99817751e-01 -1.49096688e-02 1.19233617e-02 2.54027653e+02] [ 1.49166365e-02 9.99888618e-01 -4.95649759e-04 -1.14784232e+01] [-1.19146437e-02 6.73415879e-04 9.99928791e-01 -4.52800036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194391418 meters 0.037648706549871055 Centerline is valid? [True, True] Translation: X:254.06, Y:-11.48, Z:-4.53 [[ 9.99814700e-01 -1.52292413e-02 1.17743775e-02 2.54060242e+02] [ 1.52360813e-02 9.99883803e-01 -4.91435073e-04 -1.14789503e+01] [-1.17655252e-02 6.70739383e-04 9.99930559e-01 -4.52843274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters 0.03846043260179387 Centerline is valid? [True, True] Translation: X:254.09, Y:-11.48, Z:-4.53 [[ 9.99810623e-01 -1.56117023e-02 1.16186072e-02 2.54092443e+02] [ 1.56183987e-02 9.99877907e-01 -4.85831228e-04 -1.14805631e+01] [-1.16096040e-02 6.67203262e-04 9.99932384e-01 -4.52934311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254391418 meters 0.039710249642428384 Centerline is valid? [True, True] Translation: X:254.12, Y:-11.48, Z:-4.53 [[ 9.99808084e-01 -1.63147266e-02 1.08454683e-02 2.54123486e+02] [ 1.63206123e-02 9.99866707e-01 -4.54395956e-04 -1.14826906e+01] [-1.08366093e-02 6.31313434e-04 9.99941083e-01 -4.53031025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters 0.03907378519411053 Centerline is valid? [True, True] Translation: X:254.16, Y:-11.48, Z:-4.53 [[ 9.99802095e-01 -1.71358548e-02 1.01060665e-02 2.54155645e+02] [ 1.71410107e-02 9.99852992e-01 -4.23770870e-04 -1.14808968e+01] [-1.00973192e-02 5.96915198e-04 9.99948843e-01 -4.53103803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314391418 meters 0.04096363499408214 Centerline is valid? [True, True] Translation: X:254.19, Y:-11.48, Z:-4.53 [[ 9.99812078e-01 -1.68937431e-02 9.50841232e-03 2.54186691e+02] [ 1.68983041e-02 9.99857134e-01 -3.99540509e-04 -1.14834878e+01] [-9.50030416e-03 5.60141470e-04 9.99954714e-01 -4.53217783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters 0.04094563387842211 Centerline is valid? [True, True] Translation: X:254.22, Y:-11.48, Z:-4.53 [[ 9.99824571e-01 -1.64665570e-02 8.92638085e-03 2.54219408e+02] [ 1.64705608e-02 9.99864281e-01 -3.75207351e-04 -1.14837196e+01] [-8.91899099e-03 5.22164027e-04 9.99960089e-01 -4.53277462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374391418 meters 0.03735777463224525 Centerline is valid? [True, True] Translation: X:254.25, Y:-11.48, Z:-4.53 [[ 9.99833492e-01 -1.57437494e-02 9.22617994e-03 2.54251541e+02] [ 1.57480059e-02 9.99875917e-01 -3.88878764e-04 -1.14789913e+01] [-9.21891272e-03 5.34107949e-04 9.99957362e-01 -4.53241153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters 0.034913542460571094 Centerline is valid? [True, True] Translation: X:254.28, Y:-11.47, Z:-4.53 [[ 9.99884993e-01 -1.21521330e-02 9.07340875e-03 2.54282930e+02] [ 1.21561134e-02 9.99926038e-01 -3.83666935e-04 -1.14742186e+01] [-9.06807530e-03 4.93920197e-04 9.99958762e-01 -4.53184364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434391418 meters 0.035794171650868296 Centerline is valid? [True, True] Translation: X:254.31, Y:-11.48, Z:-4.53 [[ 9.99907250e-01 -9.83637597e-03 9.42003341e-03 2.54313060e+02] [ 9.84056573e-03 9.99951501e-01 -3.98523672e-04 -1.14751340e+01] [-9.41565652e-03 4.91185167e-04 9.99955551e-01 -4.53229918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters 0.03195659472102434 Centerline is valid? [True, True] Translation: X:254.34, Y:-11.47, Z:-4.53 [[ 9.99942294e-01 -3.91057124e-03 1.00058107e-02 2.54343941e+02] [ 3.91500595e-03 9.99992247e-01 -4.23664934e-04 -1.14677147e+01] [-1.00040764e-02 4.62813294e-04 9.99949851e-01 -4.53160574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494391418 meters 0.027634416895899273 Centerline is valid? [True, True] Translation: X:254.38, Y:-11.46, Z:-4.53 [[ 9.99951323e-01 -2.24535875e-04 9.86410206e-03 2.54375432e+02] [ 2.28664140e-04 9.99999887e-01 -4.17388147e-04 -1.14613826e+01] [-9.86400723e-03 4.19623396e-04 9.99951261e-01 -4.53093882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters 0.027386469569109253 Centerline is valid? [True, True] Translation: X:254.41, Y:-11.46, Z:-4.53 [[ 9.99942059e-01 3.62287720e-03 1.01367820e-02 2.54405790e+02] [-3.61870889e-03 9.99993360e-01 -4.29517208e-04 -1.14606909e+01] [-1.01382708e-02 3.92810258e-04 9.99948529e-01 -4.53112932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.554391418 meters 0.022746822160033393 Centerline is valid? [True, True] Translation: X:254.44, Y:-11.45, Z:-4.53 [[ 9.99883933e-01 1.12358786e-02 1.02895638e-02 2.54437063e+02] [-1.12319839e-02 9.99936824e-01 -4.36221815e-04 -1.14517483e+01] [-1.02938150e-02 3.20598970e-04 9.99946966e-01 -4.53099266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters 0.021311094024421287 Centerline is valid? [True, True] Translation: X:254.47, Y:-11.45, Z:-4.53 [[ 9.99841225e-01 1.48688738e-02 9.82049348e-03 2.54468132e+02] [-1.48655013e-02 9.99889416e-01 -4.16325150e-04 -1.14493046e+01] [-9.82559777e-03 2.70272488e-04 9.99951691e-01 -4.53171304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.614391418 meters 0.018511610843530528 Centerline is valid? [True, True] Translation: X:254.50, Y:-11.44, Z:-4.53 [[ 9.99718447e-01 2.18251162e-02 9.31076633e-03 2.54498109e+02] [-2.18223799e-02 9.99761785e-01 -3.95385604e-04 -1.14435491e+01] [-9.31717771e-03 1.92091202e-04 9.99956576e-01 -4.53255865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters 0.017395496306159133 Centerline is valid? [True, True] Translation: X:254.53, Y:-11.44, Z:-4.53 [[ 9.99658946e-01 2.45271571e-02 8.96720598e-03 2.54527282e+02] [-2.45247215e-02 9.99699151e-01 -3.81490948e-04 -1.14415313e+01] [-8.97386509e-03 1.61442609e-04 9.99959721e-01 -4.53337201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.674391418 meters 0.016060854128477298 Centerline is valid? [True, True] Translation: X:254.55, Y:-11.44, Z:-4.53 [[ 9.99556996e-01 2.86315236e-02 8.12701120e-03 2.54554955e+02] [-2.86296611e-02 9.99590028e-01 -3.45440838e-04 -1.14379269e+01] [-8.13356985e-03 1.12614229e-04 9.99966916e-01 -4.53460328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters 0.015187879650644043 Centerline is valid? [True, True] Translation: X:254.58, Y:-11.44, Z:-4.53 [[ 9.99525119e-01 2.97388270e-02 8.07089347e-03 2.54583708e+02] [-2.97370337e-02 9.99557698e-01 -3.42139603e-04 -1.14358992e+01] [-8.07749853e-03 1.01972696e-04 9.99967371e-01 -4.53431973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73439141800003 meters 0.015082548477510121 Centerline is valid? [True, True] Translation: X:254.61, Y:-11.44, Z:-4.54 [[ 9.99494471e-01 3.08794218e-02 7.56724562e-03 2.54611363e+02] [-3.08778797e-02 9.99523113e-01 -3.20553099e-04 -1.14358168e+01] [-7.57353540e-03 8.67305496e-05 9.99971317e-01 -4.53565320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764391418 meters 0.015224129424233925 Centerline is valid? [True, True] Translation: X:254.64, Y:-11.44, Z:-4.54 [[ 9.99507107e-01 3.04199173e-02 7.75707259e-03 2.54639345e+02] [-3.04182892e-02 9.99537203e-01 -3.27807968e-04 -1.14367628e+01] [-7.76345453e-03 9.16895160e-05 9.99969860e-01 -4.53633184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794391418 meters 0.015183028814394232 Centerline is valid? [True, True] Translation: X:254.67, Y:-11.44, Z:-4.54 [[ 9.99525134e-01 2.97356700e-02 8.08063890e-03 2.54668343e+02] [-2.97338923e-02 9.99557792e-01 -3.40072867e-04 -1.14378116e+01] [-8.08717788e-03 9.96425315e-05 9.99967293e-01 -4.53632757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824391418 meters 0.015584128684034684 Centerline is valid? [True, True] Translation: X:254.70, Y:-11.44, Z:-4.54 [[ 9.99586288e-01 2.73717306e-02 8.83404632e-03 2.54696904e+02] [-2.73695209e-02 9.99625316e-01 -3.70953140e-04 -1.14397192e+01] [-8.84088997e-03 1.29016057e-04 9.99960910e-01 -4.53600409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854391418 meters 0.016554297001654825 Centerline is valid? [True, True] Translation: X:254.72, Y:-11.44, Z:-4.54 [[ 9.99619281e-01 2.58767814e-02 9.57523537e-03 2.54724713e+02] [-2.58741238e-02 9.99665128e-01 -4.01350142e-04 -1.14426615e+01] [-9.58241454e-03 1.53446515e-04 9.99954076e-01 -4.53652079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884391418 meters 0.0181261753165928 Centerline is valid? [True, True] Translation: X:254.75, Y:-11.45, Z:-4.54 [[ 9.99661276e-01 2.38515362e-02 1.04133003e-02 2.54752630e+02] [-2.38482958e-02 9.99715494e-01 -4.35255228e-04 -1.14468481e+01] [-1.04207192e-02 1.86768330e-04 9.99945685e-01 -4.53699733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914391418 meters 0.01923654660598025 Centerline is valid? [True, True] Translation: X:254.78, Y:-11.45, Z:-4.54 [[ 9.99759790e-01 1.88672121e-02 1.11530507e-02 2.54782425e+02] [-1.88632025e-02 9.99821966e-01 -4.64599291e-04 -1.14504747e+01] [-1.11598308e-02 2.54105435e-04 9.99937695e-01 -4.53670228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944391418 meters 0.019218297236362734 Centerline is valid? [True, True] Translation: X:254.81, Y:-11.45, Z:-4.54 [[ 9.99812795e-01 1.58310987e-02 1.11243716e-02 2.54812343e+02] [-1.58269265e-02 9.99874639e-01 -4.62995080e-04 -1.14521915e+01] [-1.11303068e-02 2.86843794e-04 9.99938015e-01 -4.53715683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974391418 meters 0.02278938882844396 Centerline is valid? [True, True] Translation: X:254.84, Y:-11.46, Z:-4.54 [[ 9.99859208e-01 1.24452869e-02 1.12551402e-02 2.54841927e+02] [-1.24408099e-02 9.99922501e-01 -4.67702480e-04 -1.14597409e+01] [-1.12600887e-02 3.27613570e-04 9.99936550e-01 -4.53902775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004391418 meters 0.023531326602499892 Centerline is valid? [True, True] Translation: X:254.87, Y:-11.46, Z:-4.54 [[ 9.99896309e-01 9.23402635e-03 1.10500819e-02 2.54873249e+02] [-9.22951808e-03 9.99957302e-01 -4.58912644e-04 -1.14631671e+01] [-1.10538477e-02 3.56878127e-04 9.99938841e-01 -4.53972346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034391418 meters 0.02915721122323752 Centerline is valid? [True, True] Translation: X:254.90, Y:-11.47, Z:-4.54 [[ 9.99928822e-01 2.19958801e-03 1.17265969e-02 2.54902989e+02] [-2.19402279e-03 9.99997474e-01 -4.87424200e-04 -1.14737841e+01] [-1.17276395e-02 4.61661085e-04 9.99931122e-01 -4.54144252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064391418 meters 0.03168798957823649 Centerline is valid? [True, True] Translation: X:254.93, Y:-11.48, Z:-4.54 [[ 9.99930454e-01 -1.12588838e-03 1.17396409e-02 2.54932775e+02] [ 1.13170563e-03 9.99999240e-01 -4.88890822e-04 -1.14793055e+01] [-1.17390815e-02 5.02142640e-04 9.99930969e-01 -4.54240654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094391418 meters 0.029532078866496687 Centerline is valid? [True, True] Translation: X:254.96, Y:-11.48, Z:-4.54 [[ 9.99918941e-01 -4.50144620e-03 1.19100256e-02 2.54963511e+02] [ 4.50767107e-03 9.99989717e-01 -4.95864787e-04 -1.14781997e+01] [-1.19076711e-02 5.49511071e-04 9.99928950e-01 -4.54235258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124391418 meters 0.03208245613818149 Centerline is valid? [True, True] Translation: X:254.99, Y:-11.48, Z:-4.54 [[ 9.99876708e-01 -9.89542668e-03 1.21921915e-02 2.54994301e+02] [ 9.90235389e-03 9.99950841e-01 -5.07929016e-04 -1.14839492e+01] [-1.21865660e-02 6.28597787e-04 9.99925543e-01 -4.54299600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154391418 meters 0.03534565636922777 Centerline is valid? [True, True] Translation: X:255.03, Y:-11.49, Z:-4.54 [[ 9.99852537e-01 -1.19092192e-02 1.23723383e-02 2.55025103e+02] [ 1.19164991e-02 9.99928863e-01 -5.14842000e-04 -1.14902126e+01] [-1.23653268e-02 6.62201037e-04 9.99923327e-01 -4.54405290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184391418 meters 0.036981892308140814 Centerline is valid? [True, True] Translation: X:255.06, Y:-11.49, Z:-4.55 [[ 9.99828842e-01 -1.37650256e-02 1.23616303e-02 2.55057302e+02] [ 1.37724586e-02 9.99905022e-01 -5.16358049e-04 -1.14941780e+01] [-1.23533485e-02 6.86519712e-04 9.99923459e-01 -4.54528096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214391418 meters 0.03777172095447379 Centerline is valid? [True, True] Translation: X:255.09, Y:-11.50, Z:-4.55 [[ 9.99829024e-01 -1.37285631e-02 1.23874816e-02 2.55088850e+02] [ 1.37360350e-02 9.99905522e-01 -5.18296643e-04 -1.14962359e+01] [-1.23791958e-02 6.88362908e-04 9.99923138e-01 -4.54618560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244391418 meters 0.037012735403458244 Centerline is valid? [True, True] Translation: X:255.12, Y:-11.50, Z:-4.55 [[ 9.99845004e-01 -1.26128628e-02 1.22834951e-02 2.55120855e+02] [ 1.26201417e-02 9.99920230e-01 -5.15236497e-04 -1.14963992e+01] [-1.22760167e-02 6.70176086e-04 9.99924422e-01 -4.54715530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274391418 meters 0.030800701891372857 Centerline is valid? [True, True] Translation: X:255.15, Y:-11.49, Z:-4.55 [[ 9.99886032e-01 -8.61536719e-03 1.23974817e-02 2.55151784e+02] [ 8.62249278e-03 9.99962690e-01 -5.21424984e-04 -1.14883279e+01] [-1.23925268e-02 6.28262755e-04 9.99923012e-01 -4.54734246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.304391418 meters 0.030859454182188332 Centerline is valid? [True, True] Translation: X:255.18, Y:-11.49, Z:-4.55 [[ 9.99907212e-01 -5.93752331e-03 1.22602268e-02 2.55181881e+02] [ 5.94428974e-03 9.99982200e-01 -5.15533607e-04 -1.14887979e+01] [-1.22569476e-02 5.88364112e-04 9.99924708e-01 -4.54820019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334391418 meters 0.02806560761854644 Centerline is valid? [True, True] Translation: X:255.21, Y:-11.49, Z:-4.55 [[ 9.99920548e-01 -2.83033952e-03 1.22835704e-02 2.55213394e+02] [ 2.83689948e-03 9.99995843e-01 -5.16651466e-04 -1.14854161e+01] [-1.22820570e-02 5.51457671e-04 9.99924421e-01 -4.54808316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.364391418 meters 0.024518578129491507 Centerline is valid? [True, True] Translation: X:255.24, Y:-11.48, Z:-4.55 [[ 9.99915490e-01 3.53657848e-03 1.25101968e-02 2.55244586e+02] [-3.53026417e-03 9.99993630e-01 -5.26780481e-04 -1.14800351e+01] [-1.25119801e-02 4.82571663e-04 9.99921606e-01 -4.54847173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394391418 meters 0.024518578129491507 Centerline is valid? [True, True] Translation: X:255.28, Y:-11.48, Z:-4.55 [[ 9.99914273e-01 3.86516135e-03 1.25102515e-02 2.55277189e+02] [-3.85888883e-03 9.99992416e-01 -5.25490362e-04 -1.14815467e+01] [-1.25121877e-02 4.77169643e-04 9.99921606e-01 -4.54906002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.424391418 meters 0.02382906967045731 Centerline is valid? [True, True] Translation: X:255.31, Y:-11.48, Z:-4.55 [[ 9.99901702e-01 6.96726539e-03 1.21673424e-02 2.55307600e+02] [-6.96149978e-03 9.99975635e-01 -5.16148342e-04 -1.14810791e+01] [-1.21706421e-02 4.31394654e-04 9.99925842e-01 -4.55007305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454391418 meters 0.021455418980982095 Centerline is valid? [True, True] Translation: X:255.34, Y:-11.48, Z:-4.55 [[ 9.99856210e-01 1.24915652e-02 1.14682024e-02 2.55339619e+02] [-1.24867871e-02 9.99921918e-01 -4.88147360e-04 -1.14769028e+01] [-1.14734047e-02 3.44876167e-04 9.99934119e-01 -4.55113931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48439141800003 meters 0.019772876654929838 Centerline is valid? [True, True] Translation: X:255.37, Y:-11.47, Z:-4.55 [[ 9.99824807e-01 1.50847595e-02 1.10817308e-02 2.55370989e+02] [-1.50804488e-02 9.99886172e-01 -4.72462544e-04 -1.14746304e+01] [-1.10875963e-02 3.05262299e-04 9.99938484e-01 -4.55195149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514391418 meters 0.01932161995674555 Centerline is valid? [True, True] Translation: X:255.40, Y:-11.47, Z:-4.55 [[ 9.99796421e-01 1.73496262e-02 1.03008128e-02 2.55401155e+02] [-1.73460235e-02 9.99849450e-01 -4.38993848e-04 -1.14742720e+01] [-1.03068784e-02 2.60226338e-04 9.99946849e-01 -4.55338423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters 0.01804724734303872 Centerline is valid? [True, True] Translation: X:255.43, Y:-11.47, Z:-4.55 [[ 9.99721115e-01 2.13349294e-02 1.01249018e-02 2.55430767e+02] [-2.13316298e-02 9.99772361e-01 -4.33779067e-04 -1.14716939e+01] [-1.01318516e-02 2.17677437e-04 9.99948648e-01 -4.55453846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574391418 meters 0.01715499140228419 Centerline is valid? [True, True] Translation: X:255.46, Y:-11.47, Z:-4.56 [[ 9.99678436e-01 2.32511626e-02 1.01196991e-02 2.55459520e+02] [-2.32479655e-02 9.99729636e-01 -4.33469234e-04 -1.14709629e+01] [-1.01270417e-02 1.98067432e-04 9.99948701e-01 -4.55501628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters 0.01720522441444147 Centerline is valid? [True, True] Translation: X:255.49, Y:-11.47, Z:-4.56 [[ 9.99643271e-01 2.46987819e-02 1.01637402e-02 2.55487757e+02] [-2.46956384e-02 9.99694922e-01 -4.34689244e-04 -1.14712062e+01] [-1.01713758e-02 1.83534124e-04 9.99948253e-01 -4.55587479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634391418 meters 0.01638780889840846 Centerline is valid? [True, True] Translation: X:255.52, Y:-11.47, Z:-4.56 [[ 9.99571142e-01 2.71030469e-02 1.10885695e-02 2.55517190e+02] [-2.70994702e-02 9.99632630e-01 -4.72706436e-04 -1.14687803e+01] [-1.10973077e-02 1.72009352e-04 9.99938408e-01 -4.55572931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters 0.01583503805788896 Centerline is valid? [True, True] Translation: X:255.55, Y:-11.47, Z:-4.56 [[ 9.99546661e-01 2.77921905e-02 1.15787136e-02 2.55546211e+02] [-2.77883437e-02 9.99613708e-01 -4.93016211e-04 -1.14685022e+01] [-1.15879428e-02 1.71039435e-04 9.99932843e-01 -4.55565374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694391418 meters 0.015692099369525224 Centerline is valid? [True, True] Translation: X:255.57, Y:-11.47, Z:-4.56 [[ 9.99536664e-01 2.81941798e-02 1.14693373e-02 2.55573852e+02] [-2.81904407e-02 9.99602452e-01 -4.87583445e-04 -1.14695051e+01] [-1.14785247e-02 1.64031858e-04 9.99934106e-01 -4.55600151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters 0.01577321652683281 Centerline is valid? [True, True] Translation: X:255.60, Y:-11.47, Z:-4.56 [[ 9.99553804e-01 2.73938317e-02 1.19067928e-02 2.55603095e+02] [-2.73897613e-02 9.99624703e-01 -5.04819384e-04 -1.14701829e+01] [-1.19161531e-02 1.78469923e-04 9.99928984e-01 -4.55618451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754391418 meters 0.016232280232207064 Centerline is valid? [True, True] Translation: X:255.63, Y:-11.47, Z:-4.56 [[ 9.99574619e-01 2.65200087e-02 1.21355263e-02 2.55630848e+02] [-2.65157267e-02 9.99648264e-01 -5.13636260e-04 -1.14725223e+01] [-1.21448795e-02 1.91635469e-04 9.99926230e-01 -4.55666948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters 0.017016533908101057 Centerline is valid? [True, True] Translation: X:255.66, Y:-11.48, Z:-4.56 [[ 9.99638274e-01 2.38230778e-02 1.24812610e-02 2.55660525e+02] [-2.38183583e-02 9.99716164e-01 -5.26664682e-04 -1.14753132e+01] [-1.24902652e-02 2.29191027e-04 9.99921967e-01 -4.55625066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814391418 meters 0.017549274842137405 Centerline is valid? [True, True] Translation: X:255.69, Y:-11.48, Z:-4.56 [[ 9.99669921e-01 2.24212962e-02 1.25432981e-02 2.55689714e+02] [-2.24164256e-02 9.99748581e-01 -5.28779009e-04 -1.14776739e+01] [-1.25520004e-02 2.47428562e-04 9.99921190e-01 -4.55659851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters 0.018707205180460065 Centerline is valid? [True, True] Translation: X:255.72, Y:-11.48, Z:-4.56 [[ 9.99729028e-01 2.00820972e-02 1.17719950e-02 2.55718609e+02] [-2.00776573e-02 9.99798301e-01 -4.95232475e-04 -1.14814028e+01] [-1.17795659e-02 2.58744199e-04 9.99930585e-01 -4.55772065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874391418 meters 0.018886428892282505 Centerline is valid? [True, True] Translation: X:255.75, Y:-11.48, Z:-4.56 [[ 9.99757069e-01 1.87847288e-02 1.15298007e-02 2.55748494e+02] [-1.87803687e-02 9.99823515e-01 -4.86326520e-04 -1.14828799e+01] [-1.15369014e-02 2.69674467e-04 9.99933411e-01 -4.55822702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters 0.019381784558434496 Centerline is valid? [True, True] Translation: X:255.78, Y:-11.49, Z:-4.56 [[ 9.99779229e-01 1.77944309e-02 1.11736831e-02 2.55778514e+02] [-1.77902788e-02 9.99841630e-01 -4.70884216e-04 -1.14851298e+01] [-1.11802926e-02 2.71997321e-04 9.99937462e-01 -4.55898972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934391418 meters 0.020114439982842257 Centerline is valid? [True, True] Translation: X:255.81, Y:-11.49, Z:-4.56 [[ 9.99799840e-01 1.69238283e-02 1.06707105e-02 2.55808387e+02] [-1.69199978e-02 9.99856746e-01 -4.49154080e-04 -1.14874380e+01] [-1.06767833e-02 2.68515779e-04 9.99942965e-01 -4.55955378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters 0.02031412483341303 Centerline is valid? [True, True] Translation: X:255.84, Y:-11.49, Z:-4.56 [[ 9.99803471e-01 1.69066770e-02 1.03529065e-02 2.55837924e+02] [-1.69030724e-02 9.99857038e-01 -4.35583565e-04 -1.14891217e+01] [-1.03587907e-02 2.60502033e-04 9.99946312e-01 -4.56043988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994391418 meters 0.020751220513921337 Centerline is valid? [True, True] Translation: X:255.87, Y:-11.49, Z:-4.56 [[ 9.99812182e-01 1.70671242e-02 9.18227662e-03 2.55866962e+02] [-1.70642967e-02 9.99854320e-01 -3.86191597e-04 -1.14905884e+01] [-9.18753013e-03 2.29429970e-04 9.99957767e-01 -4.56152256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters 0.02046912992182903 Centerline is valid? [True, True] Translation: X:255.90, Y:-11.49, Z:-4.56 [[ 9.99812203e-01 1.74467826e-02 8.43614072e-03 2.55896535e+02] [-1.74444091e-02 9.99847772e-01 -3.54857864e-04 -1.14909281e+01] [-8.44104763e-03 2.07627734e-04 9.99964352e-01 -4.56221462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.054391418 meters 0.020550323896443744 Centerline is valid? [True, True] Translation: X:255.93, Y:-11.49, Z:-4.56 [[ 9.99807915e-01 1.79221329e-02 7.93280737e-03 2.55925325e+02] [-1.79200511e-02 9.99839367e-01 -3.33437592e-04 -1.14916215e+01] [-7.93750902e-03 1.91217230e-04 9.99968479e-01 -4.56295861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters 0.018576782213884285 Centerline is valid? [True, True] Translation: X:255.95, Y:-11.49, Z:-4.56 [[ 9.99793704e-01 1.89850401e-02 7.21920114e-03 2.55954145e+02] [-1.89833420e-02 9.99819754e-01 -3.03665671e-04 -1.14884309e+01] [-7.22366501e-03 1.66558462e-04 9.99973895e-01 -4.56240612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.114391418 meters 0.018662219211793812 Centerline is valid? [True, True] Translation: X:255.98, Y:-11.49, Z:-4.56 [[ 9.99787056e-01 1.93547817e-02 7.15786056e-03 2.55981856e+02] [-1.93531244e-02 9.99812666e-01 -3.00734391e-04 -1.14892130e+01] [-7.16234029e-03 1.62143386e-04 9.99974337e-01 -4.56289475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters 0.018400943847647063 Centerline is valid? [True, True] Translation: X:256.01, Y:-11.49, Z:-4.56 [[ 9.99779160e-01 1.98239361e-02 6.97440636e-03 2.56010783e+02] [-1.98223801e-02 9.99803475e-01 -2.92165127e-04 -1.14892366e+01] [-6.97882758e-03 1.53851272e-04 9.99975636e-01 -4.56253214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.174391418 meters 0.018348884419634212 Centerline is valid? [True, True] Translation: X:256.04, Y:-11.49, Z:-4.56 [[ 9.99784543e-01 1.96708193e-02 6.62771678e-03 2.56039184e+02] [-1.96694138e-02 9.99806500e-01 -2.77193716e-04 -1.14898583e+01] [-6.63188694e-03 1.46770689e-04 9.99977998e-01 -4.56274538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters 0.01974137240504554 Centerline is valid? [True, True] Translation: X:256.07, Y:-11.49, Z:-4.56 [[ 9.99793145e-01 1.92137274e-02 6.67075653e-03 2.56067077e+02] [-1.92122955e-02 9.99815388e-01 -2.78666563e-04 -1.14928419e+01] [-6.67487925e-03 1.50448373e-04 9.99977711e-01 -4.56439044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23439141800003 meters 0.01947286471797957 Centerline is valid? [True, True] Translation: X:256.10, Y:-11.49, Z:-4.56 [[ 9.99806461e-01 1.86443984e-02 6.27913695e-03 2.56096234e+02] [-1.86431234e-02 9.99826168e-01 -2.61537215e-04 -1.14933056e+01] [-6.28292163e-03 1.44423872e-04 9.99980252e-01 -4.56427755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264391418 meters 0.02031306490450775 Centerline is valid? [True, True] Translation: X:256.13, Y:-11.50, Z:-4.56 [[ 9.99847629e-01 1.64745588e-02 5.77129991e-03 2.56125671e+02] [-1.64734502e-02 9.99864275e-01 -2.39573452e-04 -1.14951804e+01] [-5.77446347e-03 1.44463727e-04 9.99983317e-01 -4.56422596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294391418 meters 0.020797457497348106 Centerline is valid? [True, True] Translation: X:256.15, Y:-11.50, Z:-4.56 [[ 9.99875419e-01 1.48241660e-02 5.42132044e-03 2.56154263e+02] [-1.48231618e-02 9.99890106e-01 -2.25373473e-04 -1.14971620e+01] [-5.42406564e-03 1.44984286e-04 9.99985279e-01 -4.56459592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324391418 meters 0.021932529557751438 Centerline is valid? [True, True] Translation: X:256.18, Y:-11.50, Z:-4.57 [[ 9.99901647e-01 1.29703514e-02 5.33538017e-03 2.56182313e+02] [-1.29693545e-02 9.99915870e-01 -2.21392824e-04 -1.15000368e+01] [-5.33780284e-03 1.52174613e-04 9.99985742e-01 -4.56537344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354391418 meters 0.02439823532006114 Centerline is valid? [True, True] Translation: X:256.21, Y:-11.51, Z:-4.57 [[ 9.99950830e-01 8.85418271e-03 4.46560165e-03 2.56211753e+02] [-8.85344749e-03 9.99960790e-01 -1.84383336e-04 -1.15056289e+01] [-4.46705912e-03 1.44838300e-04 9.99990012e-01 -4.56670678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384391418 meters 0.02456499989574745 Centerline is valid? [True, True] Translation: X:256.24, Y:-11.51, Z:-4.57 [[ 9.99970034e-01 6.43280293e-03 4.30694306e-03 2.56241114e+02] [-6.43209570e-03 9.99979298e-01 -1.78039149e-04 -1.15070354e+01] [-4.30799919e-03 1.50331144e-04 9.99990709e-01 -4.56669393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414391418 meters 0.026506429215473665 Centerline is valid? [True, True] Translation: X:256.27, Y:-11.51, Z:-4.57 [[ 9.99984459e-01 3.73284391e-03 4.14102464e-03 2.56270848e+02] [-3.73217550e-03 9.99993021e-01 -1.69128522e-04 -1.15112435e+01] [-4.14162707e-03 1.53670862e-04 9.99991412e-01 -4.56758602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444391418 meters 0.028563756673598173 Centerline is valid? [True, True] Translation: X:256.30, Y:-11.52, Z:-4.57 [[ 9.99990371e-01 -1.58926643e-03 4.09047275e-03 2.56301469e+02] [ 1.58996911e-03 9.99998722e-01 -1.68538169e-04 -1.15161671e+01] [-4.09019967e-03 1.75040272e-04 9.99991620e-01 -4.56790643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474391418 meters 0.032203035139033644 Centerline is valid? [True, True] Translation: X:256.33, Y:-11.52, Z:-4.57 [[ 9.99982572e-01 -4.01642566e-03 4.32712101e-03 2.56332742e+02] [ 4.01722115e-03 9.99991916e-01 -1.75162053e-04 -1.15229535e+01] [-4.32638250e-03 1.92542002e-04 9.99990623e-01 -4.56937834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504391418 meters 0.032565499649470725 Centerline is valid? [True, True] Translation: X:256.37, Y:-11.53, Z:-4.57 [[ 9.99970732e-01 -6.43801007e-03 4.13356963e-03 2.56365021e+02] [ 6.43877038e-03 9.99979256e-01 -1.70652118e-04 -1.15250827e+01] [-4.13238522e-03 1.97262229e-04 9.99991442e-01 -4.56923696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534391418 meters 0.033497103468543794 Centerline is valid? [True, True] Translation: X:256.40, Y:-11.53, Z:-4.57 [[ 9.99951435e-01 -8.72297820e-03 4.58672588e-03 2.56397191e+02] [ 8.72394064e-03 9.99961928e-01 -1.89864171e-04 -1.15280691e+01] [-4.58489508e-03 2.29869274e-04 9.99989463e-01 -4.56918636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564391418 meters 0.03634330814196673 Centerline is valid? [True, True] Translation: X:256.43, Y:-11.53, Z:-4.57 [[ 9.99906193e-01 -1.24512490e-02 5.70710501e-03 2.56426616e+02] [ 1.24528035e-02 9.99922433e-01 -2.36924923e-04 -1.15335539e+01] [-5.70371231e-03 3.07972156e-04 9.99983686e-01 -4.56882298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594391418 meters 0.03667543858499888 Centerline is valid? [True, True] Translation: X:256.46, Y:-11.54, Z:-4.57 [[ 9.99886040e-01 -1.37156052e-02 6.30788704e-03 2.56458159e+02] [ 1.37175359e-02 9.99905876e-01 -2.62917842e-04 -1.15356621e+01] [-6.30368723e-03 3.49416547e-04 9.99980071e-01 -4.56891106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624391418 meters 0.03551764681239202 Centerline is valid? [True, True] Translation: X:256.49, Y:-11.54, Z:-4.57 [[ 9.99861719e-01 -1.50419182e-02 7.09114029e-03 2.56489861e+02] [ 1.50443892e-02 9.99886783e-01 -2.95240499e-04 -1.15363566e+01] [-7.08589647e-03 4.01881546e-04 9.99974814e-01 -4.56840359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654391418 meters 0.03632713657995557 Centerline is valid? [True, True] Translation: X:256.52, Y:-11.54, Z:-4.57 [[ 9.99853763e-01 -1.54569655e-02 7.31669682e-03 2.56521444e+02] [ 1.54596214e-02 9.99880446e-01 -3.06568775e-04 -1.15389676e+01] [-7.31108346e-03 4.19637306e-04 9.99973186e-01 -4.56901048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684391418 meters 0.03599850484118753 Centerline is valid? [True, True] Translation: X:256.55, Y:-11.54, Z:-4.57 [[ 9.99853601e-01 -1.53234138e-02 7.61374611e-03 2.56554872e+02] [ 1.53262848e-02 9.99882495e-01 -3.18882520e-04 -1.15404078e+01] [-7.60796509e-03 4.35526277e-04 9.99970964e-01 -4.56941355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714391418 meters 0.03607849698293792 Centerline is valid? [True, True] Translation: X:256.59, Y:-11.54, Z:-4.57 [[ 9.99865303e-01 -1.42970235e-02 8.06049776e-03 2.56587588e+02] [ 1.43002188e-02 9.99897689e-01 -3.38916304e-04 -1.15422359e+01] [-8.05482759e-03 4.54137535e-04 9.99967456e-01 -4.57042247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744391418 meters 0.03550812060691713 Centerline is valid? [True, True] Translation: X:256.62, Y:-11.54, Z:-4.57 [[ 9.99882759e-01 -1.30294592e-02 8.04370173e-03 2.56620002e+02] [ 1.30326084e-02 9.99915014e-01 -3.39206105e-04 -1.15432263e+01] [-8.03859846e-03 4.43996750e-04 9.99967591e-01 -4.57141528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774391418 meters 0.03508403095558423 Centerline is valid? [True, True] Translation: X:256.65, Y:-11.54, Z:-4.57 [[ 9.99904100e-01 -1.18502932e-02 7.16662385e-03 2.56652232e+02] [ 1.18527658e-02 9.99929708e-01 -3.02634884e-04 -1.15439167e+01] [-7.16253378e-03 3.87550176e-04 9.99974274e-01 -4.57280469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.804391418 meters 0.03494111481847883 Centerline is valid? [True, True] Translation: X:256.68, Y:-11.54, Z:-4.57 [[ 9.99925316e-01 -1.02050641e-02 6.72455157e-03 2.56683239e+02] [ 1.02072085e-02 9.99947865e-01 -2.84642360e-04 -1.15447874e+01] [-6.72129619e-03 3.53260002e-04 9.99977349e-01 -4.57420794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834391418 meters 0.03238679076913555 Centerline is valid? [True, True] Translation: X:256.71, Y:-11.54, Z:-4.58 [[ 9.99970074e-01 -5.59521453e-03 5.34268015e-03 2.56713816e+02] [ 5.59650701e-03 9.99984314e-01 -2.26996019e-04 -1.15415508e+01] [-5.34132626e-03 2.56889573e-04 9.99985702e-01 -4.57580589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.864391418 meters 0.031351185699137224 Centerline is valid? [True, True] Translation: X:256.74, Y:-11.54, Z:-4.58 [[ 9.99980914e-01 -2.72559224e-03 5.54470605e-03 2.56744027e+02] [ 2.72693894e-03 9.99996254e-01 -2.35334958e-04 -1.15408410e+01] [-5.54404385e-03 2.50450541e-04 9.99984600e-01 -4.57653051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894391418 meters 0.027494360941878928 Centerline is valid? [True, True] Translation: X:256.77, Y:-11.54, Z:-4.58 [[ 9.99969258e-01 4.87627539e-03 6.14044154e-03 2.56774795e+02] [-4.87476449e-03 9.99988084e-01 -2.60998611e-04 -1.15351488e+01] [-6.14164107e-03 2.31057381e-04 9.99981113e-01 -4.57687244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.924391418 meters 0.025222070623053258 Centerline is valid? [True, True] Translation: X:256.81, Y:-11.53, Z:-4.58 [[ 9.99934110e-01 9.35100991e-03 6.65845094e-03 2.56805988e+02] [-9.34933363e-03 9.99956254e-01 -2.82834194e-04 -1.15321319e+01] [-6.66080444e-03 2.20563479e-04 9.99977792e-01 -4.57675130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954391418 meters 0.023288256620375876 Centerline is valid? [True, True] Translation: X:256.84, Y:-11.53, Z:-4.58 [[ 9.99869447e-01 1.42239599e-02 7.66598250e-03 2.56835842e+02] [-1.42218781e-02 9.99898811e-01 -3.26002616e-04 -1.15294360e+01] [-7.66984384e-03 2.16935386e-04 9.99970563e-01 -4.57700596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98439141800003 meters 0.020639858900812585 Centerline is valid? [True, True] Translation: X:256.87, Y:-11.53, Z:-4.58 [[ 9.99782726e-01 1.91617609e-02 8.20534844e-03 2.56866102e+02] [-1.91595389e-02 9.99816378e-01 -3.49319640e-04 -1.15251450e+01] [-8.21053534e-03 1.92033049e-04 9.99966275e-01 -4.57674910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014391418 meters 0.01665708678477848 Centerline is valid? [True, True] Translation: X:256.90, Y:-11.52, Z:-4.58 [[ 9.99514863e-01 2.93367975e-02 1.04590578e-02 2.56895417e+02] [-2.93337504e-02 9.99569574e-01 -4.44655285e-04 -1.15165132e+01] [-1.04676007e-02 1.37636175e-04 9.99945204e-01 -4.57546324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters 0.015178029256137118 Centerline is valid? [True, True] Translation: X:256.92, Y:-11.51, Z:-4.58 [[ 9.99354326e-01 3.41401702e-02 1.11972978e-02 2.56924266e+02] [-3.41369816e-02 9.99417050e-01 -4.75825957e-04 -1.15122063e+01] [-1.12070151e-02 9.32767791e-05 9.99937195e-01 -4.57523207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074391418 meters 0.014283460566116554 Centerline is valid? [True, True] Translation: X:256.95, Y:-11.51, Z:-4.57 [[ 9.99182133e-01 3.86173489e-02 1.19902655e-02 2.56953750e+02] [-3.86140232e-02 9.99254071e-01 -5.08835279e-04 -1.15086929e+01] [-1.20009714e-02 4.54267311e-05 9.99927985e-01 -4.57498903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters 0.014228037026027774 Centerline is valid? [True, True] Translation: X:256.98, Y:-11.50, Z:-4.57 [[ 9.98851391e-01 4.63333564e-02 1.22114401e-02 2.56981728e+02] [-4.63305017e-02 9.98926032e-01 -5.16707976e-04 -1.15035957e+01] [-1.22222662e-02 -4.96476671e-05 9.99925304e-01 -4.57465528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134391418 meters 0.015255565150789097 Centerline is valid? [True, True] Translation: X:257.01, Y:-11.50, Z:-4.58 [[ 9.98689039e-01 4.96595673e-02 1.24149760e-02 2.57009664e+02] [-4.96568944e-02 9.98766198e-01 -5.23647698e-04 -1.15009282e+01] [-1.24256625e-02 -9.35279350e-05 9.99922794e-01 -4.57669970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters 0.01607089142223858 Centerline is valid? [True, True] Translation: X:257.04, Y:-11.50, Z:-4.58 [[ 9.98430512e-01 5.45882801e-02 1.25152778e-02 2.57038550e+02] [-5.45859685e-02 9.98508936e-01 -5.26477013e-04 -1.14999405e+01] [-1.25253562e-02 -1.57507848e-04 9.99921542e-01 -4.57739885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194391418 meters 0.016197596356654673 Centerline is valid? [True, True] Translation: X:257.07, Y:-11.50, Z:-4.58 [[ 9.98341677e-01 5.61048525e-02 1.28896138e-02 2.57067351e+02] [-5.61025402e-02 9.98424866e-01 -5.41192420e-04 -1.15013081e+01] [-1.28996744e-02 -1.82845126e-04 9.99916779e-01 -4.57782758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters 0.01649742209367329 Centerline is valid? [True, True] Translation: X:257.10, Y:-11.50, Z:-4.58 [[ 9.98299533e-01 5.67270568e-02 1.34195514e-02 2.57096227e+02] [-5.67246218e-02 9.98389704e-01 -5.62313507e-04 -1.15027753e+01] [-1.34298404e-02 -1.99861668e-04 9.99909796e-01 -4.57851863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254391418 meters 0.016632012964404835 Centerline is valid? [True, True] Translation: X:257.12, Y:-11.50, Z:-4.58 [[ 9.98289528e-01 5.68091261e-02 1.38109325e-02 2.57123980e+02] [-5.68065683e-02 9.98385036e-01 -5.77741565e-04 -1.15047289e+01] [-1.38214494e-02 -2.07798328e-04 9.99904458e-01 -4.57929536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters 0.016632012964404835 Centerline is valid? [True, True] Translation: X:257.15, Y:-11.51, Z:-4.58 [[ 9.98296210e-01 5.66915715e-02 1.38110002e-02 2.57151413e+02] [-5.66890249e-02 9.98391718e-01 -5.76118570e-04 -1.15057577e+01] [-1.38214493e-02 -2.07795150e-04 9.99904458e-01 -4.57979106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314391418 meters 0.016420921821768134 Centerline is valid? [True, True] Translation: X:257.18, Y:-11.51, Z:-4.58 [[ 9.98374333e-01 5.50629392e-02 1.47229190e-02 2.57179550e+02] [-5.50598978e-02 9.98482866e-01 -6.12150394e-04 -1.15104752e+01] [-1.47342892e-02 -1.99487175e-04 9.99891425e-01 -4.58091532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters 0.01580680403287625 Centerline is valid? [True, True] Translation: X:257.21, Y:-11.51, Z:-4.58 [[ 9.98481144e-01 5.30104244e-02 1.50099732e-02 2.57208221e+02] [-5.30070493e-02 9.98593944e-01 -6.22890390e-04 -1.15149799e+01] [-1.50218880e-02 -1.73690078e-04 9.99887150e-01 -4.58187841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374391418 meters 0.014804011475444863 Centerline is valid? [True, True] Translation: X:257.24, Y:-11.52, Z:-4.58 [[ 9.98754153e-01 4.75000299e-02 1.52934555e-02 2.57235469e+02] [-4.74958969e-02 9.98871232e-01 -6.33549789e-04 -1.15235128e+01] [-1.53062864e-02 -9.36159030e-05 9.99882848e-01 -4.58374371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters 0.014549727839407247 Centerline is valid? [True, True] Translation: X:257.26, Y:-11.53, Z:-4.58 [[ 9.98910823e-01 4.40260991e-02 1.54554395e-02 2.57263689e+02] [-4.40214941e-02 9.99030380e-01 -6.38199980e-04 -1.15292280e+01] [-1.54685510e-02 -4.28666700e-05 9.99880354e-01 -4.58434349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434391418 meters 0.014506245411592317 Centerline is valid? [True, True] Translation: X:257.29, Y:-11.54, Z:-4.59 [[ 9.99069694e-01 4.01803916e-02 1.56615086e-02 2.57292154e+02] [-4.01752095e-02 9.99192442e-01 -6.45491045e-04 -1.15353339e+01] [-1.56747971e-02 1.56861513e-05 9.99877143e-01 -4.58530210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters 0.014800398102252393 Centerline is valid? [True, True] Translation: X:257.32, Y:-11.55, Z:-4.59 [[ 9.99309852e-01 3.34263038e-02 1.62019296e-02 2.57320907e+02] [-3.34198913e-02 9.99441177e-01 -6.66454673e-04 -1.15462562e+01] [-1.62151527e-02 1.24527994e-04 9.99868518e-01 -4.58585612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494391418 meters 0.01543607659332653 Centerline is valid? [True, True] Translation: X:257.35, Y:-11.55, Z:-4.59 [[ 9.99414588e-01 2.99342566e-02 1.65656794e-02 2.57349997e+02] [-2.99270965e-02 9.99551853e-01 -6.80013878e-04 -1.15520416e+01] [-1.65786113e-02 1.83853103e-04 9.99862548e-01 -4.58631293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters 0.017393793061734854 Centerline is valid? [True, True] Translation: X:257.38, Y:-11.56, Z:-4.59 [[ 9.99555679e-01 2.41780517e-02 1.74317713e-02 2.57378612e+02] [-2.41692608e-02 9.99707625e-01 -7.14833094e-04 -1.15627801e+01] [-1.74439580e-02 2.93202451e-04 9.99847800e-01 -4.58663575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.554391418 meters 0.0181110086111723 Centerline is valid? [True, True] Translation: X:257.41, Y:-11.57, Z:-4.59 [[ 9.99607589e-01 2.16533013e-02 1.77708327e-02 2.57409209e+02] [-2.16437792e-02 9.99765481e-01 -7.28006532e-04 -1.15677527e+01] [-1.77824289e-02 3.43092875e-04 9.99841821e-01 -4.58722155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters 0.018739533321288922 Centerline is valid? [True, True] Translation: X:257.44, Y:-11.57, Z:-4.59 [[ 9.99651229e-01 1.96894872e-02 1.75995659e-02 2.57441016e+02] [-1.96798394e-02 9.99806073e-01 -7.21225373e-04 -1.15726404e+01] [-1.76103535e-02 3.74617200e-04 9.99844856e-01 -4.58828534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.614391418 meters 0.02015104968877531 Centerline is valid? [True, True] Translation: X:257.47, Y:-11.58, Z:-4.59 [[ 9.99687658e-01 1.78437031e-02 1.74982546e-02 2.57472107e+02] [-1.78337982e-02 9.99840705e-01 -7.21942233e-04 -1.15784770e+01] [-1.75083493e-02 4.09656399e-04 9.99846633e-01 -4.58947638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters 0.021023852405380274 Centerline is valid? [True, True] Translation: X:257.50, Y:-11.59, Z:-4.59 [[ 9.99720495e-01 1.55583182e-02 1.78008731e-02 2.57503804e+02] [-1.55476226e-02 9.99878855e-01 -7.39086648e-04 -1.15863592e+01] [-1.78102156e-02 4.62118811e-04 9.99841279e-01 -4.59106170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.674391418 meters 0.02171784286122149 Centerline is valid? [True, True] Translation: X:257.54, Y:-11.59, Z:-4.59 [[ 9.99734227e-01 1.46279502e-02 1.78184870e-02 2.57535429e+02] [-1.46169984e-02 9.99892889e-01 -7.44720657e-04 -1.15905793e+01] [-1.78274721e-02 4.84069936e-04 9.99840961e-01 -4.59191945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704391418 meters 0.021852117197632928 Centerline is valid? [True, True] Translation: X:257.57, Y:-11.60, Z:-4.59 [[ 9.99728728e-01 1.47786139e-02 1.80017282e-02 2.57568089e+02] [-1.47673764e-02 9.99890670e-01 -7.57023462e-04 -1.15960489e+01] [-1.80109478e-02 4.90979806e-04 9.99837669e-01 -4.59269406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73439141800003 meters 0.021923637820644777 Centerline is valid? [True, True] Translation: X:257.60, Y:-11.60, Z:-4.59 [[ 9.99717658e-01 1.55762915e-02 1.79439135e-02 2.57600671e+02] [-1.55651539e-02 9.99878567e-01 -7.60188271e-04 -1.15986331e+01] [-1.79535755e-02 4.80673862e-04 9.99838706e-01 -4.59363444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764391418 meters 0.021502479839726817 Centerline is valid? [True, True] Translation: X:257.63, Y:-11.60, Z:-4.59 [[ 9.99699233e-01 1.65998199e-02 1.80523878e-02 2.57633286e+02] [-1.65886252e-02 9.99862103e-01 -7.69703577e-04 -1.16005353e+01] [-1.80626754e-02 4.70007781e-04 9.99836746e-01 -4.59444601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794391418 meters 0.021501634244931015 Centerline is valid? [True, True] Translation: X:257.66, Y:-11.60, Z:-4.60 [[ 9.99670535e-01 1.84517995e-02 1.78424126e-02 2.57664862e+02] [-1.84411285e-02 9.99829657e-01 -7.62431047e-04 -1.16035677e+01] [-1.78534415e-02 4.33145629e-04 9.99840521e-01 -4.59578901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824391418 meters 0.02121786886368932 Centerline is valid? [True, True] Translation: X:257.70, Y:-11.61, Z:-4.60 [[ 9.99653285e-01 1.93891403e-02 1.78149081e-02 2.57697445e+02] [-1.93785658e-02 9.99811925e-01 -7.66027058e-04 -1.16056600e+01] [-1.78264102e-02 4.20534095e-04 9.99841008e-01 -4.59654684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854391418 meters 0.021146030895511172 Centerline is valid? [True, True] Translation: X:257.73, Y:-11.61, Z:-4.60 [[ 9.99642751e-01 1.97261785e-02 1.80346418e-02 2.57730921e+02] [-1.97153092e-02 9.99805330e-01 -7.80306078e-04 -1.16082039e+01] [-1.80465234e-02 4.24468776e-04 9.99837058e-01 -4.59728219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884391418 meters 0.021300212050611157 Centerline is valid? [True, True] Translation: X:257.76, Y:-11.61, Z:-4.60 [[ 9.99642088e-01 1.96893102e-02 1.81115116e-02 2.57763725e+02] [-1.96782418e-02 9.99806053e-01 -7.89155802e-04 -1.16111252e+01] [-1.81235369e-02 4.32470648e-04 9.99835662e-01 -4.59802525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914391418 meters 0.022863420064376704 Centerline is valid? [True, True] Translation: X:257.80, Y:-11.62, Z:-4.60 [[ 9.99679630e-01 1.80608606e-02 1.77325163e-02 2.57795105e+02] [-1.80499007e-02 9.99836785e-01 -7.77932375e-04 -1.16172070e+01] [-1.77436722e-02 4.57612990e-04 9.99842464e-01 -4.59933206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944391418 meters 0.022456273523055337 Centerline is valid? [True, True] Translation: X:257.83, Y:-11.62, Z:-4.60 [[ 9.99708541e-01 1.68276340e-02 1.73108056e-02 2.57827229e+02] [-1.68169332e-02 9.99858294e-01 -7.63548631e-04 -1.16190879e+01] [-1.73212013e-02 4.72211425e-04 9.99849865e-01 -4.60048056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974391418 meters 0.02370288496571249 Centerline is valid? [True, True] Translation: X:257.86, Y:-11.62, Z:-4.60 [[ 9.99745990e-01 1.51809253e-02 1.66581711e-02 2.57857917e+02] [-1.51707157e-02 9.99884645e-01 -7.39090237e-04 -1.16234087e+01] [-1.66674696e-02 4.86186123e-04 9.99860970e-01 -4.60168366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004391418 meters 0.024909275761777237 Centerline is valid? [True, True] Translation: X:257.89, Y:-11.63, Z:-4.60 [[ 9.99780781e-01 1.33428757e-02 1.61356152e-02 2.57889392e+02] [-1.33329919e-02 9.99910853e-01 -7.19971830e-04 -1.16276844e+01] [-1.61437832e-02 5.04677972e-04 9.99869553e-01 -4.60281890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034391418 meters 0.026918007375974322 Centerline is valid? [True, True] Translation: X:257.92, Y:-11.63, Z:-4.60 [[ 9.99831929e-01 8.69226854e-03 1.61418321e-02 2.57920166e+02] [-8.68173255e-03 9.99962052e-01 -7.22674054e-04 -1.16338647e+01] [-1.61475012e-02 5.82413524e-04 9.99869451e-01 -4.60324233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064391418 meters 0.03039150246910539 Centerline is valid? [True, True] Translation: X:257.95, Y:-11.64, Z:-4.60 [[ 9.99854992e-01 3.65559706e-03 1.66322749e-02 2.57949765e+02] [-3.64370139e-03 9.99993084e-01 -7.45463378e-04 -1.16420831e+01] [-1.66348850e-02 6.84752236e-04 9.99861396e-01 -4.60299617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094391418 meters 0.03223583412151402 Centerline is valid? [True, True] Translation: X:257.98, Y:-11.65, Z:-4.60 [[ 9.99853648e-01 9.35867834e-04 1.70823588e-02 2.57981925e+02] [-9.22899896e-04 9.99999280e-01 -7.67009566e-04 -1.16468967e+01] [-1.70830644e-02 7.51132005e-04 9.99853792e-01 -4.60317142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124391418 meters 0.034275117501884514 Centerline is valid? [True, True] Translation: X:258.01, Y:-11.65, Z:-4.60 [[ 9.99848127e-01 -1.63144963e-03 1.73510958e-02 2.58013417e+02] [ 1.64523589e-03 9.99998342e-01 -7.80302529e-04 -1.16519184e+01] [-1.73497941e-02 8.08730668e-04 9.99849154e-01 -4.60328862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154391418 meters 0.034947786638105986 Centerline is valid? [True, True] Translation: X:258.04, Y:-11.66, Z:-4.60 [[ 9.99815481e-01 -6.53229199e-03 1.80646925e-02 2.58044006e+02] [ 6.54811661e-03 9.99978227e-01 -8.16985916e-04 -1.16563270e+01] [-1.80589624e-02 9.35124879e-04 9.99836486e-01 -4.60319143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184391418 meters 0.0353665571432837 Centerline is valid? [True, True] Translation: X:258.08, Y:-11.66, Z:-4.60 [[ 9.99799679e-01 -8.30359849e-03 1.82112946e-02 2.58075479e+02] [ 8.31998091e-03 9.99965049e-01 -8.23992501e-04 -1.16593120e+01] [-1.82038159e-02 9.75345061e-04 9.99833821e-01 -4.60359403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214391418 meters 0.03936711411177974 Centerline is valid? [True, True] Translation: X:258.11, Y:-11.67, Z:-4.60 [[ 9.99769039e-01 -1.05572305e-02 1.87193106e-02 2.58106477e+02] [ 1.05749834e-02 9.99943722e-01 -8.49638476e-04 -1.16671961e+01] [-1.87092873e-02 1.04739864e-03 9.99824417e-01 -4.60379464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244391418 meters 0.03960620454777799 Centerline is valid? [True, True] Translation: X:258.14, Y:-11.67, Z:-4.60 [[ 9.99756096e-01 -1.13052026e-02 1.89720906e-02 2.58138749e+02] [ 1.13236616e-02 9.99935510e-01 -8.65804074e-04 -1.16690780e+01] [-1.89610790e-02 1.08042643e-03 9.99819639e-01 -4.60406191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274391418 meters 0.04016164060901461 Centerline is valid? [True, True] Translation: X:258.17, Y:-11.67, Z:-4.60 [[ 9.99764204e-01 -1.13328993e-02 1.85230193e-02 2.58170792e+02] [ 1.13505251e-02 9.99935222e-01 -8.46700104e-04 -1.16712904e+01] [-1.85122238e-02 1.05674645e-03 9.99828076e-01 -4.60491987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.304391418 meters 0.0374541781908347 Centerline is valid? [True, True] Translation: X:258.20, Y:-11.67, Z:-4.61 [[ 9.99790774e-01 -9.87493265e-03 1.79134968e-02 2.58202846e+02] [ 9.89120769e-03 9.99950744e-01 -8.20160103e-04 -1.16683019e+01] [-1.79045154e-02 9.97174621e-04 9.99839204e-01 -4.60565031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334391418 meters 0.034928504541991104 Centerline is valid? [True, True] Translation: X:258.23, Y:-11.67, Z:-4.61 [[ 9.99808366e-01 -8.16439402e-03 1.77925107e-02 2.58234908e+02] [ 8.18020451e-03 9.99966209e-01 -8.16004516e-04 -1.16656971e+01] [-1.77852473e-02 9.61394518e-04 9.99841368e-01 -4.60611334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.364391418 meters 0.036330996113615545 Centerline is valid? [True, True] Translation: X:258.27, Y:-11.67, Z:-4.61 [[ 9.99829626e-01 -6.36833920e-03 1.73252101e-02 2.58266436e+02] [ 6.38308448e-03 9.99979311e-01 -7.95922117e-04 -1.16678022e+01] [-1.73197830e-02 9.06374793e-04 9.99849590e-01 -4.60689853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394391418 meters 0.03146109804469865 Centerline is valid? [True, True] Translation: X:258.30, Y:-11.66, Z:-4.61 [[ 9.99876733e-01 -9.20074884e-04 1.56739241e-02 2.58297907e+02] [ 9.31494312e-04 9.99999306e-01 -7.21277182e-04 -1.16607998e+01] [-1.56732496e-02 7.35788444e-04 9.99876896e-01 -4.60737296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.424391418 meters 0.029090545918025828 Centerline is valid? [True, True] Translation: X:258.33, Y:-11.66, Z:-4.61 [[ 9.99881390e-01 2.52760190e-03 1.51926890e-02 2.58330045e+02] [-2.51726644e-03 9.99996587e-01 -6.99376068e-04 -1.16574442e+01] [-1.51944049e-02 6.61049069e-04 9.99884340e-01 -4.60831452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454391418 meters 0.0284013480661774 Centerline is valid? [True, True] Translation: X:258.36, Y:-11.66, Z:-4.61 [[ 9.99872557e-01 6.19851118e-03 1.47121918e-02 2.58360864e+02] [-6.18919571e-03 9.99980616e-01 -6.78627248e-04 -1.16566432e+01] [-1.47161131e-02 5.87484127e-04 9.99891540e-01 -4.60871244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48439141800003 meters 0.023732833830400195 Centerline is valid? [True, True] Translation: X:258.39, Y:-11.65, Z:-4.61 [[ 9.99799088e-01 1.41934553e-02 1.41537708e-02 2.58391825e+02] [-1.41856244e-02 9.99899165e-01 -6.53520700e-04 -1.16476987e+01] [-1.41616193e-02 4.52609324e-04 9.99899617e-01 -4.60863560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514391418 meters 0.022258033941153124 Centerline is valid? [True, True] Translation: X:258.42, Y:-11.64, Z:-4.61 [[ 9.99740642e-01 1.79623412e-02 1.40001357e-02 2.58423132e+02] [-1.79550482e-02 9.99838586e-01 -6.46453548e-04 -1.16446322e+01] [-1.40094877e-02 3.94912773e-04 9.99901784e-01 -4.60892231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters 0.019117829470254227 Centerline is valid? [True, True] Translation: X:258.45, Y:-11.64, Z:-4.61 [[ 9.99589593e-01 2.48044784e-02 1.43311820e-02 2.58454338e+02] [-2.47975296e-02 9.99692275e-01 -6.62394383e-04 -1.16374273e+01] [-1.43432023e-02 3.06744622e-04 9.99897084e-01 -4.60867341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574391418 meters 0.018553887237597218 Centerline is valid? [True, True] Translation: X:258.48, Y:-11.64, Z:-4.61 [[ 9.99523991e-01 2.73656577e-02 1.42446979e-02 2.58484273e+02] [-2.73590464e-02 9.99625454e-01 -6.58825992e-04 -1.16367101e+01] [-1.42573919e-02 2.68791034e-04 9.99898322e-01 -4.60922775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters 0.017683386919981545 Centerline is valid? [True, True] Translation: X:258.51, Y:-11.64, Z:-4.61 [[ 9.99483784e-01 2.90484032e-02 1.37242979e-02 2.58513779e+02] [-2.90424270e-02 9.99577978e-01 -6.34587554e-04 -1.16354428e+01] [-1.37369397e-02 2.35673051e-04 9.99905616e-01 -4.60965620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634391418 meters 0.017641240585945878 Centerline is valid? [True, True] Translation: X:258.54, Y:-11.64, Z:-4.61 [[ 9.99449901e-01 3.01503395e-02 1.38149433e-02 2.58542752e+02] [-3.01443960e-02 9.99545351e-01 -6.38303111e-04 -1.16362038e+01] [-1.38279074e-02 2.21508858e-04 9.99904365e-01 -4.61018595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters 0.01745356457246879 Centerline is valid? [True, True] Translation: X:258.57, Y:-11.64, Z:-4.61 [[ 9.99453437e-01 3.04478599e-02 1.28745937e-02 2.58572045e+02] [-3.04427303e-02 9.99536336e-01 -5.94260207e-04 -1.16360040e+01] [-1.28867182e-02 2.01997621e-04 9.99916942e-01 -4.61098163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694391418 meters 0.017874052592569013 Centerline is valid? [True, True] Translation: X:258.60, Y:-11.64, Z:-4.61 [[ 9.99487439e-01 2.94923754e-02 1.24522448e-02 2.58601057e+02] [-2.94875143e-02 9.99564984e-01 -5.73834421e-04 -1.16379739e+01] [-1.24637516e-02 2.06354548e-04 9.99922303e-01 -4.61213632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters 0.01789585612796942 Centerline is valid? [True, True] Translation: X:258.63, Y:-11.64, Z:-4.61 [[ 9.99537370e-01 2.79710464e-02 1.19442964e-02 2.58629651e+02] [-2.79664755e-02 9.99608711e-01 -5.49570335e-04 -1.16393048e+01] [-1.19549948e-02 2.15276214e-04 9.99928513e-01 -4.61261421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754391418 meters 0.020063089159775352 Centerline is valid? [True, True] Translation: X:258.66, Y:-11.65, Z:-4.61 [[ 9.99654641e-01 2.35516463e-02 1.16584124e-02 2.58657500e+02] [-2.35470017e-02 9.99722587e-01 -5.35506977e-04 -1.16451170e+01] [-1.16677903e-02 2.60801379e-04 9.99931895e-01 -4.61369564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters 0.021180517749099362 Centerline is valid? [True, True] Translation: X:258.69, Y:-11.65, Z:-4.61 [[ 9.99709113e-01 2.11265172e-02 1.16344313e-02 2.58686676e+02] [-2.11217415e-02 9.99776769e-01 -5.33215442e-04 -1.16492098e+01] [-1.16430991e-02 2.87320886e-04 9.99932176e-01 -4.61411873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814391418 meters 0.022912936485405277 Centerline is valid? [True, True] Translation: X:258.72, Y:-11.65, Z:-4.61 [[ 9.99802864e-01 1.61720773e-02 1.15194200e-02 2.58716988e+02] [-1.61670749e-02 9.99869165e-01 -5.27252468e-04 -1.16547179e+01] [-1.15264397e-02 3.40913201e-04 9.99933510e-01 -4.61440109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters 0.02496195673617231 Centerline is valid? [True, True] Translation: X:258.75, Y:-11.66, Z:-4.62 [[ 9.99835453e-01 1.41277131e-02 1.13787004e-02 2.58747481e+02] [-1.41227103e-02 9.99900134e-01 -5.19901567e-04 -1.16600565e+01] [-1.13849091e-02 3.59117930e-04 9.99935125e-01 -4.61524580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874391418 meters 0.024778486484018827 Centerline is valid? [True, True] Translation: X:258.78, Y:-11.66, Z:-4.62 [[ 9.99858645e-01 1.24167877e-02 1.13363675e-02 2.58779165e+02] [-1.24117037e-02 9.99922837e-01 -5.18715054e-04 -1.16617672e+01] [-1.13419335e-02 3.77938097e-04 9.99935607e-01 -4.61592187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters 0.02595085323173884 Centerline is valid? [True, True] Translation: X:258.81, Y:-11.67, Z:-4.62 [[ 9.99880087e-01 1.06440880e-02 1.12479182e-02 2.58810767e+02] [-1.06389388e-02 9.99943271e-01 -5.17530521e-04 -1.16651092e+01] [-1.12527887e-02 3.97802549e-04 9.99936606e-01 -4.61672422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934391418 meters 0.027957289185592954 Centerline is valid? [True, True] Translation: X:258.84, Y:-11.67, Z:-4.62 [[ 9.99911617e-01 7.58706724e-03 1.09176508e-02 2.58842585e+02] [-7.58199117e-03 9.99971128e-01 -5.06257076e-04 -1.16697822e+01] [-1.09211766e-02 4.23434800e-04 9.99940273e-01 -4.61819405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters 0.02859454813639068 Centerline is valid? [True, True] Translation: X:258.87, Y:-11.67, Z:-4.62 [[ 9.99921394e-01 6.97412226e-03 1.04195515e-02 2.58874871e+02] [-6.96947305e-03 9.99975597e-01 -4.82444898e-04 -1.16725929e+01] [-1.04226619e-02 4.09788191e-04 9.99945599e-01 -4.61901349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994391418 meters 0.029698887961035886 Centerline is valid? [True, True] Translation: X:258.91, Y:-11.68, Z:-4.62 [[ 9.99928370e-01 5.98758298e-03 1.03636098e-02 2.58905429e+02] [-5.98289708e-03 9.99981986e-01 -4.83094189e-04 -1.16758824e+01] [-1.03663157e-02 4.21055173e-04 9.99946180e-01 -4.61979093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters 0.030307179771185917 Centerline is valid? [True, True] Translation: X:258.94, Y:-11.68, Z:-4.62 [[ 9.99926968e-01 5.89914489e-03 1.05479627e-02 2.58937605e+02] [-5.89426576e-03 9.99982507e-01 -4.93593942e-04 -1.16781533e+01] [-1.05506900e-02 4.31385398e-04 9.99944247e-01 -4.62007879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.054391418 meters 0.030918269434548444 Centerline is valid? [True, True] Translation: X:258.97, Y:-11.68, Z:-4.62 [[ 9.99926953e-01 5.79639073e-03 1.06061633e-02 2.58968456e+02] [-5.79141204e-03 9.99983105e-01 -5.00067737e-04 -1.16803406e+01] [-1.06088826e-02 4.38606547e-04 9.99943628e-01 -4.62019084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters 0.0288763322066467 Centerline is valid? [True, True] Translation: X:259.00, Y:-11.68, Z:-4.62 [[ 9.99919338e-01 5.96134261e-03 1.12151583e-02 2.59001211e+02] [-5.95577884e-03 9.99982124e-01 -5.29427214e-04 -1.16786039e+01] [-1.12181140e-02 4.62589507e-04 9.99936968e-01 -4.61971989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.114391418 meters 0.02920778719213032 Centerline is valid? [True, True] Translation: X:259.03, Y:-11.68, Z:-4.62 [[ 9.99919337e-01 5.80924200e-03 1.12948170e-02 2.59033825e+02] [-5.80354524e-03 9.99983015e-01 -5.37079873e-04 -1.16791596e+01] [-1.12977452e-02 4.71486569e-04 9.99936067e-01 -4.61968224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters 0.031058288497676577 Centerline is valid? [True, True] Translation: X:259.06, Y:-11.68, Z:-4.62 [[ 9.99930895e-01 5.48545232e-03 1.03978268e-02 2.59064649e+02] [-5.48057119e-03 9.99984858e-01 -4.97873160e-04 -1.16822963e+01] [-1.04004004e-02 4.40852724e-04 9.99945817e-01 -4.62111165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.174391418 meters 0.03132886015208951 Centerline is valid? [True, True] Translation: X:259.10, Y:-11.68, Z:-4.62 [[ 9.99933104e-01 5.18937554e-03 1.03372430e-02 2.59096377e+02] [-5.18452744e-03 9.99986437e-01 -4.95736036e-04 -1.16839902e+01] [-1.03396754e-02 4.42109153e-04 9.99946446e-01 -4.62233056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204391418 meters 0.03132886015208951 Centerline is valid? [True, True] Translation: X:259.13, Y:-11.69, Z:-4.62 [[ 9.99931473e-01 5.49476764e-03 1.03371407e-02 2.59128959e+02] [-5.48991394e-03 9.99984806e-01 -4.97857303e-04 -1.16857250e+01] [-1.03397193e-02 4.41073173e-04 9.99946446e-01 -4.62291760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23439141800003 meters 0.0301081594775939 Centerline is valid? [True, True] Translation: X:259.16, Y:-11.69, Z:-4.62 [[ 9.99938538e-01 5.04968896e-03 9.87017174e-03 2.59161682e+02] [-5.04521243e-03 9.99987158e-01 -4.78388842e-04 -1.16854595e+01] [-9.87246071e-03 4.28562327e-04 9.99951174e-01 -4.62371730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264391418 meters 0.03380496242799933 Centerline is valid? [True, True] Translation: X:259.19, Y:-11.69, Z:-4.63 [[ 9.99940695e-01 4.66737507e-03 9.83980953e-03 2.59192833e+02] [-4.66287926e-03 9.99989014e-01 -4.79792219e-04 -1.16918104e+01] [-9.84194079e-03 4.33881921e-04 9.99951473e-01 -4.62527843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294391418 meters 0.03288235196129035 Centerline is valid? [True, True] Translation: X:259.22, Y:-11.69, Z:-4.63 [[ 9.99953553e-01 3.11174756e-03 9.12194258e-03 2.59224589e+02] [-3.10780084e-03 9.99995071e-01 -4.46805258e-04 -1.16904405e+01] [-9.12328797e-03 4.18435324e-04 9.99958294e-01 -4.62551214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324391418 meters 0.0324261522947922 Centerline is valid? [True, True] Translation: X:259.26, Y:-11.69, Z:-4.63 [[ 9.99961218e-01 2.34015107e-03 8.49037760e-03 2.59256545e+02] [-2.33669078e-03 9.99997183e-01 -4.17452441e-04 -1.16907579e+01] [-8.49133059e-03 3.97596864e-04 9.99963869e-01 -4.62627668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354391418 meters 0.03448483564507983 Centerline is valid? [True, True] Translation: X:259.29, Y:-11.69, Z:-4.63 [[ 9.99971783e-01 2.69925784e-04 7.50734685e-03 2.59287242e+02] [-2.67140229e-04 9.99999895e-01 -3.72044072e-04 -1.16937241e+01] [-7.50744648e-03 3.70028060e-04 9.99971750e-01 -4.62799288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384391418 meters 0.03270312291546926 Centerline is valid? [True, True] Translation: X:259.32, Y:-11.69, Z:-4.63 [[ 9.99974776e-01 -6.90915847e-04 7.06896371e-03 2.59319699e+02] [ 6.93404041e-04 9.99999699e-01 -3.49543656e-04 -1.16921562e+01] [-7.06872008e-03 3.54436487e-04 9.99974953e-01 -4.62783995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414391418 meters 0.03280256233919684 Centerline is valid? [True, True] Translation: X:259.35, Y:-11.69, Z:-4.63 [[ 9.99972646e-01 -1.43706630e-03 7.25544766e-03 2.59352038e+02] [ 1.43972270e-03 9.99998898e-01 -3.60915471e-04 -1.16931894e+01] [-7.25492100e-03 3.71351431e-04 9.99973614e-01 -4.62785976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444391418 meters 0.03465093626462092 Centerline is valid? [True, True] Translation: X:259.38, Y:-11.69, Z:-4.63 [[ 9.99963043e-01 -2.83942985e-03 8.11486759e-03 2.59383233e+02] [ 2.84283350e-03 9.99995876e-01 -4.07929741e-04 -1.16949840e+01] [-8.11367584e-03 4.30983882e-04 9.99966991e-01 -4.62724694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474391418 meters 0.03522206693929987 Centerline is valid? [True, True] Translation: X:259.41, Y:-11.70, Z:-4.63 [[ 9.99954656e-01 -2.66986749e-03 9.14098485e-03 2.59414104e+02] [ 2.67420162e-03 9.99996318e-01 -4.61951945e-04 -1.16960397e+01] [-9.13971784e-03 4.86375835e-04 9.99958114e-01 -4.62693332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504391418 meters 0.03431377780158151 Centerline is valid? [True, True] Translation: X:259.45, Y:-11.69, Z:-4.63 [[ 9.99950947e-01 -2.09566261e-03 9.68050195e-03 2.59446063e+02] [ 2.10050118e-03 9.99997674e-01 -4.89686137e-04 -1.16949921e+01] [-9.67945322e-03 5.09996022e-04 9.99953023e-01 -4.62678215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534391418 meters 0.03431226265363385 Centerline is valid? [True, True] Translation: X:259.48, Y:-11.70, Z:-4.63 [[ 9.99945405e-01 -1.29846156e-03 1.03683100e-02 2.59478797e+02] [ 1.30397756e-03 9.99999012e-01 -5.25262957e-04 -1.16953459e+01] [-1.03676178e-02 5.38754324e-04 9.99946110e-01 -4.62645725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564391418 meters 0.0324020357489664 Centerline is valid? [True, True] Translation: X:259.51, Y:-11.69, Z:-4.63 [[ 9.99923422e-01 2.15445761e-03 1.21864295e-02 2.59510038e+02] [-2.14706913e-03 9.99997503e-01 -6.19337927e-04 -1.16912465e+01] [-1.21877334e-02 5.93125393e-04 9.99925551e-01 -4.62505525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594391418 meters 0.029124548355955373 Centerline is valid? [True, True] Translation: X:259.54, Y:-11.68, Z:-4.62 [[ 9.99876970e-01 7.03451934e-03 1.40199700e-02 2.59541110e+02] [-7.02521339e-03 9.99975069e-01 -7.12903186e-04 -1.16844124e+01] [-1.40246354e-02 6.14322196e-04 9.99901461e-01 -4.62418919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624391418 meters 0.02702270319205261 Centerline is valid? [True, True] Translation: X:259.57, Y:-11.68, Z:-4.62 [[ 9.99844574e-01 9.71153363e-03 1.47144376e-02 2.59572796e+02] [-9.70156860e-03 9.99952659e-01 -7.48458737e-04 -1.16811495e+01] [-1.47210097e-02 6.05589281e-04 9.99891457e-01 -4.62427625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654391418 meters 0.027910540338503265 Centerline is valid? [True, True] Translation: X:259.60, Y:-11.68, Z:-4.62 [[ 9.99807739e-01 1.22167034e-02 1.53374222e-02 2.59603641e+02] [-1.22061607e-02 9.99925197e-01 -7.80806069e-04 -1.16819824e+01] [-1.53458138e-02 5.93444911e-04 9.99882070e-01 -4.62446116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684391418 meters 0.02383932747676593 Centerline is valid? [True, True] Translation: X:259.64, Y:-11.67, Z:-4.62 [[ 9.99732990e-01 1.70094878e-02 1.56405551e-02 2.59635835e+02] [-1.69991005e-02 9.99855187e-01 -7.96836590e-04 -1.16736388e+01] [-1.56518439e-02 5.30748458e-04 9.99877362e-01 -4.62398065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714391418 meters 0.02218426344768268 Centerline is valid? [True, True] Translation: X:259.67, Y:-11.67, Z:-4.62 [[ 9.99671644e-01 2.04120438e-02 1.54903852e-02 2.59668005e+02] [-2.04022487e-02 9.99791540e-01 -7.90115834e-04 -1.16694210e+01] [-1.55032840e-02 4.73817704e-04 9.99879705e-01 -4.62480182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744391418 meters 0.02218426344768268 Centerline is valid? [True, True] Translation: X:259.70, Y:-11.67, Z:-4.63 [[ 9.99670820e-01 2.04524060e-02 1.54903344e-02 2.59698821e+02] [-2.04426003e-02 9.99790715e-01 -7.91110438e-04 -1.16710329e+01] [-1.55032726e-02 4.74187305e-04 9.99879705e-01 -4.62535783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774391418 meters 0.02283525054604418 Centerline is valid? [True, True] Translation: X:259.73, Y:-11.67, Z:-4.63 [[ 9.99641579e-01 2.18364192e-02 1.54881939e-02 2.59728946e+02] [-2.18267717e-02 9.99761454e-01 -7.91679133e-04 -1.16725215e+01] [-1.55017867e-02 4.53338106e-04 9.99879737e-01 -4.62630192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.804391418 meters 0.02139177459204854 Centerline is valid? [True, True] Translation: X:259.76, Y:-11.67, Z:-4.63 [[ 9.99623737e-01 2.28094545e-02 1.52352816e-02 2.59759230e+02] [-2.28002271e-02 9.99739737e-01 -7.79106849e-04 -1.16703276e+01] [-1.52490875e-02 4.31445818e-04 9.99883633e-01 -4.62687000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834391418 meters 0.02104314836425526 Centerline is valid? [True, True] Translation: X:259.79, Y:-11.67, Z:-4.63 [[ 9.99602328e-01 2.38294701e-02 1.50778690e-02 2.59789485e+02] [-2.38205482e-02 9.99715953e-01 -7.71057030e-04 -1.16700484e+01] [-1.50919601e-02 4.11587296e-04 9.99886025e-01 -4.62775385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.864391418 meters 0.019658335724290044 Centerline is valid? [True, True] Translation: X:259.82, Y:-11.67, Z:-4.63 [[ 9.99556444e-01 2.59853384e-02 1.45491510e-02 2.59819190e+02] [-2.59772575e-02 9.99662257e-01 -7.44158739e-04 -1.16668753e+01] [-1.45635743e-02 3.65881621e-04 9.99893879e-01 -4.62872077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894391418 meters 0.01953056932771373 Centerline is valid? [True, True] Translation: X:259.85, Y:-11.67, Z:-4.63 [[ 9.99540844e-01 2.68248548e-02 1.40900234e-02 2.59848556e+02] [-2.68173670e-02 9.99640090e-01 -7.20127926e-04 -1.16665906e+01] [-1.41042696e-02 3.41939948e-04 9.99900471e-01 -4.62968174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.924391418 meters 0.018588221590078457 Centerline is valid? [True, True] Translation: X:259.88, Y:-11.66, Z:-4.63 [[ 9.99470188e-01 2.95666885e-02 1.36071617e-02 2.59878103e+02] [-2.95599650e-02 9.99562767e-01 -6.95016874e-04 -1.16634035e+01] [-1.36217615e-02 2.92421423e-04 9.99907177e-01 -4.63104969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954391418 meters 0.018140863076139435 Centerline is valid? [True, True] Translation: X:259.91, Y:-11.66, Z:-4.63 [[ 9.99422580e-01 3.10684604e-02 1.37570898e-02 2.59905991e+02] [-3.10617392e-02 9.99517221e-01 -7.02016414e-04 -1.16626569e+01] [-1.37722588e-02 2.74291920e-04 9.99905120e-01 -4.63171574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98439141800003 meters 0.017458161778103696 Centerline is valid? [True, True] Translation: X:259.94, Y:-11.66, Z:-4.63 [[ 9.99376374e-01 3.24734852e-02 1.38685218e-02 2.59935106e+02] [-3.24668109e-02 9.99472565e-01 -7.06184074e-04 -1.16611350e+01] [-1.38841394e-02 2.55477002e-04 9.99903578e-01 -4.63196030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014391418 meters 0.016691133723172408 Centerline is valid? [True, True] Translation: X:259.96, Y:-11.66, Z:-4.63 [[ 9.99277455e-01 3.50045898e-02 1.48069986e-02 2.59964263e+02] [-3.49972784e-02 9.99387124e-01 -7.52687731e-04 -1.16586925e+01] [-1.48242713e-02 2.33939225e-04 9.99890087e-01 -4.63143208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters 0.016312639380187705 Centerline is valid? [True, True] Translation: X:259.99, Y:-11.66, Z:-4.63 [[ 9.99244566e-01 3.57967518e-02 1.51290745e-02 2.59993268e+02] [-3.57892284e-02 9.99359065e-01 -7.67824882e-04 -1.16584958e+01] [-1.51468634e-02 2.25786940e-04 9.99885254e-01 -4.63187952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074391418 meters 0.016455213391031065 Centerline is valid? [True, True] Translation: X:260.02, Y:-11.66, Z:-4.63 [[ 9.99231527e-01 3.60359305e-02 1.54196940e-02 2.60021470e+02] [-3.60281626e-02 9.99350470e-01 -7.81347916e-04 -1.16598361e+01] [-1.54378351e-02 2.25204228e-04 9.99880804e-01 -4.63273756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters 0.016719929162848826 Centerline is valid? [True, True] Translation: X:260.05, Y:-11.66, Z:-4.63 [[ 9.99257318e-01 3.52862252e-02 1.54821029e-02 2.60050356e+02] [-3.52783308e-02 9.99377219e-01 -7.82803915e-04 -1.16605314e+01] [-1.55000831e-02 2.36039794e-04 9.99879839e-01 -4.63392536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134391418 meters 0.01673514619703548 Centerline is valid? [True, True] Translation: X:260.08, Y:-11.66, Z:-4.63 [[ 9.99279541e-01 3.47193965e-02 1.53284886e-02 2.60079587e+02] [-3.47116097e-02 9.99397071e-01 -7.73841931e-04 -1.16615562e+01] [-1.53461139e-02 2.41207896e-04 9.99882212e-01 -4.63498922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters 0.017385773809783848 Centerline is valid? [True, True] Translation: X:260.11, Y:-11.66, Z:-4.64 [[ 9.99359679e-01 3.31049857e-02 1.35753948e-02 2.60107186e+02] [-3.30987396e-02 9.99451852e-01 -6.84579967e-04 -1.16633439e+01] [-1.35906165e-02 2.34813159e-04 9.99907616e-01 -4.63773877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194391418 meters 0.01756659036420051 Centerline is valid? [True, True] Translation: X:260.14, Y:-11.67, Z:-4.64 [[ 9.99391201e-01 3.24285381e-02 1.28692656e-02 2.60135018e+02] [-3.24228879e-02 9.99474030e-01 -6.47495124e-04 -1.16654248e+01] [-1.28834941e-02 2.29842174e-04 9.99916978e-01 -4.63947077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters 0.017996535198926245 Centerline is valid? [True, True] Translation: X:260.16, Y:-11.67, Z:-4.64 [[ 9.99428261e-01 3.16280428e-02 1.19506288e-02 2.60162515e+02] [-3.16231258e-02 9.99499684e-01 -6.00228604e-04 -1.16678798e+01] [-1.19636337e-02 2.21969192e-04 9.99928409e-01 -4.64141421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254391418 meters 0.018398838405410928 Centerline is valid? [True, True] Translation: X:260.19, Y:-11.67, Z:-4.64 [[ 9.99459436e-01 3.08414552e-02 1.13859774e-02 2.60191125e+02] [-3.08369540e-02 9.99524265e-01 -5.70717232e-04 -1.16701925e+01] [-1.13981625e-02 2.19299860e-04 9.99935015e-01 -4.64305906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters 0.018048203802692852 Centerline is valid? [True, True] Translation: X:260.22, Y:-11.67, Z:-4.64 [[ 9.99485198e-01 3.02024953e-02 1.08234958e-02 2.60220254e+02] [-3.01983985e-02 9.99543778e-01 -5.41780748e-04 -1.16709550e+01] [-1.08349210e-02 2.14649600e-04 9.99941277e-01 -4.64370165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314391418 meters 0.017865049919518598 Centerline is valid? [True, True] Translation: X:260.25, Y:-11.67, Z:-4.64 [[ 9.99502132e-01 2.97573797e-02 1.04874377e-02 2.60248545e+02] [-2.97535154e-02 9.99557129e-01 -5.24333108e-04 -1.16719333e+01] [-1.04983959e-02 2.12033920e-04 9.99944868e-01 -4.64407069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters 0.018689899939063802 Centerline is valid? [True, True] Translation: X:260.28, Y:-11.67, Z:-4.65 [[ 9.99539477e-01 2.86855987e-02 9.89801866e-03 2.60275719e+02] [-2.86821115e-02 9.99588461e-01 -4.94119299e-04 -1.16749103e+01] [-9.90811935e-03 2.09995671e-04 9.99950891e-01 -4.64558542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374391418 meters 0.019126497522621768 Centerline is valid? [True, True] Translation: X:260.30, Y:-11.68, Z:-4.65 [[ 9.99561982e-01 2.80581520e-02 9.41195368e-03 2.60303526e+02] [-2.80549826e-02 9.99606272e-01 -4.68632246e-04 -1.16771890e+01] [-9.42139688e-03 2.04374781e-04 9.99955597e-01 -4.64692387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters 0.019270422153408486 Centerline is valid? [True, True] Translation: X:260.33, Y:-11.68, Z:-4.65 [[ 9.99585571e-01 2.75329312e-02 8.40379114e-03 2.60331710e+02] [-2.75303904e-02 9.99620880e-01 -4.17892465e-04 -1.16793710e+01] [-8.41211090e-03 1.86359627e-04 9.99964600e-01 -4.64836515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434391418 meters 0.019616382655263335 Centerline is valid? [True, True] Translation: X:260.36, Y:-11.68, Z:-4.65 [[ 9.99628161e-01 2.60941255e-02 7.91433450e-03 2.60360050e+02] [-2.60918351e-02 9.99659473e-01 -3.92530767e-04 -1.16827348e+01] [-7.92188220e-03 1.85885298e-04 9.99968604e-01 -4.65020351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters 0.019943827640299592 Centerline is valid? [True, True] Translation: X:260.39, Y:-11.69, Z:-4.65 [[ 9.99643495e-01 2.54588054e-02 8.04563372e-03 2.60389091e+02] [-2.54564231e-02 9.99675853e-01 -3.98379137e-04 -1.16856751e+01] [-8.05316801e-03 1.93424056e-04 9.99967554e-01 -4.65110906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494391418 meters 0.01990347291644035 Centerline is valid? [True, True] Translation: X:260.42, Y:-11.69, Z:-4.65 [[ 9.99683912e-01 2.41221779e-02 7.08492925e-03 2.60418114e+02] [-2.41202997e-02 9.99709002e-01 -3.50442991e-04 -1.16882870e+01] [-7.09132099e-03 1.79441604e-04 9.99974840e-01 -4.65193912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters 0.01973166503548969 Centerline is valid? [True, True] Translation: X:260.45, Y:-11.69, Z:-4.65 [[ 9.99696660e-01 2.36836074e-02 6.75837907e-03 2.60446520e+02] [-2.36818915e-02 9.99719489e-01 -3.33825869e-04 -1.16904320e+01] [-6.76438947e-03 1.73673407e-04 9.99977106e-01 -4.65226177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.554391418 meters 0.020102262138338656 Centerline is valid? [True, True] Translation: X:260.48, Y:-11.69, Z:-4.65 [[ 9.99721991e-01 2.28520991e-02 5.80710471e-03 2.60475339e+02] [-2.28508198e-02 9.99738845e-01 -2.86570557e-04 -1.16931427e+01] [-5.81213689e-03 1.53793785e-04 9.99983098e-01 -4.65331136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters 0.020615204419764974 Centerline is valid? [True, True] Translation: X:260.50, Y:-11.70, Z:-4.65 [[ 9.99741444e-01 2.21433474e-02 5.16886165e-03 2.60504045e+02] [-2.21423257e-02 9.99754796e-01 -2.54808435e-04 -1.16960026e+01] [-5.17323654e-03 1.40291935e-04 9.99986609e-01 -4.65461061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.614391418 meters 0.021320017308873222 Centerline is valid? [True, True] Translation: X:260.53, Y:-11.70, Z:-4.66 [[ 9.99771996e-01 2.10143323e-02 3.78859775e-03 2.60532863e+02] [-2.10137750e-02 9.99779169e-01 -1.86838338e-04 -1.17006115e+01] [-3.79168740e-03 1.07182998e-04 9.99992806e-01 -4.65660711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters 0.02194896061012601 Centerline is valid? [True, True] Translation: X:260.56, Y:-11.70, Z:-4.66 [[ 9.99790663e-01 2.02228470e-02 3.10904954e-03 2.60560503e+02] [-2.02224670e-02 9.99795493e-01 -1.53619848e-04 -1.17040517e+01] [-3.11152035e-03 9.07150377e-05 9.99995155e-01 -4.65789318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.674391418 meters 0.02298345546213494 Centerline is valid? [True, True] Translation: X:260.59, Y:-11.71, Z:-4.66 [[ 9.99821372e-01 1.88395913e-02 1.51463376e-03 2.60587717e+02] [-1.88394984e-02 9.99822518e-01 -7.55824604e-05 -1.17087329e+01] [-1.51578888e-03 4.70340191e-05 9.99998850e-01 -4.66004816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704391418 meters 0.022620552493607185 Centerline is valid? [True, True] Translation: X:260.62, Y:-11.71, Z:-4.66 [[ 9.99831978e-01 1.82775544e-02 1.39540661e-03 2.60616002e+02] [-1.82774755e-02 9.99832951e-01 -6.93225571e-05 -1.17107481e+01] [-1.39644055e-03 4.38063994e-05 9.99999024e-01 -4.66068774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73439141800003 meters 0.022746829478618332 Centerline is valid? [True, True] Translation: X:260.64, Y:-11.71, Z:-4.66 [[ 9.99841154e-01 1.78028822e-02 8.51263644e-04 2.60644324e+02] [-1.78028522e-02 9.99841516e-01 -4.27806217e-05 -1.17129805e+01] [-8.51890350e-04 2.76189053e-05 9.99999637e-01 -4.66144504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764391418 meters 0.022945653757023225 Centerline is valid? [True, True] Translation: X:260.67, Y:-11.72, Z:-4.66 [[ 9.99841754e-01 1.77732298e-02 7.61307934e-04 2.60673078e+02] [-1.77732058e-02 9.99842043e-01 -3.83425123e-05 -1.17153801e+01] [-7.61869151e-04 2.48055622e-05 9.99999709e-01 -4.66222856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794391418 meters 0.022708582813630425 Centerline is valid? [True, True] Translation: X:260.70, Y:-11.72, Z:-4.66 [[ 9.99826674e-01 1.85933511e-02 9.53352984e-04 2.60701950e+02] [-1.85933142e-02 9.99827128e-01 -4.75741708e-05 -1.17167649e+01] [-9.54072740e-04 2.98399334e-05 9.99999544e-01 -4.66215873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824391418 meters 0.022216767677765665 Centerline is valid? [True, True] Translation: X:260.73, Y:-11.72, Z:-4.66 [[ 9.99809281e-01 1.94626662e-02 1.61413885e-03 2.60731227e+02] [-1.94625638e-02 9.99810583e-01 -7.91302646e-05 -1.17172404e+01] [-1.61537319e-03 4.76998926e-05 9.99998694e-01 -4.66171444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854391418 meters 0.02228986869003178 Centerline is valid? [True, True] Translation: X:260.76, Y:-11.72, Z:-4.66 [[ 9.99787262e-01 2.05570301e-02 1.68517940e-03 2.60758643e+02] [-2.05569192e-02 9.99788681e-01 -8.30930225e-05 -1.17186685e+01] [-1.68653144e-03 4.84332486e-05 9.99998577e-01 -4.66188094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884391418 meters 0.022226544477299284 Centerline is valid? [True, True] Translation: X:260.79, Y:-11.72, Z:-4.66 [[ 9.99769837e-01 2.13438049e-02 2.17120283e-03 2.60786385e+02] [-2.13436243e-02 9.99772193e-01 -1.06305822e-04 -1.17197089e+01] [-2.17297718e-03 5.99400174e-05 9.99997637e-01 -4.66204353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914391418 meters 0.02152554154137323 Centerline is valid? [True, True] Translation: X:260.82, Y:-11.72, Z:-4.66 [[ 9.99733723e-01 2.29141368e-02 2.72497614e-03 2.60815739e+02] [-2.29138596e-02 9.99737434e-01 -1.32913970e-04 -1.17205974e+01] [-2.72730626e-03 7.04388575e-05 9.99996278e-01 -4.66183209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944391418 meters 0.019856599596912175 Centerline is valid? [True, True] Translation: X:260.84, Y:-11.72, Z:-4.66 [[ 9.99718343e-01 2.35069071e-02 3.26496101e-03 2.60844436e+02] [-2.35065160e-02 9.99723671e-01 -1.58105656e-04 -1.17205993e+01] [-3.26777538e-03 8.13132667e-05 9.99994658e-01 -4.66075343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974391418 meters 0.01923080719216597 Centerline is valid? [True, True] Translation: X:260.87, Y:-11.72, Z:-4.66 [[ 9.99724208e-01 2.32575579e-02 3.25487666e-03 2.60873058e+02] [-2.32571687e-02 9.99729503e-01 -1.57397073e-04 -1.17215378e+01] [-3.25765690e-03 8.16544482e-05 9.99994690e-01 -4.66075388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004391418 meters 0.021832292435807074 Centerline is valid? [True, True] Translation: X:260.90, Y:-11.73, Z:-4.66 [[ 9.99735978e-01 2.27313490e-02 3.35554968e-03 2.60900642e+02] [-2.27309324e-02 9.99741606e-01 -1.62231006e-04 -1.17274293e+01] [-3.35837036e-03 8.59133999e-05 9.99994357e-01 -4.66353880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034391418 meters 0.020054609863655922 Centerline is valid? [True, True] Translation: X:260.93, Y:-11.73, Z:-4.66 [[ 9.99749713e-01 2.21089405e-02 3.42134145e-03 2.60929369e+02] [-2.21085061e-02 9.99755564e-01 -1.64733448e-04 -1.17264360e+01] [-3.42414723e-03 8.90514686e-05 9.99994134e-01 -4.66206379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064391418 meters 0.020326217992311286 Centerline is valid? [True, True] Translation: X:260.96, Y:-11.73, Z:-4.66 [[ 9.99786076e-01 2.03528598e-02 3.68294523e-03 2.60957525e+02] [-2.03523450e-02 9.99792854e-01 -1.77228559e-04 -1.17292074e+01] [-3.68578943e-03 1.02234074e-04 9.99993202e-01 -4.66233424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094391418 meters 0.020326217992311286 Centerline is valid? [True, True] Translation: X:260.99, Y:-11.73, Z:-4.66 [[ 9.99787704e-01 2.02727235e-02 3.68297655e-03 2.60985809e+02] [-2.02722105e-02 9.99794482e-01 -1.76571831e-04 -1.17304782e+01] [-3.68579923e-03 1.01872270e-04 9.99993202e-01 -4.66284527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124391418 meters 0.021086701548687897 Centerline is valid? [True, True] Translation: X:261.01, Y:-11.73, Z:-4.66 [[ 9.99809169e-01 1.92175819e-02 3.50844747e-03 2.61013071e+02] [-1.92171097e-02 9.99815320e-01 -1.68269795e-04 -1.17331568e+01] [-3.51103327e-03 1.00815464e-04 9.99993831e-01 -4.66359252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154391418 meters 0.02128533097561749 Centerline is valid? [True, True] Translation: X:261.04, Y:-11.74, Z:-4.66 [[ 9.99828054e-01 1.81962397e-02 3.57213112e-03 2.61041930e+02] [-1.81957461e-02 9.99834429e-01 -1.70654903e-04 -1.17350351e+01] [-3.57464495e-03 1.05627969e-04 9.99993605e-01 -4.66399019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184391418 meters 0.02398559888841085 Centerline is valid? [True, True] Translation: X:261.07, Y:-11.74, Z:-4.67 [[ 9.99858491e-01 1.63782207e-02 3.84074764e-03 2.61069508e+02] [-1.63776372e-02 9.99865861e-01 -1.83343440e-04 -1.17404882e+01] [-3.84323529e-03 1.20415124e-04 9.99992607e-01 -4.66558488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214391418 meters 0.023328393543439907 Centerline is valid? [True, True] Translation: X:261.10, Y:-11.74, Z:-4.67 [[ 9.99874936e-01 1.53976199e-02 3.60901304e-03 2.61098753e+02] [-1.53971003e-02 9.99881443e-01 -1.71722490e-04 -1.17409779e+01] [-3.61122929e-03 1.16132678e-04 9.99993473e-01 -4.66517491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244391418 meters 0.02392743195077152 Centerline is valid? [True, True] Translation: X:261.13, Y:-11.74, Z:-4.67 [[ 9.99889364e-01 1.43742154e-02 3.82637725e-03 2.61127627e+02] [-1.43736253e-02 9.99896678e-01 -1.81679584e-04 -1.17433362e+01] [-3.82859340e-03 1.26660571e-04 9.99992663e-01 -4.66577959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274391418 meters 0.024284166381654163 Centerline is valid? [True, True] Translation: X:261.16, Y:-11.75, Z:-4.67 [[ 9.99898012e-01 1.35657560e-02 4.46486010e-03 2.61156221e+02] [-1.35649471e-02 9.99907970e-01 -2.11416215e-04 -1.17452386e+01] [-4.46731722e-03 1.50829062e-04 9.99990010e-01 -4.66607055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.304391418 meters 0.02552549764719682 Centerline is valid? [True, True] Translation: X:261.18, Y:-11.75, Z:-4.67 [[ 9.99905034e-01 1.24091792e-02 5.99456426e-03 2.61183936e+02] [-1.24077037e-02 9.99922981e-01 -2.83264630e-04 -1.17478887e+01] [-5.99761765e-03 2.08858952e-04 9.99981992e-01 -4.66569983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334391418 meters 0.025430459387772664 Centerline is valid? [True, True] Translation: X:261.21, Y:-11.75, Z:-4.67 [[ 9.99902430e-01 1.22207078e-02 6.76648997e-03 2.61213718e+02] [-1.22188355e-02 9.99925297e-01 -3.17985146e-04 -1.17486151e+01] [-6.76987050e-03 2.35275492e-04 9.99977056e-01 -4.66541447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.364391418 meters 0.02265009963375729 Centerline is valid? [True, True] Translation: X:261.24, Y:-11.74, Z:-4.66 [[ 9.99875864e-01 1.34121850e-02 8.26863331e-03 2.61243312e+02] [-1.34094333e-02 9.99910014e-01 -3.88129567e-04 -1.17445820e+01] [-8.27309491e-03 2.77203699e-04 9.99965739e-01 -4.66369111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394391418 meters 0.022719571060622692 Centerline is valid? [True, True] Translation: X:261.27, Y:-11.75, Z:-4.66 [[ 9.99849349e-01 1.49199219e-02 8.86986126e-03 2.61272899e+02] [-1.49168202e-02 9.99888652e-01 -4.15752239e-04 -1.17454355e+01] [-8.87507660e-03 2.83379480e-04 9.99960576e-01 -4.66415823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.424391418 meters 0.02101000787947563 Centerline is valid? [True, True] Translation: X:261.30, Y:-11.74, Z:-4.66 [[ 9.99784061e-01 1.86266113e-02 9.21310419e-03 2.61303199e+02] [-1.86234219e-02 9.99826476e-01 -4.31860180e-04 -1.17420505e+01] [-9.21954958e-03 2.60187399e-04 9.99957465e-01 -4.66428356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454391418 meters 0.020408566795708138 Centerline is valid? [True, True] Translation: X:261.33, Y:-11.74, Z:-4.66 [[ 9.99736842e-01 2.06922917e-02 9.90333367e-03 2.61331924e+02] [-2.06887116e-02 9.99785858e-01 -4.63822190e-04 -1.17417999e+01] [-9.91081050e-03 2.58812917e-04 9.99950853e-01 -4.66444688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48439141800003 meters 0.019568690118151415 Centerline is valid? [True, True] Translation: X:261.36, Y:-11.74, Z:-4.66 [[ 9.99690798e-01 2.25163153e-02 1.05509994e-02 2.61361487e+02] [-2.25123620e-02 9.99746443e-01 -4.93317497e-04 -1.17411633e+01] [-1.05594318e-02 2.55637044e-04 9.99944215e-01 -4.66493706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514391418 meters 0.018899159069489184 Centerline is valid? [True, True] Translation: X:261.39, Y:-11.74, Z:-4.67 [[ 9.99643239e-01 2.42634141e-02 1.11661019e-02 2.61390149e+02] [-2.42590977e-02 9.99705569e-01 -5.21864564e-04 -1.17409091e+01] [-1.11754765e-02 2.50798825e-04 9.99937521e-01 -4.66514003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters 0.017298729738337765 Centerline is valid? [True, True] Translation: X:261.42, Y:-11.74, Z:-4.67 [[ 9.99541790e-01 2.78844651e-02 1.17756497e-02 2.61418829e+02] [-2.78799274e-02 9.99611128e-01 -5.49366598e-04 -1.17387461e+01] [-1.17863892e-02 2.20810616e-04 9.99930514e-01 -4.66513454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574391418 meters 0.01655135756916992 Centerline is valid? [True, True] Translation: X:261.45, Y:-11.74, Z:-4.67 [[ 9.99514329e-01 2.88917798e-02 1.16778346e-02 2.61448069e+02] [-2.88873963e-02 9.99582524e-01 -5.43907239e-04 -1.17388237e+01] [-1.16886739e-02 2.06300842e-04 9.99931664e-01 -4.66539551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters 0.01661248075321725 Centerline is valid? [True, True] Translation: X:261.48, Y:-11.74, Z:-4.67 [[ 9.99477942e-01 2.99263235e-02 1.21761894e-02 2.61475811e+02] [-2.99216455e-02 9.99552087e-01 -5.66219954e-04 -1.17404127e+01] [-1.21876804e-02 2.01592731e-04 9.99925707e-01 -4.66674412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634391418 meters 0.016354905909483606 Centerline is valid? [True, True] Translation: X:261.50, Y:-11.74, Z:-4.67 [[ 9.99462653e-01 3.06379769e-02 1.16499157e-02 2.61504531e+02] [-3.06337580e-02 9.99530530e-01 -5.40454056e-04 -1.17411999e+01] [-1.16610049e-02 1.83282945e-04 9.99931991e-01 -4.66770941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters 0.015625501012975145 Centerline is valid? [True, True] Translation: X:261.53, Y:-11.74, Z:-4.67 [[ 9.99432636e-01 3.18266243e-02 1.10214436e-02 2.61533070e+02] [-3.18229291e-02 9.99493392e-01 -5.10533902e-04 -1.17410407e+01] [-1.10321086e-02 1.59509627e-04 9.99939132e-01 -4.66875924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694391418 meters 0.015485160064001104 Centerline is valid? [True, True] Translation: X:261.56, Y:-11.74, Z:-4.67 [[ 9.99420643e-01 3.21942159e-02 1.10413605e-02 2.61561701e+02] [-3.21905394e-02 9.99481620e-01 -5.10580731e-04 -1.17414462e+01] [-1.10520746e-02 1.54857573e-04 9.99938912e-01 -4.66937013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters 0.015592854321387517 Centerline is valid? [True, True] Translation: X:261.59, Y:-11.74, Z:-4.67 [[ 9.99411151e-01 3.25302090e-02 1.09149827e-02 2.61590010e+02] [-3.25266457e-02 9.99470742e-01 -5.03865005e-04 -1.17424650e+01] [-1.09255967e-02 1.48540529e-04 9.99940303e-01 -4.67028958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754391418 meters 0.015634240088126552 Centerline is valid? [True, True] Translation: X:261.62, Y:-11.74, Z:-4.67 [[ 9.99394624e-01 3.32021583e-02 1.03923741e-02 2.61618079e+02] [-3.31989709e-02 9.99448647e-01 -4.79119657e-04 -1.17439294e+01] [-1.04025520e-02 1.33813486e-04 9.99945883e-01 -4.67127502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters 0.01576310165139284 Centerline is valid? [True, True] Translation: X:261.65, Y:-11.74, Z:-4.67 [[ 9.99407681e-01 3.28519277e-02 1.02487801e-02 2.61646501e+02] [-3.28488213e-02 9.99460221e-01 -4.71334558e-04 -1.17446476e+01] [-1.02587322e-02 1.34395032e-04 9.99947369e-01 -4.67187390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814391418 meters 0.016156316505380557 Centerline is valid? [True, True] Translation: X:261.67, Y:-11.75, Z:-4.67 [[ 9.99423907e-01 3.24096822e-02 1.00730947e-02 2.61674643e+02] [-3.24066651e-02 9.99474659e-01 -4.62642822e-04 -1.17468791e+01] [-1.00827970e-02 1.35940892e-04 9.99949158e-01 -4.67288623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters 0.01700598499421656 Centerline is valid? [True, True] Translation: X:261.70, Y:-11.75, Z:-4.67 [[ 9.99478207e-01 3.07042623e-02 1.00280988e-02 2.61702702e+02] [-3.07011961e-02 9.99528502e-01 -4.59590846e-04 -1.17493422e+01] [-1.00374820e-02 1.51476406e-04 9.99949612e-01 -4.67322917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874391418 meters 0.01685461560830115 Centerline is valid? [True, True] Translation: X:261.73, Y:-11.75, Z:-4.67 [[ 9.99516060e-01 2.93325754e-02 1.03559608e-02 2.61731942e+02] [-2.93292438e-02 9.99569693e-01 -4.73473698e-04 -1.17505511e+01] [-1.03653927e-02 1.69512068e-04 9.99946264e-01 -4.67294002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters 0.01739443083784163 Centerline is valid? [True, True] Translation: X:261.76, Y:-11.75, Z:-4.67 [[ 9.99557022e-01 2.77397400e-02 1.07826861e-02 2.61760965e+02] [-2.77360452e-02 9.99615161e-01 -4.92083477e-04 -1.17535155e+01] [-1.07921868e-02 1.92796425e-04 9.99941744e-01 -4.67340663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934391418 meters 0.01895046122937284 Centerline is valid? [True, True] Translation: X:261.79, Y:-11.76, Z:-4.67 [[ 9.99641393e-01 2.44783425e-02 1.08580244e-02 2.61788979e+02] [-2.44744128e-02 9.99700334e-01 -4.94665164e-04 -1.17583489e+01] [-1.08668792e-02 2.28744003e-04 9.99940928e-01 -4.67395999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters 0.01972226585913498 Centerline is valid? [True, True] Translation: X:261.82, Y:-11.76, Z:-4.67 [[ 9.99678558e-01 2.30763535e-02 1.05006042e-02 2.61817068e+02] [-2.30726091e-02 9.99733678e-01 -4.77611780e-04 -1.17612901e+01] [-1.05088292e-02 2.35181921e-04 9.99944753e-01 -4.67445051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994391418 meters 0.019056466118391367 Centerline is valid? [True, True] Translation: X:261.85, Y:-11.76, Z:-4.67 [[ 9.99715904e-01 2.14539751e-02 1.03844773e-02 2.61845590e+02] [-2.14502332e-02 9.99769806e-01 -4.71592839e-04 -1.17609451e+01] [-1.03922044e-02 2.48709402e-04 9.99945969e-01 -4.67409702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters 0.019995292882997028 Centerline is valid? [True, True] Translation: X:261.88, Y:-11.76, Z:-4.67 [[ 9.99765008e-01 1.91212736e-02 1.02130472e-02 2.61875216e+02] [-1.91175439e-02 9.99817136e-01 -4.62700278e-04 -1.17636182e+01] [-1.02200270e-02 2.67343170e-04 9.99947738e-01 -4.67431651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.054391418 meters 0.020091253670285004 Centerline is valid? [True, True] Translation: X:261.90, Y:-11.77, Z:-4.67 [[ 9.99779359e-01 1.82373017e-02 1.04227700e-02 2.61904612e+02] [-1.82333737e-02 9.99833647e-01 -4.71771304e-04 -1.17654212e+01] [-1.04296400e-02 2.81624952e-04 9.99945570e-01 -4.67477503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters 0.022547582152535654 Centerline is valid? [True, True] Translation: X:261.93, Y:-11.77, Z:-4.68 [[ 9.99788072e-01 1.76797114e-02 1.05470026e-02 2.61933765e+02] [-1.76756645e-02 9.99843660e-01 -4.76806687e-04 -1.17707887e+01] [-1.05537835e-02 2.90280359e-04 9.99944265e-01 -4.67571976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.114391418 meters 0.020438857654546113 Centerline is valid? [True, True] Translation: X:261.96, Y:-11.77, Z:-4.68 [[ 9.99789136e-01 1.74189728e-02 1.08749167e-02 2.61963495e+02] [-1.74146558e-02 9.99848233e-01 -4.91546187e-04 -1.17684447e+01] [-1.08818285e-02 3.02059605e-04 9.99940746e-01 -4.67524412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters 0.0204985664232428 Centerline is valid? [True, True] Translation: X:261.99, Y:-11.77, Z:-4.68 [[ 9.99788052e-01 1.73267835e-02 1.11190563e-02 2.61993465e+02] [-1.73222699e-02 9.99849832e-01 -5.02116576e-04 -1.17688853e+01] [-1.11260866e-02 3.09402860e-04 9.99938055e-01 -4.67519873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.174391418 meters 0.01991909390847115 Centerline is valid? [True, True] Translation: X:262.02, Y:-11.77, Z:-4.68 [[ 9.99769643e-01 1.80502860e-02 1.16124539e-02 2.62023629e+02] [-1.80454191e-02 9.99837031e-01 -5.23765615e-04 -1.17693774e+01] [-1.16200155e-02 3.14093365e-04 9.99932436e-01 -4.67546383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204391418 meters 0.02020998409386356 Centerline is valid? [True, True] Translation: X:262.05, Y:-11.77, Z:-4.68 [[ 9.99754756e-01 1.86445174e-02 1.19503107e-02 2.62053561e+02] [-1.86394119e-02 9.99826126e-01 -5.38468775e-04 -1.17702850e+01] [-1.19582724e-02 3.15589954e-04 9.99928448e-01 -4.67605596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23439141800003 meters 0.02056080623767286 Centerline is valid? [True, True] Translation: X:262.08, Y:-11.77, Z:-4.68 [[ 9.99748408e-01 1.89579521e-02 1.19881570e-02 2.62083097e+02] [-1.89528328e-02 9.99820233e-01 -5.40502396e-04 -1.17725082e+01] [-1.19962487e-02 3.13156874e-04 9.99927993e-01 -4.67682743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264391418 meters 0.020557337779372627 Centerline is valid? [True, True] Translation: X:262.11, Y:-11.77, Z:-4.68 [[ 9.99755841e-01 1.90516452e-02 1.11934025e-02 2.62113043e+02] [-1.90471821e-02 9.99818458e-01 -5.05205098e-04 -1.17737608e+01] [-1.12009955e-02 2.91878972e-04 9.99937224e-01 -4.67814284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294391418 meters 0.02026149101350627 Centerline is valid? [True, True] Translation: X:262.14, Y:-11.77, Z:-4.68 [[ 9.99777655e-01 1.87544843e-02 9.63897457e-03 2.62142781e+02] [-1.87511607e-02 9.99824087e-01 -4.35074786e-04 -1.17741760e+01] [-9.64543855e-03 2.54236088e-04 9.99953449e-01 -4.67995665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324391418 meters 0.020783727543113882 Centerline is valid? [True, True] Translation: X:262.17, Y:-11.78, Z:-4.68 [[ 9.99791877e-01 1.83026644e-02 9.01198511e-03 2.62172836e+02] [-1.82997436e-02 9.99832463e-01 -4.06461138e-04 -1.17758482e+01] [-9.01791459e-03 2.41459527e-04 9.99959309e-01 -4.68129800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354391418 meters 0.02165576178508462 Centerline is valid? [True, True] Translation: X:262.20, Y:-11.78, Z:-4.68 [[ 9.99826685e-01 1.68561977e-02 7.90375434e-03 2.62202407e+02] [-1.68539077e-02 9.99857899e-01 -3.56251567e-04 -1.17777360e+01] [-7.90863626e-03 2.22980676e-04 9.99968701e-01 -4.68267401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384391418 meters 0.022379335942432257 Centerline is valid? [True, True] Translation: X:262.23, Y:-11.78, Z:-4.68 [[ 9.99841765e-01 1.61135889e-02 7.53639342e-03 2.62230913e+02] [-1.61114863e-02 9.99870144e-01 -3.39630735e-04 -1.17796561e+01] [-7.54088744e-03 2.18154494e-04 9.99971543e-01 -4.68338690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414391418 meters 0.02243430562567209 Centerline is valid? [True, True] Translation: X:262.26, Y:-11.78, Z:-4.68 [[ 9.99858564e-01 1.53281730e-02 6.92096460e-03 2.62260436e+02] [-1.53263846e-02 9.99882496e-01 -3.11368587e-04 -1.17804378e+01] [-6.92492407e-03 2.05251183e-04 9.99976001e-01 -4.68382558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444391418 meters 0.021613031612070344 Centerline is valid? [True, True] Translation: X:262.29, Y:-11.78, Z:-4.68 [[ 9.99871359e-01 1.46054704e-02 6.62912840e-03 2.62289595e+02] [-1.46038121e-02 9.99893314e-01 -2.98484798e-04 -1.17803191e+01] [-6.63278068e-03 2.01635855e-04 9.99977983e-01 -4.68396558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474391418 meters 0.021683251253583977 Centerline is valid? [True, True] Translation: X:262.32, Y:-11.78, Z:-4.68 [[ 9.99882510e-01 1.37369663e-02 6.80160286e-03 2.62318828e+02] [-1.37352045e-02 9.99905621e-01 -3.05673976e-04 -1.17807929e+01] [-6.80515996e-03 2.12216656e-04 9.99976822e-01 -4.68391260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504391418 meters 0.022020923718042543 Centerline is valid? [True, True] Translation: X:262.35, Y:-11.78, Z:-4.68 [[ 9.99886477e-01 1.36198162e-02 6.44473396e-03 2.62347131e+02] [-1.36182364e-02 9.99907226e-01 -2.88945298e-04 -1.17820008e+01] [-6.44807143e-03 2.01146586e-04 9.99979191e-01 -4.68440392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534391418 meters 0.02199708268928035 Centerline is valid? [True, True] Translation: X:262.38, Y:-11.78, Z:-4.68 [[ 9.99875444e-01 1.40847009e-02 7.12161363e-03 2.62376633e+02] [-1.40827891e-02 9.99900782e-01 -3.18522139e-04 -1.17821727e+01] [-7.12539333e-03 2.18190282e-04 9.99974590e-01 -4.68350644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564391418 meters 0.022021884597971778 Centerline is valid? [True, True] Translation: X:262.41, Y:-11.78, Z:-4.68 [[ 9.99870452e-01 1.42018565e-02 7.57532964e-03 2.62405951e+02] [-1.41996978e-02 9.99899122e-01 -3.38674039e-04 -1.17827042e+01] [-7.57937526e-03 2.31062773e-04 9.99971249e-01 -4.68330307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594391418 meters 0.02207449764636124 Centerline is valid? [True, True] Translation: X:262.44, Y:-11.78, Z:-4.68 [[ 9.99866377e-01 1.42835664e-02 7.95032024e-03 2.62435292e+02] [-1.42811972e-02 9.99897956e-01 -3.54705702e-04 -1.17834047e+01] [-7.95457542e-03 2.41118215e-04 9.99968333e-01 -4.68315890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624391418 meters 0.021889488650070874 Centerline is valid? [True, True] Translation: X:262.46, Y:-11.78, Z:-4.68 [[ 9.99852467e-01 1.49580297e-02 8.44396869e-03 2.62464702e+02] [-1.49553843e-02 9.99888091e-01 -3.76345647e-04 -1.17832964e+01] [-8.44865312e-03 2.50007328e-04 9.99964278e-01 -4.68260201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654391418 meters 0.022131356969743235 Centerline is valid? [True, True] Translation: X:262.49, Y:-11.78, Z:-4.68 [[ 9.99857562e-01 1.48774406e-02 7.96980577e-03 2.62494037e+02] [-1.48750836e-02 9.99889297e-01 -3.54934354e-04 -1.17841650e+01] [-7.97420400e-03 2.36332270e-04 9.99968178e-01 -4.68318151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684391418 meters 0.021528286430226324 Centerline is valid? [True, True] Translation: X:262.52, Y:-11.78, Z:-4.68 [[ 9.99862205e-01 1.47428850e-02 7.63005102e-03 2.62523292e+02] [-1.47407227e-02 9.99891292e-01 -3.39543944e-04 -1.17839678e+01] [-7.63422743e-03 2.27024690e-04 9.99970833e-01 -4.68334090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714391418 meters 0.02178481731265152 Centerline is valid? [True, True] Translation: X:262.55, Y:-11.78, Z:-4.68 [[ 9.99884553e-01 1.37786438e-02 6.40538984e-03 2.62552874e+02] [-1.37771011e-02 9.99905051e-01 -2.84907115e-04 -1.17847209e+01] [-6.40870729e-03 1.96626520e-04 9.99979445e-01 -4.68378709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744391418 meters 0.022730953896027497 Centerline is valid? [True, True] Translation: X:262.58, Y:-11.79, Z:-4.68 [[ 9.99898480e-01 1.28402668e-02 6.17720286e-03 2.62581223e+02] [-1.28388150e-02 9.99917541e-01 -2.74629032e-04 -1.17867724e+01] [-6.18021981e-03 1.95293187e-04 9.99980883e-01 -4.68457937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774391418 meters 0.02325474117095563 Centerline is valid? [True, True] Translation: X:262.61, Y:-11.79, Z:-4.68 [[ 9.99907354e-01 1.23244447e-02 5.77849932e-03 2.62610035e+02] [-1.23231661e-02 9.99924034e-01 -2.56812487e-04 -1.17886083e+01] [-5.78122542e-03 1.85579288e-04 9.99983271e-01 -4.68489947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.804391418 meters 0.023022170084301363 Centerline is valid? [True, True] Translation: X:262.64, Y:-11.79, Z:-4.69 [[ 9.99919053e-01 1.18789822e-02 4.55810545e-03 2.62639522e+02] [-1.18781834e-02 9.99929431e-01 -2.02270283e-04 -1.17882962e+01] [-4.56018655e-03 1.48111897e-04 9.99989591e-01 -4.68509295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834391418 meters 0.02343065970568511 Centerline is valid? [True, True] Translation: X:262.67, Y:-11.79, Z:-4.69 [[ 9.99920836e-01 1.19012061e-02 4.08452864e-03 2.62667783e+02] [-1.19005642e-02 9.99929169e-01 -1.81436973e-04 -1.17892853e+01] [-4.08639865e-03 1.32814414e-04 9.99991642e-01 -4.68622923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.864391418 meters 0.02369594427204017 Centerline is valid? [True, True] Translation: X:262.70, Y:-11.79, Z:-4.69 [[ 9.99911207e-01 1.29481004e-02 3.15041323e-03 2.62695446e+02] [-1.29477215e-02 9.99916165e-01 -1.40640518e-04 -1.17890266e+01] [-3.15197014e-03 9.98373568e-05 9.99995028e-01 -4.68766528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894391418 meters 0.02296963758013996 Centerline is valid? [True, True] Translation: X:262.72, Y:-11.79, Z:-4.69 [[ 9.99901907e-01 1.37714749e-02 2.55385759e-03 2.62724553e+02] [-1.37712294e-02 9.99905166e-01 -1.13720985e-04 -1.17879225e+01] [-2.55518150e-03 7.85400716e-05 9.99996732e-01 -4.68806703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.924391418 meters 0.021772063011565153 Centerline is valid? [True, True] Translation: X:262.75, Y:-11.79, Z:-4.69 [[ 9.99885347e-01 1.49882621e-02 2.15529050e-03 2.62753402e+02] [-1.49880899e-02 9.99887668e-01 -9.60510002e-05 -1.17861026e+01] [-2.15648803e-03 6.37362999e-05 9.99997673e-01 -4.68752346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954391418 meters 0.021295644185867758 Centerline is valid? [True, True] Translation: X:262.78, Y:-11.79, Z:-4.69 [[ 9.99867828e-01 1.61349129e-02 1.99760962e-03 2.62781845e+02] [-1.61347674e-02 9.99869822e-01 -8.89665534e-05 -1.17851352e+01] [-1.99878504e-03 5.67238281e-05 9.99998001e-01 -4.68750088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98439141800003 meters 0.020072047862470677 Centerline is valid? [True, True] Translation: X:262.81, Y:-11.78, Z:-4.69 [[ 9.99824653e-01 1.86021079e-02 2.15071948e-03 2.62810955e+02] [-1.86019455e-02 9.99826964e-01 -9.55229336e-05 -1.17818163e+01] [-2.15212426e-03 5.54986174e-05 9.99997683e-01 -4.68669642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014391418 meters 0.020072047862470677 Centerline is valid? [True, True] Translation: X:262.84, Y:-11.78, Z:-4.69 [[ 9.99826147e-01 1.85216149e-02 2.15072711e-03 2.62839241e+02] [-1.85214526e-02 9.99828459e-01 -9.53496182e-05 -1.17829773e+01] [-2.15212420e-03 5.54984510e-05 9.99997683e-01 -4.68720733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters 0.020770950902117127 Centerline is valid? [True, True] Translation: X:262.87, Y:-11.78, Z:-4.69 [[ 9.99802506e-01 1.97108519e-02 2.53610598e-03 2.62866800e+02] [-1.97106305e-02 9.99805720e-01 -1.12268634e-04 -1.17842834e+01] [-2.53782618e-03 6.22582138e-05 9.99996778e-01 -4.68848333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074391418 meters 0.021164713975050434 Centerline is valid? [True, True] Translation: X:262.89, Y:-11.79, Z:-4.69 [[ 9.99790783e-01 2.02785570e-02 2.67781214e-03 2.62894378e+02] [-2.02783133e-02 9.99794367e-01 -1.18102188e-04 -1.17852174e+01] [-2.67965644e-03 6.37759653e-05 9.99996408e-01 -4.68904081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters 0.01926115050959641 Centerline is valid? [True, True] Translation: X:262.92, Y:-11.78, Z:-4.69 [[ 9.99771253e-01 2.10951168e-02 3.52672816e-03 2.62922975e+02] [-2.10947032e-02 9.99777470e-01 -1.54437984e-04 -1.17814395e+01] [-3.52920125e-03 8.00073725e-05 9.99993769e-01 -4.68622005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134391418 meters 0.019280283583060602 Centerline is valid? [True, True] Translation: X:262.95, Y:-11.78, Z:-4.69 [[ 9.99776236e-01 2.07716418e-02 4.00202485e-03 2.62951850e+02] [-2.07711086e-02 9.99784242e-01 -1.74740253e-04 -1.17821523e+01] [-4.00479102e-03 9.15746594e-05 9.99991977e-01 -4.68634800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters 0.019671867112030415 Centerline is valid? [True, True] Translation: X:262.98, Y:-11.78, Z:-4.69 [[ 9.99788516e-01 2.01829273e-02 3.94623845e-03 2.62980673e+02] [-2.01824055e-02 9.99796300e-01 -1.71998427e-04 -1.17839197e+01] [-3.94890603e-03 9.23174674e-05 9.99992199e-01 -4.68722906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194391418 meters 0.02092877806271561 Centerline is valid? [True, True] Translation: X:263.01, Y:-11.79, Z:-4.69 [[ 9.99837613e-01 1.77346494e-02 3.19847627e-03 2.63009167e+02] [-1.77342941e-02 9.99842725e-01 -1.39413829e-04 -1.17869855e+01] [-3.20044568e-03 8.26684710e-05 9.99994875e-01 -4.68941727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters 0.021385741756167514 Centerline is valid? [True, True] Translation: X:263.04, Y:-11.79, Z:-4.69 [[ 9.99866947e-01 1.61201275e-02 2.49593880e-03 2.63037945e+02] [-1.61199058e-02 9.99870060e-01 -1.08916194e-04 -1.17889569e+01] [-2.49737022e-03 6.86674039e-05 9.99996879e-01 -4.69062399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254391418 meters 0.023458563109300033 Centerline is valid? [True, True] Translation: X:263.07, Y:-11.79, Z:-4.69 [[ 9.99933195e-01 1.13883968e-02 1.97714183e-03 2.63067277e+02] [-1.13882494e-02 9.99935148e-01 -8.57800320e-05 -1.17935159e+01] [-1.97799051e-03 6.32581173e-05 9.99998042e-01 -4.69159458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters 0.02582410525984448 Centerline is valid? [True, True] Translation: X:263.10, Y:-11.80, Z:-4.69 [[ 9.99960947e-01 8.65860150e-03 1.77028515e-03 2.63096018e+02] [-8.65847858e-03 9.99962512e-01 -7.70890260e-05 -1.17984957e+01] [-1.77088627e-03 6.17580393e-05 9.99998430e-01 -4.69308987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314391418 meters 0.0257745638046433 Centerline is valid? [True, True] Translation: X:263.13, Y:-11.80, Z:-4.69 [[ 9.99980500e-01 5.98688793e-03 1.77661809e-03 2.63125447e+02] [-5.98676059e-03 9.99982076e-01 -7.69860387e-05 -1.17998082e+01] [-1.77704715e-03 6.63483503e-05 9.99998419e-01 -4.69270447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters 0.028659438763561255 Centerline is valid? [True, True] Translation: X:263.16, Y:-11.81, Z:-4.69 [[ 9.99996933e-01 1.01522614e-03 2.25918701e-03 2.63155946e+02] [-1.01500961e-03 9.99999480e-01 -9.69890986e-05 -1.18056238e+01] [-2.25928430e-03 9.46957046e-05 9.99997443e-01 -4.69312051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374391418 meters 0.029780835913755625 Centerline is valid? [True, True] Translation: X:263.19, Y:-11.81, Z:-4.69 [[ 9.99995240e-01 -9.65399028e-04 2.93066803e-03 2.63187320e+02] [ 9.65770158e-04 9.99999526e-01 -1.25223874e-04 -1.18087185e+01] [-2.93054575e-03 1.28053629e-04 9.99995698e-01 -4.69309637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters 0.03215253659340041 Centerline is valid? [True, True] Translation: X:263.22, Y:-11.81, Z:-4.69 [[ 9.99984298e-01 -4.28105599e-03 3.61599978e-03 2.63216946e+02] [ 4.28164578e-03 9.99990822e-01 -1.55380506e-04 -1.18131906e+01] [-3.61530140e-03 1.70860497e-04 9.99993450e-01 -4.69253605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434391418 meters 0.03053265035415168 Centerline is valid? [True, True] Translation: X:263.25, Y:-11.81, Z:-4.69 [[ 9.99977557e-01 -5.25755413e-03 4.15255883e-03 2.63248982e+02] [ 5.25833566e-03 9.99986159e-01 -1.77310119e-04 -1.18123921e+01] [-4.15156913e-03 1.99141688e-04 9.99991362e-01 -4.69179238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters 0.03453801583536398 Centerline is valid? [True, True] Translation: X:263.28, Y:-11.82, Z:-4.69 [[ 9.99971341e-01 -6.14767168e-03 4.41841232e-03 2.63279496e+02] [ 6.14856840e-03 9.99981079e-01 -1.89397269e-04 -1.18189663e+01] [-4.41716437e-03 2.16558752e-04 9.99990221e-01 -4.69326982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494391418 meters 0.032549450233547245 Centerline is valid? [True, True] Translation: X:263.31, Y:-11.82, Z:-4.69 [[ 9.99969247e-01 -6.67287587e-03 4.12033579e-03 2.63311921e+02] [ 6.67365977e-03 9.99977715e-01 -1.76531155e-04 -1.18178372e+01] [-4.11906600e-03 2.04023445e-04 9.99991496e-01 -4.69286374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters 0.03184655504012226 Centerline is valid? [True, True] Translation: X:263.34, Y:-11.82, Z:-4.69 [[ 9.99969450e-01 -6.60421466e-03 4.18126635e-03 2.63344257e+02] [ 6.60502275e-03 9.99978170e-01 -1.79483625e-04 -1.18185540e+01] [-4.17998972e-03 2.07095501e-04 9.99991242e-01 -4.69317148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.554391418 meters 0.03188517192327023 Centerline is valid? [True, True] Translation: X:263.38, Y:-11.82, Z:-4.69 [[ 9.99968941e-01 -6.44226098e-03 4.54040352e-03 2.63376066e+02] [ 6.44321441e-03 9.99979223e-01 -1.95391763e-04 -1.18202694e+01] [-4.53905042e-03 2.24640487e-04 9.99989673e-01 -4.69303236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters 0.031692642648159006 Centerline is valid? [True, True] Translation: X:263.41, Y:-11.82, Z:-4.69 [[ 9.99971674e-01 -5.95556594e-03 4.60247313e-03 2.63407889e+02] [ 5.95654227e-03 9.99982240e-01 -1.98452567e-04 -1.18215538e+01] [-4.60120950e-03 2.25861772e-04 9.99989389e-01 -4.69327830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.614391418 meters 0.030742543140104297 Centerline is valid? [True, True] Translation: X:263.44, Y:-11.82, Z:-4.69 [[ 9.99977271e-01 -4.85732253e-03 4.67587283e-03 2.63439931e+02] [ 4.85832010e-03 9.99988178e-01 -2.02009209e-04 -1.18221007e+01] [-4.67483633e-03 2.24721505e-04 9.99989048e-01 -4.69364467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters 0.030569542472217274 Centerline is valid? [True, True] Translation: X:263.47, Y:-11.82, Z:-4.69 [[ 9.99983952e-01 -3.83777855e-03 4.16746838e-03 2.63472368e+02] [ 3.83856292e-03 9.99992616e-01 -1.80231109e-04 -1.18238606e+01] [-4.16674593e-03 1.96225306e-04 9.99991300e-01 -4.69482432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.674391418 meters 0.030363600745558394 Centerline is valid? [True, True] Translation: X:263.50, Y:-11.83, Z:-4.70 [[ 9.99993996e-01 -1.18752867e-03 3.25552733e-03 2.63502880e+02] [ 1.18799603e-03 9.99999284e-01 -1.41627829e-04 -1.18259630e+01] [-3.25535681e-03 1.45494532e-04 9.99994691e-01 -4.69714217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704391418 meters 0.029352404507878974 Centerline is valid? [True, True] Translation: X:263.53, Y:-11.83, Z:-4.70 [[ 9.99995371e-01 8.87739488e-04 2.91024806e-03 2.63534146e+02] [-8.87375578e-04 9.99999598e-01 -1.26333054e-04 -1.18261347e+01] [-2.91035904e-03 1.23749986e-04 9.99995757e-01 -4.69808331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73439141800003 meters 0.025303010330155955 Centerline is valid? [True, True] Translation: X:263.57, Y:-11.82, Z:-4.70 [[ 9.99991923e-01 3.10912759e-03 2.54690108e-03 2.63565821e+02] [-3.10885612e-03 9.99995161e-01 -1.10540564e-04 -1.18215512e+01] [-2.54723244e-03 1.02621722e-04 9.99996751e-01 -4.69743187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764391418 meters 0.02542827629431095 Centerline is valid? [True, True] Translation: X:263.60, Y:-11.82, Z:-4.70 [[ 9.99978114e-01 6.23626292e-03 2.20942363e-03 2.63595901e+02] [-6.23606554e-03 9.99980551e-01 -9.62148901e-05 -1.18226502e+01] [-2.20998069e-03 8.24346737e-05 9.99997555e-01 -4.69902635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794391418 meters 0.021415138308497034 Centerline is valid? [True, True] Translation: X:263.63, Y:-11.82, Z:-4.70 [[ 9.99909384e-01 1.33272629e-02 1.89954405e-03 2.63626318e+02] [-1.33271285e-02 9.99911186e-01 -8.33644856e-05 -1.18163446e+01] [-1.90048636e-03 5.80414637e-05 9.99998192e-01 -4.69897673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824391418 meters 0.019813731410626447 Centerline is valid? [True, True] Translation: X:263.66, Y:-11.81, Z:-4.70 [[ 9.99844680e-01 1.75395286e-02 1.72661134e-03 2.63655117e+02] [-1.75394222e-02 9.99846170e-01 -7.67610049e-05 -1.18137325e+01] [-1.72769208e-03 4.64653171e-05 9.99998506e-01 -4.69940141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854391418 meters 0.01828439908594617 Centerline is valid? [True, True] Translation: X:263.68, Y:-11.81, Z:-4.70 [[ 9.99753229e-01 2.21200051e-02 2.04622127e-03 2.63683426e+02] [-2.21198661e-02 9.99755322e-01 -9.05211703e-05 -1.18112278e+01] [-2.04772293e-03 4.52366918e-05 9.99997902e-01 -4.69995358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884391418 meters 0.015174008786786116 Centerline is valid? [True, True] Translation: X:263.71, Y:-11.80, Z:-4.70 [[ 9.99464679e-01 3.26342378e-02 2.31538826e-03 2.63713196e+02] [-3.26340904e-02 9.99467361e-01 -1.01420006e-04 -1.18035371e+01] [-2.31746476e-03 2.58051242e-05 9.99997314e-01 -4.70007268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914391418 meters 0.014350763971182954 Centerline is valid? [True, True] Translation: X:263.74, Y:-11.80, Z:-4.70 [[ 9.99265532e-01 3.82492353e-02 2.32233279e-03 2.63742731e+02] [-3.82491017e-02 9.99268230e-01 -1.01934269e-04 -1.17997485e+01] [-2.32453228e-03 1.30322588e-05 9.99997298e-01 -4.70036137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944391418 meters 0.014088219319434925 Centerline is valid? [True, True] Translation: X:263.77, Y:-11.80, Z:-4.70 [[ 9.99038831e-01 4.37615154e-02 2.51876699e-03 2.63771395e+02] [-4.37613756e-02 9.99042006e-01 -1.10616190e-04 -1.17960039e+01] [-2.52119476e-03 2.85160576e-07 9.99996822e-01 -4.70055833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974391418 meters 0.015292281482774384 Centerline is valid? [True, True] Translation: X:263.80, Y:-11.79, Z:-4.70 [[ 9.98587506e-01 5.30371934e-02 3.17008791e-03 2.63800873e+02] [-5.30370115e-02 9.98592537e-01 -1.41491471e-04 -1.17888191e+01] [-3.17313044e-03 -2.68403743e-05 9.99994965e-01 -4.70012428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004391418 meters 0.016254649116198422 Centerline is valid? [True, True] Translation: X:263.83, Y:-11.79, Z:-4.70 [[ 9.98399942e-01 5.64064631e-02 3.98341127e-03 2.63830035e+02] [-5.64062121e-02 9.98407887e-01 -1.75403806e-04 -1.17870340e+01] [-3.98696313e-03 -4.95659915e-05 9.99992051e-01 -4.70033114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034391418 meters 0.017198425904372157 Centerline is valid? [True, True] Translation: X:263.86, Y:-11.79, Z:-4.70 [[ 9.98248743e-01 5.90164521e-02 4.06264375e-03 2.63857671e+02] [-5.90162274e-02 9.98257008e-01 -1.75261176e-04 -1.17860335e+01] [-4.06590589e-03 -6.48076586e-05 9.99991732e-01 -4.70052757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064391418 meters 0.018168057278145296 Centerline is valid? [True, True] Translation: X:263.89, Y:-11.79, Z:-4.70 [[ 9.98100762e-01 6.13770266e-02 5.26580315e-03 2.63885210e+02] [-6.13766874e-02 9.98114648e-01 -2.26138485e-04 -1.17864664e+01] [-5.26975496e-03 -9.74885593e-05 9.99986110e-01 -4.70120357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094391418 meters 0.017956705354041782 Centerline is valid? [True, True] Translation: X:263.91, Y:-11.79, Z:-4.70 [[ 9.98143469e-01 6.06632681e-02 5.43904908e-03 2.63913219e+02] [-6.06628847e-02 9.98158284e-01 -2.35595558e-04 -1.17888839e+01] [-5.44332389e-03 -9.47902397e-05 9.99985181e-01 -4.70195087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124391418 meters 0.017348019797844713 Centerline is valid? [True, True] Translation: X:263.94, Y:-11.79, Z:-4.70 [[ 9.98238495e-01 5.90573130e-02 5.66933826e-03 2.63942269e+02] [-5.90568973e-02 9.98254589e-01 -2.40858384e-04 -1.17924629e+01] [-5.67366739e-03 -9.43794162e-05 9.99983900e-01 -4.70277982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154391418 meters 0.015326389076463644 Centerline is valid? [True, True] Translation: X:263.97, Y:-11.80, Z:-4.70 [[ 9.98588282e-01 5.28516365e-02 5.30548422e-03 2.63970825e+02] [-5.28511865e-02 9.98602374e-01 -2.25080895e-04 -1.18011468e+01] [-5.30996503e-03 -5.56379919e-05 9.99985900e-01 -4.70455167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184391418 meters 0.014449977434410177 Centerline is valid? [True, True] Translation: X:264.00, Y:-11.81, Z:-4.71 [[ 9.98817514e-01 4.83558081e-02 5.02891088e-03 2.63999152e+02] [-4.83553483e-02 9.98830173e-01 -2.13042136e-04 -1.18075328e+01] [-5.03332975e-03 -3.03845209e-05 9.99987332e-01 -4.70585110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214391418 meters 0.013778319597670972 Centerline is valid? [True, True] Translation: X:264.03, Y:-11.82, Z:-4.71 [[ 9.99060542e-01 4.31203358e-02 4.32083323e-03 2.64027263e+02] [-4.31199480e-02 9.99069886e-01 -1.82909655e-04 -1.18150625e+01] [-4.32470149e-03 -3.57628529e-06 9.99990648e-01 -4.70726351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244391418 meters 0.013680459769202572 Centerline is valid? [True, True] Translation: X:264.06, Y:-11.82, Z:-4.71 [[ 9.99284698e-01 3.75856809e-02 4.17230994e-03 2.64055775e+02] [-3.75852719e-02 9.99293408e-01 -1.76406386e-04 -1.18229917e+01] [-4.17599218e-03 1.94627986e-05 9.99991280e-01 -4.70756834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274391418 meters 0.016442002424166772 Centerline is valid? [True, True] Translation: X:264.08, Y:-11.84, Z:-4.71 [[ 9.99653422e-01 2.59983397e-02 4.13792175e-03 2.64083475e+02] [-2.59978395e-02 9.99661984e-01 -1.74637647e-04 -1.18388489e+01] [-4.14106335e-03 6.70000963e-05 9.99991424e-01 -4.70932341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.304391418 meters 0.019850701491656037 Centerline is valid? [True, True] Translation: X:264.11, Y:-11.85, Z:-4.71 [[ 9.99862143e-01 1.58813583e-02 4.84527317e-03 2.64113578e+02] [-1.58805615e-02 9.99873875e-01 -2.02879217e-04 -1.18517496e+01] [-4.84788406e-03 1.25905590e-04 9.99988241e-01 -4.70873669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334391418 meters 0.022105521939569956 Centerline is valid? [True, True] Translation: X:264.14, Y:-11.86, Z:-4.71 [[ 9.99915759e-01 1.15203205e-02 5.97972926e-03 2.64142354e+02] [-1.15190248e-02 9.99933622e-01 -2.51085989e-04 -1.18587913e+01] [-5.98222493e-03 1.82184187e-04 9.99982090e-01 -4.70882171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.364391418 meters 0.024059264011994486 Centerline is valid? [True, True] Translation: X:264.17, Y:-11.87, Z:-4.71 [[ 9.99944137e-01 7.99091632e-03 6.91874257e-03 2.64171548e+02] [-7.98910274e-03 9.99968045e-01 -2.89723655e-04 -1.18653616e+01] [-6.92083664e-03 2.34432925e-04 9.99976023e-01 -4.70890427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394391418 meters 0.023967852728972217 Centerline is valid? [True, True] Translation: X:264.20, Y:-11.87, Z:-4.71 [[ 9.99950704e-01 5.32713682e-03 8.37916728e-03 2.64202741e+02] [-5.32439373e-03 9.99985764e-01 -3.49643476e-04 -1.18684808e+01] [-8.38091060e-03 3.05012255e-04 9.99964833e-01 -4.70807408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.424391418 meters 0.02631444030053224 Centerline is valid? [True, True] Translation: X:264.23, Y:-11.88, Z:-4.71 [[ 9.99942528e-01 2.86042754e-03 1.03323987e-02 2.64233709e+02] [-2.85613636e-03 9.99995829e-01 -4.30044627e-04 -1.18768831e+01] [-1.03335857e-02 4.00509172e-04 9.99946527e-01 -4.70788057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454391418 meters 0.026258447744571815 Centerline is valid? [True, True] Translation: X:264.27, Y:-11.88, Z:-4.71 [[ 9.99937347e-01 2.83362003e-03 1.08292477e-02 2.64266313e+02] [-2.82887615e-03 9.99995896e-01 -4.53354446e-04 -1.18798475e+01] [-1.08304879e-02 4.22691442e-04 9.99941259e-01 -4.70820751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48439141800003 meters 0.025976594765562258 Centerline is valid? [True, True] Translation: X:264.30, Y:-11.88, Z:-4.71 [[ 9.99928364e-01 4.38990379e-03 1.11353248e-02 2.64297126e+02] [-4.38492321e-03 9.99990275e-01 -4.71653071e-04 -1.18834911e+01] [-1.11372870e-02 4.22791739e-04 9.99937889e-01 -4.70891048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514391418 meters 0.02571356754972234 Centerline is valid? [True, True] Translation: X:264.33, Y:-11.89, Z:-4.71 [[ 9.99921974e-01 5.84732260e-03 1.10388262e-02 2.64328144e+02] [-5.84251702e-03 9.99982823e-01 -4.67532456e-04 -1.18857986e+01] [-1.10413704e-02 4.03001446e-04 9.99938961e-01 -4.70978687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters 0.024335682788286832 Centerline is valid? [True, True] Translation: X:264.36, Y:-11.89, Z:-4.71 [[ 9.99907945e-01 7.40687728e-03 1.13683639e-02 2.64360019e+02] [-7.40186909e-03 9.99972489e-01 -4.82549244e-04 -1.18863910e+01] [-1.13716254e-02 3.98357682e-04 9.99935262e-01 -4.71015885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574391418 meters 0.0229636659807014 Centerline is valid? [True, True] Translation: X:264.39, Y:-11.89, Z:-4.71 [[ 9.99885945e-01 1.03562084e-02 1.09929793e-02 2.64392760e+02] [-1.03516625e-02 9.99946309e-01 -4.70343416e-04 -1.18879226e+01] [-1.09972601e-02 3.56494159e-04 9.99939465e-01 -4.71112351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters 0.021006258736174784 Centerline is valid? [True, True] Translation: X:264.42, Y:-11.89, Z:-4.71 [[ 9.99864890e-01 1.21536206e-02 1.10675571e-02 2.64424968e+02] [-1.21491133e-02 9.99926084e-01 -4.74403507e-04 -1.18874885e+01] [-1.10725048e-02 3.39878405e-04 9.99938640e-01 -4.71155015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634391418 meters 0.02017841948455454 Centerline is valid? [True, True] Translation: X:264.46, Y:-11.89, Z:-4.71 [[ 9.99832509e-01 1.53842501e-02 9.91356209e-03 2.64456297e+02] [-1.53807675e-02 9.99881618e-01 -4.27443456e-04 -1.18893026e+01] [-9.91896439e-03 2.74893669e-04 9.99950768e-01 -4.71340514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters 0.019707895085322516 Centerline is valid? [True, True] Translation: X:264.49, Y:-11.89, Z:-4.71 [[ 9.99811191e-01 1.70097529e-02 9.39418386e-03 2.64486567e+02] [-1.70066549e-02 9.99855293e-01 -4.09576828e-04 -1.18907928e+01] [-9.39979125e-03 2.49735854e-04 9.99955790e-01 -4.71496570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694391418 meters 0.01954071793745269 Centerline is valid? [True, True] Translation: X:264.52, Y:-11.89, Z:-4.72 [[ 9.99792451e-01 1.82039500e-02 9.14716939e-03 2.64515935e+02] [-1.82010650e-02 9.99834267e-01 -3.98555170e-04 -1.18925006e+01] [-9.15290868e-03 2.31984225e-04 9.99958084e-01 -4.71633591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters 0.01891451230982702 Centerline is valid? [True, True] Translation: X:264.55, Y:-11.89, Z:-4.72 [[ 9.99769898e-01 1.95712147e-02 8.78168340e-03 2.64545105e+02] [-1.95686008e-02 9.99808443e-01 -3.83492639e-04 -1.18934904e+01] [-8.78750663e-03 2.11559140e-04 9.99961367e-01 -4.71725014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754391418 meters 0.018317857793023702 Centerline is valid? [True, True] Translation: X:264.57, Y:-11.89, Z:-4.72 [[ 9.99717071e-01 2.21276447e-02 8.72611274e-03 2.64573395e+02] [-2.21251609e-02 9.99755136e-01 -3.81086401e-04 -1.18945198e+01] [-8.73240857e-03 1.87911932e-04 9.99961854e-01 -4.71841098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters 0.01783188329702658 Centerline is valid? [True, True] Translation: X:264.60, Y:-11.90, Z:-4.72 [[ 9.99686170e-01 2.35779948e-02 8.46400738e-03 2.64602084e+02] [-2.35757170e-02 9.99721986e-01 -3.68807663e-04 -1.18950414e+01] [-8.47035001e-03 1.69146878e-04 9.99964112e-01 -4.71899874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814391418 meters 0.016372476083988147 Centerline is valid? [True, True] Translation: X:264.63, Y:-11.89, Z:-4.72 [[ 9.99597462e-01 2.73170174e-02 7.66128880e-03 2.64630628e+02] [-2.73152618e-02 9.99626813e-01 -3.33707701e-04 -1.18926250e+01] [-7.66754560e-03 1.24303261e-04 9.99970596e-01 -4.71916118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters 0.016412610568331213 Centerline is valid? [True, True] Translation: X:264.66, Y:-11.89, Z:-4.72 [[ 9.99545737e-01 2.91881371e-02 7.50819245e-03 2.64658779e+02] [-2.91865062e-02 9.99573930e-01 -3.26710783e-04 -1.18933667e+01] [-7.51452952e-03 1.07424465e-04 9.99971760e-01 -4.72045344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874391418 meters 0.0157819436011668 Centerline is valid? [True, True] Translation: X:264.69, Y:-11.89, Z:-4.72 [[ 9.99489687e-01 3.11003921e-02 7.28906282e-03 2.64687737e+02] [-3.10989132e-02 9.99516262e-01 -3.16177745e-04 -1.18933459e+01] [-7.29537007e-03 8.93344636e-05 9.99973384e-01 -4.72098913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters 0.0157819436011668 Centerline is valid? [True, True] Translation: X:264.72, Y:-11.89, Z:-4.72 [[ 9.99493220e-01 3.09866391e-02 7.28906921e-03 2.64715175e+02] [-3.09851582e-02 9.99519795e-01 -3.16031414e-04 -1.18944107e+01] [-7.29536171e-03 9.00182930e-05 9.99973384e-01 -4.72148462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934391418 meters 0.014952182430685128 Centerline is valid? [True, True] Translation: X:264.74, Y:-11.89, Z:-4.72 [[ 9.99407519e-01 3.35770179e-02 7.56267047e-03 2.64744299e+02] [-3.35755077e-02 9.99436130e-01 -3.26591798e-04 -1.18934599e+01] [-7.56937208e-03 7.24777983e-05 9.99971349e-01 -4.72081127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters 0.014759297576034421 Centerline is valid? [True, True] Translation: X:264.77, Y:-11.90, Z:-4.72 [[ 9.99381733e-01 3.42343479e-02 8.01007924e-03 2.64772460e+02] [-3.42326779e-02 9.99413830e-01 -3.45532790e-04 -1.18950752e+01] [-8.01721307e-03 7.11126959e-05 9.99967859e-01 -4.72113626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994391418 meters 0.014844895216614236 Centerline is valid? [True, True] Translation: X:264.80, Y:-11.90, Z:-4.72 [[ 9.99369146e-01 3.43847186e-02 8.88827187e-03 2.64801246e+02] [-3.43826821e-02 9.99408668e-01 -3.81867470e-04 -1.18969126e+01] [-8.89614635e-03 7.60239412e-05 9.99960426e-01 -4.72109580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters 0.014736419573273702 Centerline is valid? [True, True] Translation: X:264.83, Y:-11.90, Z:-4.72 [[ 9.99349245e-01 3.45911950e-02 1.02242575e-02 2.64829058e+02] [-3.45885200e-02 9.99401542e-01 -4.38397429e-04 -1.18995134e+01] [-1.02333034e-02 8.44702033e-05 9.99947635e-01 -4.72025779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.054391418 meters 0.01473947582687032 Centerline is valid? [True, True] Translation: X:264.86, Y:-11.90, Z:-4.72 [[ 9.99335482e-01 3.47626639e-02 1.09613436e-02 2.64856869e+02] [-3.47596128e-02 9.99395592e-01 -4.68803499e-04 -1.19010878e+01] [-1.09710154e-02 8.74799116e-05 9.99939813e-01 -4.72006380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters 0.01451156692551611 Centerline is valid? [True, True] Translation: X:264.88, Y:-11.90, Z:-4.72 [[ 9.99278432e-01 3.60296297e-02 1.20200343e-02 2.64884783e+02] [-3.60260684e-02 9.99350719e-01 -5.12752102e-04 -1.19028264e+01] [-1.20307042e-02 7.93475408e-05 9.99927625e-01 -4.71980553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.114391418 meters 0.014226526895481663 Centerline is valid? [True, True] Translation: X:264.91, Y:-11.90, Z:-4.72 [[ 9.99248075e-01 3.66460624e-02 1.26629441e-02 2.64913157e+02] [-3.66421769e-02 9.99328305e-01 -5.38792377e-04 -1.19037481e+01] [-1.26741831e-02 7.43894079e-05 9.99919677e-01 -4.71952523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters 0.014237499854885937 Centerline is valid? [True, True] Translation: X:264.94, Y:-11.91, Z:-4.72 [[ 9.99222364e-01 3.72379933e-02 1.29614291e-02 2.64940557e+02] [-3.72339847e-02 9.99306423e-01 -5.50527118e-04 -1.19057270e+01] [-1.29729399e-02 6.74933562e-05 9.99915846e-01 -4.72023054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.174391418 meters 0.014030356091739254 Centerline is valid? [True, True] Translation: X:264.97, Y:-11.91, Z:-4.72 [[ 9.99213767e-01 3.75295129e-02 1.27821402e-02 2.64969788e+02] [-3.75256554e-02 9.99295518e-01 -5.41580317e-04 -1.19071623e+01] [-1.27934606e-02 6.14963213e-05 9.99918158e-01 -4.72045474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204391418 meters 0.014090680285791746 Centerline is valid? [True, True] Translation: X:265.00, Y:-11.91, Z:-4.72 [[ 9.99233500e-01 3.70469786e-02 1.26464760e-02 2.64997292e+02] [-3.70431751e-02 9.99313523e-01 -5.34942883e-04 -1.19117866e+01] [-1.26576126e-02 6.60672226e-05 9.99919887e-01 -4.72197782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23439141800003 meters 0.014125923151910323 Centerline is valid? [True, True] Translation: X:265.03, Y:-11.91, Z:-4.72 [[ 9.99264458e-01 3.62028083e-02 1.26451181e-02 2.65026191e+02] [-3.61989552e-02 9.99344461e-01 -5.33528897e-04 -1.19144082e+01] [-1.26561439e-02 7.53964018e-05 9.99919905e-01 -4.72229138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264391418 meters 0.014402062075234139 Centerline is valid? [True, True] Translation: X:265.05, Y:-11.92, Z:-4.72 [[ 9.99324466e-01 3.46600670e-02 1.22184940e-02 2.65054347e+02] [-3.46563640e-02 9.99399155e-01 -5.14730484e-04 -1.19179004e+01] [-1.22289932e-02 9.09341900e-05 9.99925219e-01 -4.72319395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294391418 meters 0.015142250879198405 Centerline is valid? [True, True] Translation: X:265.08, Y:-11.92, Z:-4.72 [[ 9.99456123e-01 3.10972485e-02 1.09736162e-02 2.65082475e+02] [-3.10940582e-02 9.99516356e-01 -4.61262482e-04 -1.19245479e+01] [-1.09826529e-02 1.19797351e-04 9.99939682e-01 -4.72468012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324391418 meters 0.015851375009448228 Centerline is valid? [True, True] Translation: X:265.11, Y:-11.93, Z:-4.73 [[ 9.99523016e-01 2.91860739e-02 1.00952507e-02 2.65109684e+02] [-2.91832816e-02 9.99573987e-01 -4.23822137e-04 -1.19292511e+01] [-1.01033197e-02 1.29007437e-04 9.99948952e-01 -4.72613046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354391418 meters 0.015893746155821002 Centerline is valid? [True, True] Translation: X:265.14, Y:-11.93, Z:-4.73 [[ 9.99590637e-01 2.70056489e-02 9.44744659e-03 2.65138619e+02] [-2.70031150e-02 9.99635271e-01 -3.95692404e-04 -1.19324482e+01] [-9.45468676e-03 1.40419935e-04 9.99955294e-01 -4.72632566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384391418 meters 0.017805212507209622 Centerline is valid? [True, True] Translation: X:265.17, Y:-11.94, Z:-4.73 [[ 9.99693283e-01 2.31860778e-02 8.70325310e-03 2.65166928e+02] [-2.31837893e-02 9.99731154e-01 -3.63758449e-04 -1.19397128e+01] [-8.70934739e-03 1.61872492e-04 9.99962060e-01 -4.72736219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414391418 meters 0.01856041951317849 Centerline is valid? [True, True] Translation: X:265.20, Y:-11.94, Z:-4.73 [[ 9.99734792e-01 2.15542382e-02 8.10927450e-03 2.65195804e+02] [-2.15521997e-02 9.99767667e-01 -3.38700634e-04 -1.19432006e+01] [-8.11469088e-03 1.63838105e-04 9.99967062e-01 -4.72788237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444391418 meters 0.019872198037415828 Centerline is valid? [True, True] Translation: X:265.22, Y:-11.95, Z:-4.73 [[ 9.99791749e-01 1.88736474e-02 7.76167693e-03 2.65224908e+02] [-1.88717063e-02 9.99821861e-01 -3.23258776e-04 -1.19486898e+01] [-7.76639535e-03 1.76715369e-04 9.99969825e-01 -4.72860556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474391418 meters 0.02013450058980944 Centerline is valid? [True, True] Translation: X:265.25, Y:-11.95, Z:-4.73 [[ 9.99812164e-01 1.80154051e-02 7.14716766e-03 2.65254178e+02] [-1.80137388e-02 9.99837695e-01 -2.97448329e-04 -1.19517115e+01] [-7.15136629e-03 1.68645246e-04 9.99974414e-01 -4.72922548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504391418 meters 0.020497964369753267 Centerline is valid? [True, True] Translation: X:265.28, Y:-11.95, Z:-4.73 [[ 9.99829183e-01 1.72050654e-02 6.75214058e-03 2.65283897e+02] [-1.72035613e-02 9.99851968e-01 -2.80789809e-04 -1.19545697e+01] [-6.75597206e-03 1.64580981e-04 9.99977165e-01 -4.72980813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534391418 meters 0.021411563934604846 Centerline is valid? [True, True] Translation: X:265.31, Y:-11.96, Z:-4.73 [[ 9.99850487e-01 1.58542535e-02 6.90265268e-03 2.65312083e+02] [-1.58526499e-02 9.99874298e-01 -2.86978134e-04 -1.19593557e+01] [-6.90633482e-03 1.77509891e-04 9.99976135e-01 -4.73017450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564391418 meters 0.0219802886739813 Centerline is valid? [True, True] Translation: X:265.34, Y:-11.96, Z:-4.73 [[ 9.99857177e-01 1.52413167e-02 7.30258004e-03 2.65341886e+02] [-1.52395105e-02 9.99883826e-01 -3.02927987e-04 -1.19619168e+01] [-7.30634869e-03 1.91596977e-04 9.99973290e-01 -4.73027699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594391418 meters 0.020023974040128522 Centerline is valid? [True, True] Translation: X:265.37, Y:-11.96, Z:-4.73 [[ 9.99853597e-01 1.52503417e-02 7.75967132e-03 2.65372060e+02] [-1.52483049e-02 9.99883686e-01 -3.21587637e-04 -1.19608551e+01] [-7.76367308e-03 2.03218722e-04 9.99969842e-01 -4.72834836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624391418 meters 0.0203704997658835 Centerline is valid? [True, True] Translation: X:265.40, Y:-11.96, Z:-4.73 [[ 9.99847709e-01 1.56365020e-02 7.74975545e-03 2.65401959e+02] [-1.56344893e-02 9.99877723e-01 -3.20217521e-04 -1.19628852e+01] [-7.75381492e-03 1.99005286e-04 9.99969919e-01 -4.72922565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654391418 meters 0.01977198877103654 Centerline is valid? [True, True] Translation: X:265.43, Y:-11.96, Z:-4.73 [[ 9.99832569e-01 1.67179558e-02 7.43933619e-03 2.65431870e+02] [-1.67161250e-02 9.99860228e-01 -3.08216788e-04 -1.19642598e+01] [-7.44344914e-03 1.83808309e-04 9.99972280e-01 -4.73009793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684391418 meters 0.01901822143909519 Centerline is valid? [True, True] Translation: X:265.46, Y:-11.96, Z:-4.73 [[ 9.99797939e-01 1.87688272e-02 7.19809858e-03 2.65461173e+02] [-1.87671682e-02 9.99823837e-01 -2.97961819e-04 -1.19648767e+01] [-7.20242294e-03 1.62813685e-04 9.99974049e-01 -4.73071128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714391418 meters 0.01814240992164662 Centerline is valid? [True, True] Translation: X:265.49, Y:-11.96, Z:-4.73 [[ 9.99775268e-01 1.97924539e-02 7.59426783e-03 2.65489955e+02] [-1.97906361e-02 9.99804097e-01 -3.14446005e-04 -1.19648706e+01] [-7.59900375e-03 1.64079948e-04 9.99971114e-01 -4.73087693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744391418 meters 0.01771985720738484 Centerline is valid? [True, True] Translation: X:265.52, Y:-11.97, Z:-4.73 [[ 9.99748544e-01 2.10045187e-02 7.85229428e-03 2.65518309e+02] [-2.10026180e-02 9.99779368e-01 -3.24453532e-04 -1.19658678e+01] [-7.85737681e-03 1.59453209e-04 9.99969118e-01 -4.73125938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774391418 meters 0.01683393499122026 Centerline is valid? [True, True] Translation: X:265.55, Y:-11.97, Z:-4.73 [[ 9.99722558e-01 2.21458735e-02 8.02288634e-03 2.65547282e+02] [-2.21439312e-02 9.99754738e-01 -3.30853912e-04 -1.19661820e+01] [-8.02824568e-03 1.53103876e-04 9.99967761e-01 -4.73113023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.804391418 meters 0.016205209900910084 Centerline is valid? [True, True] Translation: X:265.58, Y:-11.97, Z:-4.73 [[ 9.99688170e-01 2.35902759e-02 8.18912210e-03 2.65576402e+02] [-2.35883063e-02 9.99721700e-01 -3.37029412e-04 -1.19670375e+01] [-8.19479368e-03 1.43756796e-04 9.99966412e-01 -4.73159934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834391418 meters 0.015914370134602028 Centerline is valid? [True, True] Translation: X:265.61, Y:-11.97, Z:-4.73 [[ 9.99681967e-01 2.39089604e-02 8.02037244e-03 2.65605202e+02] [-2.39070863e-02 9.99714130e-01 -3.29472394e-04 -1.19683685e+01] [-8.02595700e-03 1.37623875e-04 9.99967782e-01 -4.73256844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.864391418 meters 0.01655298212159241 Centerline is valid? [True, True] Translation: X:265.63, Y:-11.97, Z:-4.73 [[ 9.99683878e-01 2.40376309e-02 7.37134212e-03 2.65632611e+02] [-2.40360527e-02 9.99711047e-01 -3.02625269e-04 -1.19718871e+01] [-7.37648654e-03 1.25351635e-04 9.99972785e-01 -4.73453236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894391418 meters 0.016519945756289855 Centerline is valid? [True, True] Translation: X:265.66, Y:-11.97, Z:-4.74 [[ 9.99707693e-01 2.32882730e-02 6.49494554e-03 2.65661038e+02] [-2.32870373e-02 9.99728785e-01 -2.65816475e-04 -1.19749374e+01] [-6.49937442e-03 1.14490736e-04 9.99978872e-01 -4.73657980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.924391418 meters 0.016670626651582 Centerline is valid? [True, True] Translation: X:265.69, Y:-11.98, Z:-4.74 [[ 9.99726228e-01 2.25914825e-02 6.09045850e-03 2.65689827e+02] [-2.25903854e-02 9.99744774e-01 -2.48870055e-04 -1.19774211e+01] [-6.09452640e-03 1.11216117e-04 9.99981422e-01 -4.73770805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954391418 meters 0.01688648949423322 Centerline is valid? [True, True] Translation: X:265.72, Y:-11.98, Z:-4.74 [[ 9.99740032e-01 2.20237594e-02 5.90099421e-03 2.65717812e+02] [-2.20227208e-02 9.99757441e-01 -2.40932651e-04 -1.19802267e+01] [-5.90486911e-03 1.10914069e-04 9.99982560e-01 -4.73887467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98439141800003 meters 0.017289922928512176 Centerline is valid? [True, True] Translation: X:265.75, Y:-11.98, Z:-4.74 [[ 9.99756975e-01 2.11462599e-02 6.23104328e-03 2.65746863e+02] [-2.11450909e-02 9.99776385e-01 -2.53443794e-04 -1.19837857e+01] [-6.23500931e-03 1.21626225e-04 9.99980555e-01 -4.73933550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014391418 meters 0.017360349456727785 Centerline is valid? [True, True] Translation: X:265.78, Y:-11.99, Z:-4.74 [[ 9.99758150e-01 2.08979630e-02 6.84951059e-03 2.65775417e+02] [-2.08965491e-02 9.99781605e-01 -2.77923691e-04 -1.19860092e+01] [-6.85382273e-03 1.34725341e-04 9.99976503e-01 -4.73941905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters 0.017588736804898565 Centerline is valid? [True, True] Translation: X:265.80, Y:-11.99, Z:-4.74 [[ 9.99754999e-01 2.08591550e-02 7.40519317e-03 2.65803692e+02] [-2.08575082e-02 9.99782414e-01 -2.99563789e-04 -1.19882224e+01] [-7.40983055e-03 1.45036519e-04 9.99972536e-01 -4.73947195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074391418 meters 0.016976630627151355 Centerline is valid? [True, True] Translation: X:265.83, Y:-11.99, Z:-4.74 [[ 9.99749365e-01 2.06601225e-02 8.62364938e-03 2.65832049e+02] [-2.06578857e-02 9.99786542e-01 -3.48389510e-04 -1.19901764e+01] [-8.62900637e-03 1.70155828e-04 9.99962755e-01 -4.73822420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters 0.01728744210073521 Centerline is valid? [True, True] Translation: X:265.86, Y:-11.99, Z:-4.74 [[ 9.99740689e-01 2.06762571e-02 9.54183718e-03 2.65860151e+02] [-2.06735297e-02 9.99786206e-01 -3.84390121e-04 -1.19930376e+01] [-9.54774494e-03 1.87026989e-04 9.99954402e-01 -4.73856607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134391418 meters 0.017127120759556837 Centerline is valid? [True, True] Translation: X:265.89, Y:-12.00, Z:-4.74 [[ 9.99729984e-01 2.01322241e-02 1.16040168e-02 2.65889385e+02] [-2.01281660e-02 9.99797299e-01 -4.66407717e-04 -1.19970526e+01] [-1.16110545e-02 2.32714202e-04 9.99932562e-01 -4.73785080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters 0.017829688906148236 Centerline is valid? [True, True] Translation: X:265.92, Y:-12.00, Z:-4.74 [[ 9.99736869e-01 1.94119066e-02 1.22217608e-02 2.65919363e+02] [-1.94073618e-02 9.99811539e-01 -4.90369621e-04 -1.20005061e+01] [-1.22289765e-02 2.53048456e-04 9.99925191e-01 -4.73826411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194391418 meters 0.018033464146534738 Centerline is valid? [True, True] Translation: X:265.95, Y:-12.00, Z:-4.74 [[ 9.99738267e-01 1.90266849e-02 1.27036605e-02 2.65949881e+02] [-1.90217448e-02 9.99818940e-01 -5.09595777e-04 -1.20037121e+01] [-1.27110563e-02 2.67816611e-04 9.99919175e-01 -4.73870563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters 0.01864120160896928 Centerline is valid? [True, True] Translation: X:265.98, Y:-12.01, Z:-4.74 [[ 9.99743923e-01 1.85737359e-02 1.29268749e-02 2.65981420e+02] [-1.85685780e-02 9.99827454e-01 -5.18922284e-04 -1.20083542e+01] [-1.29342828e-02 2.78755715e-04 9.99916310e-01 -4.73997091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254391418 meters 0.0185311043589297 Centerline is valid? [True, True] Translation: X:266.01, Y:-12.01, Z:-4.74 [[ 9.99754611e-01 1.83927547e-02 1.23460237e-02 2.66012497e+02] [-1.83879856e-02 9.99830802e-01 -4.99696759e-04 -1.20108958e+01] [-1.23531255e-02 2.72555634e-04 9.99923660e-01 -4.74092616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters 0.018915852233916442 Centerline is valid? [True, True] Translation: X:266.04, Y:-12.01, Z:-4.74 [[ 9.99758320e-01 1.85041580e-02 1.18700407e-02 2.66044115e+02] [-1.84997677e-02 9.99828750e-01 -4.79562830e-04 -1.20139695e+01] [-1.18768819e-02 2.59853933e-04 9.99929434e-01 -4.74216683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314391418 meters 0.019180252306037742 Centerline is valid? [True, True] Translation: X:266.07, Y:-12.02, Z:-4.74 [[ 9.99754329e-01 1.88981095e-02 1.15819867e-02 2.66074608e+02] [-1.88939065e-02 9.99821383e-01 -4.72206720e-04 -1.20180476e+01] [-1.15888417e-02 2.53261739e-04 9.99932815e-01 -4.74390971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters 0.01913251051256213 Centerline is valid? [True, True] Translation: X:266.11, Y:-12.02, Z:-4.74 [[ 9.99739988e-01 1.95176527e-02 1.17905711e-02 2.66105261e+02] [-1.95133373e-02 9.99809481e-01 -4.80942776e-04 -1.20197788e+01] [-1.17977116e-02 2.50744335e-04 9.99930373e-01 -4.74455148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374391418 meters 0.019031075227298844 Centerline is valid? [True, True] Translation: X:266.14, Y:-12.02, Z:-4.75 [[ 9.99731010e-01 1.99176295e-02 1.18826082e-02 2.66136317e+02] [-1.99132734e-02 9.99801594e-01 -4.84810677e-04 -1.20214343e+01] [-1.18899069e-02 2.48058641e-04 9.99929282e-01 -4.74502311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters 0.01845603625740923 Centerline is valid? [True, True] Translation: X:266.17, Y:-12.02, Z:-4.75 [[ 9.99696063e-01 2.13281225e-02 1.23649540e-02 2.66167598e+02] [-2.13235073e-02 9.99772501e-01 -5.04979630e-04 -1.20227879e+01] [-1.23729113e-02 2.41161961e-04 9.99923424e-01 -4.74532182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434391418 meters 0.017431980507515953 Centerline is valid? [True, True] Translation: X:266.20, Y:-12.02, Z:-4.75 [[ 9.99688197e-01 2.17832659e-02 1.22065176e-02 2.66197800e+02] [-2.17787940e-02 9.99762689e-01 -4.99174326e-04 -1.20232833e+01] [-1.22144945e-02 2.33175449e-04 9.99925373e-01 -4.74560843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters 0.018003355881597745 Centerline is valid? [True, True] Translation: X:266.23, Y:-12.03, Z:-4.75 [[ 9.99670532e-01 2.24206606e-02 1.24956704e-02 2.66227943e+02] [-2.24160254e-02 9.99748599e-01 -5.10893198e-04 -1.20266914e+01] [-1.25039835e-02 2.30621611e-04 9.99921796e-01 -4.74696017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494391418 meters 0.017337228738432835 Centerline is valid? [True, True] Translation: X:266.26, Y:-12.03, Z:-4.75 [[ 9.99658524e-01 2.27192646e-02 1.29100658e-02 2.66258758e+02] [-2.27143372e-02 9.99741857e-01 -5.28192839e-04 -1.20277316e+01] [-1.29187333e-02 2.34768888e-04 9.99916522e-01 -4.74739058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters 0.017511941940871828 Centerline is valid? [True, True] Translation: X:266.29, Y:-12.03, Z:-4.75 [[ 9.99662461e-01 2.24933616e-02 1.30004533e-02 2.66289194e+02] [-2.24883458e-02 9.99746964e-01 -5.31890887e-04 -1.20310667e+01] [-1.30091277e-02 2.39352664e-04 9.99915349e-01 -4.74802004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.554391418 meters 0.01728458048079805 Centerline is valid? [True, True] Translation: X:266.32, Y:-12.03, Z:-4.75 [[ 9.99669635e-01 2.18678092e-02 1.35062508e-02 2.66320701e+02] [-2.18623408e-02 9.99760838e-01 -5.52407154e-04 -1.20328636e+01] [-1.35151006e-02 2.56946400e-04 9.99908634e-01 -4.74810037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters 0.01927905865739456 Centerline is valid? [True, True] Translation: X:266.35, Y:-12.04, Z:-4.75 [[ 9.99679175e-01 2.14865220e-02 1.34118320e-02 2.66351742e+02] [-2.14811018e-02 9.99769104e-01 -5.48082222e-04 -1.20392456e+01] [-1.34205116e-02 2.59805456e-04 9.99909907e-01 -4.74955503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.614391418 meters 0.019799106749180957 Centerline is valid? [True, True] Translation: X:266.38, Y:-12.04, Z:-4.75 [[ 9.99729379e-01 1.87583524e-02 1.37584095e-02 2.66383347e+02] [-1.87523277e-02 9.99823999e-01 -5.66779493e-04 -1.20435338e+01] [-1.37666198e-02 3.08623907e-04 9.99905188e-01 -4.74965763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters 0.020025923133255213 Centerline is valid? [True, True] Translation: X:266.42, Y:-12.05, Z:-4.75 [[ 9.99754964e-01 1.71841308e-02 1.39541318e-02 2.66415367e+02] [-1.71777859e-02 9.99852286e-01 -5.74436618e-04 -1.20466677e+01] [-1.39619418e-02 3.34594772e-04 9.99902471e-01 -4.75000224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.674391418 meters 0.02216626123133782 Centerline is valid? [True, True] Translation: X:266.45, Y:-12.05, Z:-4.75 [[ 9.99813050e-01 1.28169164e-02 1.44773146e-02 2.66447224e+02] [-1.28095607e-02 9.99917774e-01 -6.00701533e-04 -1.20544269e+01] [-1.44838234e-02 4.15141191e-04 9.99895018e-01 -4.75046465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704391418 meters 0.02147607297023247 Centerline is valid? [True, True] Translation: X:266.48, Y:-12.06, Z:-4.75 [[ 9.99838057e-01 1.03884832e-02 1.46948625e-02 2.66479027e+02] [-1.03806350e-02 9.99945934e-01 -6.10255642e-04 -1.20560974e+01] [-1.47004077e-02 4.57614811e-04 9.99891838e-01 -4.75074235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73439141800003 meters 0.02467838370995348 Centerline is valid? [True, True] Translation: X:266.51, Y:-12.06, Z:-4.75 [[ 9.99855046e-01 8.19643960e-03 1.49233051e-02 2.66510265e+02] [-8.18804097e-03 9.99966283e-01 -6.23799737e-04 -1.20641045e+01] [-1.49279149e-02 5.01516681e-04 9.99888447e-01 -4.75179329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764391418 meters 0.03149242995710906 Centerline is valid? [True, True] Translation: X:266.54, Y:-12.08, Z:-4.75 [[ 9.99874511e-01 3.17245064e-03 1.55209051e-02 2.66539617e+02] [-3.16268475e-03 9.99994785e-01 -6.53713696e-04 -1.20777341e+01] [-1.55228980e-02 6.04543933e-04 9.99879330e-01 -4.75286639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794391418 meters 0.03149242995710906 Centerline is valid? [True, True] Translation: X:266.57, Y:-12.08, Z:-4.75 [[ 9.99873566e-01 3.45733473e-03 1.55209350e-02 2.66572177e+02] [-3.44761411e-03 9.99993844e-01 -6.53004206e-04 -1.20792846e+01] [-1.55230971e-02 5.99411449e-04 9.99879330e-01 -4.75345408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824391418 meters 0.028059081758102056 Centerline is valid? [True, True] Translation: X:266.60, Y:-12.08, Z:-4.75 [[ 9.99883554e-01 1.40873528e-03 1.51951903e-02 2.66604804e+02] [-1.39910912e-03 9.99998814e-01 -6.44112634e-04 -1.20773173e+01] [-1.51960797e-02 6.22777900e-04 9.99884339e-01 -4.75404992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854391418 meters 0.02656750636201415 Centerline is valid? [True, True] Translation: X:266.64, Y:-12.08, Z:-4.75 [[ 9.99886021e-01 -3.36555570e-04 1.50940699e-02 2.66636628e+02] [ 3.46267204e-04 9.99999735e-01 -6.40798439e-04 -1.20775869e+01] [-1.50938502e-02 6.45951984e-04 9.99885873e-01 -4.75486300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884391418 meters 0.028155120256903095 Centerline is valid? [True, True] Translation: X:266.67, Y:-12.08, Z:-4.76 [[ 9.99887224e-01 -3.42487627e-03 1.46222138e-02 2.66667703e+02] [ 3.43435523e-03 9.99993908e-01 -6.23196435e-04 -1.20823799e+01] [-1.46199904e-02 6.73344030e-04 9.99892896e-01 -4.75629765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914391418 meters 0.029448860237058477 Centerline is valid? [True, True] Translation: X:266.70, Y:-12.09, Z:-4.76 [[ 9.99883459e-01 -4.56027096e-03 1.45695895e-02 2.66698210e+02] [ 4.56980565e-03 9.99989365e-01 -6.21198658e-04 -1.20862127e+01] [-1.45666017e-02 6.87706454e-04 9.99893665e-01 -4.75732316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944391418 meters 0.031071261729169117 Centerline is valid? [True, True] Translation: X:266.73, Y:-12.09, Z:-4.76 [[ 9.99876891e-01 -5.71109289e-03 1.46146122e-02 2.66728833e+02] [ 5.72084497e-03 9.99983440e-01 -6.25563648e-04 -1.20901416e+01] [-1.46107976e-02 7.09094566e-04 9.99893005e-01 -4.75820565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974391418 meters 0.03250464875330928 Centerline is valid? [True, True] Translation: X:266.76, Y:-12.09, Z:-4.76 [[ 9.99870858e-01 -6.55059278e-03 1.46750580e-02 2.66759786e+02] [ 6.56052375e-03 9.99978282e-01 -6.28685483e-04 -1.20936195e+01] [-1.46706210e-02 7.24880360e-04 9.99892118e-01 -4.75879524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004391418 meters 0.03262812781480074 Centerline is valid? [True, True] Translation: X:266.79, Y:-12.09, Z:-4.76 [[ 9.99846459e-01 -8.54640772e-03 1.52976200e-02 2.66791982e+02] [ 8.55744614e-03 9.99963169e-01 -6.56263410e-04 -1.20943994e+01] [-1.52914479e-02 7.87071206e-04 9.99882769e-01 -4.75863694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034391418 meters 0.033098075725638026 Centerline is valid? [True, True] Translation: X:266.82, Y:-12.10, Z:-4.76 [[ 9.99842090e-01 -9.64028202e-03 1.49284908e-02 2.66824031e+02] [ 9.65093300e-03 9.99953223e-01 -6.41588775e-04 -1.20956664e+01] [-1.49216074e-02 7.85561326e-04 9.99888358e-01 -4.75900966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064391418 meters 0.03371616131715664 Centerline is valid? [True, True] Translation: X:266.86, Y:-12.10, Z:-4.76 [[ 9.99815968e-01 -1.21264215e-02 1.48653883e-02 2.66855019e+02] [ 1.21372772e-02 9.99926136e-01 -6.40258150e-04 -1.20962567e+01] [-1.48565262e-02 8.20565660e-04 9.99889299e-01 -4.75987196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094391418 meters 0.035854142400762366 Centerline is valid? [True, True] Translation: X:266.89, Y:-12.10, Z:-4.76 [[ 9.99811217e-01 -1.28845762e-02 1.45436541e-02 2.66885560e+02] [ 1.28950450e-02 9.99916659e-01 -6.26268802e-04 -1.20997791e+01] [-1.45343728e-02 8.13691647e-04 9.99894039e-01 -4.76113867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124391418 meters 0.03665678510455195 Centerline is valid? [True, True] Translation: X:266.92, Y:-12.10, Z:-4.76 [[ 9.99802752e-01 -1.37298072e-02 1.43509612e-02 2.66917138e+02] [ 1.37401201e-02 9.99905408e-01 -6.20266506e-04 -1.21017419e+01] [-1.43410876e-02 8.17328091e-04 9.99896827e-01 -4.76207843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154391418 meters 0.0380442833994206 Centerline is valid? [True, True] Translation: X:266.95, Y:-12.10, Z:-4.76 [[ 9.99779003e-01 -1.55610868e-02 1.41349809e-02 2.66948973e+02] [ 1.55712846e-02 9.99878573e-01 -6.11684312e-04 -1.21035264e+01] [-1.41237460e-02 8.31648942e-04 9.99899909e-01 -4.76390799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184391418 meters 0.03871575190527374 Centerline is valid? [True, True] Translation: X:266.98, Y:-12.10, Z:-4.77 [[ 9.99773170e-01 -1.63348723e-02 1.36667670e-02 2.66981161e+02] [ 1.63444918e-02 9.99866244e-01 -5.92456571e-04 -1.21046558e+01] [-1.36552613e-02 8.15698546e-04 9.99906430e-01 -4.76516696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214391418 meters 0.039038828622307196 Centerline is valid? [True, True] Translation: X:267.01, Y:-12.11, Z:-4.77 [[ 9.99770770e-01 -1.67742572e-02 1.33052937e-02 2.67013031e+02] [ 1.67834268e-02 9.99858981e-01 -5.77801727e-04 -1.21050372e+01] [-1.32937252e-02 8.00977700e-04 9.99911314e-01 -4.76582596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244391418 meters 0.04011816779047916 Centerline is valid? [True, True] Translation: X:267.04, Y:-12.11, Z:-4.77 [[ 9.99769114e-01 -1.71172561e-02 1.29891336e-02 2.67044503e+02] [ 1.71260381e-02 9.99853179e-01 -5.65166046e-04 -1.21065049e+01] [-1.29775525e-02 7.87487956e-04 9.99915478e-01 -4.76705610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274391418 meters 0.04106316999886331 Centerline is valid? [True, True] Translation: X:267.08, Y:-12.11, Z:-4.77 [[ 9.99768196e-01 -1.74242893e-02 1.26470832e-02 2.67076865e+02] [ 1.74326471e-02 9.99847888e-01 -5.50899185e-04 -1.21070180e+01] [-1.26355604e-02 7.71243622e-04 9.99919871e-01 -4.76847603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.304391418 meters 0.041777416327447 Centerline is valid? [True, True] Translation: X:267.11, Y:-12.11, Z:-4.77 [[ 9.99769873e-01 -1.72835126e-02 1.27074956e-02 2.67109304e+02] [ 1.72919517e-02 9.99850329e-01 -5.54525376e-04 -1.21080967e+01] [-1.26960096e-02 7.74135166e-04 9.99919103e-01 -4.76923243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334391418 meters 0.04186779478093527 Centerline is valid? [True, True] Translation: X:267.14, Y:-12.11, Z:-4.77 [[ 9.99781826e-01 -1.58217353e-02 1.36372064e-02 2.67139464e+02] [ 1.58313382e-02 9.99874499e-01 -5.96499565e-04 -1.21064710e+01] [-1.36260573e-02 8.12264651e-04 9.99906831e-01 -4.76891447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.364391418 meters 0.03618659198370526 Centerline is valid? [True, True] Translation: X:267.17, Y:-12.10, Z:-4.77 [[ 9.99791988e-01 -1.43504014e-02 1.44930199e-02 2.67172233e+02] [ 1.43610947e-02 9.99896673e-01 -6.34012330e-04 -1.20986945e+01] [-1.44824240e-02 8.42016078e-04 9.99894770e-01 -4.76825684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394391418 meters 0.040277384283689814 Centerline is valid? [True, True] Translation: X:267.20, Y:-12.10, Z:-4.77 [[ 9.99807193e-01 -1.23819672e-02 1.52402138e-02 2.67202345e+02] [ 1.23935861e-02 9.99922973e-01 -6.68176475e-04 -1.21033465e+01] [-1.52307666e-02 8.56928549e-04 9.99883638e-01 -4.76843103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.424391418 meters 0.03684158109468462 Centerline is valid? [True, True] Translation: X:267.23, Y:-12.10, Z:-4.77 [[ 9.99838405e-01 -6.20862542e-03 1.68705704e-02 2.67232850e+02] [ 6.22199411e-03 9.99980369e-01 -7.40054067e-04 -1.20950483e+01] [-1.68656445e-02 8.44903068e-04 9.99857408e-01 -4.76739886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454391418 meters 0.03330641658306081 Centerline is valid? [True, True] Translation: X:267.26, Y:-12.09, Z:-4.77 [[ 9.99842401e-01 -2.05568498e-03 1.76336941e-02 2.67263609e+02] [ 2.06964632e-03 9.99997559e-01 -7.73529886e-04 -1.20889714e+01] [-1.76320609e-02 8.09903489e-04 9.99844215e-01 -4.76745572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48439141800003 meters 0.0280063894465036 Centerline is valid? [True, True] Translation: X:267.29, Y:-12.08, Z:-4.77 [[ 9.99808021e-01 7.70081125e-03 1.80171722e-02 2.67293285e+02] [-7.68781727e-03 9.99970136e-01 -7.90351600e-04 -1.20776427e+01] [-1.80227205e-02 6.51687142e-04 9.99837365e-01 -4.76776235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514391418 meters 0.026273475730232615 Centerline is valid? [True, True] Translation: X:267.32, Y:-12.07, Z:-4.77 [[ 9.99747298e-01 1.28118000e-02 1.84715432e-02 2.67323629e+02] [-1.27990203e-02 9.99917761e-01 -8.09914330e-04 -1.20738927e+01] [-1.84804006e-02 5.73292006e-04 9.99829058e-01 -4.76803926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters 0.02089772875775403 Centerline is valid? [True, True] Translation: X:267.36, Y:-12.06, Z:-4.77 [[ 9.99673325e-01 1.78061103e-02 1.83353627e-02 2.67355879e+02] [-1.77943571e-02 9.99841345e-01 -8.03970630e-04 -1.20645010e+01] [-1.83467693e-02 4.77442001e-04 9.99831570e-01 -4.76862526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574391418 meters 0.018981848800415604 Centerline is valid? [True, True] Translation: X:267.39, Y:-12.06, Z:-4.77 [[ 9.99575365e-01 2.24795165e-02 1.85407852e-02 2.67387066e+02] [-2.24682731e-02 9.99747225e-01 -8.14526051e-04 -1.20602632e+01] [-1.85544087e-02 3.97600750e-04 9.99827773e-01 -4.76892485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters 0.015482171381948755 Centerline is valid? [True, True] Translation: X:267.42, Y:-12.05, Z:-4.77 [[ 9.99395251e-01 2.96953919e-02 1.80918580e-02 2.67418698e+02] [-2.96858558e-02 9.99558961e-01 -7.95484660e-04 -1.20503989e+01] [-1.81075010e-02 2.57931305e-04 9.99836012e-01 -4.76996150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634391418 meters 0.015169227032216894 Centerline is valid? [True, True] Translation: X:267.45, Y:-12.05, Z:-4.77 [[ 9.99324026e-01 3.24415830e-02 1.72926356e-02 2.67449286e+02] [-3.24332712e-02 9.99473613e-01 -7.60961145e-04 -1.20495439e+01] [-1.73082198e-02 1.99590015e-04 9.99850182e-01 -4.77139856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters 0.014517388444211111 Centerline is valid? [True, True] Translation: X:267.48, Y:-12.05, Z:-4.77 [[ 9.99229535e-01 3.56694026e-02 1.63716341e-02 2.67478070e+02] [-3.56623544e-02 9.99363635e-01 -7.22351161e-04 -1.20465114e+01] [-1.63869816e-02 1.37943599e-04 9.99865715e-01 -4.77349665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694391418 meters 0.014239595263926009 Centerline is valid? [True, True] Translation: X:267.51, Y:-12.05, Z:-4.77 [[ 9.99209838e-01 3.63430200e-02 1.60899078e-02 2.67506783e+02] [-3.63363132e-02 9.99339367e-01 -7.09076773e-04 -1.20453964e+01] [-1.61050483e-02 1.23868557e-04 9.99870298e-01 -4.77441643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters 0.014049438950521681 Centerline is valid? [True, True] Translation: X:267.53, Y:-12.05, Z:-4.78 [[ 9.99210001e-01 3.64738757e-02 1.57807002e-02 2.67534606e+02] [-3.64674591e-02 9.99334600e-01 -6.94275045e-04 -1.20458343e+01] [-1.57955226e-02 1.18244529e-04 9.99875236e-01 -4.77548916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754391418 meters 0.014204061612598037 Centerline is valid? [True, True] Translation: X:267.56, Y:-12.05, Z:-4.78 [[ 9.99224826e-01 3.61108370e-02 1.56765494e-02 2.67563176e+02] [-3.61044847e-02 9.99347784e-01 -6.88129530e-04 -1.20452400e+01] [-1.56911739e-02 1.21602371e-04 9.99876879e-01 -4.77666110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters 0.01418201989096121 Centerline is valid? [True, True] Translation: X:267.59, Y:-12.05, Z:-4.78 [[ 9.99256638e-01 3.53093479e-02 1.54732407e-02 2.67592465e+02] [-3.53030816e-02 9.99376422e-01 -6.78013035e-04 -1.20455300e+01] [-1.54875321e-02 1.31255948e-04 9.99880052e-01 -4.77709864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814391418 meters 0.014439262524171319 Centerline is valid? [True, True] Translation: X:267.62, Y:-12.05, Z:-4.78 [[ 9.99266842e-01 3.47578770e-02 1.60520264e-02 2.67620565e+02] [-3.47510832e-02 9.99395752e-01 -7.02058136e-04 -1.20476595e+01] [-1.60667290e-02 1.43718113e-04 9.99870911e-01 -4.77769284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters 0.014660529436599921 Centerline is valid? [True, True] Translation: X:267.65, Y:-12.05, Z:-4.78 [[ 9.99301040e-01 3.31138114e-02 1.73466756e-02 2.67649027e+02] [-3.31056626e-02 9.99451571e-01 -7.56785623e-04 -1.20493874e+01] [-1.73622222e-02 1.81983470e-04 9.99849249e-01 -4.77788003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874391418 meters 0.014766884952918944 Centerline is valid? [True, True] Translation: X:267.68, Y:-12.05, Z:-4.78 [[ 9.99332340e-01 3.20412645e-02 1.75565276e-02 2.67678738e+02] [-3.20327771e-02 9.99486527e-01 -7.64508002e-04 -1.20515300e+01] [-1.75720086e-02 2.01613236e-04 9.99845580e-01 -4.77871328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters 0.016293393695677713 Centerline is valid? [True, True] Translation: X:267.71, Y:-12.06, Z:-4.78 [[ 9.99399688e-01 2.97337212e-02 1.77811479e-02 2.67708239e+02] [-2.97246628e-02 9.99557825e-01 -7.73570348e-04 -1.20560712e+01] [-1.77962867e-02 2.44567338e-04 9.99841604e-01 -4.77990321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934391418 meters 0.016554669432542333 Centerline is valid? [True, True] Translation: X:267.74, Y:-12.06, Z:-4.78 [[ 9.99431868e-01 2.87772691e-02 1.75445195e-02 2.67738451e+02] [-2.87683090e-02 9.99585815e-01 -7.62927113e-04 -1.20585056e+01] [-1.75592078e-02 2.57767512e-04 9.99845792e-01 -4.78052974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters 0.016426608586431204 Centerline is valid? [True, True] Translation: X:267.77, Y:-12.06, Z:-4.78 [[ 9.99473976e-01 2.74253406e-02 1.73096149e-02 2.67768821e+02] [-2.74164161e-02 9.99623816e-01 -7.52712240e-04 -1.20595036e+01] [-1.73237467e-02 2.77748688e-04 9.99849894e-01 -4.78124533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994391418 meters 0.017206797834436554 Centerline is valid? [True, True] Translation: X:267.80, Y:-12.06, Z:-4.78 [[ 9.99490915e-01 2.64636942e-02 1.78208841e-02 2.67799451e+02] [-2.64540820e-02 9.99649729e-01 -7.74941267e-04 -1.20628193e+01] [-1.78351498e-02 3.03111627e-04 9.99840895e-01 -4.78186141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters 0.01716320959278729 Centerline is valid? [True, True] Translation: X:267.83, Y:-12.07, Z:-4.78 [[ 9.99532490e-01 2.46862402e-02 1.80386109e-02 2.67831076e+02] [-2.46760960e-02 9.99695191e-01 -7.84759911e-04 -1.20653317e+01] [-1.80524854e-02 3.39270532e-04 9.99836983e-01 -4.78303749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.054391418 meters 0.018303846909004023 Centerline is valid? [True, True] Translation: X:267.86, Y:-12.07, Z:-4.78 [[ 9.99546362e-01 2.42378944e-02 1.78772080e-02 2.67862192e+02] [-2.42278472e-02 9.99706160e-01 -7.78410873e-04 -1.20693182e+01] [-1.78908219e-02 3.44931494e-04 9.99839887e-01 -4.78390233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters 0.017023858658857246 Centerline is valid? [True, True] Translation: X:267.89, Y:-12.07, Z:-4.78 [[ 9.99536651e-01 2.46787027e-02 1.78169835e-02 2.67894715e+02] [-2.46687124e-02 9.99695376e-01 -7.80313912e-04 -1.20686316e+01] [-1.78308132e-02 3.40430312e-04 9.99840960e-01 -4.78477117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.114391418 meters 0.016725337853895184 Centerline is valid? [True, True] Translation: X:267.93, Y:-12.07, Z:-4.79 [[ 9.99515092e-01 2.55502107e-02 1.77979650e-02 2.67926480e+02] [-2.55402891e-02 9.99673486e-01 -7.84573573e-04 -1.20696071e+01] [-1.78121998e-02 3.29627955e-04 9.99841296e-01 -4.78529728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters 0.016151059569741066 Centerline is valid? [True, True] Translation: X:267.96, Y:-12.07, Z:-4.79 [[ 9.99479439e-01 2.68909970e-02 1.78248382e-02 2.67958110e+02] [-2.68812456e-02 9.99638325e-01 -7.86478554e-04 -1.20696645e+01] [-1.78395406e-02 3.06915290e-04 9.99840816e-01 -4.78598804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.174391418 meters 0.015798054304444486 Centerline is valid? [True, True] Translation: X:267.99, Y:-12.07, Z:-4.79 [[ 9.99422022e-01 2.88606055e-02 1.79635009e-02 2.67988305e+02] [-2.88510066e-02 9.99583408e-01 -7.93337360e-04 -1.20700220e+01] [-1.79789136e-02 2.74613746e-04 9.99838329e-01 -4.78665966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204391418 meters 0.015248728065143184 Centerline is valid? [True, True] Translation: X:268.02, Y:-12.07, Z:-4.79 [[ 9.99344440e-01 3.12414363e-02 1.82937834e-02 2.68019022e+02] [-3.12318731e-02 9.99511839e-01 -8.08294665e-04 -1.20692581e+01] [-1.83101054e-02 2.36415658e-04 9.99832328e-01 -4.78688916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23439141800003 meters 0.013684838653941244 Centerline is valid? [True, True] Translation: X:268.05, Y:-12.07, Z:-4.79 [[ 9.99129558e-01 3.73891331e-02 1.84981095e-02 2.68048560e+02] [-3.73804086e-02 9.99300774e-01 -8.17302895e-04 -1.20664733e+01] [-1.85157334e-02 1.25124588e-04 9.99828561e-01 -4.78701792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264391418 meters 0.013576033514929265 Centerline is valid? [True, True] Translation: X:268.08, Y:-12.07, Z:-4.79 [[ 9.99010815e-01 4.04788713e-02 1.84079721e-02 2.68077619e+02] [-4.04707698e-02 9.99180392e-01 -8.12573267e-04 -1.20658537e+01] [-1.84257768e-02 6.67846820e-05 9.99830229e-01 -4.78792499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294391418 meters 0.013257754996411398 Centerline is valid? [True, True] Translation: X:268.11, Y:-12.06, Z:-4.79 [[ 9.98802986e-01 4.55154464e-02 1.79147990e-02 2.68106116e+02] [-4.55086018e-02 9.98963635e-01 -7.89761375e-04 -1.20642545e+01] [-1.79321791e-02 -2.64614344e-05 9.99839205e-01 -4.78894909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324391418 meters 0.013332121316235141 Centerline is valid? [True, True] Translation: X:268.13, Y:-12.06, Z:-4.79 [[ 9.98729621e-01 4.73516107e-02 1.72327664e-02 2.68134930e+02] [-4.73455736e-02 9.98878282e-01 -7.58369297e-04 -1.20646682e+01] [-1.72493461e-02 -5.84893266e-05 9.99851217e-01 -4.78992788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354391418 meters 0.013559800838653047 Centerline is valid? [True, True] Translation: X:268.16, Y:-12.07, Z:-4.79 [[ 9.98689079e-01 4.87251463e-02 1.56838699e-02 2.68162299e+02] [-4.87203320e-02 9.98812222e-01 -6.89120446e-04 -1.20662202e+01] [-1.56988185e-02 -7.59062858e-05 9.99876763e-01 -4.79233888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384391418 meters 0.013620576125985027 Centerline is valid? [True, True] Translation: X:268.19, Y:-12.07, Z:-4.79 [[ 9.98718437e-01 4.83805833e-02 1.48594211e-02 2.68190645e+02] [-4.83762452e-02 9.98828972e-01 -6.51454958e-04 -1.20684322e+01] [-1.48735381e-02 -6.82229220e-05 9.99889380e-01 -4.79357970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414391418 meters 0.013644119793981441 Centerline is valid? [True, True] Translation: X:268.22, Y:-12.07, Z:-4.79 [[ 9.98779542e-01 4.73970974e-02 1.38903128e-02 2.68219477e+02] [-4.73932258e-02 9.98876125e-01 -6.07949924e-04 -1.20711693e+01] [-1.39035169e-02 -5.10987840e-05 9.99903340e-01 -4.79490264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444391418 meters 0.013382058688972026 Centerline is valid? [True, True] Translation: X:268.25, Y:-12.07, Z:-4.80 [[ 9.98865810e-01 4.55313980e-02 1.39278296e-02 2.68247635e+02] [-4.55273385e-02 9.98962908e-01 -6.08551513e-04 -1.20743376e+01] [-1.39410933e-02 -2.62357110e-05 9.99902818e-01 -4.79592510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474391418 meters 0.013580987427688138 Centerline is valid? [True, True] Translation: X:268.28, Y:-12.08, Z:-4.80 [[ 9.99077086e-01 4.08819080e-02 1.31774453e-02 2.68275179e+02] [-4.08778858e-02 9.99163985e-01 -5.74551225e-04 -1.20810763e+01] [-1.31899175e-02 3.53548596e-05 9.99913009e-01 -4.79670006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504391418 meters 0.013733528206399401 Centerline is valid? [True, True] Translation: X:268.30, Y:-12.09, Z:-4.80 [[ 9.99176578e-01 3.83351179e-02 1.32885156e-02 2.68304220e+02] [-3.83308212e-02 9.99264937e-01 -5.77974364e-04 -1.20854489e+01] [-1.33009044e-02 6.81387328e-05 9.99911537e-01 -4.79676383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534391418 meters 0.014058297055031211 Centerline is valid? [True, True] Translation: X:268.33, Y:-12.09, Z:-4.80 [[ 9.99283219e-01 3.53164256e-02 1.36307725e-02 2.68333033e+02] [-3.53116384e-02 9.99376174e-01 -5.91794006e-04 -1.20893059e+01] [-1.36431693e-02 1.10044911e-04 9.99906922e-01 -4.79665898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564391418 meters 0.015585504264247275 Centerline is valid? [True, True] Translation: X:268.36, Y:-12.10, Z:-4.80 [[ 9.99489542e-01 2.89733435e-02 1.34610667e-02 2.68361496e+02] [-2.89681152e-02 9.99580166e-01 -5.83258350e-04 -1.20972784e+01] [-1.34723142e-02 1.93018892e-04 9.99909226e-01 -4.79712243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594391418 meters 0.01709192581310048 Centerline is valid? [True, True] Translation: X:268.39, Y:-12.10, Z:-4.80 [[ 9.99570090e-01 2.58439281e-02 1.38465527e-02 2.68389597e+02] [-2.58381079e-02 9.99665961e-01 -5.99092813e-04 -1.21028993e+01] [-1.38574103e-02 2.41066535e-04 9.99903952e-01 -4.79786582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624391418 meters 0.018606393472815487 Centerline is valid? [True, True] Translation: X:268.42, Y:-12.11, Z:-4.80 [[ 9.99632420e-01 2.30514763e-02 1.42707572e-02 2.68419224e+02] [-2.30450243e-02 9.99734238e-01 -6.16408129e-04 -1.21075508e+01] [-1.42811737e-02 2.87311603e-04 9.99897978e-01 -4.79829027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654391418 meters 0.019351150543878308 Centerline is valid? [True, True] Translation: X:268.45, Y:-12.11, Z:-4.80 [[ 9.99746495e-01 1.72143460e-02 1.45124831e-02 2.68450535e+02] [-1.72070660e-02 9.99851751e-01 -6.26357905e-04 -1.21121938e+01] [-1.45211140e-02 3.76481864e-04 9.99894492e-01 -4.79822468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684391418 meters 0.02096867842187098 Centerline is valid? [True, True] Translation: X:268.48, Y:-12.12, Z:-4.80 [[ 9.99792665e-01 1.43604179e-02 1.44362709e-02 2.68481030e+02] [-1.43529085e-02 9.99896797e-01 -6.23652971e-04 -1.21175710e+01] [-1.44437369e-02 4.16321191e-04 9.99895597e-01 -4.79890077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714391418 meters 0.02096867842187098 Centerline is valid? [True, True] Translation: X:268.51, Y:-12.12, Z:-4.80 [[ 9.99788004e-01 1.46813269e-02 1.44362890e-02 2.68513600e+02] [-1.46738569e-02 9.99892139e-01 -6.23238418e-04 -1.21191217e+01] [-1.44438818e-02 4.11270255e-04 9.99895597e-01 -4.79948847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744391418 meters 0.024009266899299206 Centerline is valid? [True, True] Translation: X:268.54, Y:-12.13, Z:-4.80 [[ 9.99850110e-01 8.01159623e-03 1.53483809e-02 2.68544345e+02] [-8.00227361e-03 9.99967758e-01 -6.68719962e-04 -1.21269152e+01] [-1.53532436e-02 5.45797784e-04 9.99881983e-01 -4.79948342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774391418 meters 0.025710097873857446 Centerline is valid? [True, True] Translation: X:268.58, Y:-12.13, Z:-4.80 [[ 9.99861795e-01 4.65469313e-03 1.59600830e-02 2.68576013e+02] [-4.64418805e-03 9.99988974e-01 -6.95209488e-04 -1.21313289e+01] [-1.59631430e-02 6.20991780e-04 9.99872388e-01 -4.79941717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.804391418 meters 0.0273139618051709 Centerline is valid? [True, True] Translation: X:268.61, Y:-12.14, Z:-4.80 [[ 9.99865672e-01 1.34440866e-03 1.63349738e-02 2.68607302e+02] [-1.33288513e-03 9.99998855e-01 -7.16317704e-04 -1.21357996e+01] [-1.63359182e-02 6.94448839e-04 9.99866319e-01 -4.79949039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834391418 meters 0.029979288323396434 Centerline is valid? [True, True] Translation: X:268.64, Y:-12.14, Z:-4.80 [[ 9.99861843e-01 -2.35082919e-03 1.64550281e-02 2.68636833e+02] [ 2.36303424e-03 9.99996947e-01 -7.22317373e-04 -1.21411926e+01] [-1.64532798e-02 7.61101375e-04 9.99864346e-01 -4.79955127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.864391418 meters 0.03449463704571246 Centerline is valid? [True, True] Translation: X:268.67, Y:-12.15, Z:-4.80 [[ 9.99832607e-01 -8.65365526e-03 1.61205754e-02 2.68666420e+02] [ 8.66618576e-03 9.99962198e-01 -7.07602851e-04 -1.21493268e+01] [-1.61138427e-02 8.47188304e-04 9.99869805e-01 -4.80007224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894391418 meters 0.035431105552540205 Centerline is valid? [True, True] Translation: X:268.70, Y:-12.15, Z:-4.80 [[ 9.99809990e-01 -1.12798207e-02 1.58980839e-02 2.68697698e+02] [ 1.12923423e-02 9.99935996e-01 -6.98065298e-04 -1.21520472e+01] [-1.58891923e-02 8.77459265e-04 9.99873374e-01 -4.80085512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.924391418 meters 0.0358252563610875 Centerline is valid? [True, True] Translation: X:268.73, Y:-12.15, Z:-4.80 [[ 9.99781262e-01 -1.44711529e-02 1.51001601e-02 2.68729248e+02] [ 1.44828202e-02 9.99894898e-01 -6.63591746e-04 -1.21534860e+01] [-1.50889701e-02 8.82139497e-04 9.99885766e-01 -4.80161065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954391418 meters 0.03648762595678519 Centerline is valid? [True, True] Translation: X:268.76, Y:-12.16, Z:-4.80 [[ 9.99775482e-01 -1.49657109e-02 1.50004617e-02 2.68761118e+02] [ 1.49772873e-02 9.99887617e-01 -6.59692541e-04 -1.21551700e+01] [-1.49889031e-02 8.84210653e-04 9.99887269e-01 -4.80236244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98439141800003 meters 0.035843501912593084 Centerline is valid? [True, True] Translation: X:268.79, Y:-12.15, Z:-4.80 [[ 9.99779203e-01 -1.52392043e-02 1.44676161e-02 2.68793803e+02] [ 1.52500176e-02 9.99883509e-01 -6.37380180e-04 -1.21543196e+01] [-1.44562176e-02 8.57870849e-04 9.99895135e-01 -4.80325116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014391418 meters 0.038104122839131435 Centerline is valid? [True, True] Translation: X:268.83, Y:-12.16, Z:-4.80 [[ 9.99794507e-01 -1.48059800e-02 1.38465124e-02 2.68825044e+02] [ 1.48158594e-02 9.99890052e-01 -6.11179612e-04 -1.21576392e+01] [-1.38359409e-02 8.16201999e-04 9.99903946e-01 -4.80452507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters 0.03366803867788721 Centerline is valid? [True, True] Translation: X:268.86, Y:-12.15, Z:-4.81 [[ 9.99815870e-01 -1.39298581e-02 1.31978856e-02 2.68857564e+02] [ 1.39387659e-02 9.99902681e-01 -5.83197633e-04 -1.21521399e+01] [-1.31884773e-02 7.67052487e-04 9.99912734e-01 -4.80525951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074391418 meters 0.0341130434994586 Centerline is valid? [True, True] Translation: X:268.89, Y:-12.15, Z:-4.81 [[ 9.99839304e-01 -1.27742391e-02 1.25771283e-02 2.68888324e+02] [ 1.27822514e-02 9.99918149e-01 -5.56866496e-04 -1.21526793e+01] [-1.25689853e-02 7.17541026e-04 9.99920750e-01 -4.80668661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters 0.032530651245525156 Centerline is valid? [True, True] Translation: X:268.92, Y:-12.15, Z:-4.81 [[ 9.99885253e-01 -9.36580312e-03 1.19063927e-02 2.68919587e+02] [ 9.37275228e-03 9.99955935e-01 -5.27982763e-04 -1.21491925e+01] [-1.19009231e-02 6.39517848e-04 9.99928977e-01 -4.80723779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134391418 meters 0.033716250059916825 Centerline is valid? [True, True] Translation: X:268.95, Y:-12.15, Z:-4.81 [[ 9.99904640e-01 -7.26346327e-03 1.17453638e-02 2.68949966e+02] [ 7.27008810e-03 9.99973437e-01 -5.21439766e-04 -1.21499426e+01] [-1.17412644e-02 6.06779872e-04 9.99930885e-01 -4.80785552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters 0.03190887311832421 Centerline is valid? [True, True] Translation: X:268.98, Y:-12.14, Z:-4.81 [[ 9.99917960e-01 -2.29354067e-03 1.26021105e-02 2.68980045e+02] [ 2.30077851e-03 9.99997196e-01 -5.59867175e-04 -1.21447549e+01] [-1.26007911e-02 5.88815909e-04 9.99920434e-01 -4.80702029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194391418 meters 0.028349329492457175 Centerline is valid? [True, True] Translation: X:269.01, Y:-12.14, Z:-4.81 [[ 9.99908355e-01 6.40673657e-04 1.35229995e-02 2.69012023e+02] [-6.32610726e-04 9.99999620e-01 -6.00507492e-04 -1.21393217e+01] [-1.35233791e-02 5.91897663e-04 9.99908380e-01 -4.80668891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters 0.026986851764527166 Centerline is valid? [True, True] Translation: X:269.04, Y:-12.14, Z:-4.81 [[ 9.99897395e-01 3.56477141e-03 1.38741669e-02 2.69043915e+02] [-3.55655455e-03 9.99993485e-01 -6.16870186e-04 -1.21365798e+01] [-1.38762755e-02 5.67462660e-04 9.99903559e-01 -4.80645993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254391418 meters 0.02239537942133098 Centerline is valid? [True, True] Translation: X:269.07, Y:-12.13, Z:-4.81 [[ 9.99836475e-01 1.02691901e-02 1.48851547e-02 2.69074884e+02] [-1.02604495e-02 9.99947140e-01 -6.63455051e-04 -1.21258345e+01] [-1.48911810e-02 5.10618181e-04 9.99888990e-01 -4.80540813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters 0.021570929099045438 Centerline is valid? [True, True] Translation: X:269.11, Y:-12.12, Z:-4.81 [[ 9.99792246e-01 1.37679156e-02 1.50302520e-02 2.69105913e+02] [-1.37594005e-02 9.99905111e-01 -6.69799200e-04 -1.21232085e+01] [-1.50380476e-02 4.62852790e-04 9.99886815e-01 -4.80552229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314391418 meters 0.019901801938854644 Centerline is valid? [True, True] Translation: X:269.14, Y:-12.12, Z:-4.81 [[ 9.99730466e-01 1.76258918e-02 1.51103829e-02 2.69137957e+02] [-1.76177172e-02 9.99844569e-01 -6.73940951e-04 -1.21201802e+01] [-1.51199131e-02 4.07548848e-04 9.99885605e-01 -4.80613270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters 0.01932539996573034 Centerline is valid? [True, True] Translation: X:269.17, Y:-12.12, Z:-4.81 [[ 9.99662327e-01 2.12967597e-02 1.48888905e-02 2.69169364e+02] [-2.12892259e-02 9.99773138e-01 -6.64331134e-04 -1.21181597e+01] [-1.48996609e-02 3.47133853e-04 9.99888934e-01 -4.80706480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374391418 meters 0.01812993408963447 Centerline is valid? [True, True] Translation: X:269.20, Y:-12.11, Z:-4.81 [[ 9.99515554e-01 2.76271865e-02 1.43316106e-02 2.69200387e+02] [-2.76207936e-02 9.99618266e-01 -6.43856213e-04 -1.21137107e+01] [-1.43439276e-02 2.47693843e-04 9.99897090e-01 -4.80872763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters 0.016171098867663256 Centerline is valid? [True, True] Translation: X:269.23, Y:-12.11, Z:-4.81 [[ 9.99439422e-01 3.03718730e-02 1.40851363e-02 2.69230196e+02] [-3.03659584e-02 9.99538647e-01 -6.33637530e-04 -1.21087071e+01] [-1.40978829e-02 2.05573662e-04 9.99900599e-01 -4.80938143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434391418 meters 0.014882968116213011 Centerline is valid? [True, True] Translation: X:269.26, Y:-12.10, Z:-4.81 [[ 9.99304349e-01 3.47460486e-02 1.35472956e-02 2.69258854e+02] [-3.47409835e-02 9.99396164e-01 -6.09109001e-04 -1.21040629e+01] [-1.35602794e-02 1.38038900e-04 9.99908046e-01 -4.81043655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters 0.014635075082901593 Centerline is valid? [True, True] Translation: X:269.29, Y:-12.10, Z:-4.81 [[ 9.99238582e-01 3.66512270e-02 1.33769676e-02 2.69287131e+02] [-3.66464719e-02 9.99328112e-01 -6.00503512e-04 -1.21027178e+01] [-1.33899890e-02 1.09827610e-04 9.99910344e-01 -4.81163668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494391418 meters 0.014315111071445128 Centerline is valid? [True, True] Translation: X:269.32, Y:-12.10, Z:-4.81 [[ 9.99176443e-01 3.83077217e-02 1.33774004e-02 2.69315967e+02] [-3.83031333e-02 9.99265986e-01 -5.99134362e-04 -1.21012706e+01] [-1.33905326e-02 8.62445916e-05 9.99910339e-01 -4.81239441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters 0.0140590044176131 Centerline is valid? [True, True] Translation: X:269.34, Y:-12.10, Z:-4.81 [[ 9.99034926e-01 4.17857158e-02 1.35340890e-02 2.69344301e+02] [-4.17813519e-02 9.99126595e-01 -6.05149514e-04 -1.20973244e+01] [-1.35475549e-02 3.90929617e-05 9.99908227e-01 -4.81318799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.554391418 meters 0.01390595838466711 Centerline is valid? [True, True] Translation: X:269.37, Y:-12.10, Z:-4.81 [[ 9.98968082e-01 4.32423575e-02 1.38877503e-02 2.69372179e+02] [-4.32379226e-02 9.99064612e-01 -6.19577117e-04 -1.20963299e+01] [-1.39015519e-02 1.84602904e-05 9.99903369e-01 -4.81328959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters 0.013969473544979516 Centerline is valid? [True, True] Translation: X:269.40, Y:-12.10, Z:-4.81 [[ 9.98913421e-01 4.41998942e-02 1.47765608e-02 2.69401330e+02] [-4.41950038e-02 9.99022707e-01 -6.57498180e-04 -1.20961367e+01] [-1.47911812e-02 3.73359397e-06 9.99890604e-01 -4.81340700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.614391418 meters 0.013915113155946816 Centerline is valid? [True, True] Translation: X:269.43, Y:-12.10, Z:-4.81 [[ 9.98889613e-01 4.40828912e-02 1.66204688e-02 2.69430448e+02] [-4.40767119e-02 9.99027877e-01 -7.38098499e-04 -1.20971868e+01] [-1.66368492e-02 4.70330807e-06 9.99861598e-01 -4.81297615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters 0.013750864366067036 Centerline is valid? [True, True] Translation: X:269.46, Y:-12.10, Z:-4.81 [[ 9.98940564e-01 4.26350809e-02 1.73204867e-02 2.69458626e+02] [-4.26281767e-02 9.99090711e-01 -7.67781541e-04 -1.20997221e+01] [-1.73374718e-02 2.86273585e-05 9.99849694e-01 -4.81302112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.674391418 meters 0.013907308146112905 Centerline is valid? [True, True] Translation: X:269.49, Y:-12.10, Z:-4.81 [[ 9.99033139e-01 4.03020301e-02 1.75651362e-02 2.69487018e+02] [-4.02945996e-02 9.99187541e-01 -7.76886155e-04 -1.21030759e+01] [-1.75821753e-02 6.83548853e-05 9.99845419e-01 -4.81368652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704391418 meters 0.014844271217467073 Centerline is valid? [True, True] Translation: X:269.52, Y:-12.11, Z:-4.81 [[ 9.99293230e-01 3.33002458e-02 1.74394538e-02 2.69515640e+02] [-3.32918774e-02 9.99445375e-01 -7.70032143e-04 -1.21099802e+01] [-1.74554237e-02 1.88895749e-04 9.99847625e-01 -4.81449938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73439141800003 meters 0.016513755987065164 Centerline is valid? [True, True] Translation: X:269.54, Y:-12.12, Z:-4.82 [[ 9.99429065e-01 2.85984872e-02 1.79908194e-02 2.69544945e+02] [-2.85888466e-02 9.99590941e-01 -7.92876762e-04 -1.21165101e+01] [-1.80061352e-02 2.78087306e-04 9.99837838e-01 -4.81537635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764391418 meters 0.017533943012317418 Centerline is valid? [True, True] Translation: X:269.58, Y:-12.12, Z:-4.82 [[ 9.99564488e-01 2.35309015e-02 1.78081557e-02 2.69575417e+02] [-2.35206580e-02 9.99723043e-01 -7.84469044e-04 -1.21212958e+01] [-1.78216829e-02 3.65267859e-04 9.99841114e-01 -4.81611760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794391418 meters 0.023701295544925952 Centerline is valid? [True, True] Translation: X:269.60, Y:-12.14, Z:-4.82 [[ 9.99755372e-01 1.32188433e-02 1.77329948e-02 2.69604343e+02] [-1.32070649e-02 9.99912478e-01 -7.81161586e-04 -1.21360371e+01] [-1.77417688e-02 5.46769680e-04 9.99842453e-01 -4.81762365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824391418 meters 0.02351912417939981 Centerline is valid? [True, True] Translation: X:269.64, Y:-12.14, Z:-4.82 [[ 9.99810188e-01 8.47867234e-03 1.75413971e-02 2.69635339e+02] [-8.46642243e-03 9.99963861e-01 -7.72488343e-04 -1.21386350e+01] [-1.75473128e-02 6.23828838e-04 9.99845839e-01 -4.81854227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854391418 meters 0.028971648570696673 Centerline is valid? [True, True] Translation: X:269.66, Y:-12.15, Z:-4.82 [[ 9.99848576e-01 6.86850140e-04 1.73883385e-02 2.69664911e+02] [-6.73630567e-04 9.99999480e-01 -7.66100807e-04 -1.21503952e+01] [-1.73888557e-02 7.54271484e-04 9.99848518e-01 -4.82011853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884391418 meters 0.028688299378761377 Centerline is valid? [True, True] Translation: X:269.70, Y:-12.15, Z:-4.82 [[ 9.99843182e-01 -1.89373472e-03 1.76075348e-02 2.69696523e+02] [ 1.90769487e-03 9.99997879e-01 -7.76088520e-04 -1.21521694e+01] [-1.76060277e-02 8.09556619e-04 9.99844674e-01 -4.82092150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914391418 meters 0.03297841583370888 Centerline is valid? [True, True] Translation: X:269.73, Y:-12.16, Z:-4.82 [[ 9.99848405e-01 -3.66582145e-03 1.70214470e-02 2.69726855e+02] [ 3.67916169e-03 9.99992949e-01 -7.52482733e-04 -1.21596824e+01] [-1.70185686e-02 8.14993316e-04 9.99854842e-01 -4.82185409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944391418 meters 0.030620901734540837 Centerline is valid? [True, True] Translation: X:269.76, Y:-12.16, Z:-4.82 [[ 9.99840502e-01 -4.78919548e-03 1.72056614e-02 2.69758897e+02] [ 4.80303264e-03 9.99988174e-01 -7.62988047e-04 -1.21578475e+01] [-1.72018038e-02 8.45505705e-04 9.99851681e-01 -4.82261474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974391418 meters 0.03337290765733962 Centerline is valid? [True, True] Translation: X:269.79, Y:-12.16, Z:-4.82 [[ 9.99839463e-01 -5.50965481e-03 1.70496713e-02 2.69790319e+02] [ 5.52342956e-03 9.99984456e-01 -7.60934341e-04 -1.21629831e+01] [-1.70452138e-02 8.54984842e-04 9.99854354e-01 -4.82333825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004391418 meters 0.032716086730052926 Centerline is valid? [True, True] Translation: X:269.82, Y:-12.16, Z:-4.82 [[ 9.99841278e-01 -5.24824582e-03 1.70257068e-02 2.69822849e+02] [ 5.26202360e-03 9.99985863e-01 -7.64536870e-04 -1.21632236e+01] [-1.70214537e-02 8.54005193e-04 9.99854760e-01 -4.82415540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034391418 meters 0.032356457128877504 Centerline is valid? [True, True] Translation: X:269.86, Y:-12.16, Z:-4.82 [[ 9.99844240e-01 -5.05082279e-03 1.69110662e-02 2.69855896e+02] [ 5.06440933e-03 9.99986886e-01 -7.60682395e-04 -1.21637511e+01] [-1.69070023e-02 8.46208473e-04 9.99856708e-01 -4.82485605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064391418 meters 0.03254945326668164 Centerline is valid? [True, True] Translation: X:269.89, Y:-12.16, Z:-4.83 [[ 9.99832613e-01 -5.09017066e-03 1.75737448e-02 2.69888408e+02] [ 5.10488821e-03 9.99986656e-01 -7.92715306e-04 -1.21649837e+01] [-1.75694752e-02 8.82294618e-04 9.99845256e-01 -4.82541698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094391418 meters 0.032250607875203195 Centerline is valid? [True, True] Translation: X:269.92, Y:-12.17, Z:-4.83 [[ 9.99823157e-01 -5.54068315e-03 1.79709879e-02 2.69920186e+02] [ 5.55617276e-03 9.99984235e-01 -8.12108658e-04 -1.21654500e+01] [-1.79662049e-02 9.11814955e-04 9.99838179e-01 -4.82609573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124391418 meters 0.03400362862858376 Centerline is valid? [True, True] Translation: X:269.95, Y:-12.17, Z:-4.83 [[ 9.99824728e-01 -6.57919280e-03 1.75278822e-02 2.69951018e+02] [ 6.59410979e-03 9.99977944e-01 -7.93384445e-04 -1.21680997e+01] [-1.75222758e-02 9.08826167e-04 9.99846060e-01 -4.82650294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154391418 meters 0.03557791347523345 Centerline is valid? [True, True] Translation: X:269.98, Y:-12.17, Z:-4.83 [[ 9.99821735e-01 -7.14178215e-03 1.74783525e-02 2.69982524e+02] [ 7.15677985e-03 9.99974073e-01 -7.95673689e-04 -1.21710196e+01] [-1.74722168e-02 9.20620569e-04 9.99846925e-01 -4.82724828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184391418 meters 0.034672851166575175 Centerline is valid? [True, True] Translation: X:270.01, Y:-12.17, Z:-4.83 [[ 9.99829003e-01 -8.13949655e-03 1.66045918e-02 2.70014725e+02] [ 8.15323994e-03 9.99966473e-01 -7.60157276e-04 -1.21706917e+01] [-1.65978478e-02 8.95408513e-04 9.99861845e-01 -4.82840313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214391418 meters 0.03761834778820853 Centerline is valid? [True, True] Translation: X:270.05, Y:-12.18, Z:-4.83 [[ 9.99848146e-01 -9.88709209e-03 1.43503004e-02 2.70045638e+02] [ 9.89755093e-03 9.99950802e-01 -6.57984618e-04 -1.21750172e+01] [-1.43430888e-02 7.99917530e-04 9.99896813e-01 -4.83137148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244391418 meters 0.03846341791448925 Centerline is valid? [True, True] Translation: X:270.08, Y:-12.18, Z:-4.83 [[ 9.99851400e-01 -1.06266373e-02 1.35739533e-02 2.70077915e+02] [ 1.06360721e-02 9.99943241e-01 -6.23061395e-04 -1.21772646e+01] [-1.35665618e-02 7.67342354e-04 9.99907676e-01 -4.83302935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274391418 meters 0.03607422312245041 Centerline is valid? [True, True] Translation: X:270.11, Y:-12.18, Z:-4.83 [[ 9.99859565e-01 -1.12990739e-02 1.23766132e-02 2.70110564e+02] [ 1.13069789e-02 9.99935912e-01 -5.68919821e-04 -1.21752785e+01] [-1.23693918e-02 7.08782030e-04 9.99923245e-01 -4.83426402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.304391418 meters 0.034888967163013686 Centerline is valid? [True, True] Translation: X:270.14, Y:-12.17, Z:-4.84 [[ 9.99860059e-01 -1.17942604e-02 1.18641056e-02 2.70142907e+02] [ 1.18015696e-02 9.99930210e-01 -5.46246370e-04 -1.21747657e+01] [-1.18568350e-02 6.86184995e-04 9.99929470e-01 -4.83524922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334391418 meters 0.03689258656780014 Centerline is valid? [True, True] Translation: X:270.17, Y:-12.18, Z:-4.84 [[ 9.99863684e-01 -1.25892625e-02 1.06829174e-02 2.70173822e+02] [ 1.25952433e-02 9.99920555e-01 -4.92748716e-04 -1.21764009e+01] [-1.06758653e-02 6.27235490e-04 9.99942815e-01 -4.83612461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.364391418 meters 0.036032346821491874 Centerline is valid? [True, True] Translation: X:270.21, Y:-12.18, Z:-4.84 [[ 9.99870950e-01 -1.22615288e-02 1.03797271e-02 2.70206225e+02] [ 1.22671620e-02 9.99924641e-01 -4.79215796e-04 -1.21753459e+01] [-1.03730690e-02 6.06483747e-04 9.99946014e-01 -4.83652786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394391418 meters 0.035850568995433145 Centerline is valid? [True, True] Translation: X:270.24, Y:-12.17, Z:-4.84 [[ 9.99897786e-01 -1.01018843e-02 1.01177828e-02 2.70237208e+02] [ 1.01071377e-02 9.99948812e-01 -4.68229998e-04 -1.21734113e+01] [-1.01125349e-02 5.70443962e-04 9.99948704e-01 -4.83634562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.424391418 meters 0.03857529422414035 Centerline is valid? [True, True] Translation: X:270.27, Y:-12.18, Z:-4.84 [[ 9.99906068e-01 -8.48558364e-03 1.07633787e-02 2.70267141e+02] [ 8.49144238e-03 9.99963823e-01 -4.98738203e-04 -1.21762447e+01] [-1.07587572e-02 5.90087965e-04 9.99941949e-01 -4.83656066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454391418 meters 0.034003169592586494 Centerline is valid? [True, True] Translation: X:270.30, Y:-12.17, Z:-4.84 [[ 9.99911129e-01 -6.46504250e-03 1.16591767e-02 2.70299185e+02] [ 6.47178021e-03 9.99978912e-01 -5.40251878e-04 -1.21693734e+01] [-1.16554381e-02 6.15659494e-04 9.99931884e-01 -4.83517191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48439141800003 meters 0.031967138161907806 Centerline is valid? [True, True] Translation: X:270.33, Y:-12.16, Z:-4.83 [[ 9.99909331e-01 -2.49735350e-03 1.32323083e-02 2.70329836e+02] [ 2.50570192e-03 9.99996672e-01 -6.14370237e-04 -1.21634178e+01] [-1.32307300e-02 6.47470753e-04 9.99912260e-01 -4.83338940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514391418 meters 0.030617602028898752 Centerline is valid? [True, True] Translation: X:270.36, Y:-12.16, Z:-4.83 [[ 9.99901743e-01 -8.29696464e-04 1.39934457e-02 2.70362681e+02] [ 8.38864477e-04 9.99999437e-01 -6.49307925e-04 -1.21611092e+01] [-1.39928991e-02 6.60982730e-04 9.99901876e-01 -4.83272359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters 0.03088742115704697 Centerline is valid? [True, True] Translation: X:270.39, Y:-12.16, Z:-4.83 [[ 9.99890844e-01 3.57712139e-04 1.47706575e-02 2.70393669e+02] [-3.47601355e-04 9.99999704e-01 -6.87079790e-04 -1.21607572e+01] [-1.47708989e-02 6.81870491e-04 9.99890672e-01 -4.83240761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574391418 meters 0.03163677284407562 Centerline is valid? [True, True] Translation: X:270.42, Y:-12.16, Z:-4.83 [[ 9.99870247e-01 1.23511398e-03 1.60612768e-02 2.70424747e+02] [-1.22325487e-03 9.99998972e-01 -7.48169635e-04 -1.21597395e+01] [-1.60621844e-02 7.28425522e-04 9.99870729e-01 -4.83189808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters 0.03163677284407562 Centerline is valid? [True, True] Translation: X:270.46, Y:-12.16, Z:-4.83 [[ 9.99869819e-01 1.54314340e-03 1.60612556e-02 2.70457342e+02] [-1.53131663e-03 9.99998547e-01 -7.48625914e-04 -1.21614170e+01] [-1.60623875e-02 7.23933589e-04 9.99870729e-01 -4.83248622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634391418 meters 0.028593396460339805 Centerline is valid? [True, True] Translation: X:270.49, Y:-12.16, Z:-4.83 [[ 9.99866509e-01 1.59795649e-03 1.62607331e-02 2.70491072e+02] [-1.58575908e-03 9.99998452e-01 -7.62980589e-04 -1.21576681e+01] [-1.62619271e-02 7.37093133e-04 9.99867494e-01 -4.83287160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters 0.02934288831346339 Centerline is valid? [True, True] Translation: X:270.52, Y:-12.16, Z:-4.83 [[ 9.99864975e-01 1.33211067e-03 1.63785658e-02 2.70522454e+02] [-1.31960985e-03 9.99998830e-01 -7.74026663e-04 -1.21593851e+01] [-1.63795777e-02 7.52308833e-04 9.99865563e-01 -4.83329112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694391418 meters 0.03106840928871647 Centerline is valid? [True, True] Translation: X:270.55, Y:-12.16, Z:-4.83 [[ 9.99883410e-01 -4.60306783e-04 1.52628607e-02 2.70553584e+02] [ 4.71427331e-04 9.99999626e-01 -7.25011939e-04 -1.21606592e+01] [-1.52625212e-02 7.32122739e-04 9.99883253e-01 -4.83470489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters 0.03207082103458446 Centerline is valid? [True, True] Translation: X:270.59, Y:-12.16, Z:-4.84 [[ 9.99897070e-01 -1.35295573e-03 1.42835012e-02 2.70585455e+02] [ 1.36283359e-03 9.99998839e-01 -6.81847078e-04 -1.21624345e+01] [-1.42825621e-02 7.01242931e-04 9.99897753e-01 -4.83613827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754391418 meters 0.032808196882479566 Centerline is valid? [True, True] Translation: X:270.62, Y:-12.16, Z:-4.84 [[ 9.99904013e-01 -2.03587413e-03 1.37047508e-02 2.70617314e+02] [ 2.04508114e-03 9.99997692e-01 -6.57830847e-04 -1.21639776e+01] [-1.37033799e-02 6.85795031e-04 9.99905869e-01 -4.83774947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters 0.03437027637863202 Centerline is valid? [True, True] Translation: X:270.65, Y:-12.17, Z:-4.84 [[ 9.99932112e-01 -4.10754529e-03 1.09041005e-02 2.70649542e+02] [ 4.11353363e-03 9.99991401e-01 -5.26811051e-04 -1.21652263e+01] [-1.09018429e-02 5.71629671e-04 9.99940410e-01 -4.84071844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814391418 meters 0.03438394570315071 Centerline is valid? [True, True] Translation: X:270.68, Y:-12.17, Z:-4.84 [[ 9.99939763e-01 -4.36131287e-03 1.00721774e-02 2.70681955e+02] [ 4.36644192e-03 9.99990348e-01 -4.87294546e-04 -1.21661231e+01] [-1.00699549e-02 5.31244771e-04 9.99949156e-01 -4.84238950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters 0.0352144743752103 Centerline is valid? [True, True] Translation: X:270.71, Y:-12.17, Z:-4.84 [[ 9.99947962e-01 -4.09229142e-03 9.34489140e-03 2.70713631e+02] [ 4.09669912e-03 9.99991506e-01 -4.52575864e-04 -1.21678169e+01] [-9.34295996e-03 4.90835521e-04 9.99956233e-01 -4.84412397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874391418 meters 0.033355448441815365 Centerline is valid? [True, True] Translation: X:270.75, Y:-12.16, Z:-4.84 [[ 9.99959769e-01 -1.35468190e-03 8.86705142e-03 2.70745751e+02] [ 1.35855317e-03 9.99998984e-01 -4.30581541e-04 -1.21641148e+01] [-8.86645911e-03 4.42610579e-04 9.99960594e-01 -4.84466652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters 0.033870105443695064 Centerline is valid? [True, True] Translation: X:270.78, Y:-12.16, Z:-4.85 [[ 9.99957500e-01 1.08716955e-03 9.15507057e-03 2.70776459e+02] [-1.08313792e-03 9.99999314e-01 -4.45317541e-04 -1.21646637e+01] [-9.15554842e-03 4.35382411e-04 9.99957992e-01 -4.84509985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934391418 meters 0.03056733174131312 Centerline is valid? [True, True] Translation: X:270.81, Y:-12.16, Z:-4.84 [[ 9.99940751e-01 4.09673285e-03 1.00851851e-02 2.70808472e+02] [-4.09199162e-03 9.99991507e-01 -4.90708463e-04 -1.21599405e+01] [-1.00871098e-02 4.49410896e-04 9.99949023e-01 -4.84386248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters 0.02608522460477304 Centerline is valid? [True, True] Translation: X:270.84, Y:-12.15, Z:-4.84 [[ 9.99864619e-01 1.16601965e-02 1.16096323e-02 2.70839029e+02] [-1.16544038e-02 9.99931925e-01 -5.66484009e-04 -1.21513377e+01] [-1.16154473e-02 4.31103976e-04 9.99932445e-01 -4.84220734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994391418 meters 0.023535872833516696 Centerline is valid? [True, True] Translation: X:270.87, Y:-12.15, Z:-4.84 [[ 9.99798633e-01 1.59898872e-02 1.21250520e-02 2.70870516e+02] [-1.59838884e-02 9.99872075e-01 -5.91494218e-04 -1.21469947e+01] [-1.21329589e-02 3.97569631e-04 9.99926314e-01 -4.84171237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters 0.021735515976273167 Centerline is valid? [True, True] Translation: X:270.90, Y:-12.14, Z:-4.84 [[ 9.99706499e-01 2.06051577e-02 1.27414016e-02 2.70900990e+02] [-2.05988996e-02 9.99787627e-01 -6.22210109e-04 -1.21437739e+01] [-1.27515164e-02 3.59568637e-04 9.99918631e-01 -4.84171296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.054391418 meters 0.01758859916462115 Centerline is valid? [True, True] Translation: X:270.93, Y:-12.13, Z:-4.84 [[ 9.99493981e-01 2.90075425e-02 1.30515769e-02 2.70931317e+02] [-2.90016858e-02 9.99579159e-01 -6.37822413e-04 -1.21346675e+01] [-1.30645859e-02 2.58981932e-04 9.99914621e-01 -4.84098826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters 0.0176609630596999 Centerline is valid? [True, True] Translation: X:270.96, Y:-12.13, Z:-4.84 [[ 9.99382137e-01 3.25229863e-02 1.33266783e-02 2.70959490e+02] [-3.25171912e-02 9.99470964e-01 -6.51361505e-04 -1.21342547e+01] [-1.33408122e-02 2.17612908e-04 9.99910984e-01 -4.84192416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.114391418 meters 0.01491700469206784 Centerline is valid? [True, True] Translation: X:270.99, Y:-12.13, Z:-4.84 [[ 9.99165671e-01 3.89107813e-02 1.24061884e-02 2.70989196e+02] [-3.89062677e-02 9.99242681e-01 -6.05052706e-04 -1.21265478e+01] [-1.24203360e-02 1.21869407e-04 9.99922857e-01 -4.84247722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters 0.01457942531430221 Centerline is valid? [True, True] Translation: X:271.02, Y:-12.13, Z:-4.84 [[ 9.99081167e-01 4.13662391e-02 1.12096420e-02 2.71017223e+02] [-4.13627121e-02 9.99144047e-01 -5.46391230e-04 -1.21254233e+01] [-1.12226492e-02 8.22279944e-05 9.99937021e-01 -4.84405384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.174391418 meters 0.0143089960795172 Centerline is valid? [True, True] Translation: X:271.05, Y:-12.12, Z:-4.85 [[ 9.98986866e-01 4.38498216e-02 1.01210491e-02 2.71046480e+02] [-4.38470839e-02 9.99038133e-01 -4.92337844e-04 -1.21240957e+01] [-1.01329030e-02 4.80605495e-05 9.99948660e-01 -4.84513186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204391418 meters 0.01429697382610598 Centerline is valid? [True, True] Translation: X:271.07, Y:-12.12, Z:-4.85 [[ 9.98897443e-01 4.61168383e-02 8.78273552e-03 2.71073885e+02] [-4.61148641e-02 9.98936052e-01 -4.27264059e-04 -1.21231419e+01] [-8.79309522e-03 2.17783207e-05 9.99961340e-01 -4.84679271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23439141800003 meters 0.014696450318028832 Centerline is valid? [True, True] Translation: X:271.10, Y:-12.12, Z:-4.85 [[ 9.98723612e-01 5.01047042e-02 6.37693454e-03 2.71103062e+02] [-5.01037504e-02 9.98743970e-01 -3.09334190e-04 -1.21206681e+01] [-6.38442402e-03 -1.05689770e-05 9.99979619e-01 -4.84963603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264391418 meters 0.014872791075865857 Centerline is valid? [True, True] Translation: X:271.13, Y:-12.12, Z:-4.85 [[ 9.98607208e-01 5.24353251e-02 5.84649861e-03 2.71131674e+02] [-5.24345652e-02 9.98624322e-01 -2.83292256e-04 -1.21202352e+01] [-5.85331023e-03 -2.36609237e-05 9.99982869e-01 -4.84989561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294391418 meters 0.015702361299493685 Centerline is valid? [True, True] Translation: X:271.16, Y:-12.12, Z:-4.85 [[ 9.98333547e-01 5.74597231e-02 5.33946570e-03 2.71159856e+02] [-5.74591581e-02 9.98347824e-01 -2.59286340e-04 -1.21169932e+01] [-5.34554248e-03 -4.79469523e-05 9.99985711e-01 -4.85017462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324391418 meters 0.01639263418181512 Centerline is valid? [True, True] Translation: X:271.19, Y:-12.12, Z:-4.85 [[ 9.98162301e-01 6.03270951e-02 5.71514026e-03 2.71188230e+02] [-6.03265041e-02 9.98178660e-01 -2.75893601e-04 -1.21161730e+01] [-5.72137491e-03 -6.93878414e-05 9.99983630e-01 -4.84974362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354391418 meters 0.016984534506054572 Centerline is valid? [True, True] Translation: X:271.22, Y:-12.12, Z:-4.85 [[ 9.97997600e-01 6.29131600e-02 6.53647403e-03 2.71217389e+02] [-6.29124348e-02 9.98019000e-01 -3.16696425e-04 -1.21153582e+01] [-6.54344965e-03 -9.51632246e-05 9.99978587e-01 -4.84888200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384391418 meters 0.018580077508484612 Centerline is valid? [True, True] Translation: X:271.24, Y:-12.11, Z:-4.85 [[ 9.97688160e-01 6.73996071e-02 8.69641755e-03 2.71244913e+02] [-6.73985379e-02 9.97726046e-01 -4.16282476e-04 -1.21130842e+01] [-8.70469958e-03 -1.70805730e-04 9.99962099e-01 -4.84743957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414391418 meters 0.018943627711397088 Centerline is valid? [True, True] Translation: X:271.27, Y:-12.11, Z:-4.85 [[ 9.97596460e-01 6.86188786e-02 9.63080870e-03 2.71273421e+02] [-6.86176352e-02 9.97642926e-01 -4.59872147e-04 -1.21141366e+01] [-9.63966408e-03 -2.02076492e-04 9.99953517e-01 -4.84733843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444391418 meters 0.019176886079363874 Centerline is valid? [True, True] Translation: X:271.30, Y:-12.12, Z:-4.85 [[ 9.97570330e-01 6.88909540e-02 1.03669388e-02 2.71301089e+02] [-6.88895585e-02 9.97624171e-01 -4.92072082e-04 -1.21155881e+01] [-1.03762080e-02 -2.23297325e-04 9.99946141e-01 -4.84748286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474391418 meters 0.018453584285970614 Centerline is valid? [True, True] Translation: X:271.33, Y:-12.12, Z:-4.85 [[ 9.97711775e-01 6.67373785e-02 1.08322152e-02 2.71329855e+02] [-6.67357856e-02 9.97770553e-01 -5.08843651e-04 -1.21207990e+01] [-1.08420242e-02 -2.15217087e-04 9.99941200e-01 -4.84815086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504391418 meters 0.01754596460619736 Centerline is valid? [True, True] Translation: X:271.36, Y:-12.13, Z:-4.85 [[ 9.97875672e-01 6.43153017e-02 1.03771312e-02 2.71358693e+02] [-6.43137166e-02 9.97929611e-01 -4.86723943e-04 -1.21257961e+01] [-1.03869503e-02 -1.81701892e-04 9.99946038e-01 -4.84907594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534391418 meters 0.016201895161031543 Centerline is valid? [True, True] Translation: X:271.39, Y:-12.13, Z:-4.85 [[ 9.98118574e-01 6.04781355e-02 1.00850056e-02 2.71386987e+02] [-6.04764499e-02 9.98169513e-01 -4.72293490e-04 -1.21320749e+01] [-1.00951085e-02 -1.38500429e-04 9.99949034e-01 -4.85002644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564391418 meters 0.014659493327325874 Centerline is valid? [True, True] Translation: X:271.41, Y:-12.14, Z:-4.85 [[ 9.98694275e-01 5.03014119e-02 8.91699435e-03 2.71414556e+02] [-5.02996932e-02 9.98734082e-01 -4.17040708e-04 -1.21448199e+01] [-8.92668390e-03 -3.20259128e-05 9.99960156e-01 -4.85227345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594391418 meters 0.014364405827713879 Centerline is valid? [True, True] Translation: X:271.44, Y:-12.15, Z:-4.85 [[ 9.98981307e-01 4.43195111e-02 8.49287542e-03 2.71442480e+02] [-4.43177379e-02 9.99017408e-01 -3.96966416e-04 -1.21530474e+01] [-8.50212374e-03 2.01770024e-05 9.99963856e-01 -4.85375649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624391418 meters 0.01496539567735061 Centerline is valid? [True, True] Translation: X:271.47, Y:-12.16, Z:-4.86 [[ 9.99244963e-01 3.80724995e-02 7.74522732e-03 2.71471328e+02] [-3.80708458e-02 9.99274977e-01 -3.60892265e-04 -1.21616737e+01] [-7.75335193e-03 6.57524237e-05 9.99969940e-01 -4.85510600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654391418 meters 0.018625463480800533 Centerline is valid? [True, True] Translation: X:271.50, Y:-12.18, Z:-4.86 [[ 9.99641489e-01 2.58420074e-02 7.00594079e-03 2.71499359e+02] [-2.58403626e-02 9.99666029e-01 -3.25205645e-04 -1.21784418e+01] [-7.01200498e-03 1.44053006e-04 9.99975405e-01 -4.85768696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684391418 meters 0.02014118002867097 Centerline is valid? [True, True] Translation: X:271.53, Y:-12.19, Z:-4.86 [[ 9.99772512e-01 2.02960480e-02 6.55708488e-03 2.71528871e+02] [-2.02944856e-02 9.99793999e-01 -3.04739248e-04 -1.21852566e+01] [-6.56191912e-03 1.71597259e-04 9.99978456e-01 -4.85823167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714391418 meters 0.02549097404237758 Centerline is valid? [True, True] Translation: X:271.56, Y:-12.20, Z:-4.86 [[ 9.99858261e-01 1.55297630e-02 6.50260152e-03 2.71556481e+02] [-1.55281244e-02 9.99879386e-01 -3.02408034e-04 -1.21978366e+01] [-6.50651354e-03 2.01391965e-04 9.99978812e-01 -4.86081780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744391418 meters 0.025194264927527847 Centerline is valid? [True, True] Translation: X:271.59, Y:-12.20, Z:-4.86 [[ 9.99943947e-01 7.95516900e-03 6.98701502e-03 2.71586519e+02] [-7.95310169e-03 9.99968321e-01 -3.23614642e-04 -1.22036311e+01] [-6.98936809e-03 2.68028062e-04 9.99975538e-01 -4.85893673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774391418 meters 0.027673374709645364 Centerline is valid? [True, True] Translation: X:271.62, Y:-12.21, Z:-4.86 [[ 9.99956363e-01 4.93451120e-03 7.93239883e-03 2.71616511e+02] [-4.93175658e-03 9.99987772e-01 -3.66785596e-04 -1.22105234e+01] [-7.93411173e-03 3.27648930e-04 9.99968471e-01 -4.85909791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.804391418 meters 0.028560765453028363 Centerline is valid? [True, True] Translation: X:271.65, Y:-12.21, Z:-4.86 [[ 9.99952830e-01 2.42517051e-03 9.40514300e-03 2.71648914e+02] [-2.42118973e-03 9.99996974e-01 -4.34619333e-04 -1.22149191e+01] [-9.40616857e-03 4.11827197e-04 9.99955676e-01 -4.85831544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834391418 meters 0.031107185893415396 Centerline is valid? [True, True] Translation: X:271.68, Y:-12.22, Z:-4.86 [[ 9.99931141e-01 -1.80320595e-03 1.15958058e-02 2.71679389e+02] [ 1.80956022e-03 9.99998218e-01 -5.37511399e-04 -1.22222521e+01] [-1.15948159e-02 5.58457695e-04 9.99932622e-01 -4.85647860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.864391418 meters 0.03219750005957014 Centerline is valid? [True, True] Translation: X:271.71, Y:-12.23, Z:-4.86 [[ 9.99910310e-01 -3.40897750e-03 1.29518571e-02 2.71710982e+02] [ 3.41703527e-03 9.99993982e-01 -6.00053613e-04 -1.22267304e+01] [-1.29497335e-02 6.44256746e-04 9.99915941e-01 -4.85600818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894391418 meters 0.03326124798510584 Centerline is valid? [True, True] Translation: X:271.74, Y:-12.23, Z:-4.86 [[ 9.99878222e-01 -6.44873661e-03 1.42110833e-02 2.71742032e+02] [ 6.45878143e-03 9.99978923e-01 -6.61047861e-04 -1.22322946e+01] [-1.42065208e-02 7.52753641e-04 9.99898799e-01 -4.85620849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.924391418 meters 0.03527056747892162 Centerline is valid? [True, True] Translation: X:271.77, Y:-12.24, Z:-4.86 [[ 9.99869465e-01 -7.43169216e-03 1.43465582e-02 2.71773253e+02] [ 7.44203315e-03 9.99972085e-01 -6.67546265e-04 -1.22377542e+01] [-1.43411967e-02 7.74226688e-04 9.99896860e-01 -4.85708521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954391418 meters 0.03457989743897113 Centerline is valid? [True, True] Translation: X:271.80, Y:-12.24, Z:-4.86 [[ 9.99860381e-01 -8.56928858e-03 1.43452253e-02 2.71804840e+02] [ 8.57977905e-03 9.99962969e-01 -6.69902151e-04 -1.22391300e+01] [-1.43389535e-02 7.92887484e-04 9.99896878e-01 -4.85762165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98439141800003 meters 0.03696388680181438 Centerline is valid? [True, True] Translation: X:271.83, Y:-12.25, Z:-4.86 [[ 9.99850945e-01 -1.07921725e-02 1.34765041e-02 2.71834431e+02] [ 1.08016458e-02 9.99941462e-01 -6.30363283e-04 -1.22455445e+01] [-1.34689123e-02 7.75837749e-04 9.99908989e-01 -4.85962238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014391418 meters 0.038342690040787795 Centerline is valid? [True, True] Translation: X:271.86, Y:-12.25, Z:-4.86 [[ 9.99852714e-01 -1.17895502e-02 1.24722363e-02 2.71864888e+02] [ 1.17977320e-02 9.99930235e-01 -5.82625545e-04 -1.22497550e+01] [-1.24644973e-02 7.29683833e-04 9.99922049e-01 -4.86167707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters 0.039885009483368275 Centerline is valid? [True, True] Translation: X:271.90, Y:-12.26, Z:-4.87 [[ 9.99858571e-01 -1.37940019e-02 9.62102817e-03 2.71895258e+02] [ 1.37989796e-02 9.99904688e-01 -4.51186091e-04 -1.22553569e+01] [-9.61388751e-03 5.83882652e-04 9.99953615e-01 -4.86566038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074391418 meters 0.039805220830663235 Centerline is valid? [True, True] Translation: X:271.93, Y:-12.26, Z:-4.87 [[ 9.99862523e-01 -1.42411496e-02 8.49258003e-03 2.71927273e+02] [ 1.42450404e-02 9.99898455e-01 -3.97826883e-04 -1.22576048e+01] [-8.48605214e-03 5.18749337e-04 9.99963858e-01 -4.86786534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters 0.04072309775066099 Centerline is valid? [True, True] Translation: X:271.96, Y:-12.26, Z:-4.87 [[ 9.99866923e-01 -1.45844910e-02 7.30955330e-03 2.71957888e+02] [ 1.45873883e-02 9.99893539e-01 -3.43212025e-04 -1.22605444e+01] [-7.30376955e-03 4.49793644e-04 9.99973226e-01 -4.86967623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134391418 meters 0.04096301406744716 Centerline is valid? [True, True] Translation: X:271.99, Y:-12.26, Z:-4.87 [[ 9.99876219e-01 -1.42642458e-02 6.63914073e-03 2.71990095e+02] [ 1.42666273e-02 9.99898178e-01 -3.11492398e-04 -1.22621037e+01] [-6.63402152e-03 4.06171988e-04 9.99977912e-01 -4.87115031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters 0.035054153543475186 Centerline is valid? [True, True] Translation: X:272.02, Y:-12.25, Z:-4.87 [[ 9.99917878e-01 -1.14314662e-02 5.79297136e-03 2.72021820e+02] [ 1.14332362e-02 9.99934601e-01 -2.72508358e-04 -1.22543148e+01] [-5.78947734e-03 3.38718389e-04 9.99983183e-01 -4.87086333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194391418 meters 0.03918430731393041 Centerline is valid? [True, True] Translation: X:272.05, Y:-12.26, Z:-4.87 [[ 9.99937780e-01 -9.13572578e-03 6.40110061e-03 2.72052455e+02] [ 9.13784218e-03 9.99958204e-01 -3.01462386e-04 -1.22600726e+01] [-6.39807899e-03 3.59935877e-04 9.99979467e-01 -4.87248667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters 0.03050578806838837 Centerline is valid? [True, True] Translation: X:272.08, Y:-12.25, Z:-4.87 [[ 9.99965829e-01 -1.44147868e-03 8.14016136e-03 2.72083594e+02] [ 1.44465480e-03 9.99998883e-01 -3.84311907e-04 -1.22473545e+01] [-8.13959828e-03 3.96058498e-04 9.99966794e-01 -4.86977637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254391418 meters 0.03144074581331041 Centerline is valid? [True, True] Translation: X:272.11, Y:-12.25, Z:-4.87 [[ 9.99951614e-01 3.38975150e-03 9.23468893e-03 2.72113112e+02] [-3.38586797e-03 9.99994173e-01 -4.36138795e-04 -1.22482291e+01] [-9.23611352e-03 4.04850254e-04 9.99957264e-01 -4.86966796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters 0.025313283434987358 Centerline is valid? [True, True] Translation: X:272.14, Y:-12.24, Z:-4.87 [[ 9.99900616e-01 8.65985490e-03 1.11249310e-02 2.72143931e+02] [-8.65454917e-03 9.99962411e-01 -5.24977509e-04 -1.22392438e+01] [-1.11290591e-02 4.28644073e-04 9.99937978e-01 -4.86774548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314391418 meters 0.023517483345630953 Centerline is valid? [True, True] Translation: X:272.17, Y:-12.24, Z:-4.87 [[ 9.99823522e-01 1.41790314e-02 1.23239453e-02 2.72173852e+02] [-1.41729389e-02 9.99899390e-01 -5.81558132e-04 -1.22359430e+01] [-1.23309513e-02 4.06788975e-04 9.99923888e-01 -4.86691972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters 0.017856229269487968 Centerline is valid? [True, True] Translation: X:272.21, Y:-12.22, Z:-4.86 [[ 9.99564152e-01 2.57933547e-02 1.43599864e-02 2.72205078e+02] [-2.57862801e-02 9.99667249e-01 -6.77630293e-04 -1.22245124e+01] [-1.43726865e-02 3.07044316e-04 9.99896660e-01 -4.86497242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374391418 meters 0.016121072107998475 Centerline is valid? [True, True] Translation: X:272.23, Y:-12.22, Z:-4.86 [[ 9.99409891e-01 3.08263671e-02 1.51527472e-02 2.72234822e+02] [-3.08190656e-02 9.99524724e-01 -7.15192006e-04 -1.22205833e+01] [-1.51675922e-02 2.47776455e-04 9.99884935e-01 -4.86470019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters 0.015300213246923069 Centerline is valid? [True, True] Translation: X:272.26, Y:-12.22, Z:-4.87 [[ 9.99252567e-01 3.54456613e-02 1.54243849e-02 2.72262376e+02] [-3.54386531e-02 9.99371589e-01 -7.27531904e-04 -1.22182974e+01] [-1.54404799e-02 1.80368698e-04 9.99880772e-01 -4.86550717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434391418 meters 0.013888902437175239 Centerline is valid? [True, True] Translation: X:272.29, Y:-12.21, Z:-4.87 [[ 9.98988864e-01 4.25414922e-02 1.45420603e-02 2.72290598e+02] [-4.25360343e-02 9.99094699e-01 -6.84549047e-04 -1.22125403e+01] [-1.45580171e-02 6.52952978e-05 9.99894024e-01 -4.86713690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters 0.013610554064389645 Centerline is valid? [True, True] Translation: X:272.32, Y:-12.21, Z:-4.87 [[ 9.98897987e-01 4.48991228e-02 1.36704272e-02 2.72319502e+02] [-4.48945375e-02 9.98991525e-01 -6.42262340e-04 -1.22110859e+01] [-1.36854780e-02 2.78270503e-05 9.99906349e-01 -4.86809803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494391418 meters 0.013626700574454411 Centerline is valid? [True, True] Translation: X:272.35, Y:-12.21, Z:-4.87 [[ 9.98808268e-01 4.72908785e-02 1.20671519e-02 2.72348650e+02] [-4.72874898e-02 9.98881160e-01 -5.66152447e-04 -1.22104516e+01] [-1.20804245e-02 -5.14757558e-06 9.99927029e-01 -4.87062929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters 0.013626700574454411 Centerline is valid? [True, True] Translation: X:272.38, Y:-12.21, Z:-4.87 [[ 9.98813972e-01 4.71702465e-02 1.20671863e-02 2.72376075e+02] [-4.71668578e-02 9.98886864e-01 -5.65417916e-04 -1.22116227e+01] [-1.20804248e-02 -4.42394460e-06 9.99927029e-01 -4.87112469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.554391418 meters 0.013801624840171958 Centerline is valid? [True, True] Translation: X:272.40, Y:-12.21, Z:-4.87 [[ 9.98807929e-01 4.73943474e-02 1.16831623e-02 2.72402589e+02] [-4.73912006e-02 9.98876256e-01 -5.46199237e-04 -1.22125704e+01] [-1.16959202e-02 -8.13095989e-06 9.99931600e-01 -4.87271541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters 0.013791089174816824 Centerline is valid? [True, True] Translation: X:272.43, Y:-12.21, Z:-4.87 [[ 9.98829453e-01 4.70695992e-02 1.11434682e-02 2.72431658e+02] [-4.70667371e-02 9.98891612e-01 -5.19097525e-04 -1.22140772e+01] [-1.11555506e-02 -5.99679142e-06 9.99937775e-01 -4.87382114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.614391418 meters 0.01371235879659583 Centerline is valid? [True, True] Translation: X:272.46, Y:-12.22, Z:-4.87 [[ 9.98892739e-01 4.55961626e-02 1.15881603e-02 2.72458172e+02] [-4.55929753e-02 9.98959954e-01 -5.39222452e-04 -1.22171256e+01] [-1.16006945e-02 1.02866877e-05 9.99932710e-01 -4.87497766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644391418 meters 0.013674591050369209 Centerline is valid? [True, True] Translation: X:272.49, Y:-12.22, Z:-4.88 [[ 9.98944762e-01 4.43953238e-02 1.17650806e-02 2.72485993e+02] [-4.43919757e-02 9.99014041e-01 -5.45700954e-04 -1.22200358e+01] [-1.17777073e-02 2.28499368e-05 9.99930640e-01 -4.87551371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.674391418 meters 0.01364223891494711 Centerline is valid? [True, True] Translation: X:272.51, Y:-12.22, Z:-4.88 [[ 9.99010123e-01 4.27009792e-02 1.24659536e-02 2.72513549e+02] [-4.26971073e-02 9.99087896e-01 -5.76691390e-04 -1.22230725e+01] [-1.24792087e-02 4.38603771e-05 9.99922131e-01 -4.87525653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704391418 meters 0.014047600448394535 Centerline is valid? [True, True] Translation: X:272.54, Y:-12.23, Z:-4.88 [[ 9.99156380e-01 3.87939759e-02 1.34742783e-02 2.72541853e+02] [-3.87891237e-02 9.99247226e-01 -6.21358520e-04 -1.22292161e+01] [-1.34882402e-02 9.81788817e-05 9.99909025e-01 -4.87529349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73439141800003 meters 0.014531255117995946 Centerline is valid? [True, True] Translation: X:272.57, Y:-12.23, Z:-4.88 [[ 9.99236974e-01 3.64572449e-02 1.40121062e-02 2.72569652e+02] [-3.64517834e-02 9.99335205e-01 -6.45057566e-04 -1.22330894e+01] [-1.40263080e-02 1.33799112e-04 9.99901618e-01 -4.87550525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764391418 meters 0.015230140006397868 Centerline is valid? [True, True] Translation: X:272.60, Y:-12.24, Z:-4.88 [[ 9.99315608e-01 3.40714502e-02 1.44031948e-02 2.72596923e+02] [-3.40654531e-02 9.99419385e-01 -6.61575728e-04 -1.22371997e+01] [-1.44173729e-02 1.70471593e-04 9.99896050e-01 -4.87568278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794391418 meters 0.016439187312821606 Centerline is valid? [True, True] Translation: X:272.63, Y:-12.24, Z:-4.88 [[ 9.99462326e-01 2.86705141e-02 1.59078796e-02 2.72625825e+02] [-2.86625434e-02 9.99588879e-01 -7.28869723e-04 -1.22447040e+01] [-1.59222367e-02 2.72517538e-04 9.99873196e-01 -4.87549478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824391418 meters 0.01715872105050443 Centerline is valid? [True, True] Translation: X:272.65, Y:-12.25, Z:-4.88 [[ 9.99521544e-01 2.59311312e-02 1.68600162e-02 2.72654948e+02] [-2.59218066e-02 9.99663676e-01 -7.71396792e-04 -1.22493041e+01] [-1.68743490e-02 3.33985633e-04 9.99857562e-01 -4.87592392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854391418 meters 0.019723451658830778 Centerline is valid? [True, True] Translation: X:272.68, Y:-12.26, Z:-4.88 [[ 9.99644900e-01 2.05029485e-02 1.70206858e-02 2.72684288e+02] [-2.04926715e-02 9.99789700e-01 -7.78005150e-04 -1.22595337e+01] [-1.70330577e-02 4.28929557e-04 9.99854835e-01 -4.87677885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884391418 meters 0.02061821835782396 Centerline is valid? [True, True] Translation: X:272.72, Y:-12.26, Z:-4.88 [[ 9.99687705e-01 1.81087997e-02 1.72210129e-02 2.72716242e+02] [-1.80979282e-02 9.99835909e-01 -7.86940627e-04 -1.22645895e+01] [-1.72324376e-02 4.75030216e-04 9.99851398e-01 -4.87762266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914391418 meters 0.02251975420478568 Centerline is valid? [True, True] Translation: X:272.75, Y:-12.27, Z:-4.88 [[ 9.99730332e-01 1.58009365e-02 1.70174286e-02 2.72746616e+02] [-1.57899019e-02 9.99875025e-01 -7.82604439e-04 -1.22709490e+01] [-1.70276678e-02 5.13689867e-04 9.99854887e-01 -4.87848157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944391418 meters 0.024808041289447733 Centerline is valid? [True, True] Translation: X:272.78, Y:-12.28, Z:-4.88 [[ 9.99777804e-01 1.22468285e-02 1.71568641e-02 2.72777592e+02] [-1.22350790e-02 9.99924837e-01 -7.89630300e-04 -1.22795007e+01] [-1.71652450e-02 5.79539260e-04 9.99852498e-01 -4.87977053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974391418 meters 0.02575980335347753 Centerline is valid? [True, True] Translation: X:272.81, Y:-12.28, Z:-4.88 [[ 9.99793133e-01 1.10197175e-02 1.70955287e-02 2.72809148e+02] [-1.10078347e-02 9.99939101e-01 -7.89025857e-04 -1.22840935e+01] [-1.71031824e-02 6.00677879e-04 9.99853549e-01 -4.88095375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004391418 meters 0.02670732574148443 Centerline is valid? [True, True] Translation: X:272.84, Y:-12.29, Z:-4.88 [[ 9.99798360e-01 9.75221873e-03 1.75537539e-02 2.72840774e+02] [-9.73941597e-03 9.99952239e-01 -8.14688422e-04 -1.22906297e+01] [-1.75608605e-02 6.43560838e-04 9.99845589e-01 -4.88227439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034391418 meters 0.026539755836567428 Centerline is valid? [True, True] Translation: X:272.87, Y:-12.29, Z:-4.88 [[ 9.99795427e-01 1.00901515e-02 1.75297994e-02 2.72874213e+02] [-1.00773531e-02 9.99948887e-01 -8.18273727e-04 -1.22935453e+01] [-1.75371599e-02 6.41452351e-04 9.99846006e-01 -4.88305448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064391418 meters 0.025876886030793283 Centerline is valid? [True, True] Translation: X:272.91, Y:-12.30, Z:-4.88 [[ 9.99791039e-01 1.09448868e-02 1.72652203e-02 2.72906367e+02] [-1.09325079e-02 9.99939909e-01 -8.11206301e-04 -1.22953736e+01] [-1.72730614e-02 6.22284633e-04 9.99850616e-01 -4.88424284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094391418 meters 0.025154593996710682 Centerline is valid? [True, True] Translation: X:272.94, Y:-12.30, Z:-4.89 [[ 9.99760646e-01 1.36784075e-02 1.70749035e-02 2.72938144e+02] [-1.36666198e-02 9.99906282e-01 -8.06854955e-04 -1.22968916e+01] [-1.70843398e-02 5.73305616e-04 9.99853888e-01 -4.88534492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124391418 meters 0.024319480780647152 Centerline is valid? [True, True] Translation: X:272.97, Y:-12.30, Z:-4.89 [[ 9.99727921e-01 1.59943101e-02 1.69783901e-02 2.72970027e+02] [-1.59829115e-02 9.99871940e-01 -8.06844738e-04 -1.22973083e+01] [-1.69891208e-02 5.35261106e-04 9.99855531e-01 -4.88598572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154391418 meters 0.022053833800188175 Centerline is valid? [True, True] Translation: X:273.00, Y:-12.30, Z:-4.89 [[ 9.99628325e-01 2.10770336e-02 1.72907549e-02 2.73000762e+02] [-2.10658873e-02 9.99777748e-01 -8.26542856e-04 -1.22956309e+01] [-1.73043331e-02 4.61990557e-04 9.99850162e-01 -4.88694591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184391418 meters 0.018593784755764755 Centerline is valid? [True, True] Translation: X:273.03, Y:-12.29, Z:-4.89 [[ 9.99562687e-01 2.41034386e-02 1.71306409e-02 2.73033160e+02] [-2.40929346e-02 9.99709387e-01 -8.19315780e-04 -1.22921830e+01] [-1.71454108e-02 4.06230072e-04 9.99852924e-01 -4.88809324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214391418 meters 0.019812364687107502 Centerline is valid? [True, True] Translation: X:273.06, Y:-12.30, Z:-4.89 [[ 9.99496237e-01 2.68505439e-02 1.69209913e-02 2.73063951e+02] [-2.68406077e-02 9.99639395e-01 -8.14080194e-04 -1.22962223e+01] [-1.69367480e-02 3.59500401e-04 9.99856498e-01 -4.88963883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244391418 meters 0.01794027881668068 Centerline is valid? [True, True] Translation: X:273.09, Y:-12.29, Z:-4.89 [[ 9.99382951e-01 3.13455137e-02 1.58485161e-02 2.73094486e+02] [-3.13372925e-02 9.99508572e-01 -7.66873264e-04 -1.22948489e+01] [-1.58647658e-02 2.69750480e-04 9.99874110e-01 -4.89101413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274391418 meters 0.015863262986807285 Centerline is valid? [True, True] Translation: X:273.12, Y:-12.29, Z:-4.89 [[ 9.99328479e-01 3.29993826e-02 1.59258301e-02 2.73124779e+02] [-3.29912850e-02 9.99455342e-01 -7.70986719e-04 -1.22918995e+01] [-1.59425981e-02 2.45055386e-04 9.99872879e-01 -4.89110521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.304391418 meters 0.015401508786603048 Centerline is valid? [True, True] Translation: X:273.15, Y:-12.29, Z:-4.89 [[ 9.99294518e-01 3.41338644e-02 1.56635284e-02 2.73154493e+02] [-3.41261748e-02 9.99417245e-01 -7.58023650e-04 -1.22923398e+01] [-1.56802747e-02 2.22952569e-04 9.99877032e-01 -4.89163413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334391418 meters 0.01515108621138534 Centerline is valid? [True, True] Translation: X:273.18, Y:-12.29, Z:-4.89 [[ 9.99269145e-01 3.49067514e-02 1.55786683e-02 2.73183562e+02] [-3.48992479e-02 9.99390552e-01 -7.53333643e-04 -1.22935018e+01] [-1.55954704e-02 2.09099257e-04 9.99878361e-01 -4.89198736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.364391418 meters 0.015565352984786446 Centerline is valid? [True, True] Translation: X:273.21, Y:-12.30, Z:-4.89 [[ 9.99282380e-01 3.49157589e-02 1.46838169e-02 2.73211002e+02] [-3.49091033e-02 9.99390240e-01 -7.09409197e-04 -1.22958673e+01] [-1.46996328e-02 1.96301231e-04 9.99891935e-01 -4.89311335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394391418 meters 0.015317161840659682 Centerline is valid? [True, True] Translation: X:273.24, Y:-12.30, Z:-4.89 [[ 9.99315141e-01 3.42803741e-02 1.39321884e-02 2.73239623e+02] [-3.42743431e-02 9.99412237e-01 -6.71489806e-04 -1.22980205e+01] [-1.39470185e-02 1.93513323e-04 9.99902717e-01 -4.89372003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.424391418 meters 0.015798965034647627 Centerline is valid? [True, True] Translation: X:273.27, Y:-12.30, Z:-4.89 [[ 9.99344885e-01 3.34942254e-02 1.37090589e-02 2.73268053e+02] [-3.34883271e-02 9.99438891e-01 -6.59640110e-04 -1.23008969e+01] [-1.37234608e-02 2.00114520e-04 9.99905809e-01 -4.89473702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454391418 meters 0.01685217373440618 Centerline is valid? [True, True] Translation: X:273.30, Y:-12.31, Z:-4.90 [[ 9.99443338e-01 3.06243577e-02 1.32349289e-02 2.73296084e+02] [-3.06186242e-02 9.99530938e-01 -6.35662136e-04 -1.23057994e+01] [-1.32481876e-02 2.30072973e-04 9.99912212e-01 -4.89600173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48439141800003 meters 0.017297360128034428 Centerline is valid? [True, True] Translation: X:273.32, Y:-12.31, Z:-4.90 [[ 9.99504040e-01 2.88024534e-02 1.27315775e-02 2.73324474e+02] [-2.87970060e-02 9.99585093e-01 -6.11020217e-04 -1.23087559e+01] [-1.27438940e-02 2.44085861e-04 9.99918763e-01 -4.89666713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514391418 meters 0.018652310264743777 Centerline is valid? [True, True] Translation: X:273.35, Y:-12.31, Z:-4.90 [[ 9.99607257e-01 2.49867456e-02 1.26883579e-02 2.73353778e+02] [-2.49810435e-02 9.99687740e-01 -6.07718792e-04 -1.23144061e+01] [-1.26995807e-02 2.90511694e-04 9.99919315e-01 -4.89654031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters 0.01981861463803499 Centerline is valid? [True, True] Translation: X:273.38, Y:-12.32, Z:-4.90 [[ 9.99663101e-01 2.26644209e-02 1.26494483e-02 2.73383572e+02] [-2.26585742e-02 9.99743078e-01 -6.05351557e-04 -1.23186856e+01] [-1.26599184e-02 3.18529151e-04 9.99919809e-01 -4.89693193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574391418 meters 0.02065551703781537 Centerline is valid? [True, True] Translation: X:273.41, Y:-12.32, Z:-4.90 [[ 9.99719232e-01 1.98890039e-02 1.28795909e-02 2.73413817e+02] [-1.98827217e-02 9.99802130e-01 -6.15640449e-04 -1.23219445e+01] [-1.28892868e-02 3.59386277e-04 9.99916865e-01 -4.89716331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters 0.024367657946240844 Centerline is valid? [True, True] Translation: X:273.44, Y:-12.33, Z:-4.90 [[ 9.99836779e-01 1.33779018e-02 1.21428018e-02 2.73443600e+02] [-1.33718381e-02 9.99910425e-01 -5.80422159e-04 -1.23301106e+01] [-1.21494789e-02 4.17955842e-04 9.99926105e-01 -4.89763277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634391418 meters 0.026318973668039307 Centerline is valid? [True, True] Translation: X:273.48, Y:-12.34, Z:-4.90 [[ 9.99873246e-01 9.89669323e-03 1.24718496e-02 2.73475772e+02] [-9.89003134e-03 9.99950915e-01 -5.95718405e-04 -1.23353573e+01] [-1.24771331e-02 4.72295912e-04 9.99922046e-01 -4.89769799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters 0.029202349843826574 Centerline is valid? [True, True] Translation: X:273.51, Y:-12.34, Z:-4.90 [[ 9.99903336e-01 6.19578681e-03 1.24470909e-02 2.73506065e+02] [-6.18884893e-03 9.99980671e-01 -5.95830952e-04 -1.23413403e+01] [-1.24505420e-02 5.18740191e-04 9.99922354e-01 -4.89790551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694391418 meters 0.033018575591537376 Centerline is valid? [True, True] Translation: X:273.54, Y:-12.35, Z:-4.90 [[ 9.99917829e-01 -1.68133967e-04 1.28182281e-02 2.73536261e+02] [ 1.76017991e-04 9.99999796e-01 -6.13937797e-04 -1.23481452e+01] [-1.28181222e-02 6.16143588e-04 9.99917655e-01 -4.89689927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters 0.03479211974910758 Centerline is valid? [True, True] Translation: X:273.57, Y:-12.35, Z:-4.90 [[ 9.99907894e-01 -3.13812290e-03 1.32043512e-02 2.73567430e+02] [ 3.14674590e-03 9.99994849e-01 -6.32317005e-04 -1.23521166e+01] [-1.32022989e-02 6.73809504e-04 9.99912619e-01 -4.89731132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754391418 meters 0.03641873242713934 Centerline is valid? [True, True] Translation: X:273.60, Y:-12.36, Z:-4.90 [[ 9.99891568e-01 -5.56831314e-03 1.36325165e-02 2.73598380e+02] [ 5.57773720e-03 9.99984231e-01 -6.53369574e-04 -1.23562497e+01] [-1.36286634e-02 7.29337323e-04 9.99906859e-01 -4.89738378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters 0.03823144092469882 Centerline is valid? [True, True] Translation: X:273.63, Y:-12.36, Z:-4.90 [[ 9.99860441e-01 -9.54347697e-03 1.37120960e-02 2.73629227e+02] [ 9.55339246e-03 9.99954149e-01 -6.57798934e-04 -1.23611832e+01] [-1.37051895e-02 7.88704166e-04 9.99905768e-01 -4.89778119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814391418 meters 0.041543469851768586 Centerline is valid? [True, True] Translation: X:273.66, Y:-12.37, Z:-4.90 [[ 9.99844397e-01 -1.12689872e-02 1.35717352e-02 2.73659874e+02] [ 1.12788603e-02 9.99936180e-01 -6.51154479e-04 -1.23672633e+01] [-1.35635312e-02 8.04126863e-04 9.99907688e-01 -4.89878633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters 0.037710221372593875 Centerline is valid? [True, True] Translation: X:273.69, Y:-12.36, Z:-4.90 [[ 9.99823505e-01 -1.44781937e-02 1.19725099e-02 2.73691403e+02] [ 1.44861143e-02 9.99894905e-01 -5.75103780e-04 -1.23642517e+01] [-1.19629251e-02 7.48437423e-04 9.99928162e-01 -4.90018985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874391418 meters 0.039290221135832325 Centerline is valid? [True, True] Translation: X:273.72, Y:-12.37, Z:-4.90 [[ 9.99806892e-01 -1.58783692e-02 1.15782383e-02 2.73722164e+02] [ 1.58858739e-02 9.99873657e-01 -5.56482287e-04 -1.23678207e+01] [-1.15679394e-02 7.40305259e-04 9.99932815e-01 -4.90188338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters 0.03928518177359288 Centerline is valid? [True, True] Translation: X:273.75, Y:-12.37, Z:-4.90 [[ 9.99803658e-01 -1.67814985e-02 1.05369086e-02 2.73754453e+02] [ 1.67877679e-02 9.99858947e-01 -5.06823223e-04 -1.23697044e+01] [-1.05269170e-02 6.83614887e-04 9.99944357e-01 -4.90306656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934391418 meters 0.0412356311444639 Centerline is valid? [True, True] Translation: X:273.79, Y:-12.37, Z:-4.90 [[ 9.99795427e-01 -1.76415265e-02 9.89343753e-03 2.73785281e+02] [ 1.76471042e-02 9.99844164e-01 -4.76757660e-04 -1.23738112e+01] [-9.88348505e-03 6.51250651e-04 9.99950945e-01 -4.90452353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters 0.04532846844204258 Centerline is valid? [True, True] Translation: X:273.82, Y:-12.38, Z:-4.91 [[ 9.99791046e-01 -1.83861365e-02 8.93389628e-03 2.73816475e+02] [ 1.83907182e-02 9.99830784e-01 -4.30961160e-04 -1.23801704e+01] [-8.92446080e-03 5.95171878e-04 9.99959999e-01 -4.90674121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994391418 meters 0.04193974741520341 Centerline is valid? [True, True] Translation: X:273.85, Y:-12.38, Z:-4.91 [[ 9.99795925e-01 -1.80264558e-02 9.11895852e-03 2.73848438e+02] [ 1.80312180e-02 9.99837327e-01 -4.40279441e-04 -1.23767936e+01] [-9.10953844e-03 6.04615521e-04 9.99958325e-01 -4.90657574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters 0.043017692580146226 Centerline is valid? [True, True] Translation: X:273.88, Y:-12.38, Z:-4.91 [[ 9.99820854e-01 -1.63825155e-02 9.48011083e-03 2.73878907e+02] [ 1.63876014e-02 9.99865609e-01 -4.59040807e-04 -1.23773211e+01] [-9.47131655e-03 6.14314849e-04 9.99954957e-01 -4.90654899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.054391418 meters 0.03997160652965964 Centerline is valid? [True, True] Translation: X:273.91, Y:-12.37, Z:-4.91 [[ 9.99838465e-01 -1.49019534e-02 1.00486640e-02 2.73911114e+02] [ 1.49075907e-02 9.99888757e-01 -4.86323375e-04 -1.23736885e+01] [-1.00402990e-02 6.36046187e-04 9.99949393e-01 -4.90624016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters 0.038382522307996776 Centerline is valid? [True, True] Translation: X:273.94, Y:-12.37, Z:-4.91 [[ 9.99863693e-01 -1.31186732e-02 1.00247454e-02 2.73942756e+02] [ 1.31242053e-02 9.99913756e-01 -4.86263381e-04 -1.23717071e+01] [-1.00175017e-02 6.17763918e-04 9.99949633e-01 -4.90609163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.114391418 meters 0.03634386481185545 Centerline is valid? [True, True] Translation: X:273.97, Y:-12.37, Z:-4.91 [[ 9.99911267e-01 -8.60722870e-03 1.01672480e-02 2.73974159e+02] [ 8.61269287e-03 9.99962788e-01 -4.93764806e-04 -1.23674255e+01] [-1.01626197e-02 5.81288377e-04 9.99948190e-01 -4.90626907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144391418 meters 0.036944096403343764 Centerline is valid? [True, True] Translation: X:274.01, Y:-12.37, Z:-4.91 [[ 9.99932133e-01 -6.16060440e-03 9.88820809e-03 2.74005165e+02] [ 6.16565365e-03 9.99980877e-01 -4.80229337e-04 -1.23680802e+01] [-9.88506050e-03 5.41164011e-04 9.99950995e-01 -4.90744475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.174391418 meters 0.0342297728840682 Centerline is valid? [True, True] Translation: X:274.04, Y:-12.36, Z:-4.91 [[ 9.99945207e-01 -3.79935274e-03 9.75433574e-03 2.74036915e+02] [ 3.80415785e-03 9.99992652e-01 -4.74106179e-04 -1.23646481e+01] [-9.75246276e-03 5.11187234e-04 9.99952313e-01 -4.90779764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204391418 meters 0.03259158526288313 Centerline is valid? [True, True] Translation: X:274.07, Y:-12.36, Z:-4.91 [[ 9.99958250e-01 -3.87877246e-04 9.12947650e-03 2.74068867e+02] [ 3.91945945e-04 9.99999825e-01 -4.43881176e-04 -1.23610046e+01] [-9.12930273e-03 4.47440905e-04 9.99958227e-01 -4.90907226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234391418 meters 0.03171015037745014 Centerline is valid? [True, True] Translation: X:274.10, Y:-12.36, Z:-4.91 [[ 9.99962586e-01 1.04276869e-03 8.58714021e-03 2.74101616e+02] [-1.03922104e-03 9.99999373e-01 -4.17586919e-04 -1.23603437e+01] [-8.58757028e-03 4.08647358e-04 9.99963043e-01 -4.90991017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264391418 meters 0.03140380610179863 Centerline is valid? [True, True] Translation: X:274.13, Y:-12.36, Z:-4.91 [[ 9.99965603e-01 2.02382879e-03 8.04342510e-03 2.74133432e+02] [-2.02074079e-03 9.99997881e-01 -3.92024075e-04 -1.23604635e+01] [-8.04420145e-03 3.75756914e-04 9.99967574e-01 -4.91099112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294391418 meters 0.03126811608440417 Centerline is valid? [True, True] Translation: X:274.17, Y:-12.36, Z:-4.91 [[ 9.99969535e-01 3.15451648e-03 7.13993417e-03 2.74165344e+02] [-3.15210911e-03 9.99994971e-01 -3.48397936e-04 -1.23600983e+01] [-7.14099729e-03 3.25881470e-04 9.99974450e-01 -4.91219252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324391418 meters 0.031730649804856494 Centerline is valid? [True, True] Translation: X:274.20, Y:-12.36, Z:-4.91 [[ 9.99968640e-01 3.83314863e-03 6.93011809e-03 2.74196269e+02] [-3.83090670e-03 9.99992605e-01 -3.36751186e-04 -1.23612663e+01] [-6.93135766e-03 3.10191990e-04 9.99975930e-01 -4.91297128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354391418 meters 0.031216482867082725 Centerline is valid? [True, True] Translation: X:274.23, Y:-12.36, Z:-4.91 [[ 9.99960596e-01 5.35632977e-03 7.07924299e-03 2.74229082e+02] [-5.35400322e-03 9.99985607e-01 -3.47554307e-04 -1.23599782e+01] [-7.08100271e-03 3.09638322e-04 9.99974881e-01 -4.91267307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384391418 meters 0.03088357227221157 Centerline is valid? [True, True] Translation: X:274.26, Y:-12.36, Z:-4.91 [[ 9.99956235e-01 6.23744052e-03 6.97304281e-03 2.74260936e+02] [-6.23519865e-03 9.99980502e-01 -3.43199337e-04 -1.23601213e+01] [-6.97504753e-03 2.99706010e-04 9.99975629e-01 -4.91304607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414391418 meters 0.03088357227221157 Centerline is valid? [True, True] Translation: X:274.29, Y:-12.36, Z:-4.91 [[ 9.99954549e-01 6.50192807e-03 6.97312068e-03 2.74292674e+02] [-6.49970353e-03 9.99978818e-01 -3.41631233e-04 -1.23618102e+01] [-6.97519424e-03 2.96292488e-04 9.99975629e-01 -4.91361872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444391418 meters 0.029195285902238913 Centerline is valid? [True, True] Translation: X:274.32, Y:-12.36, Z:-4.91 [[ 9.99942073e-01 8.11917344e-03 7.06611074e-03 2.74324360e+02] [-8.11689825e-03 9.99966996e-01 -3.50604615e-04 -1.23602833e+01] [-7.06872415e-03 2.93229404e-04 9.99974973e-01 -4.91366499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474391418 meters 0.027354337298158754 Centerline is valid? [True, True] Translation: X:274.36, Y:-12.36, Z:-4.91 [[ 9.99926153e-01 9.72650221e-03 7.28584827e-03 2.74355821e+02] [-9.72412377e-03 9.99952654e-01 -3.61800700e-04 -1.23581503e+01] [-7.28902237e-03 2.90925492e-04 9.99973392e-01 -4.91341492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504391418 meters 0.0261612098672377 Centerline is valid? [True, True] Translation: X:274.39, Y:-12.36, Z:-4.91 [[ 9.99874408e-01 1.37857242e-02 7.81801954e-03 2.74386542e+02] [-1.37831129e-02 9.99904933e-01 -3.87795703e-04 -1.23556936e+01] [-7.82262235e-03 2.79990353e-04 9.99969364e-01 -4.91369763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534391418 meters 0.024447232193344857 Centerline is valid? [True, True] Translation: X:274.42, Y:-12.35, Z:-4.91 [[ 9.99844159e-01 1.58673084e-02 7.73858702e-03 2.74417150e+02] [-1.58647960e-02 9.99874072e-01 -3.85937914e-04 -1.23537430e+01] [-7.74373631e-03 2.63106664e-04 9.99969982e-01 -4.91389309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564391418 meters 0.023095890914173432 Centerline is valid? [True, True] Translation: X:274.45, Y:-12.35, Z:-4.91 [[ 9.99761710e-01 2.04497874e-02 7.63733978e-03 2.74446737e+02] [-2.04474724e-02 9.99790856e-01 -3.81088574e-04 -1.23508396e+01] [-7.64353566e-03 2.24833470e-04 9.99970762e-01 -4.91490346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594391418 meters 0.021545426071018114 Centerline is valid? [True, True] Translation: X:274.48, Y:-12.35, Z:-4.92 [[ 9.99714337e-01 2.27283768e-02 7.39356964e-03 2.74475415e+02] [-2.27262659e-02 9.99741657e-01 -3.69400735e-04 -1.23482851e+01] [-7.40005544e-03 2.01266981e-04 9.99972599e-01 -4.91508635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624391418 meters 0.01983138841614007 Centerline is valid? [True, True] Translation: X:274.50, Y:-12.35, Z:-4.91 [[ 9.99657641e-01 2.50820415e-02 7.44924073e-03 2.74504404e+02] [-2.50799682e-02 9.99685379e-01 -3.71619261e-04 -1.23457468e+01] [-7.45621801e-03 1.84665313e-04 9.99972185e-01 -4.91493861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654391418 meters 0.018344960819006127 Centerline is valid? [True, True] Translation: X:274.53, Y:-12.34, Z:-4.92 [[ 9.99538747e-01 2.93784134e-02 7.69423902e-03 2.74532157e+02] [-2.93763323e-02 9.99568349e-01 -3.83384988e-04 -1.23426098e+01] [-7.70218104e-03 1.57179629e-04 9.99970325e-01 -4.91502536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684391418 meters 0.018479178071890263 Centerline is valid? [True, True] Translation: X:274.56, Y:-12.34, Z:-4.92 [[ 9.99474407e-01 3.14973462e-02 7.66991824e-03 2.74559736e+02] [-3.14953463e-02 9.99503826e-01 -3.81418165e-04 -1.23434604e+01] [-7.67812628e-03 1.39650963e-04 9.99970513e-01 -4.91588850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714391418 meters 0.016945603624628377 Centerline is valid? [True, True] Translation: X:274.59, Y:-12.34, Z:-4.91 [[ 9.99423183e-01 3.30649201e-02 7.74674554e-03 2.74588994e+02] [-3.30629344e-02 9.99453198e-01 -3.84289391e-04 -1.23410544e+01] [-7.75521610e-03 1.27937587e-04 9.99969920e-01 -4.91498460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744391418 meters 0.016606519822811663 Centerline is valid? [True, True] Translation: X:274.62, Y:-12.34, Z:-4.92 [[ 9.99361801e-01 3.50479414e-02 6.90166230e-03 2.74617275e+02] [-3.50464138e-02 9.99385627e-01 -3.42194752e-04 -1.23406008e+01] [-6.90941533e-03 1.00097851e-04 9.99976125e-01 -4.91598157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774391418 meters 0.016479720859445424 Centerline is valid? [True, True] Translation: X:274.65, Y:-12.34, Z:-4.92 [[ 9.99350710e-01 3.53889749e-02 6.76599272e-03 2.74646092e+02] [-3.53875202e-02 9.99373610e-01 -3.34634525e-04 -1.23415726e+01] [-6.77359694e-03 9.49855465e-05 9.99977054e-01 -4.91639209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.804391418 meters 0.01631646690423549 Centerline is valid? [True, True] Translation: X:274.68, Y:-12.34, Z:-4.92 [[ 9.99343291e-01 3.56297257e-02 6.59621050e-03 2.74675237e+02] [-3.56283514e-02 9.99365056e-01 -3.25782521e-04 -1.23431298e+01] [-6.60362981e-03 9.05564711e-05 9.99978192e-01 -4.91705602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834391418 meters 0.015821577759110708 Centerline is valid? [True, True] Translation: X:274.70, Y:-12.34, Z:-4.92 [[ 9.99363233e-01 3.51274975e-02 6.25996021e-03 2.74704438e+02] [-3.51262521e-02 9.99382835e-01 -3.08825325e-04 -1.23445227e+01] [-6.26694504e-03 8.87397353e-05 9.99980359e-01 -4.91678280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.864391418 meters 0.015810660734237623 Centerline is valid? [True, True] Translation: X:274.73, Y:-12.35, Z:-4.92 [[ 9.99384973e-01 3.44810663e-02 6.38218683e-03 2.74733141e+02] [-3.44797618e-02 9.99405347e-01 -3.14345337e-04 -1.23461277e+01] [-6.38923061e-03 9.40957246e-05 9.99979584e-01 -4.91715064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894391418 meters 0.015936145724107738 Centerline is valid? [True, True] Translation: X:274.76, Y:-12.35, Z:-4.92 [[ 9.99448413e-01 3.26097743e-02 6.28265961e-03 2.74761747e+02] [-3.26084761e-02 9.99468154e-01 -3.08995094e-04 -1.23486918e+01] [-6.28939446e-03 1.03956701e-04 9.99980216e-01 -4.91730925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.924391418 meters 0.016534791743017065 Centerline is valid? [True, True] Translation: X:274.79, Y:-12.35, Z:-4.92 [[ 9.99494597e-01 3.11347881e-02 6.41689513e-03 2.74789639e+02] [-3.11334055e-02 9.99515188e-01 -3.15271734e-04 -1.23517923e+01] [-6.42360006e-03 1.15332596e-04 9.99979362e-01 -4.91857220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954391418 meters 0.01716955205069873 Centerline is valid? [True, True] Translation: X:274.82, Y:-12.35, Z:-4.92 [[ 9.99554322e-01 2.91639736e-02 6.37339899e-03 2.74817841e+02] [-2.91625736e-02 9.99574633e-01 -3.12502092e-04 -1.23547053e+01] [-6.37980175e-03 1.26498100e-04 9.99979641e-01 -4.91931667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters 0.017685530650906563 Centerline is valid? [True, True] Translation: X:274.85, Y:-12.36, Z:-4.92 [[ 9.99616881e-01 2.68438960e-02 6.74507671e-03 2.74845966e+02] [-2.68422793e-02 9.99639627e-01 -3.30123974e-04 -1.23577338e+01] [-6.75150778e-03 1.48944264e-04 9.99977197e-01 -4.91966931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014391418 meters 0.020635691240356524 Centerline is valid? [True, True] Translation: X:274.87, Y:-12.37, Z:-4.92 [[ 9.99764842e-01 2.06213123e-02 6.70985230e-03 2.74873865e+02] [-2.06195801e-02 9.99787340e-01 -3.27242627e-04 -1.23654724e+01] [-6.71517355e-03 1.88811336e-04 9.99977435e-01 -4.92170982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters 0.02214046103058757 Centerline is valid? [True, True] Translation: X:274.90, Y:-12.37, Z:-4.92 [[ 9.99841007e-01 1.67281345e-02 6.17497839e-03 2.74903656e+02] [-1.67265985e-02 9.99860056e-01 -3.00310592e-04 -1.23697748e+01] [-6.17913787e-03 1.96976460e-04 9.99980890e-01 -4.92300448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074391418 meters 0.026891444139693906 Centerline is valid? [True, True] Translation: X:274.93, Y:-12.38, Z:-4.93 [[ 9.99943054e-01 8.49851118e-03 6.45483703e-03 2.74932642e+02] [-8.49666445e-03 9.99963854e-01 -3.13469077e-04 -1.23798477e+01] [-6.45726773e-03 2.58606642e-04 9.99979118e-01 -4.92514076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters 0.028479370912796318 Centerline is valid? [True, True] Translation: X:274.96, Y:-12.38, Z:-4.93 [[ 9.99970363e-01 4.62898153e-03 6.15190482e-03 2.74963735e+02] [-4.62723662e-03 9.99989250e-01 -2.97840435e-04 -1.23843050e+01] [-6.15321739e-03 2.69365289e-04 9.99981032e-01 -4.92617667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134391418 meters 0.03407958391826383 Centerline is valid? [True, True] Translation: X:274.99, Y:-12.39, Z:-4.93 [[ 9.99978058e-01 -1.88215353e-03 6.35147776e-03 2.74992802e+02] [ 1.88415045e-03 9.99998177e-01 -3.08433982e-04 -1.23937863e+01] [-6.35088567e-03 3.20394354e-04 9.99979782e-01 -4.92822511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters 0.0347562498768245 Centerline is valid? [True, True] Translation: X:275.02, Y:-12.40, Z:-4.93 [[ 9.99973124e-01 -3.57778509e-03 6.39933069e-03 2.75024364e+02] [ 3.57982615e-03 9.99993545e-01 -3.07523306e-04 -1.23963849e+01] [-6.39818913e-03 3.30423532e-04 9.99979477e-01 -4.92866382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194391418 meters 0.03564024240658841 Centerline is valid? [True, True] Translation: X:275.06, Y:-12.40, Z:-4.93 [[ 9.99961574e-01 -5.01342025e-03 7.19135585e-03 2.75056739e+02] [ 5.01606555e-03 9.99987358e-01 -3.49855236e-04 -1.23987006e+01] [-7.18951097e-03 3.85914105e-04 9.99974081e-01 -4.92862625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters 0.036130484723845224 Centerline is valid? [True, True] Translation: X:275.09, Y:-12.40, Z:-4.93 [[ 9.99958922e-01 -5.40883622e-03 7.27316684e-03 2.75089233e+02] [ 5.41155675e-03 9.99985295e-01 -3.54422452e-04 -1.24002599e+01] [-7.27114287e-03 3.93767048e-04 9.99973487e-01 -4.92864244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254391418 meters 0.03640005120912173 Centerline is valid? [True, True] Translation: X:275.12, Y:-12.40, Z:-4.93 [[ 9.99956881e-01 -4.21230881e-03 8.27599938e-03 2.75120560e+02] [ 4.21579898e-03 9.99991032e-01 -4.04321829e-04 -1.24003152e+01] [-8.27422203e-03 4.39194345e-04 9.99965672e-01 -4.92839237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters 0.032507944710289026 Centerline is valid? [True, True] Translation: X:275.15, Y:-12.40, Z:-4.93 [[ 9.99958853e-01 -2.80748242e-03 8.62611139e-03 2.75153378e+02] [ 2.81122490e-03 9.99995960e-01 -4.21760108e-04 -1.23956856e+01] [-8.62489245e-03 4.45992693e-04 9.99962705e-01 -4.92760391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314391418 meters 0.03496644458937989 Centerline is valid? [True, True] Translation: X:275.18, Y:-12.40, Z:-4.93 [[ 9.99951266e-01 4.68745879e-04 9.86136815e-03 2.75183509e+02] [-4.63998966e-04 9.99999775e-01 -4.83646854e-04 -1.23976068e+01] [-9.86159264e-03 4.79047619e-04 9.99951259e-01 -4.92809175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters 0.030295787722875802 Centerline is valid? [True, True] Translation: X:275.21, Y:-12.39, Z:-4.93 [[ 9.99944147e-01 2.50112389e-03 1.02687626e-02 2.75214928e+02] [-2.49608288e-03 9.99996758e-01 -5.03693964e-04 -1.23915439e+01] [-1.02699891e-02 4.78034148e-04 9.99947148e-01 -4.92751421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374391418 meters 0.029822717074179758 Centerline is valid? [True, True] Translation: X:275.25, Y:-12.39, Z:-4.93 [[ 9.99938959e-01 4.37530547e-03 1.01457053e-02 2.75246746e+02] [-4.37047991e-03 9.99990326e-01 -4.97748400e-04 -1.23908945e+01] [-1.01477850e-02 4.53376415e-04 9.99948407e-01 -4.92810017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters 0.027731324182590906 Centerline is valid? [True, True] Translation: X:275.28, Y:-12.39, Z:-4.93 [[ 9.99910076e-01 8.29530350e-03 1.05369372e-02 2.75278235e+02] [-8.29030339e-03 9.99965501e-01 -5.18121482e-04 -1.23865721e+01] [-1.05408716e-02 4.30720485e-04 9.99944351e-01 -4.92874666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434391418 meters 0.027218563522681056 Centerline is valid? [True, True] Translation: X:275.31, Y:-12.39, Z:-4.93 [[ 9.99891835e-01 1.04494934e-02 1.03501565e-02 2.75309939e+02] [-1.04447985e-02 9.99945323e-01 -5.07560401e-04 -1.23861528e+01] [-1.03548944e-02 3.99400202e-04 9.99946307e-01 -4.92996025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters 0.02640449507043753 Centerline is valid? [True, True] Translation: X:275.34, Y:-12.39, Z:-4.93 [[ 9.99871951e-01 1.25629291e-02 9.91236467e-03 2.75342094e+02] [-1.25587019e-02 9.99921017e-01 -4.88589906e-04 -1.23851736e+01] [-9.91771988e-03 3.64040910e-04 9.99950752e-01 -4.93092758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494391418 meters 0.02493318431229267 Centerline is valid? [True, True] Translation: X:275.37, Y:-12.38, Z:-4.93 [[ 9.99833571e-01 1.58998525e-02 8.94561513e-03 2.75373313e+02] [-1.58965055e-02 9.99873543e-01 -4.45125232e-04 -1.23808009e+01] [-8.95156133e-03 3.02847130e-04 9.99959888e-01 -4.93282132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters 0.02416565167215459 Centerline is valid? [True, True] Translation: X:275.40, Y:-12.38, Z:-4.93 [[ 9.99811366e-01 1.76600066e-02 8.08430271e-03 2.75402862e+02] [-1.76573251e-02 9.99844016e-01 -4.02950263e-04 -1.23789486e+01] [-8.09015779e-03 2.60127092e-04 9.99967240e-01 -4.93396327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.554391418 meters 0.022078949427347325 Centerline is valid? [True, True] Translation: X:275.43, Y:-12.37, Z:-4.94 [[ 9.99733245e-01 2.20229381e-02 6.95910979e-03 2.75432174e+02] [-2.20210579e-02 9.99757447e-01 -3.46695539e-04 -1.23728722e+01] [-6.96505709e-03 1.93356097e-04 9.99975725e-01 -4.93545247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters 0.02123731291764851 Centerline is valid? [True, True] Translation: X:275.46, Y:-12.37, Z:-4.94 [[ 9.99688604e-01 2.40891762e-02 6.51206712e-03 2.75460517e+02] [-2.40875722e-02 9.99709800e-01 -3.24643422e-04 -1.23704434e+01] [-6.51799770e-03 1.67682442e-04 9.99978744e-01 -4.93642702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.614391418 meters 0.020118239263271463 Centerline is valid? [True, True] Translation: X:275.49, Y:-12.37, Z:-4.94 [[ 9.99628288e-01 2.65483555e-02 6.20247999e-03 2.75489112e+02] [-2.65469502e-02 9.99647520e-01 -3.08808830e-04 -1.23673805e+01] [-6.20849210e-03 1.44037115e-04 9.99980717e-01 -4.93718525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644391418 meters 0.017990826478463968 Centerline is valid? [True, True] Translation: X:275.52, Y:-12.36, Z:-4.94 [[ 9.99484149e-01 3.14905222e-02 6.30732299e-03 2.75517621e+02] [-3.14891704e-02 9.99504044e-01 -3.13535287e-04 -1.23603565e+01] [-6.31406823e-03 1.14761181e-04 9.99980059e-01 -4.93793797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.674391418 meters 0.01689359378961435 Centerline is valid? [True, True] Translation: X:275.55, Y:-12.36, Z:-4.94 [[ 9.99398148e-01 3.39753174e-02 7.00137043e-03 2.75546628e+02] [-3.39737174e-02 9.99422666e-01 -3.47375954e-04 -1.23575940e+01] [-7.00913051e-03 1.09304305e-04 9.99975430e-01 -4.93810157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704391418 meters 0.01602324263215237 Centerline is valid? [True, True] Translation: X:275.58, Y:-12.35, Z:-4.94 [[ 9.99314028e-01 3.62798360e-02 7.43282110e-03 2.75575670e+02] [-3.62781010e-02 9.99341665e-01 -3.68162232e-04 -1.23548637e+01] [-7.44128468e-03 9.82610490e-05 9.99972308e-01 -4.93808360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734391418 meters 0.013983586186372 Centerline is valid? [True, True] Translation: X:275.61, Y:-12.35, Z:-4.94 [[ 9.99110243e-01 4.11500648e-02 9.24095297e-03 2.75605367e+02] [-4.11476014e-02 9.99152974e-01 -4.56629155e-04 -1.23464731e+01] [-9.25191596e-03 7.59798166e-05 9.99957197e-01 -4.93548418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764391418 meters 0.01352435791309933 Centerline is valid? [True, True] Translation: X:275.63, Y:-12.34, Z:-4.94 [[ 9.99008830e-01 4.33459177e-02 1.01236620e-02 2.75634181e+02] [-4.33430793e-02 9.99060122e-01 -4.99704553e-04 -1.23442082e+01] [-1.01358072e-02 6.04185746e-05 9.99948630e-01 -4.93504811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794391418 meters 0.01359547634805022 Centerline is valid? [True, True] Translation: X:275.66, Y:-12.34, Z:-4.94 [[ 9.98917985e-01 4.52688227e-02 1.06579789e-02 2.75662501e+02] [-4.52657944e-02 9.98974840e-01 -5.25310581e-04 -1.23424310e+01] [-1.06708330e-02 4.23003044e-05 9.99943064e-01 -4.93521079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824391418 meters 0.01342246569712662 Centerline is valid? [True, True] Translation: X:275.69, Y:-12.34, Z:-4.94 [[ 9.98775517e-01 4.81607186e-02 1.13141895e-02 2.75691635e+02] [-4.81575066e-02 9.98839599e-01 -5.56320576e-04 -1.23398042e+01] [-1.13278533e-02 1.07762164e-05 9.99935838e-01 -4.93506998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854391418 meters 0.013412038187229991 Centerline is valid? [True, True] Translation: X:275.72, Y:-12.34, Z:-4.93 [[ 9.98763266e-01 4.81944213e-02 1.22162601e-02 2.75720137e+02] [-4.81906918e-02 9.98837974e-01 -5.99648066e-04 -1.23404685e+01] [-1.22309642e-02 1.01964349e-05 9.99925199e-01 -4.93481937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884391418 meters 0.013446159457787685 Centerline is valid? [True, True] Translation: X:275.75, Y:-12.34, Z:-4.94 [[ 9.98844827e-01 4.63832754e-02 1.25540517e-02 2.75748445e+02] [-4.63792037e-02 9.98923716e-01 -6.15425720e-04 -1.23430237e+01] [-1.25690855e-02 3.24678729e-05 9.99921005e-01 -4.93527665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914391418 meters 0.013329320009445072 Centerline is valid? [True, True] Translation: X:275.78, Y:-12.35, Z:-4.94 [[ 9.98932302e-01 4.44203770e-02 1.26919876e-02 2.75776449e+02] [-4.44160782e-02 9.99012926e-01 -6.20520576e-04 -1.23461098e+01] [-1.27070234e-02 5.61297332e-05 9.99919261e-01 -4.93634466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944391418 meters 0.013628226869552323 Centerline is valid? [True, True] Translation: X:275.81, Y:-12.35, Z:-4.94 [[ 9.99036308e-01 4.21108791e-02 1.23744982e-02 2.75805534e+02] [-4.21066315e-02 9.99112940e-01 -6.03697580e-04 -1.23496923e+01] [-1.23889435e-02 8.20673661e-05 9.99923251e-01 -4.93752309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974391418 meters 0.014111814917952978 Centerline is valid? [True, True] Translation: X:275.83, Y:-12.35, Z:-4.94 [[ 9.99148303e-01 3.95143541e-02 1.18863540e-02 2.75833925e+02] [-3.95102620e-02 9.99218997e-01 -5.78989676e-04 -1.23535370e+01] [-1.18999491e-02 1.08863592e-04 9.99929187e-01 -4.93864352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004391418 meters 0.015111468493998068 Centerline is valid? [True, True] Translation: X:275.86, Y:-12.36, Z:-4.94 [[ 9.99329350e-01 3.45671742e-02 1.20814595e-02 2.75862011e+02] [-3.45625970e-02 9.99402362e-01 -5.87511011e-04 -1.23605965e+01] [-1.20945478e-02 1.69550379e-04 9.99926844e-01 -4.94015534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034391418 meters 0.015765864438760782 Centerline is valid? [True, True] Translation: X:275.89, Y:-12.36, Z:-4.94 [[ 9.99414265e-01 3.21304457e-02 1.17797383e-02 2.75890518e+02] [-3.21259357e-02 9.99483665e-01 -5.71932287e-04 -1.23646443e+01] [-1.17920324e-02 1.93162172e-04 9.99930453e-01 -4.94114049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064391418 meters 0.01704567532636192 Centerline is valid? [True, True] Translation: X:275.92, Y:-12.37, Z:-4.94 [[ 9.99514650e-01 2.88301162e-02 1.18020418e-02 2.75918296e+02] [-2.88253674e-02 9.99584299e-01 -5.72308387e-04 -1.23704288e+01] [-1.18136354e-02 2.31832427e-04 9.99930190e-01 -4.94175792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094391418 meters 0.017717628837157783 Centerline is valid? [True, True] Translation: X:275.95, Y:-12.37, Z:-4.94 [[ 9.99548553e-01 2.75601936e-02 1.19635003e-02 2.75945822e+02] [-2.75552423e-02 9.99620115e-01 -5.78537144e-04 -1.23736471e+01] [-1.19749001e-02 2.48618816e-04 9.99928267e-01 -4.94245874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124391418 meters 0.018271434831315034 Centerline is valid? [True, True] Translation: X:275.97, Y:-12.38, Z:-4.94 [[ 9.99583462e-01 2.61314073e-02 1.22496063e-02 2.75974747e+02] [-2.61261259e-02 9.99658480e-01 -5.90999202e-04 -1.23776828e+01] [-1.22608664e-02 2.70718272e-04 9.99924796e-01 -4.94318942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154391418 meters 0.018750887239128565 Centerline is valid? [True, True] Translation: X:276.00, Y:-12.38, Z:-4.94 [[ 9.99599775e-01 2.54468145e-02 1.23591631e-02 2.76003584e+02] [-2.54413981e-02 9.99676138e-01 -5.95295165e-04 -1.23801779e+01] [-1.23703088e-02 2.80622523e-04 9.99923445e-01 -4.94379708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184391418 meters 0.0189276084038242 Centerline is valid? [True, True] Translation: X:276.03, Y:-12.38, Z:-4.94 [[ 9.99596873e-01 2.53226109e-02 1.28396663e-02 2.76032223e+02] [-2.53167686e-02 9.99679289e-01 -6.17378792e-04 -1.23827226e+01] [-1.28511821e-02 2.92071050e-04 9.99917377e-01 -4.94426212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214391418 meters 0.01895835482272328 Centerline is valid? [True, True] Translation: X:276.06, Y:-12.39, Z:-4.94 [[ 9.99595232e-01 2.53800886e-02 1.28539235e-02 2.76061287e+02] [-2.53742509e-02 9.99677831e-01 -6.17063971e-04 -1.23850585e+01] [-1.28654435e-02 2.90655524e-04 9.99917195e-01 -4.94469891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244391418 meters 0.01865385188925269 Centerline is valid? [True, True] Translation: X:276.09, Y:-12.39, Z:-4.95 [[ 9.99573439e-01 2.58285926e-02 1.36317078e-02 2.76089852e+02] [-2.58220842e-02 9.99666341e-01 -6.53271197e-04 -1.23880257e+01] [-1.36440326e-02 3.00993429e-04 9.99906871e-01 -4.94541454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274391418 meters 0.0184397319637702 Centerline is valid? [True, True] Translation: X:276.12, Y:-12.39, Z:-4.95 [[ 9.99562242e-01 2.62602500e-02 1.36280292e-02 2.76119779e+02] [-2.62538019e-02 9.99655097e-01 -6.51866056e-04 -1.23902963e+01] [-1.36404470e-02 2.93793119e-04 9.99906922e-01 -4.94611232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.304391418 meters 0.018498115593594218 Centerline is valid? [True, True] Translation: X:276.15, Y:-12.39, Z:-4.95 [[ 9.99505226e-01 2.81086608e-02 1.41140747e-02 2.76148174e+02] [-2.81019358e-02 9.99604835e-01 -6.74615801e-04 -1.23938431e+01] [-1.41274599e-02 2.77649197e-04 9.99900164e-01 -4.94692013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334391418 meters 0.018498115593594218 Centerline is valid? [True, True] Translation: X:276.18, Y:-12.40, Z:-4.95 [[ 9.99507318e-01 2.80341486e-02 1.41141103e-02 2.76176451e+02] [-2.80274267e-02 9.99606927e-01 -6.73869186e-04 -1.23951111e+01] [-1.41274538e-02 2.77954989e-04 9.99900164e-01 -4.94743081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.364391418 meters 0.0168506700873898 Centerline is valid? [True, True] Translation: X:276.21, Y:-12.39, Z:-4.95 [[ 9.99472467e-01 2.91789900e-02 1.42609562e-02 2.76205649e+02] [-2.91722591e-02 9.99574168e-01 -6.79822806e-04 -1.23940827e+01] [-1.42747199e-02 2.63439869e-04 9.99898076e-01 -4.94759312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394391418 meters 0.01661527400441684 Centerline is valid? [True, True] Translation: X:276.23, Y:-12.40, Z:-4.95 [[ 9.99432247e-01 3.06752079e-02 1.39361149e-02 2.76233723e+02] [-3.06689396e-02 9.99529377e-01 -6.63325883e-04 -1.23960237e+01] [-1.39499040e-02 2.35543410e-04 9.99902668e-01 -4.94843932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.424391418 meters 0.015591800709707494 Centerline is valid? [True, True] Translation: X:276.26, Y:-12.40, Z:-4.95 [[ 9.99344447e-01 3.36766977e-02 1.32874723e-02 2.76262129e+02] [-3.36712825e-02 9.99432762e-01 -6.31111507e-04 -1.23968236e+01] [-1.33011889e-02 1.83291545e-04 9.99911518e-01 -4.94941428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454391418 meters 0.01536336792979052 Centerline is valid? [True, True] Translation: X:276.29, Y:-12.40, Z:-4.95 [[ 9.99305286e-01 3.49866847e-02 1.28404505e-02 2.76290368e+02] [-3.49817484e-02 9.99387766e-01 -6.08902228e-04 -1.23982678e+01] [-1.28538926e-02 1.59297807e-04 9.99917373e-01 -4.95053083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters 0.014913476210716082 Centerline is valid? [True, True] Translation: X:276.32, Y:-12.40, Z:-4.95 [[ 9.99235028e-01 3.72676695e-02 1.18524166e-02 2.76318866e+02] [-3.72636340e-02 9.99305312e-01 -5.61218900e-04 -1.24002791e+01] [-1.18650982e-02 1.19125470e-04 9.99929600e-01 -4.95217974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514391418 meters 0.014788066675775926 Centerline is valid? [True, True] Translation: X:276.35, Y:-12.40, Z:-4.95 [[ 9.99208481e-01 3.80574543e-02 1.15776601e-02 2.76347615e+02] [-3.80536667e-02 9.99275547e-01 -5.47342967e-04 -1.24021253e+01] [-1.15901032e-02 1.06337314e-04 9.99932827e-01 -4.95328085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters 0.01482580177142141 Centerline is valid? [True, True] Translation: X:276.38, Y:-12.40, Z:-4.95 [[ 9.99197560e-01 3.85206567e-02 1.09724555e-02 2.76375476e+02] [-3.85172884e-02 9.99257800e-01 -5.18213272e-04 -1.24045752e+01] [-1.09842736e-02 9.51682052e-05 9.99939667e-01 -4.95435870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574391418 meters 0.01511094108658278 Centerline is valid? [True, True] Translation: X:276.40, Y:-12.41, Z:-4.96 [[ 9.99188710e-01 3.88444930e-02 1.06314138e-02 2.76403175e+02] [-3.88413620e-02 9.99245264e-01 -5.00903778e-04 -1.24081616e+01] [-1.06428473e-02 8.75588063e-05 9.99943359e-01 -4.95637195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters 0.014794811468382355 Centerline is valid? [True, True] Translation: X:276.43, Y:-12.41, Z:-4.96 [[ 9.99182442e-01 3.90668466e-02 1.04033305e-02 2.76431600e+02] [-3.90638751e-02 9.99236596e-01 -4.88759666e-04 -1.24111860e+01] [-1.04144828e-02 8.19656755e-05 9.99945764e-01 -4.95656903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634391418 meters 0.014928350302462123 Centerline is valid? [True, True] Translation: X:276.46, Y:-12.41, Z:-4.96 [[ 9.99198810e-01 3.87439930e-02 1.00319630e-02 2.76460631e+02] [-3.87412209e-02 9.99249166e-01 -4.70584490e-04 -1.24135379e+01] [-1.00426630e-02 8.15569677e-05 9.99949568e-01 -4.95729577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters 0.015155670933842498 Centerline is valid? [True, True] Translation: X:276.49, Y:-12.42, Z:-4.96 [[ 9.99237537e-01 3.76598155e-02 1.02996247e-02 2.76488833e+02] [-3.76568444e-02 9.99290613e-01 -4.82309987e-04 -1.24175532e+01] [-1.03104820e-02 9.40908786e-05 9.99946841e-01 -4.95749436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694391418 meters 0.0154792473777668 Centerline is valid? [True, True] Translation: X:276.52, Y:-12.42, Z:-4.96 [[ 9.99279711e-01 3.64408682e-02 1.05887367e-02 2.76516223e+02] [-3.64376671e-02 9.99335805e-01 -4.95133513e-04 -1.24209110e+01] [-1.05997468e-02 1.08948011e-04 9.99943815e-01 -4.95778172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters 0.01595906622517494 Centerline is valid? [True, True] Translation: X:276.54, Y:-12.42, Z:-4.96 [[ 9.99332601e-01 3.48756961e-02 1.08645316e-02 2.76544891e+02] [-3.48722469e-02 9.99391650e-01 -5.06813093e-04 -1.24242845e+01] [-1.08755977e-02 1.27604217e-04 9.99940851e-01 -4.95819627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754391418 meters 0.016197488081382723 Centerline is valid? [True, True] Translation: X:276.57, Y:-12.43, Z:-4.96 [[ 9.99400167e-01 3.29091582e-02 1.07839658e-02 2.76573458e+02] [-3.29056540e-02 9.99458336e-01 -5.02264630e-04 -1.24274123e+01] [-1.07946536e-02 1.47109907e-04 9.99941725e-01 -4.95825204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters 0.018685568354965588 Centerline is valid? [True, True] Translation: X:276.60, Y:-12.44, Z:-4.96 [[ 9.99574825e-01 2.69944214e-02 1.10213606e-02 2.76602001e+02] [-2.69904123e-02 9.99635561e-01 -5.12362720e-04 -1.24368164e+01] [-1.10311749e-02 2.14673809e-04 9.99939132e-01 -4.95941335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814391418 meters 0.019639593447398747 Centerline is valid? [True, True] Translation: X:276.63, Y:-12.44, Z:-4.96 [[ 9.99671687e-01 2.30890210e-02 1.11092873e-02 2.76631823e+02] [-2.30847175e-02 9.99733380e-01 -5.15472927e-04 -1.24415317e+01] [-1.11182271e-02 2.58848932e-04 9.99938157e-01 -4.95963142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters 0.021651091232128314 Centerline is valid? [True, True] Translation: X:276.66, Y:-12.45, Z:-4.96 [[ 9.99759283e-01 1.86695524e-02 1.15249148e-02 2.76661559e+02] [-1.86646328e-02 9.99825658e-01 -5.34281955e-04 -1.24475671e+01] [-1.15328803e-02 3.19045041e-04 9.99933443e-01 -4.95974077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874391418 meters 0.026818536653601528 Centerline is valid? [True, True] Translation: X:276.69, Y:-12.46, Z:-4.96 [[ 9.99882045e-01 9.55696967e-03 1.20233656e-02 2.76690932e+02] [-9.55096486e-03 9.99954234e-01 -5.56750588e-04 -1.24598039e+01] [-1.20281362e-02 4.41850174e-04 9.99927562e-01 -4.96038306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters 0.029458120922380378 Centerline is valid? [True, True] Translation: X:276.72, Y:-12.47, Z:-4.96 [[ 9.99918915e-01 4.93629885e-03 1.17386645e-02 2.76721744e+02] [-4.93026379e-03 9.99987699e-01 -5.43001406e-04 -1.24663728e+01] [-1.17412005e-02 4.85082664e-04 9.99930952e-01 -4.96100555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934391418 meters 0.03477613405414583 Centerline is valid? [True, True] Translation: X:276.75, Y:-12.48, Z:-4.96 [[ 9.99930853e-01 -3.05577674e-03 1.13557091e-02 2.76750458e+02] [ 3.06194912e-03 9.99995174e-01 -5.26201708e-04 -1.24776095e+01] [-1.13540464e-02 5.60935926e-04 9.99935383e-01 -4.96200074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters 0.03676580539176172 Centerline is valid? [True, True] Translation: X:276.78, Y:-12.48, Z:-4.96 [[ 9.99913506e-01 -6.23655550e-03 1.15795400e-02 2.76781683e+02] [ 6.24318008e-03 9.99980368e-01 -5.36033267e-04 -1.24828703e+01] [-1.15759697e-02 6.08280057e-04 9.99932811e-01 -4.96242895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994391418 meters 0.03929258232432358 Centerline is valid? [True, True] Translation: X:276.81, Y:-12.49, Z:-4.96 [[ 9.99896006e-01 -8.70820262e-03 1.14954426e-02 2.76811147e+02] [ 8.71490201e-03 9.99961883e-01 -5.32821377e-04 -1.24885008e+01] [-1.14903645e-02 6.32947623e-04 9.99933783e-01 -4.96303472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters 0.040657994881275326 Centerline is valid? [True, True] Translation: X:276.84, Y:-12.49, Z:-4.96 [[ 9.99880375e-01 -1.05116358e-02 1.13464624e-02 2.76842604e+02] [ 1.05182690e-02 9.99944544e-01 -5.25080916e-04 -1.24928291e+01] [-1.13403137e-02 6.44363247e-04 9.99935489e-01 -4.96349969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.054391418 meters 0.04187051519451666 Centerline is valid? [True, True] Translation: X:276.87, Y:-12.50, Z:-4.96 [[ 9.99863989e-01 -1.19079876e-02 1.14106980e-02 2.76874946e+02] [ 1.19148069e-02 9.99928876e-01 -5.29827264e-04 -1.24976527e+01] [-1.14035773e-02 6.65711465e-04 9.99934755e-01 -4.96436505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters 0.04203243749899116 Centerline is valid? [True, True] Translation: X:276.91, Y:-12.50, Z:-4.97 [[ 9.99876436e-01 -1.14211088e-02 1.08014437e-02 2.76906816e+02] [ 1.14271990e-02 9.99934581e-01 -5.02282004e-04 -1.24996650e+01] [-1.07950005e-02 6.25650187e-04 9.99941537e-01 -4.96558533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.114391418 meters 0.04074977664845285 Centerline is valid? [True, True] Translation: X:276.94, Y:-12.50, Z:-4.97 [[ 9.99924316e-01 -8.15451503e-03 9.21223812e-03 2.76937238e+02] [ 8.15880832e-03 9.99966625e-01 -4.28556577e-04 -1.24988309e+01] [-9.20843599e-03 5.03685027e-04 9.99957475e-01 -4.96772766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144391418 meters 0.039182703749571314 Centerline is valid? [True, True] Translation: X:276.97, Y:-12.50, Z:-4.97 [[ 9.99952744e-01 -5.29860330e-03 8.15073966e-03 2.76968778e+02] [ 5.30188100e-03 9.99985873e-01 -3.80580306e-04 -1.24975569e+01] [-8.14860797e-03 4.23776573e-04 9.99966710e-01 -4.96918739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.174391418 meters 0.037070689206311666 Centerline is valid? [True, True] Translation: X:277.00, Y:-12.50, Z:-4.97 [[ 9.99972714e-01 -1.81627029e-03 7.16044609e-03 2.77000634e+02] [ 1.81870915e-03 9.99998290e-01 -3.34105215e-04 -1.24952992e+01] [-7.15982702e-03 3.47118867e-04 9.99974308e-01 -4.97067847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204391418 meters 0.027762973039208137 Centerline is valid? [True, True] Translation: X:277.03, Y:-12.48, Z:-4.97 [[ 9.99957149e-01 6.75413421e-03 6.33103267e-03 2.77032129e+02] [-6.75239141e-03 9.99977158e-01 -2.96612957e-04 -1.24810637e+01] [-6.33289143e-03 2.53850636e-04 9.99979915e-01 -4.96986006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234391418 meters 0.02651575139765577 Centerline is valid? [True, True] Translation: X:277.06, Y:-12.48, Z:-4.97 [[ 9.99910071e-01 1.20193162e-02 5.94867458e-03 2.77061665e+02] [-1.20178692e-02 9.99927744e-01 -2.78928385e-04 -1.24793364e+01] [-5.95159729e-03 2.07412908e-04 9.99982268e-01 -4.97090533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264391418 meters 0.02306276273891328 Centerline is valid? [True, True] Translation: X:277.09, Y:-12.47, Z:-4.97 [[ 9.99718675e-01 2.31508492e-02 5.15843719e-03 2.77091822e+02] [-2.31499093e-02 9.99731976e-01 -2.41856818e-04 -1.24720503e+01] [-5.16265380e-03 1.22371425e-04 9.99986666e-01 -4.97275458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294391418 meters 0.020051214248800287 Centerline is valid? [True, True] Translation: X:277.12, Y:-12.47, Z:-4.97 [[ 9.99564434e-01 2.90601922e-02 5.14270564e-03 2.77122074e+02] [-2.90593370e-02 9.99577659e-01 -2.40942991e-04 -1.24662525e+01] [-5.14753552e-03 9.13944273e-05 9.99986747e-01 -4.97306193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324391418 meters 0.0177981520875636 Centerline is valid? [True, True] Translation: X:277.15, Y:-12.46, Z:-4.97 [[ 9.99379324e-01 3.48630766e-02 5.05292384e-03 2.77151546e+02] [-3.48623233e-02 9.99392096e-01 -2.37101083e-04 -1.24604285e+01] [-5.05811822e-03 6.07972550e-05 9.99987206e-01 -4.97333287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354391418 meters 0.015206978428968088 Centerline is valid? [True, True] Translation: X:277.18, Y:-12.45, Z:-4.97 [[ 9.98938736e-01 4.57462720e-02 5.35535520e-03 2.77180650e+02] [-4.57455821e-02 9.98953091e-01 -2.51307054e-04 -1.24488165e+01] [-5.36124499e-03 6.05651056e-06 9.99985628e-01 -4.96963744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384391418 meters 0.015507285322681516 Centerline is valid? [True, True] Translation: X:277.21, Y:-12.45, Z:-4.97 [[ 9.98718669e-01 5.02762681e-02 5.77203783e-03 2.77207684e+02] [-5.02755415e-02 9.98735349e-01 -2.71001911e-04 -1.24457482e+01] [-5.77836318e-03 -1.95376593e-05 9.99983305e-01 -4.97035667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414391418 meters 0.016677121326508917 Centerline is valid? [True, True] Translation: X:277.24, Y:-12.44, Z:-4.97 [[ 9.98292523e-01 5.81152838e-02 5.88656615e-03 2.77237021e+02] [-5.81146735e-02 9.98309876e-01 -2.74808956e-04 -1.24410311e+01] [-5.89258773e-03 -6.77561436e-05 9.99982636e-01 -4.96967295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444391418 meters 0.017620238803701366 Centerline is valid? [True, True] Translation: X:277.26, Y:-12.44, Z:-4.97 [[ 9.98123647e-01 6.09292336e-02 6.06736933e-03 2.77264797e+02] [-6.09286390e-02 9.98142085e-01 -2.82951412e-04 -1.24396162e+01] [-6.07333668e-03 -8.72560606e-05 9.99981553e-01 -4.97050329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474391418 meters 0.01817862823511871 Centerline is valid? [True, True] Translation: X:277.29, Y:-12.44, Z:-4.97 [[ 9.97990921e-01 6.30892408e-02 5.81975407e-03 2.77293367e+02] [-6.30887349e-02 9.98007885e-01 -2.70653890e-04 -1.24394521e+01] [-5.82523580e-03 -9.70507972e-05 9.99983028e-01 -4.97095602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504391418 meters 0.018832957796082926 Centerline is valid? [True, True] Translation: X:277.32, Y:-12.44, Z:-4.97 [[ 9.97930932e-01 6.40928116e-02 5.09569549e-03 2.77321060e+02] [-6.40924336e-02 9.97943938e-01 -2.37614884e-04 -1.24394624e+01] [-5.10044783e-03 -8.94722826e-05 9.99986989e-01 -4.97192700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534391418 meters 0.018595401344648273 Centerline is valid? [True, True] Translation: X:277.35, Y:-12.44, Z:-4.97 [[ 9.97990158e-01 6.31955723e-02 4.68659103e-03 2.77349319e+02] [-6.31952346e-02 9.98001159e-01 -2.20265241e-04 -1.24421872e+01] [-4.69114307e-03 -7.63476769e-05 9.99988994e-01 -4.97253402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564391418 meters 0.018150394937582248 Centerline is valid? [True, True] Translation: X:277.38, Y:-12.45, Z:-4.97 [[ 9.98122452e-01 6.10887453e-02 4.44252776e-03 2.77376677e+02] [-6.10884386e-02 9.98132336e-01 -2.04820492e-04 -1.24456062e+01] [-4.44674284e-03 -6.69511528e-05 9.99990111e-01 -4.97313388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594391418 meters 0.015943641155574305 Centerline is valid? [True, True] Translation: X:277.40, Y:-12.46, Z:-4.97 [[ 9.98520995e-01 5.41957001e-02 4.31842268e-03 2.77404776e+02] [-5.41953484e-02 9.98530332e-01 -1.98500948e-04 -1.24562405e+01] [-4.32283393e-03 -3.58310576e-05 9.99990656e-01 -4.97285229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624391418 meters 0.015344701573287146 Centerline is valid? [True, True] Translation: X:277.43, Y:-12.46, Z:-4.97 [[ 9.98766545e-01 4.94627062e-02 4.33934501e-03 2.77433582e+02] [-4.94623078e-02 9.98775971e-01 -1.99131908e-04 -1.24630372e+01] [-4.34388313e-03 -1.57477313e-05 9.99990565e-01 -4.97304636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654391418 meters 0.015182210514789424 Centerline is valid? [True, True] Translation: X:277.46, Y:-12.47, Z:-4.97 [[ 9.99010620e-01 4.42285276e-02 4.64964567e-03 2.77461618e+02] [-4.42280158e-02 9.99021440e-01 -2.12893413e-04 -1.24700574e+01] [-4.65451168e-03 7.03817872e-06 9.99989168e-01 -4.97364541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684391418 meters 0.016285681233262336 Centerline is valid? [True, True] Translation: X:277.49, Y:-12.48, Z:-4.97 [[ 9.99410078e-01 3.40705438e-02 4.32360398e-03 2.77490136e+02] [-3.40700072e-02 9.99419429e-01 -1.97729045e-04 -1.24829135e+01] [-4.32783056e-03 5.03071816e-05 9.99990634e-01 -4.97398914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714391418 meters 0.018714926333336556 Centerline is valid? [True, True] Translation: X:277.52, Y:-12.49, Z:-4.98 [[ 9.99574576e-01 2.89089248e-02 3.86545337e-03 2.77516911e+02] [-2.89084567e-02 9.99582048e-01 -1.76911339e-04 -1.24923722e+01] [-3.86895211e-03 6.50917850e-05 9.99992513e-01 -4.97647648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744391418 meters 0.021091162823958214 Centerline is valid? [True, True] Translation: X:277.55, Y:-12.50, Z:-4.98 [[ 9.99713050e-01 2.36726228e-02 3.66386168e-03 2.77546327e+02] [-2.36721715e-02 9.99719761e-01 -1.66497341e-04 -1.25003328e+01] [-3.66677635e-03 7.97180025e-05 9.99993274e-01 -4.97718410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774391418 meters 0.026155830041243156 Centerline is valid? [True, True] Translation: X:277.57, Y:-12.52, Z:-4.98 [[ 9.99883723e-01 1.49122873e-02 3.18804872e-03 2.77574996e+02] [-1.49119012e-02 9.99888801e-01 -1.44839994e-04 -1.25151499e+01] [-3.18985411e-03 9.72832845e-05 9.99994908e-01 -4.97847862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.804391418 meters 0.028504155034894563 Centerline is valid? [True, True] Translation: X:277.60, Y:-12.52, Z:-4.98 [[ 9.99932196e-01 1.11943196e-02 3.20793400e-03 2.77604614e+02] [-1.11939100e-02 9.99937336e-01 -1.45616830e-04 -1.25225520e+01] [-3.20936306e-03 1.09697632e-04 9.99994844e-01 -4.97920692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834391418 meters 0.030636517570330462 Centerline is valid? [True, True] Translation: X:277.63, Y:-12.53, Z:-4.98 [[ 9.99960086e-01 8.18720285e-03 3.57721931e-03 2.77634153e+02] [-8.18667501e-03 9.99966475e-01 -1.62175386e-04 -1.25290936e+01] [-3.57842714e-03 1.32883381e-04 9.99993589e-01 -4.97927900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.864391418 meters 0.02712119630144956 Centerline is valid? [True, True] Translation: X:277.66, Y:-12.53, Z:-4.98 [[ 9.99981091e-01 4.60846083e-03 4.07178602e-03 2.77664340e+02] [-4.60775030e-03 9.99989367e-01 -1.83864736e-04 -1.25293035e+01] [-4.07259006e-03 1.65099486e-04 9.99991693e-01 -4.97625622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894391418 meters 0.027317648562964834 Centerline is valid? [True, True] Translation: X:277.70, Y:-12.53, Z:-4.98 [[ 9.99980730e-01 4.49935296e-03 4.27730027e-03 2.77695469e+02] [-4.49857024e-03 9.99989863e-01 -1.92599392e-04 -1.25325108e+01] [-4.27812348e-03 1.73353945e-04 9.99990834e-01 -4.97676826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.924391418 meters 0.026367679776709115 Centerline is valid? [True, True] Translation: X:277.73, Y:-12.53, Z:-4.98 [[ 9.99957242e-01 8.03936176e-03 4.56979819e-03 2.77726236e+02] [-8.03850417e-03 9.99967669e-01 -2.06001922e-04 -1.25337644e+01] [-4.57130657e-03 1.69258772e-04 9.99989537e-01 -4.97656124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954391418 meters 0.024550837431766847 Centerline is valid? [True, True] Translation: X:277.76, Y:-12.53, Z:-4.98 [[ 9.99919290e-01 1.17566427e-02 4.81614417e-03 2.77757231e+02] [-1.17557308e-02 9.99930875e-01 -2.17605562e-04 -1.25328913e+01] [-4.81836956e-03 1.60970705e-04 9.99988379e-01 -4.97667892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters 0.023189404071517237 Centerline is valid? [True, True] Translation: X:277.79, Y:-12.53, Z:-4.98 [[ 9.99861024e-01 1.59984997e-02 4.68834527e-03 2.77786642e+02] [-1.59976793e-02 9.99872006e-01 -2.12431941e-04 -1.25321524e+01] [-4.69114379e-03 1.37399774e-04 9.99988987e-01 -4.97748239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014391418 meters 0.019327398553590065 Centerline is valid? [True, True] Translation: X:277.82, Y:-12.53, Z:-4.98 [[ 9.99776114e-01 2.06050016e-02 4.81205902e-03 2.77816162e+02] [-2.06041885e-02 9.99787687e-01 -2.18491185e-04 -1.25269627e+01] [-4.81553937e-03 1.19293696e-04 9.99988398e-01 -4.97672892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters 0.016822874163325775 Centerline is valid? [True, True] Translation: X:277.85, Y:-12.52, Z:-4.98 [[ 9.99531445e-01 3.03190004e-02 4.20093254e-03 2.77845328e+02] [-3.03184682e-02 9.99540271e-01 -1.90336456e-04 -1.25228321e+01] [-4.20477206e-03 6.28814338e-05 9.99991158e-01 -4.97831532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074391418 meters 0.014987096352242628 Centerline is valid? [True, True] Translation: X:277.87, Y:-12.52, Z:-4.98 [[ 9.99263255e-01 3.82554301e-02 3.07714795e-03 2.77874305e+02] [-3.82551801e-02 9.99267993e-01 -1.40074592e-04 -1.25186813e+01] [-3.08025407e-03 2.22545439e-05 9.99995256e-01 -4.97965849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters 0.014681774325161864 Centerline is valid? [True, True] Translation: X:277.90, Y:-12.52, Z:-4.98 [[ 9.99146366e-01 4.12442144e-02 2.33535816e-03 2.77903551e+02] [-4.12440782e-02 9.99149095e-01 -1.06467499e-04 -1.25182392e+01] [-2.33776216e-03 1.00569199e-05 9.99997267e-01 -4.98121997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134391418 meters 0.01486646522183644 Centerline is valid? [True, True] Translation: X:277.93, Y:-12.52, Z:-4.98 [[ 9.99077906e-01 4.29199481e-02 1.10251418e-03 2.77931513e+02] [-4.29199177e-02 9.99078514e-01 -5.12538882e-05 -1.25185402e+01] [-1.10369804e-03 3.88680967e-06 9.99999391e-01 -4.98340322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters 0.014895148943396516 Centerline is valid? [True, True] Translation: X:277.96, Y:-12.52, Z:-4.98 [[ 9.99049428e-01 4.35914224e-02 -1.68263446e-04 2.77960494e+02] [-4.35914220e-02 9.99049442e-01 6.07743551e-06 -1.25194381e+01] [ 1.68368425e-04 1.26318439e-06 9.99999986e-01 -4.98397288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194391418 meters 0.015172054683990271 Centerline is valid? [True, True] Translation: X:277.99, Y:-12.52, Z:-4.99 [[ 9.99116995e-01 4.19279606e-02 -2.69739220e-03 2.77987837e+02] [-4.19277928e-02 9.99120636e-01 1.18750222e-04 -1.25231735e+01] [ 2.69999917e-03 -5.54966418e-06 9.99996355e-01 -4.98756706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters 0.015172054683990271 Centerline is valid? [True, True] Translation: X:278.02, Y:-12.52, Z:-4.99 [[ 9.99121985e-01 4.18088843e-02 -2.69742168e-03 2.78015276e+02] [-4.18087178e-02 9.99125626e-01 1.18087372e-04 -1.25242859e+01] [ 2.70000022e-03 -5.20794769e-06 9.99996355e-01 -4.98806270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254391418 meters 0.015294146934442705 Centerline is valid? [True, True] Translation: X:278.04, Y:-12.53, Z:-4.99 [[ 9.99210246e-01 3.95923971e-02 -3.36560347e-03 2.78044001e+02] [-3.95921221e-02 9.99215914e-01 1.48335026e-04 -1.25281425e+01] [ 3.36883748e-03 -1.49664949e-05 9.99994325e-01 -4.98981325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters 0.016036298602325683 Centerline is valid? [True, True] Translation: X:278.07, Y:-12.54, Z:-4.99 [[ 9.99438016e-01 3.32703663e-02 -4.09092405e-03 2.78071957e+02] [-3.32699090e-02 9.99446387e-01 1.79798504e-04 -1.25356597e+01] [ 4.09464122e-03 -4.35927894e-05 9.99991616e-01 -4.99049721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314391418 meters 0.017216246480083623 Centerline is valid? [True, True] Translation: X:278.10, Y:-12.54, Z:-4.99 [[ 9.99555133e-01 2.95815539e-02 -3.80376912e-03 2.78099770e+02] [-2.95811338e-02 9.99562369e-01 1.66681871e-04 -1.25409590e+01] [ 3.80703518e-03 -5.40879167e-05 9.99992752e-01 -4.99151203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters 0.018138330471474503 Centerline is valid? [True, True] Translation: X:278.13, Y:-12.55, Z:-4.99 [[ 9.99657550e-01 2.60083050e-02 -2.88993757e-03 2.78128680e+02] [-2.60080483e-02 9.99661726e-01 1.26362496e-04 -1.25458609e+01] [ 2.89224645e-03 -5.11575869e-05 9.99995816e-01 -4.99141074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374391418 meters 0.020777498321864735 Centerline is valid? [True, True] Translation: X:278.16, Y:-12.55, Z:-4.99 [[ 9.99823250e-01 1.87594406e-02 -1.24617896e-03 2.78157258e+02] [-1.87593879e-02 9.99824026e-01 5.39727194e-05 -1.25548176e+01] [ 1.24697216e-03 -3.05856252e-05 9.99999222e-01 -4.99001016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters 0.02272930944615881 Centerline is valid? [True, True] Translation: X:278.18, Y:-12.56, Z:-4.99 [[ 9.99884143e-01 1.52211863e-02 -1.29419140e-04 2.78184640e+02] [-1.52211859e-02 9.99884151e-01 3.95796778e-06 -1.25603181e+01] [ 1.29464392e-04 -1.98759644e-06 9.99999992e-01 -4.99001237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434391418 meters 0.02322616632117115 Centerline is valid? [True, True] Translation: X:278.21, Y:-12.56, Z:-4.99 [[ 9.99927874e-01 1.19912774e-02 6.75224061e-04 2.78213164e+02] [-1.19912591e-02 9.99928102e-01 -3.11233713e-05 -1.25634876e+01] [-6.75548723e-04 2.30243399e-05 9.99999772e-01 -4.98902561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters 0.025515585659015898 Centerline is valid? [True, True] Translation: X:278.24, Y:-12.57, Z:-4.99 [[ 9.99975947e-01 6.47994126e-03 2.47308694e-03 2.78241943e+02] [-6.47968975e-03 9.99979001e-01 -1.09698412e-04 -1.25704851e+01] [-2.47374585e-03 9.36709372e-05 9.99996936e-01 -4.98796515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494391418 meters 0.026729967196305115 Centerline is valid? [True, True] Translation: X:278.27, Y:-12.57, Z:-4.99 [[ 9.99987681e-01 3.65519592e-03 3.35820208e-03 2.78272607e+02] [-3.65472116e-03 9.99993311e-01 -1.47497328e-04 -1.25747536e+01] [-3.35871875e-03 1.35222219e-04 9.99994350e-01 -4.98786718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters 0.026696680830260854 Centerline is valid? [True, True] Translation: X:278.30, Y:-12.58, Z:-4.99 [[ 9.99991666e-01 1.17158384e-03 3.91100945e-03 2.78303885e+02] [-1.17092322e-03 9.99999300e-01 -1.71197266e-04 -1.25771829e+01] [-3.91120728e-03 1.66616348e-04 9.99992337e-01 -4.98721667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.554391418 meters 0.03255472893023592 Centerline is valid? [True, True] Translation: X:278.33, Y:-12.59, Z:-4.99 [[ 9.99975040e-01 -3.60090382e-03 6.07886644e-03 2.78333701e+02] [ 3.60259330e-03 9.99993475e-01 -2.66999721e-04 -1.25879921e+01] [-6.07786533e-03 2.88892740e-04 9.99981488e-01 -4.98715985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters 0.03301125223135544 Centerline is valid? [True, True] Translation: X:278.37, Y:-12.59, Z:-4.99 [[ 9.99960106e-01 -5.88667208e-03 6.71812357e-03 2.78365585e+02] [ 5.88878379e-03 9.99982618e-01 -2.94592544e-04 -1.25903922e+01] [-6.71627262e-03 3.34142368e-04 9.99977390e-01 -4.98665330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.614391418 meters 0.03633275987716552 Centerline is valid? [True, True] Translation: X:278.40, Y:-12.60, Z:-4.99 [[ 9.99915046e-01 -1.04105530e-02 7.84351226e-03 2.78395846e+02] [ 1.04135818e-02 9.99945718e-01 -3.45402487e-04 -1.25965513e+01] [-7.83949066e-03 4.27052200e-04 9.99969180e-01 -4.98635821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644391418 meters 0.0362610781779478 Centerline is valid? [True, True] Translation: X:278.43, Y:-12.60, Z:-4.99 [[ 9.99894750e-01 -1.21303319e-02 7.95893820e-03 2.78428046e+02] [ 1.21335012e-02 9.99926325e-01 -3.50043182e-04 -1.25979766e+01] [-7.95410568e-03 4.46576126e-04 9.99968266e-01 -4.98656161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.674391418 meters 0.037235172505310735 Centerline is valid? [True, True] Translation: X:278.46, Y:-12.60, Z:-4.99 [[ 9.99877338e-01 -1.34334619e-02 8.05305449e-03 2.78459941e+02] [ 1.34367540e-02 9.99909660e-01 -3.54840506e-04 -1.26002709e+01] [-8.04756024e-03 4.63003892e-04 9.99967511e-01 -4.98727234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704391418 meters 0.038272271653286616 Centerline is valid? [True, True] Translation: X:278.49, Y:-12.60, Z:-4.99 [[ 9.99870978e-01 -1.43496387e-02 7.21909963e-03 2.78491891e+02] [ 1.43523112e-02 9.99896950e-01 -3.18526589e-04 -1.26027343e+01] [-7.21378496e-03 4.22096256e-04 9.99973891e-01 -4.98864448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734391418 meters 0.03963178272687907 Centerline is valid? [True, True] Translation: X:278.52, Y:-12.60, Z:-4.99 [[ 9.99872221e-01 -1.46195421e-02 6.46607006e-03 2.78523288e+02] [ 1.46216956e-02 9.99893056e-01 -2.85895266e-04 -1.26043643e+01] [-6.46119889e-03 3.80403643e-04 9.99979054e-01 -4.99058510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764391418 meters 0.03913882172016623 Centerline is valid? [True, True] Translation: X:278.56, Y:-12.60, Z:-4.99 [[ 9.99899567e-01 -1.29718256e-02 5.70858878e-03 2.78555585e+02] [ 1.29734773e-02 9.99915809e-01 -2.52387771e-04 -1.26036403e+01] [-5.70483424e-03 3.26422669e-04 9.99983674e-01 -4.99265708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794391418 meters 0.03897646445383839 Centerline is valid? [True, True] Translation: X:278.59, Y:-12.60, Z:-4.99 [[ 9.99913929e-01 -1.19280443e-02 5.46414771e-03 2.78587666e+02] [ 1.19295440e-02 9.99928811e-01 -2.41947527e-04 -1.26038383e+01] [-5.46087276e-03 3.07111493e-04 9.99985042e-01 -4.99397528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824391418 meters 0.038315197318294296 Centerline is valid? [True, True] Translation: X:278.62, Y:-12.60, Z:-4.99 [[ 9.99929157e-01 -1.06905612e-02 5.23386071e-03 2.78620141e+02] [ 1.06919220e-02 9.99942813e-01 -2.32094142e-04 -1.26032074e+01] [-5.23108018e-03 2.88037730e-04 9.99986276e-01 -4.99497267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854391418 meters 0.03822977624291296 Centerline is valid? [True, True] Translation: X:278.65, Y:-12.60, Z:-5.00 [[ 9.99945896e-01 -9.31501497e-03 4.62979708e-03 2.78651097e+02] [ 9.31606722e-03 9.99956583e-01 -2.05764421e-04 -1.26027865e+01] [-4.62767937e-03 2.48884789e-04 9.99989261e-01 -4.99612002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884391418 meters 0.03428683629805104 Centerline is valid? [True, True] Translation: X:278.68, Y:-12.60, Z:-5.00 [[ 9.99976722e-01 -5.81580313e-03 3.56819699e-03 2.78682624e+02] [ 5.81640675e-03 9.99983072e-01 -1.58813263e-04 -1.25951912e+01] [-3.56721297e-03 1.79563651e-04 9.99993621e-01 -4.99734629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914391418 meters 0.030041427546964043 Centerline is valid? [True, True] Translation: X:278.71, Y:-12.59, Z:-5.00 [[ 9.99986813e-01 -3.81427862e-03 3.43870483e-03 2.78714384e+02] [ 3.81482768e-03 9.99992712e-01 -1.53127965e-04 -1.25890626e+01] [-3.43809569e-03 1.66244012e-04 9.99994076e-01 -4.99725624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944391418 meters 0.028723397431681025 Centerline is valid? [True, True] Translation: X:278.74, Y:-12.58, Z:-5.00 [[ 9.99991861e-01 1.02187668e-03 3.90309972e-03 2.78744633e+02] [-1.02120277e-03 9.99999463e-01 -1.74650215e-04 -1.25846180e+01] [-3.90327610e-03 1.70662938e-04 9.99992368e-01 -4.99743297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974391418 meters 0.026675509623686627 Centerline is valid? [True, True] Translation: X:278.78, Y:-12.58, Z:-5.00 [[ 9.99980000e-01 3.74435986e-03 5.09697618e-03 2.78776299e+02] [-3.74324861e-03 9.99992968e-01 -2.27543082e-04 -1.25806920e+01] [-5.09779234e-03 2.08459282e-04 9.99986984e-01 -4.99640492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004391418 meters 0.02443942819715817 Centerline is valid? [True, True] Translation: X:278.81, Y:-12.57, Z:-5.00 [[ 9.99930123e-01 9.87858573e-03 6.49321157e-03 2.78806299e+02] [-9.87690530e-03 9.99951180e-01 -2.90814817e-04 -1.25738939e+01] [-6.49576741e-03 2.26661660e-04 9.99978877e-01 -4.99521033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034391418 meters 0.022558178092128286 Centerline is valid? [True, True] Translation: X:278.84, Y:-12.57, Z:-4.99 [[ 9.99891301e-01 1.28963282e-02 7.14639003e-03 2.78836764e+02] [-1.28943697e-02 9.99916813e-01 -3.20069058e-04 -1.25697765e+01] [-7.14992326e-03 2.27886072e-04 9.99974413e-01 -4.99462463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064391418 meters 0.02206506119704815 Centerline is valid? [True, True] Translation: X:278.87, Y:-12.57, Z:-5.00 [[ 9.99841024e-01 1.58834857e-02 8.10198346e-03 2.78866182e+02] [-1.58810705e-02 9.99873822e-01 -3.62355556e-04 -1.25684127e+01] [-8.10671664e-03 2.33629780e-04 9.99967113e-01 -4.99502381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094391418 meters 0.020969674842019663 Centerline is valid? [True, True] Translation: X:278.90, Y:-12.57, Z:-5.00 [[ 9.99792420e-01 1.85121689e-02 8.50977991e-03 2.78896508e+02] [-1.85095870e-02 9.99828610e-01 -3.82067396e-04 -1.25660591e+01] [-8.51539431e-03 2.24475575e-04 9.99963718e-01 -4.99511793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124391418 meters 0.01871711740373117 Centerline is valid? [True, True] Translation: X:278.93, Y:-12.56, Z:-5.00 [[ 9.99671217e-01 2.37089316e-02 9.76444959e-03 2.78926326e+02] [-2.37057873e-02 9.99718883e-01 -4.37648517e-04 -1.25597768e+01] [-9.77208081e-03 2.06030661e-04 9.99952231e-01 -4.99526767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154391418 meters 0.018342343316550772 Centerline is valid? [True, True] Translation: X:278.95, Y:-12.56, Z:-5.00 [[ 9.99607883e-01 2.61268932e-02 1.00730210e-02 2.78954760e+02] [-2.61236745e-02 9.99658617e-01 -4.51000673e-04 -1.25586363e+01] [-1.00813655e-02 1.87679506e-04 9.99949164e-01 -4.99622583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184391418 meters 0.016321202912418203 Centerline is valid? [True, True] Translation: X:278.98, Y:-12.55, Z:-5.00 [[ 9.99493925e-01 3.02441073e-02 9.85837692e-03 2.78984090e+02] [-3.02412237e-02 9.99542532e-01 -4.41471103e-04 -1.25526177e+01] [-9.86721893e-03 1.43118303e-04 9.99951308e-01 -4.99651352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214391418 meters 0.015910626438863304 Centerline is valid? [True, True] Translation: X:279.01, Y:-12.55, Z:-5.00 [[ 9.99445348e-01 3.18548415e-02 9.70906437e-03 2.79013167e+02] [-3.18521281e-02 9.99492498e-01 -4.34019457e-04 -1.25512484e+01] [-9.71796262e-03 1.24524366e-04 9.99952772e-01 -4.99732366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244391418 meters 0.015271352534365576 Centerline is valid? [True, True] Translation: X:279.04, Y:-12.55, Z:-5.00 [[ 9.99342782e-01 3.49263088e-02 9.70344211e-03 2.79042318e+02] [-3.49237507e-02 9.99389886e-01 -4.32999550e-04 -1.25477069e+01] [-9.71264498e-03 9.38343813e-05 9.99952827e-01 -4.99778259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274391418 meters 0.015007593688748603 Centerline is valid? [True, True] Translation: X:279.07, Y:-12.55, Z:-5.00 [[ 9.99293966e-01 3.63134294e-02 9.63866787e-03 2.79070485e+02] [-3.63109758e-02 9.99340447e-01 -4.29493105e-04 -1.25474640e+01] [-9.64790702e-03 7.92004326e-05 9.99953455e-01 -4.99856708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.304391418 meters 0.014756820918130131 Centerline is valid? [True, True] Translation: X:279.10, Y:-12.55, Z:-5.00 [[ 9.99244054e-01 3.76755682e-02 9.58501399e-03 2.79098885e+02] [-3.76732153e-02 9.99290022e-01 -4.25978172e-04 -1.25468906e+01] [-9.59425781e-03 6.45578598e-05 9.99953972e-01 -4.99863997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334391418 meters 0.014787046191990696 Centerline is valid? [True, True] Translation: X:279.13, Y:-12.55, Z:-5.00 [[ 9.99198974e-01 3.87156538e-02 1.01246982e-02 2.79126963e+02] [-3.87130895e-02 9.99250266e-01 -4.49204863e-04 -1.25470011e+01] [-1.01344986e-02 5.68866918e-05 9.99948643e-01 -4.99938237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.364391418 meters 0.01446368231276831 Centerline is valid? [True, True] Translation: X:279.16, Y:-12.55, Z:-5.00 [[ 9.99117397e-01 4.05944024e-02 1.07944818e-02 2.79155551e+02] [-4.05916120e-02 9.99175707e-01 -4.77557955e-04 -1.25459694e+01] [-1.08049701e-02 3.89710455e-05 9.99941624e-01 -4.99950836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394391418 meters 0.014422480566120596 Centerline is valid? [True, True] Translation: X:279.18, Y:-12.55, Z:-5.00 [[ 9.99082745e-01 4.14076998e-02 1.09119708e-02 2.79183475e+02] [-4.14049038e-02 9.99142333e-01 -4.82112149e-04 -1.25465090e+01] [-1.09225751e-02 2.98608283e-05 9.99940346e-01 -4.99998867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.424391418 meters 0.01423391580919238 Centerline is valid? [True, True] Translation: X:279.21, Y:-12.55, Z:-5.00 [[ 9.99057709e-01 4.19297248e-02 1.12068107e-02 2.79211686e+02] [-4.19268238e-02 9.99120562e-01 -4.93778661e-04 -1.25471631e+01] [-1.12176590e-02 2.34474001e-05 9.99937080e-01 -5.00070249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454391418 meters 0.014339859339916567 Centerline is valid? [True, True] Translation: X:279.24, Y:-12.55, Z:-5.00 [[ 9.99030996e-01 4.27227018e-02 1.05754586e-02 2.79240666e+02] [-4.27201783e-02 9.99086968e-01 -4.64513314e-04 -1.25486624e+01] [-1.05856481e-02 1.22777230e-05 9.99943970e-01 -5.00195111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters 0.01433617532958648 Centerline is valid? [True, True] Translation: X:279.27, Y:-12.55, Z:-5.00 [[ 9.99044651e-01 4.23920987e-02 1.06157710e-02 2.79268438e+02] [-4.23895430e-02 9.99101051e-01 -4.65729483e-04 -1.25506102e+01] [-1.06259712e-02 1.52868684e-05 9.99943543e-01 -5.00269103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514391418 meters 0.014264482782542533 Centerline is valid? [True, True] Translation: X:279.30, Y:-12.55, Z:-5.00 [[ 9.99073089e-01 4.17373579e-02 1.05335366e-02 2.79295969e+02] [-4.17348184e-02 9.99128617e-01 -4.60879590e-04 -1.25528814e+01] [-1.05435938e-02 2.08371583e-05 9.99944415e-01 -5.00325449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters 0.014407962128343693 Centerline is valid? [True, True] Translation: X:279.32, Y:-12.56, Z:-5.00 [[ 9.99166855e-01 3.94399168e-02 1.04923028e-02 2.79323497e+02] [-3.94372850e-02 9.99221943e-01 -4.57688131e-04 -1.25575240e+01] [-1.05021904e-02 4.35188733e-05 9.99944850e-01 -5.00402240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574391418 meters 0.014508548139524466 Centerline is valid? [True, True] Translation: X:279.35, Y:-12.56, Z:-5.00 [[ 9.99239468e-01 3.75609323e-02 1.04719381e-02 2.79352098e+02] [-3.75582199e-02 9.99294337e-01 -4.55626641e-04 -1.25607282e+01] [-1.04816622e-02 6.19727693e-05 9.99945064e-01 -5.00433638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters 0.015191951671510138 Centerline is valid? [True, True] Translation: X:279.38, Y:-12.57, Z:-5.00 [[ 9.99340577e-01 3.46956799e-02 1.07061404e-02 2.79379837e+02] [-3.46926882e-02 9.99397919e-01 -4.65086447e-04 -1.25658515e+01] [-1.07158309e-02 9.33549685e-05 9.99942579e-01 -5.00471301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634391418 meters 0.015387841045172816 Centerline is valid? [True, True] Translation: X:279.41, Y:-12.57, Z:-5.01 [[ 9.99385873e-01 3.35554081e-02 1.00951155e-02 2.79408063e+02] [-3.35527004e-02 9.99436854e-01 -4.37504851e-04 -1.25691952e+01] [-1.01041111e-02 9.85177813e-05 9.99948947e-01 -5.00567872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters 0.015267255054879896 Centerline is valid? [True, True] Translation: X:279.44, Y:-12.57, Z:-5.01 [[ 9.99409374e-01 3.29263259e-02 9.83672666e-03 2.79436792e+02] [-3.29237314e-02 9.99457776e-01 -4.25621519e-04 -1.25715058e+01] [-9.84540711e-03 1.01508389e-04 9.99951528e-01 -5.00617071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694391418 meters 0.015564299209195456 Centerline is valid? [True, True] Translation: X:279.46, Y:-12.57, Z:-5.01 [[ 9.99421398e-01 3.26467845e-02 9.54232796e-03 2.79464779e+02] [-3.26443356e-02 9.99466947e-01 -4.12326776e-04 -1.25749682e+01] [-9.55070254e-03 1.00585247e-04 9.99954386e-01 -5.00758603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters 0.014772665364067865 Centerline is valid? [True, True] Translation: X:279.49, Y:-12.58, Z:-5.01 [[ 9.99382391e-01 3.36032676e-02 1.02789764e-02 2.79493645e+02] [-3.36004898e-02 9.99435246e-01 -4.42871178e-04 -1.25757488e+01] [-1.02880533e-02 9.72190138e-05 9.99947072e-01 -5.00626491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754391418 meters 0.014731700643721242 Centerline is valid? [True, True] Translation: X:279.52, Y:-12.58, Z:-5.01 [[ 9.99353521e-01 3.43608635e-02 1.05769034e-02 2.79522476e+02] [-3.43579743e-02 9.99409487e-01 -4.54799582e-04 -1.25772010e+01] [-1.05862849e-02 9.11045881e-05 9.99943960e-01 -5.00646763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters 0.014308808763020122 Centerline is valid? [True, True] Translation: X:279.55, Y:-12.58, Z:-5.01 [[ 9.99270845e-01 3.65145416e-02 1.11564558e-02 2.79551408e+02] [-3.65114723e-02 9.99333119e-01 -4.78738704e-04 -1.25786731e+01] [-1.11664967e-02 7.10510032e-05 9.99937650e-01 -5.00631334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814391418 meters 0.014476782911232495 Centerline is valid? [True, True] Translation: X:279.58, Y:-12.58, Z:-5.01 [[ 9.99246964e-01 3.70124801e-02 1.16439127e-02 2.79579134e+02] [-3.70091808e-02 9.99314801e-01 -4.98773486e-04 -1.25805983e+01] [-1.16543952e-02 6.74662203e-05 9.99932083e-01 -5.00710129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters 0.014209829168383318 Centerline is valid? [True, True] Translation: X:279.61, Y:-12.58, Z:-5.01 [[ 9.99232121e-01 3.73542444e-02 1.18249587e-02 2.79608116e+02] [-3.73508814e-02 9.99302085e-01 -5.05186890e-04 -1.25825591e+01] [-1.18355767e-02 6.31263371e-05 9.99929955e-01 -5.00756590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874391418 meters 0.01430432512457527 Centerline is valid? [True, True] Translation: X:279.64, Y:-12.59, Z:-5.01 [[ 9.99309788e-01 3.55207250e-02 1.08731567e-02 2.79636742e+02] [-3.55177811e-02 9.99368937e-01 -4.63790664e-04 -1.25881019e+01] [-1.08827692e-02 7.72801523e-05 9.99940778e-01 -5.00906583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters 0.015109620407014948 Centerline is valid? [True, True] Translation: X:279.66, Y:-12.60, Z:-5.01 [[ 9.99477135e-01 3.06391142e-02 1.03295951e-02 2.79664688e+02] [-3.06362027e-02 9.99530505e-01 -4.40008432e-04 -1.25960298e+01] [-1.03382269e-02 1.23318797e-04 9.99946551e-01 -5.01075338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934391418 meters 0.0160807581179992 Centerline is valid? [True, True] Translation: X:279.69, Y:-12.60, Z:-5.01 [[ 9.99580132e-01 2.72836248e-02 9.75522990e-03 2.79692942e+02] [-2.72808804e-02 9.99627722e-01 -4.14304202e-04 -1.26017279e+01] [-9.76290196e-03 1.47998989e-04 9.99952331e-01 -5.01202695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters 0.017238197227937787 Centerline is valid? [True, True] Translation: X:279.72, Y:-12.61, Z:-5.01 [[ 9.99680677e-01 2.33573664e-02 9.64249950e-03 2.79721446e+02] [-2.33545081e-02 9.99727163e-01 -4.08935978e-04 -1.26079034e+01] [-9.64942033e-03 1.83609562e-04 9.99953426e-01 -5.01325971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994391418 meters 0.01847424392355086 Centerline is valid? [True, True] Translation: X:279.75, Y:-12.61, Z:-5.01 [[ 9.99775133e-01 1.90490689e-02 9.31755070e-03 2.79751145e+02] [-1.90462195e-02 9.99818527e-01 -3.94461183e-04 -1.26135750e+01] [-9.32337393e-03 2.16908366e-04 9.99956513e-01 -5.01408790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters 0.022198477339921033 Centerline is valid? [True, True] Translation: X:279.78, Y:-12.62, Z:-5.02 [[ 9.99912658e-01 1.01270980e-02 8.49230226e-03 2.79780883e+02] [-1.01244150e-02 9.99948682e-01 -3.58863987e-04 -1.26247978e+01] [-8.49550071e-03 2.72853050e-04 9.99963875e-01 -5.01545876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.054391418 meters 0.024623586481875973 Centerline is valid? [True, True] Translation: X:279.81, Y:-12.63, Z:-5.02 [[ 9.99950804e-01 5.75266306e-03 8.08060320e-03 2.79810974e+02] [-5.75009297e-03 9.99983410e-01 -3.41253131e-04 -1.26317777e+01] [-8.08243225e-03 2.94772123e-04 9.99967293e-01 -5.01656621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters 0.02640702782801194 Centerline is valid? [True, True] Translation: X:279.84, Y:-12.64, Z:-5.02 [[ 9.99967865e-01 1.60515834e-03 7.85444411e-03 2.79841576e+02] [-1.60260119e-03 9.99998661e-01 -3.31849344e-04 -1.26373761e+01] [-7.85496626e-03 3.19251138e-04 9.99969098e-01 -5.01745835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.114391418 meters 0.031168865571383864 Centerline is valid? [True, True] Translation: X:279.87, Y:-12.65, Z:-5.02 [[ 9.99952609e-01 -5.84887048e-03 7.78266293e-03 2.79871080e+02] [ 5.85161051e-03 9.99982825e-01 -3.29343611e-04 -1.26473751e+01] [-7.78060297e-03 3.74869115e-04 9.99969660e-01 -5.01834313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144391418 meters 0.031168865571383864 Centerline is valid? [True, True] Translation: X:279.90, Y:-12.65, Z:-5.02 [[ 9.99953304e-01 -5.72873013e-03 7.78272739e-03 2.79903616e+02] [ 5.73145470e-03 9.99983521e-01 -3.27820757e-04 -1.26488699e+01] [-7.78072114e-03 3.72411798e-04 9.99969660e-01 -5.01893042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.174391418 meters 0.032392558595401605 Centerline is valid? [True, True] Translation: X:279.93, Y:-12.65, Z:-5.02 [[ 9.99927605e-01 -8.86650449e-03 8.13452792e-03 2.79934475e+02] [ 8.86959848e-03 9.99960605e-01 -3.44355808e-04 -1.26531204e+01] [-8.13115423e-03 4.16480875e-04 9.99966855e-01 -5.01896348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204391418 meters 0.032786859875132926 Centerline is valid? [True, True] Translation: X:279.97, Y:-12.66, Z:-5.02 [[ 9.99848824e-01 -1.44238292e-02 9.70990853e-03 2.79965154e+02] [ 1.44285101e-02 9.99895819e-01 -4.12198339e-04 -1.26562210e+01] [-9.70295146e-03 5.52235538e-04 9.99952773e-01 -5.01755749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234391418 meters 0.034427315589743226 Centerline is valid? [True, True] Translation: X:280.00, Y:-12.66, Z:-5.02 [[ 9.99811760e-01 -1.66153818e-02 1.00186594e-02 2.79997075e+02] [ 1.66204692e-02 9.99861780e-01 -4.24738666e-04 -1.26605730e+01] [-1.00102174e-02 5.91173533e-04 9.99949722e-01 -5.01752855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264391418 meters 0.041631141234651 Centerline is valid? [True, True] Translation: X:280.03, Y:-12.67, Z:-5.02 [[ 9.99770120e-01 -1.85505022e-02 1.07511316e-02 2.80027365e+02] [ 1.85564862e-02 9.99827709e-01 -4.57099973e-04 -1.26718583e+01] [-1.07407998e-02 6.56498120e-04 9.99942100e-01 -5.01878018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294391418 meters 0.03923085458442277 Centerline is valid? [True, True] Translation: X:280.06, Y:-12.67, Z:-5.02 [[ 9.99702755e-01 -2.16457903e-02 1.12188240e-02 2.80058420e+02] [ 2.16525053e-02 9.99765443e-01 -4.77423251e-04 -1.26705846e+01] [-1.12058583e-02 7.20196984e-04 9.99936953e-01 -5.01849546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324391418 meters 0.0377861355327219 Centerline is valid? [True, True] Translation: X:280.09, Y:-12.67, Z:-5.02 [[ 9.99685049e-01 -2.25643502e-02 1.09841937e-02 2.80090915e+02] [ 2.25708458e-02 9.99745137e-01 -4.67738549e-04 -1.26699054e+01] [-1.09708400e-02 7.15513777e-04 9.99939563e-01 -5.01876489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354391418 meters 0.041101223784445 Centerline is valid? [True, True] Translation: X:280.12, Y:-12.68, Z:-5.02 [[ 9.99674078e-01 -2.30620658e-02 1.09488817e-02 2.80121496e+02] [ 2.30685610e-02 9.99733776e-01 -4.67293839e-04 -1.26751473e+01] [-1.09351901e-02 7.19716483e-04 9.99939950e-01 -5.01977573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384391418 meters 0.040171917990476674 Centerline is valid? [True, True] Translation: X:280.15, Y:-12.67, Z:-5.02 [[ 9.99655237e-01 -2.38413054e-02 1.10000096e-02 2.80153883e+02] [ 2.38479144e-02 9.99715488e-01 -4.70025336e-04 -1.26744244e+01] [-1.09856739e-02 7.32190576e-04 9.99939388e-01 -5.02045973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414391418 meters 0.040220266394810675 Centerline is valid? [True, True] Translation: X:280.19, Y:-12.68, Z:-5.02 [[ 9.99655897e-01 -2.36888760e-02 1.12660759e-02 2.80186902e+02] [ 2.36958066e-02 9.99719099e-01 -4.82074364e-04 -1.26759515e+01] [-1.12514914e-02 7.48867237e-04 9.99936420e-01 -5.02139948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444391418 meters 0.04074040793759219 Centerline is valid? [True, True] Translation: X:280.22, Y:-12.68, Z:-5.02 [[ 9.99670067e-01 -2.31412374e-02 1.11463404e-02 2.80218233e+02] [ 2.31480073e-02 9.99731934e-01 -4.78728322e-04 -1.26769307e+01] [-1.11322740e-02 7.36585942e-04 9.99937763e-01 -5.02217286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474391418 meters 0.040160169465795426 Centerline is valid? [True, True] Translation: X:280.25, Y:-12.68, Z:-5.02 [[ 9.99688917e-01 -2.25239490e-02 1.07117390e-02 2.80250081e+02] [ 2.25301710e-02 9.99746057e-01 -4.60525908e-04 -1.26771187e+01] [-1.06986459e-02 7.01719957e-04 9.99942522e-01 -5.02297613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504391418 meters 0.037893503107020186 Centerline is valid? [True, True] Translation: X:280.28, Y:-12.67, Z:-5.02 [[ 9.99707662e-01 -2.18066759e-02 1.04431548e-02 2.80282342e+02] [ 2.18125591e-02 9.99761977e-01 -4.49775038e-04 -1.26746727e+01] [-1.04308609e-02 6.77435482e-04 9.99945368e-01 -5.02372233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534391418 meters 0.0389692780464689 Centerline is valid? [True, True] Translation: X:280.31, Y:-12.68, Z:-5.03 [[ 9.99783578e-01 -1.84440222e-02 9.62363594e-03 2.80312450e+02] [ 1.84488764e-02 9.99829719e-01 -4.15859330e-04 -1.26751583e+01] [-9.61432709e-03 5.93314599e-04 9.99953605e-01 -5.02589284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564391418 meters 0.03616043818156436 Centerline is valid? [True, True] Translation: X:280.34, Y:-12.67, Z:-5.03 [[ 9.99831623e-01 -1.59886539e-02 9.00496791e-03 2.80344454e+02] [ 1.59927998e-02 9.99872032e-01 -3.88574108e-04 -1.26715239e+01] [-8.99760278e-03 5.32523330e-04 9.99959379e-01 -5.02686641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594391418 meters 0.03528369368619639 Centerline is valid? [True, True] Translation: X:280.38, Y:-12.67, Z:-5.03 [[ 9.99880003e-01 -1.31450139e-02 8.19690317e-03 2.80376109e+02] [ 1.31483572e-02 9.99913494e-01 -3.54113635e-04 -1.26701080e+01] [-8.19153926e-03 4.61846953e-04 9.99966342e-01 -5.02769922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624391418 meters 0.03267061961208653 Centerline is valid? [True, True] Translation: X:280.41, Y:-12.67, Z:-5.03 [[ 9.99917740e-01 -9.73116889e-03 8.35570736e-03 2.80406644e+02] [ 9.73453344e-03 9.99952553e-01 -3.62087459e-04 -1.26661237e+01] [-8.35178737e-03 4.43396586e-04 9.99965025e-01 -5.02776170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654391418 meters 0.02862221065783913 Centerline is valid? [True, True] Translation: X:280.44, Y:-12.66, Z:-5.03 [[ 9.99957310e-01 -1.89632214e-03 9.04332028e-03 2.80437914e+02] [ 1.89994201e-03 9.99998118e-01 -3.91706664e-04 -1.26580368e+01] [-9.04256047e-03 4.08871726e-04 9.99959032e-01 -5.02737832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684391418 meters 0.027302533160085768 Centerline is valid? [True, True] Translation: X:280.47, Y:-12.66, Z:-5.03 [[ 9.99946239e-01 2.53408586e-03 1.00547662e-02 2.80467844e+02] [-2.52983050e-03 9.99996705e-01 -4.35914257e-04 -1.26552553e+01] [-1.00558378e-02 4.10453968e-04 9.99949355e-01 -5.02731757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714391418 meters 0.02345370622102808 Centerline is valid? [True, True] Translation: X:280.50, Y:-12.65, Z:-5.03 [[ 9.99915740e-01 7.49220560e-03 1.06009611e-02 2.80498855e+02] [-7.48775537e-03 9.99971861e-01 -4.59422756e-04 -1.26491049e+01] [-1.06041049e-02 3.80006641e-04 9.99943703e-01 -5.02646268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744391418 meters 0.019628563788945657 Centerline is valid? [True, True] Translation: X:280.53, Y:-12.64, Z:-5.03 [[ 9.99762691e-01 1.77266678e-02 1.26620231e-02 2.80528893e+02] [-1.77211310e-02 9.99842818e-01 -5.49341848e-04 -1.26401626e+01] [-1.26697708e-02 3.24826114e-04 9.99919682e-01 -5.02560518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774391418 meters 0.017901690144026105 Centerline is valid? [True, True] Translation: X:280.56, Y:-12.64, Z:-5.03 [[ 9.99650889e-01 2.28160420e-02 1.33240104e-02 2.80559618e+02] [-2.28103690e-02 9.99739643e-01 -5.77612731e-04 -1.26368473e+01] [-1.33337203e-02 2.73485486e-04 9.99911065e-01 -5.02576280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.804391418 meters 0.015011094942591844 Centerline is valid? [True, True] Translation: X:280.59, Y:-12.63, Z:-5.03 [[ 9.99364565e-01 3.28762871e-02 1.37700900e-02 2.80589423e+02] [-3.28711746e-02 9.99459418e-01 -5.97497813e-04 -1.26281925e+01] [-1.37822896e-02 1.44479111e-04 9.99905009e-01 -5.02636754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834391418 meters 0.014361376103682124 Centerline is valid? [True, True] Translation: X:280.62, Y:-12.62, Z:-5.03 [[ 9.99213435e-01 3.70322179e-02 1.41819286e-02 2.80618920e+02] [-3.70272176e-02 9.99314068e-01 -6.15082602e-04 -1.26249636e+01] [-1.41949786e-02 8.94814431e-05 9.99899242e-01 -5.02679166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.864391418 meters 0.013949552353631135 Centerline is valid? [True, True] Translation: X:280.65, Y:-12.62, Z:-5.03 [[ 9.98913618e-01 4.45298796e-02 1.37358520e-02 2.80648328e+02] [-4.45259211e-02 9.99008053e-01 -5.94021858e-04 -1.26192048e+01] [-1.37486785e-02 -1.82249399e-05 9.99905482e-01 -5.02769888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894391418 meters 0.014254681276615009 Centerline is valid? [True, True] Translation: X:280.68, Y:-12.62, Z:-5.03 [[ 9.98779609e-01 4.74558983e-02 1.36831981e-02 2.80677645e+02] [-4.74522597e-02 9.98873332e-01 -5.90645097e-04 -1.26175712e+01] [-1.36958113e-02 -5.93743903e-05 9.99906206e-01 -5.02848527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.924391418 meters 0.014529523111016176 Centerline is valid? [True, True] Translation: X:280.71, Y:-12.62, Z:-5.03 [[ 9.98678576e-01 4.95252644e-02 1.37240479e-02 2.80705905e+02] [-4.95218116e-02 9.98772867e-01 -5.91519167e-04 -1.26165955e+01] [-1.37365018e-02 -8.89021950e-05 9.99905646e-01 -5.02910790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954391418 meters 0.014684624177333414 Centerline is valid? [True, True] Translation: X:280.73, Y:-12.62, Z:-5.03 [[ 9.98619388e-01 5.07012600e-02 1.37368412e-02 2.80734805e+02] [-5.06979395e-02 9.98713858e-01 -5.90068267e-04 -1.26170919e+01] [-1.37490909e-02 -1.07175934e-04 9.99905471e-01 -5.02990725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters 0.014748694851004582 Centerline is valid? [True, True] Translation: X:280.76, Y:-12.62, Z:-5.03 [[ 9.98618340e-01 5.07329616e-02 1.36958676e-02 2.80762581e+02] [-5.07296766e-02 9.98712248e-01 -5.87375611e-04 -1.26179000e+01] [-1.37080301e-02 -1.08222879e-04 9.99906035e-01 -5.03071806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014391418 meters 0.014367957451231013 Centerline is valid? [True, True] Translation: X:280.79, Y:-12.62, Z:-5.03 [[ 9.98710672e-01 4.87755222e-02 1.40691537e-02 2.80790345e+02] [-4.87718873e-02 9.98809762e-01 -6.01554549e-04 -1.26208626e+01] [-1.40817492e-02 -8.54002301e-05 9.99900844e-01 -5.03081265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters 0.013998296057431725 Centerline is valid? [True, True] Translation: X:280.82, Y:-12.63, Z:-5.03 [[ 9.98918394e-01 4.39957874e-02 1.50470147e-02 2.80819433e+02] [-4.39911134e-02 9.99031716e-01 -6.41633147e-04 -1.26269758e+01] [-1.50606741e-02 -2.09957778e-05 9.99886581e-01 -5.03011940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074391418 meters 0.014061691105122455 Centerline is valid? [True, True] Translation: X:280.85, Y:-12.63, Z:-5.03 [[ 9.99056664e-01 4.08378606e-02 1.47665613e-02 2.80847707e+02] [-4.08330263e-02 9.99165786e-01 -6.28857701e-04 -1.26312362e+01] [-1.47799240e-02 2.53010923e-05 9.99890771e-01 -5.03044862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters 0.014083692223905027 Centerline is valid? [True, True] Translation: X:280.88, Y:-12.64, Z:-5.03 [[ 9.99177130e-01 3.78375206e-02 1.46076679e-02 2.80875511e+02] [-3.78324847e-02 9.99283902e-01 -6.21022713e-04 -1.26357843e+01] [-1.46207053e-02 6.78673221e-05 9.99893109e-01 -5.03084542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134391418 meters 0.014594279397034452 Centerline is valid? [True, True] Translation: X:280.90, Y:-12.64, Z:-5.03 [[ 9.99302129e-01 3.43440753e-02 1.46880526e-02 2.80904396e+02] [-3.43386318e-02 9.99410061e-01 -6.22718102e-04 -1.26398756e+01] [-1.47007742e-02 1.17915896e-04 9.99891931e-01 -5.03117626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters 0.01570481871752629 Centerline is valid? [True, True] Translation: X:280.93, Y:-12.65, Z:-5.03 [[ 9.99501351e-01 2.83495214e-02 1.39051869e-02 2.80933367e+02] [-2.83440783e-02 9.99598053e-01 -5.88402360e-04 -1.26473837e+01] [-1.39162787e-02 1.93979248e-04 9.99903145e-01 -5.03110720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194391418 meters 0.016829287656707916 Centerline is valid? [True, True] Translation: X:280.96, Y:-12.65, Z:-5.03 [[ 9.99587668e-01 2.52390095e-02 1.36925410e-02 2.80962120e+02] [-2.52334510e-02 9.99681418e-01 -5.78594078e-04 -1.26523193e+01] [-1.37027820e-02 2.32845443e-04 9.99906085e-01 -5.03191316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters 0.01910040157743521 Centerline is valid? [True, True] Translation: X:280.99, Y:-12.66, Z:-5.03 [[ 9.99672690e-01 2.20725287e-02 1.29350551e-02 2.80991486e+02] [-2.20673150e-02 9.99756338e-01 -5.45670044e-04 -1.26593664e+01] [-1.29439477e-02 2.60049505e-04 9.99916190e-01 -5.03297445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254391418 meters 0.020873020531171696 Centerline is valid? [True, True] Translation: X:281.02, Y:-12.67, Z:-5.03 [[ 9.99776912e-01 1.61051465e-02 1.36656859e-02 2.81021595e+02] [-1.60987751e-02 9.99870240e-01 -5.76116566e-04 -1.26668869e+01] [-1.36731911e-02 3.55987238e-04 9.99906454e-01 -5.03192305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters 0.02178951425096985 Centerline is valid? [True, True] Translation: X:281.05, Y:-12.67, Z:-5.03 [[ 9.99812602e-01 1.35271432e-02 1.38483936e-02 2.81054049e+02] [-1.35203692e-02 9.99908426e-01 -5.82666457e-04 -1.26714494e+01] [-1.38550072e-02 3.95321872e-04 9.99903937e-01 -5.03194968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314391418 meters 0.02517786803783029 Centerline is valid? [True, True] Translation: X:281.08, Y:-12.68, Z:-5.03 [[ 9.99858112e-01 9.32868888e-03 1.40261150e-02 2.81084899e+02] [-9.32127044e-03 9.99956379e-01 -5.94183977e-04 -1.26811717e+01] [-1.40310461e-02 4.63358458e-04 9.99901453e-01 -5.03155497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters 0.025439044141811484 Centerline is valid? [True, True] Translation: X:281.12, Y:-12.68, Z:-5.03 [[ 9.99875030e-01 7.87561808e-03 1.37076484e-02 2.81116876e+02] [-7.86835107e-03 9.99968874e-01 -5.83993932e-04 -1.26843106e+01] [-1.37118210e-02 4.76064360e-04 9.99905875e-01 -5.03167262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374391418 meters 0.026969635550865446 Centerline is valid? [True, True] Translation: X:281.15, Y:-12.69, Z:-5.03 [[ 9.99878333e-01 7.37087088e-03 1.37473087e-02 2.81147593e+02] [-7.36346123e-03 9.99972716e-01 -5.89527798e-04 -1.26895054e+01] [-1.37512790e-02 4.88228298e-04 9.99905327e-01 -5.03219036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters 0.023941917023857805 Centerline is valid? [True, True] Translation: X:281.18, Y:-12.69, Z:-5.03 [[ 9.99880352e-01 8.10270763e-03 1.31767941e-02 2.81180114e+02] [-8.09592476e-03 9.99967066e-01 -5.68020071e-04 -1.26887799e+01] [-1.31809626e-02 4.61273776e-04 9.99913021e-01 -5.03241672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434391418 meters 0.02332670408398119 Centerline is valid? [True, True] Translation: X:281.21, Y:-12.69, Z:-5.03 [[ 9.99870069e-01 9.58355763e-03 1.29615354e-02 2.81212113e+02] [-9.57707221e-03 9.99953981e-01 -5.62337129e-04 -1.26901034e+01] [-1.29663281e-02 4.38130503e-04 9.99915838e-01 -5.03361995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters 0.024359242071400493 Centerline is valid? [True, True] Translation: X:281.24, Y:-12.69, Z:-5.04 [[ 9.99847731e-01 1.32095575e-02 1.14027396e-02 2.81243030e+02] [-1.32047421e-02 9.99912690e-01 -4.97496012e-04 -1.26939391e+01] [-1.14083157e-02 3.46850023e-04 9.99934863e-01 -5.03586405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494391418 meters 0.023796627659046343 Centerline is valid? [True, True] Translation: X:281.27, Y:-12.69, Z:-5.04 [[ 9.99821911e-01 1.52784199e-02 1.10777307e-02 2.81273962e+02] [-1.52739627e-02 9.99883228e-01 -4.86852105e-04 -1.26944903e+01] [-1.10838755e-02 3.17564555e-04 9.99938522e-01 -5.03685129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters 0.0207464345317905 Centerline is valid? [True, True] Translation: X:281.31, Y:-12.69, Z:-5.04 [[ 9.99800081e-01 1.67878843e-02 1.08612079e-02 2.81305920e+02] [-1.67836631e-02 9.99859029e-01 -4.79692645e-04 -1.26908794e+01] [-1.08677298e-02 2.97305891e-04 9.99940900e-01 -5.03675723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.554391418 meters 0.019887782735335646 Centerline is valid? [True, True] Translation: X:281.34, Y:-12.69, Z:-5.04 [[ 9.99785242e-01 1.85109795e-02 9.31738592e-03 2.81337118e+02] [-1.85079453e-02 9.99828629e-01 -4.11774822e-04 -1.26904461e+01] [-9.32341154e-03 2.39240721e-04 9.99956507e-01 -5.03849078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters 0.021199386232217798 Centerline is valid? [True, True] Translation: X:281.37, Y:-12.69, Z:-5.04 [[ 9.99791905e-01 1.86490522e-02 8.26793156e-03 2.81366354e+02] [-1.86466607e-02 9.99826069e-01 -3.66244443e-04 -1.26942128e+01] [-8.27332362e-03 2.11998915e-04 9.99965753e-01 -5.04069595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.614391418 meters 0.020367365726663103 Centerline is valid? [True, True] Translation: X:281.40, Y:-12.69, Z:-5.04 [[ 9.99810897e-01 1.81438227e-02 6.99806162e-03 2.81395695e+02] [-1.81420962e-02 9.99835371e-01 -3.10127384e-04 -1.26940942e+01] [-7.00253643e-03 1.83109231e-04 9.99975465e-01 -5.04150348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644391418 meters 0.02532086546303447 Centerline is valid? [True, True] Translation: X:281.42, Y:-12.70, Z:-5.05 [[ 9.99864310e-01 1.57110415e-02 4.95218976e-03 2.81424139e+02] [-1.57101460e-02 9.99876564e-01 -2.19668713e-04 -1.27033198e+01] [-4.95502971e-03 1.41839282e-04 9.99987714e-01 -5.04657359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.674391418 meters 0.02256135969666177 Centerline is valid? [True, True] Translation: X:281.45, Y:-12.70, Z:-5.05 [[ 9.99891441e-01 1.41861618e-02 3.98242500e-03 2.81454319e+02] [-1.41855716e-02 9.99899364e-01 -1.76407462e-04 -1.27003090e+01] [-3.98452677e-03 1.19895337e-04 9.99992055e-01 -5.04534508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704391418 meters 0.022982911915276454 Centerline is valid? [True, True] Translation: X:281.48, Y:-12.70, Z:-5.05 [[ 9.99915926e-01 1.24882453e-02 3.49057513e-03 2.81484275e+02] [-1.24877817e-02 9.99922013e-01 -1.54577179e-04 -1.27019337e+01] [-3.49223331e-03 1.10974643e-04 9.99993896e-01 -5.04570808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734391418 meters 0.024780346991792684 Centerline is valid? [True, True] Translation: X:281.51, Y:-12.70, Z:-5.05 [[ 9.99951062e-01 9.34162316e-03 3.25704124e-03 2.81512932e+02] [-9.34120218e-03 9.99956360e-01 -1.44440807e-04 -1.27049166e+01] [-3.25824842e-03 1.14009057e-04 9.99994685e-01 -5.04628829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764391418 meters 0.024827079367784968 Centerline is valid? [True, True] Translation: X:281.54, Y:-12.71, Z:-5.05 [[ 9.99961239e-01 8.13581754e-03 3.36575768e-03 2.81542380e+02] [-8.13536291e-03 9.99966896e-01 -1.48744170e-04 -1.27056639e+01] [-3.36685642e-03 1.21356744e-04 9.99994325e-01 -5.04592842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794391418 meters 0.026209172584897227 Centerline is valid? [True, True] Translation: X:281.57, Y:-12.71, Z:-5.05 [[ 9.99969410e-01 6.86435973e-03 3.74949854e-03 2.81571435e+02] [-6.86378855e-03 9.99976430e-01 -1.65181954e-04 -1.27074134e+01] [-3.75054404e-03 1.39441136e-04 9.99992957e-01 -5.04531813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824391418 meters 0.02688905999121422 Centerline is valid? [True, True] Translation: X:281.60, Y:-12.71, Z:-5.05 [[ 9.99966832e-01 6.86582975e-03 4.38127172e-03 2.81601433e+02] [-6.86505288e-03 9.99976417e-01 -1.92329614e-04 -1.27090767e+01] [-4.38248889e-03 1.62245573e-04 9.99990384e-01 -5.04519217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854391418 meters 0.025599619633967566 Centerline is valid? [True, True] Translation: X:281.63, Y:-12.71, Z:-5.04 [[ 9.99964773e-01 6.86362246e-03 4.83160306e-03 2.81632497e+02] [-6.86267579e-03 9.99976429e-01 -2.12485615e-04 -1.27077615e+01] [-4.83294760e-03 1.79320404e-04 9.99988305e-01 -5.04420604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884391418 meters 0.025496030926449587 Centerline is valid? [True, True] Translation: X:281.66, Y:-12.71, Z:-5.04 [[ 9.99953580e-01 7.45503462e-03 6.10416136e-03 2.81663797e+02] [-7.45353748e-03 9.99972186e-01 -2.67977933e-04 -1.27075918e+01] [-6.10598936e-03 2.22467898e-04 9.99981334e-01 -5.04333298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914391418 meters 0.027366702838981176 Centerline is valid? [True, True] Translation: X:281.69, Y:-12.71, Z:-5.04 [[ 9.99946119e-01 7.83514531e-03 6.80953014e-03 2.81693588e+02] [-7.83328704e-03 9.99969274e-01 -2.99521342e-04 -1.27106625e+01] [-6.81166771e-03 2.46164199e-04 9.99976770e-01 -5.04385169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944391418 meters 0.024055883012811363 Centerline is valid? [True, True] Translation: X:281.73, Y:-12.71, Z:-5.04 [[ 9.99921195e-01 9.80066798e-03 7.84539016e-03 2.81725154e+02] [-9.79826175e-03 9.99951936e-01 -3.45085509e-04 -1.27055235e+01] [-7.84839515e-03 2.68187128e-04 9.99969165e-01 -5.04200705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974391418 meters 0.023647689999055144 Centerline is valid? [True, True] Translation: X:281.76, Y:-12.71, Z:-5.04 [[ 9.99898345e-01 1.18252176e-02 7.96641796e-03 2.81756767e+02] [-1.18228156e-02 9.99930047e-01 -3.48549538e-04 -1.27058141e+01] [-7.96998236e-03 2.54328615e-04 9.99968207e-01 -5.04247121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004391418 meters 0.022730332667282596 Centerline is valid? [True, True] Translation: X:281.79, Y:-12.71, Z:-5.04 [[ 9.99870911e-01 1.39665769e-02 7.94329362e-03 2.81787833e+02] [-1.39642210e-02 9.99902434e-01 -3.51974912e-04 -1.27050449e+01] [-7.94743450e-03 2.41007568e-04 9.99968390e-01 -5.04325663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034391418 meters 0.022730332667282596 Centerline is valid? [True, True] Translation: X:281.82, Y:-12.71, Z:-5.04 [[ 9.99870911e-01 1.39665833e-02 7.94327793e-03 2.81817814e+02] [-1.39642246e-02 9.99902433e-01 -3.52328663e-04 -1.27063745e+01] [-7.94742375e-03 2.41361464e-04 9.99968390e-01 -5.04379761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064391418 meters 0.02124717133560395 Centerline is valid? [True, True] Translation: X:281.85, Y:-12.70, Z:-5.04 [[ 9.99792296e-01 1.89023066e-02 7.62027138e-03 2.81847531e+02] [-1.89002775e-02 9.99821317e-01 -3.38204251e-04 -1.27038575e+01] [-7.62530261e-03 1.94108760e-04 9.99970908e-01 -5.04495982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094391418 meters 0.020000618769757436 Centerline is valid? [True, True] Translation: X:281.88, Y:-12.70, Z:-5.05 [[ 9.99744490e-01 2.13041458e-02 7.55567005e-03 2.81877265e+02] [-2.13022191e-02 9.99773026e-01 -3.35394387e-04 -1.27016131e+01] [-7.56110040e-03 1.74356152e-04 9.99971399e-01 -5.04526342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124391418 meters 0.018991331402072244 Centerline is valid? [True, True] Translation: X:281.91, Y:-12.70, Z:-5.05 [[ 9.99687410e-01 2.39148022e-02 7.29141031e-03 2.81906742e+02] [-2.39130778e-02 9.99713989e-01 -3.23607250e-04 -1.26998248e+01] [-7.29706389e-03 1.49146032e-04 9.99973365e-01 -5.04575543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154391418 meters 0.019590624563140865 Centerline is valid? [True, True] Translation: X:281.93, Y:-12.70, Z:-5.05 [[ 9.99623956e-01 2.65139248e-02 6.99705894e-03 2.81934314e+02] [-2.65124000e-02 9.99648436e-01 -3.10603685e-04 -1.26981902e+01] [-7.00283435e-03 1.24978059e-04 9.99975472e-01 -5.04729154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184391418 meters 0.016382471219541943 Centerline is valid? [True, True] Translation: X:281.96, Y:-12.69, Z:-5.05 [[ 9.99526202e-01 3.00188100e-02 6.80018995e-03 2.81963565e+02] [-3.00174562e-02 9.99549329e-01 -3.01078905e-04 -1.26932551e+01] [-6.80616334e-03 9.68118508e-05 9.99976833e-01 -5.04626677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214391418 meters 0.01618562912357668 Centerline is valid? [True, True] Translation: X:281.99, Y:-12.69, Z:-5.05 [[ 9.99501582e-01 3.09787868e-02 6.07468557e-03 2.81992284e+02] [-3.09777262e-02 9.99520039e-01 -2.68630185e-04 -1.26930116e+01] [-6.08009179e-03 8.03163485e-05 9.99981513e-01 -5.04723073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244391418 meters 0.01686347749447142 Centerline is valid? [True, True] Translation: X:282.02, Y:-12.70, Z:-5.05 [[ 9.99514009e-01 3.07807240e-02 4.92874067e-03 2.82020140e+02] [-3.07800228e-02 9.99526159e-01 -2.18081922e-04 -1.26951787e+01] [-4.93311795e-03 6.62691856e-05 9.99987830e-01 -5.05048823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274391418 meters 0.01671680038240773 Centerline is valid? [True, True] Translation: X:282.05, Y:-12.70, Z:-5.05 [[ 9.99556878e-01 2.94441037e-02 4.36953666e-03 2.82048459e+02] [-2.94435408e-02 9.99566426e-01 -1.93116075e-04 -1.26959660e+01] [-4.37332827e-03 6.43758697e-05 9.99990435e-01 -5.05010258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.304391418 meters 0.01721016632872428 Centerline is valid? [True, True] Translation: X:282.08, Y:-12.70, Z:-5.05 [[ 9.99607348e-01 2.76814861e-02 4.34578887e-03 2.82077358e+02] [-2.76809156e-02 9.99616792e-01 -1.91364894e-04 -1.26985359e+01] [-4.34942080e-03 7.09943390e-05 9.99990539e-01 -5.05096184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334391418 meters 0.018388839414174424 Centerline is valid? [True, True] Translation: X:282.11, Y:-12.70, Z:-5.05 [[ 9.99722693e-01 2.30633164e-02 4.75610208e-03 2.82105802e+02] [-2.30625834e-02 9.99734001e-01 -2.08930846e-04 -1.27028634e+01] [-4.75965560e-03 9.91849070e-05 9.99988668e-01 -5.05089007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.364391418 meters 0.019372594065878063 Centerline is valid? [True, True] Translation: X:282.13, Y:-12.71, Z:-5.05 [[ 9.99781658e-01 2.03529153e-02 4.73238838e-03 2.82134726e+02] [-2.03521609e-02 9.99792852e-01 -2.07509323e-04 -1.27062896e+01] [-4.73563149e-03 1.11149685e-04 9.99988781e-01 -5.05134386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394391418 meters 0.02107481065773515 Centerline is valid? [True, True] Translation: X:282.16, Y:-12.71, Z:-5.05 [[ 9.99833131e-01 1.74827545e-02 5.29758159e-03 2.82162847e+02] [-1.74817766e-02 9.99847155e-01 -2.30829797e-04 -1.27103964e+01] [-5.30080742e-03 1.38180141e-04 9.99985941e-01 -5.05196988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.424391418 meters 0.025463737976576563 Centerline is valid? [True, True] Translation: X:282.19, Y:-12.72, Z:-5.05 [[ 9.99876923e-01 1.47025623e-02 5.47484205e-03 2.82191181e+02] [-1.47014734e-02 9.99891899e-01 -2.39069864e-04 -1.27189867e+01] [-5.47776515e-03 1.58552195e-04 9.99984984e-01 -5.05435302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454391418 meters 0.022999647209561845 Centerline is valid? [True, True] Translation: X:282.22, Y:-12.72, Z:-5.05 [[ 9.99940840e-01 8.71472593e-03 6.50915854e-03 2.82221955e+02] [-8.71306823e-03 9.99962000e-01 -2.82987328e-04 -1.27179044e+01] [-6.51137735e-03 2.26255844e-04 9.99978775e-01 -5.05069199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters 0.025282643992681247 Centerline is valid? [True, True] Translation: X:282.25, Y:-12.72, Z:-5.05 [[ 9.99956029e-01 5.98342894e-03 7.22074959e-03 2.82251841e+02] [-5.98131946e-03 9.99982063e-01 -3.13702236e-04 -1.27237698e+01] [-7.22249708e-03 2.70498832e-04 9.99973881e-01 -5.05134045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514391418 meters 0.027016352690647342 Centerline is valid? [True, True] Translation: X:282.28, Y:-12.73, Z:-5.05 [[ 9.99957995e-01 1.68199924e-03 9.00992750e-03 2.82282849e+02] [-1.67853961e-03 9.99998515e-01 -3.91527923e-04 -1.27284470e+01] [-9.01057267e-03 3.76387957e-04 9.99959333e-01 -5.05048545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters 0.027074767077072598 Centerline is valid? [True, True] Translation: X:282.32, Y:-12.73, Z:-5.05 [[ 9.99951158e-01 5.98607835e-04 9.86523283e-03 2.82315210e+02] [-5.94422780e-04 9.99999732e-01 -4.27149259e-04 -1.27300344e+01] [-9.86548588e-03 4.21264277e-04 9.99951246e-01 -5.05024579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574391418 meters 0.02709572920680112 Centerline is valid? [True, True] Translation: X:282.35, Y:-12.73, Z:-5.05 [[ 9.99946558e-01 5.65908160e-04 1.03228208e-02 2.82348281e+02] [-5.61294257e-04 9.99999741e-01 -4.49853120e-04 -1.27319057e+01] [-1.03230727e-02 4.44034939e-04 9.99946617e-01 -5.05014381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters 0.02823283802539921 Centerline is valid? [True, True] Translation: X:282.38, Y:-12.74, Z:-5.05 [[ 9.99941288e-01 9.78132724e-04 1.07918849e-02 2.82379339e+02] [-9.73051496e-04 9.99999413e-01 -4.76078486e-04 -1.27350795e+01] [-1.07923443e-02 4.65549474e-04 9.99941653e-01 -5.05072710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634391418 meters 0.027771298623384535 Centerline is valid? [True, True] Translation: X:282.41, Y:-12.74, Z:-5.05 [[ 9.99936251e-01 1.97724906e-03 1.11168794e-02 2.82411870e+02] [-1.97191227e-03 9.99997935e-01 -4.91002593e-04 -1.27356259e+01] [-1.11178273e-02 4.69049781e-04 9.99938085e-01 -5.05138254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters 0.02679579705762163 Centerline is valid? [True, True] Translation: X:282.44, Y:-12.74, Z:-5.05 [[ 9.99923704e-01 4.71676023e-03 1.14165535e-02 2.82443709e+02] [-4.71129752e-03 9.99988774e-01 -5.05336810e-04 -1.27351173e+01] [-1.14188089e-02 4.51511475e-04 9.99934701e-01 -5.05193303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694391418 meters 0.025993096495366186 Centerline is valid? [True, True] Translation: X:282.48, Y:-12.74, Z:-5.05 [[ 9.99917220e-01 6.60740208e-03 1.10406213e-02 2.82476354e+02] [-6.60241815e-03 9.99978085e-01 -4.87806046e-04 -1.27352047e+01] [-1.10436025e-02 4.14870867e-04 9.99938931e-01 -5.05245455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters 0.02557380083397537 Centerline is valid? [True, True] Translation: X:282.51, Y:-12.74, Z:-5.05 [[ 9.99906546e-01 8.44985553e-03 1.07470683e-02 2.82508703e+02] [-8.44520847e-03 9.99964224e-01 -4.77711581e-04 -1.27354337e+01] [-1.07507204e-02 3.86905705e-04 9.99942134e-01 -5.05339152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754391418 meters 0.024400999091502115 Centerline is valid? [True, True] Translation: X:282.54, Y:-12.73, Z:-5.06 [[ 9.99889989e-01 1.17802488e-02 9.01310929e-03 2.82540732e+02] [-1.17771001e-02 9.99930567e-01 -4.02339232e-04 -1.27337327e+01] [-9.01722314e-03 2.96146679e-04 9.99959300e-01 -5.05585769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters 0.024041895152097 Centerline is valid? [True, True] Translation: X:282.57, Y:-12.73, Z:-5.06 [[ 9.99879332e-01 1.31944836e-02 8.19923376e-03 2.82571565e+02] [-1.31918917e-02 9.99912915e-01 -3.70112789e-04 -1.27341189e+01] [-8.20340318e-03 2.61904724e-04 9.99966317e-01 -5.05717339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814391418 meters 0.023197283600619775 Centerline is valid? [True, True] Translation: X:282.60, Y:-12.73, Z:-5.06 [[ 9.99851382e-01 1.55497215e-02 7.44445442e-03 2.82601483e+02] [-1.55476454e-02 9.99879071e-01 -3.36674735e-04 -1.27334051e+01] [-7.44878937e-03 2.20880961e-04 9.99972233e-01 -5.05880942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters 0.023007194336051025 Centerline is valid? [True, True] Translation: X:282.63, Y:-12.73, Z:-5.06 [[ 9.99836848e-01 1.64567442e-02 7.44671469e-03 2.82631581e+02] [-1.64546905e-02 9.99864556e-01 -3.36977352e-04 -1.27340884e+01] [-7.45125163e-03 2.14388988e-04 9.99972216e-01 -5.05959061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874391418 meters 0.022706311240202306 Centerline is valid? [True, True] Translation: X:282.66, Y:-12.73, Z:-5.06 [[ 9.99826234e-01 1.71726361e-02 7.25273242e-03 2.82660902e+02] [-1.71707063e-02 9.99852519e-01 -3.28272820e-04 -1.27345985e+01] [-7.25730008e-03 2.03681239e-04 9.99973645e-01 -5.06047736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters 0.02275367490358706 Centerline is valid? [True, True] Translation: X:282.69, Y:-12.74, Z:-5.06 [[ 9.99818099e-01 1.76463201e-02 7.23713597e-03 2.82690789e+02] [-1.76444129e-02 9.99844272e-01 -3.27292012e-04 -1.27354536e+01] [-7.24178444e-03 1.99537462e-04 9.99973758e-01 -5.06116657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934391418 meters 0.020183084578711114 Centerline is valid? [True, True] Translation: X:282.72, Y:-12.73, Z:-5.06 [[ 9.99815221e-01 1.76279993e-02 7.66671174e-03 2.82719386e+02] [-1.76258575e-02 9.99844592e-01 -3.46852490e-04 -1.27314079e+01] [-7.67163459e-03 2.11656031e-04 9.99970550e-01 -5.05963912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters 0.020019424455714353 Centerline is valid? [True, True] Translation: X:282.75, Y:-12.73, Z:-5.06 [[ 9.99818987e-01 1.73110647e-02 7.89429559e-03 2.82748697e+02] [-1.73087927e-02 9.99850128e-01 -3.56044679e-04 -1.27322696e+01] [-7.89927597e-03 2.19339505e-04 9.99968776e-01 -5.05988634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994391418 meters 0.023959567369213636 Centerline is valid? [True, True] Translation: X:282.78, Y:-12.74, Z:-5.06 [[ 9.99847350e-01 1.54147695e-02 8.22566089e-03 2.82776853e+02] [-1.54122400e-02 9.99881156e-01 -3.70814893e-04 -1.27397572e+01] [-8.23039934e-03 2.43982428e-04 9.99966100e-01 -5.06172988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters 0.02301046255509379 Centerline is valid? [True, True] Translation: X:282.81, Y:-12.74, Z:-5.06 [[ 9.99874222e-01 1.37417478e-02 7.91867738e-03 2.82807756e+02] [-1.37393597e-02 9.99905547e-01 -3.55910737e-04 -1.27395234e+01] [-7.92282027e-03 2.47068415e-04 9.99968583e-01 -5.06155664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.054391418 meters 0.02325427237696134 Centerline is valid? [True, True] Translation: X:282.84, Y:-12.74, Z:-5.06 [[ 9.99901235e-01 1.13687095e-02 8.26276036e-03 2.82837641e+02] [-1.13660286e-02 9.99935336e-01 -3.71343060e-04 -1.27413048e+01] [-8.26644775e-03 2.77391614e-04 9.99965794e-01 -5.06144337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters 0.025973176004298187 Centerline is valid? [True, True] Translation: X:282.87, Y:-12.75, Z:-5.06 [[ 9.99940157e-01 5.91993205e-03 9.19983045e-03 2.82868678e+02] [-5.91638089e-03 9.99982413e-01 -4.13171073e-04 -1.27469302e+01] [-9.20211459e-03 3.58716647e-04 9.99957595e-01 -5.06153731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.114391418 meters 0.028018182900885525 Centerline is valid? [True, True] Translation: X:282.90, Y:-12.75, Z:-5.06 [[ 9.99951159e-01 3.03766820e-03 9.40493702e-03 2.82899582e+02] [-3.03383338e-03 9.99995309e-01 -4.21984885e-04 -1.27512234e+01] [-9.40617475e-03 3.93431263e-04 9.99955684e-01 -5.06196439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144391418 meters 0.030576442661272202 Centerline is valid? [True, True] Translation: X:282.93, Y:-12.76, Z:-5.06 [[ 9.99948391e-01 -1.53104180e-04 1.01583887e-02 2.82929455e+02] [ 1.57768483e-04 9.99999883e-01 -4.58358019e-04 -1.27560074e+01] [-1.01583173e-02 4.59937037e-04 9.99948297e-01 -5.06245419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.174391418 meters 0.031481839168954945 Centerline is valid? [True, True] Translation: X:282.96, Y:-12.76, Z:-5.06 [[ 9.99928136e-01 -5.56511052e-03 1.06184798e-02 2.82960234e+02] [ 5.57050982e-03 9.99984370e-01 -4.78973008e-04 -1.27581315e+01] [-1.06156483e-02 5.38088933e-04 9.99943508e-01 -5.06213301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204391418 meters 0.034702428291106424 Centerline is valid? [True, True] Translation: X:282.99, Y:-12.76, Z:-5.06 [[ 9.99911690e-01 -7.80432912e-03 1.07566352e-02 2.82991229e+02] [ 7.80999818e-03 9.99969384e-01 -4.85123372e-04 -1.27636246e+01] [-1.07525199e-02 5.69089832e-04 9.99942028e-01 -5.06309970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234391418 meters 0.033842596115890244 Centerline is valid? [True, True] Translation: X:283.02, Y:-12.76, Z:-5.06 [[ 9.99869240e-01 -1.11831370e-02 1.16807566e-02 2.83022600e+02] [ 1.11900628e-02 9.99937250e-01 -5.27726014e-04 -1.27628706e+01] [-1.16741220e-02 6.58365408e-04 9.99931638e-01 -5.06263046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264391418 meters 0.03599735110582458 Centerline is valid? [True, True] Translation: X:283.05, Y:-12.77, Z:-5.06 [[ 9.99857908e-01 -1.22780547e-02 1.15504563e-02 2.83053747e+02] [ 1.22849035e-02 9.99924401e-01 -5.22172865e-04 -1.27664485e+01] [-1.15431719e-02 6.63994910e-04 9.99933155e-01 -5.06330532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294391418 meters 0.03675009725181445 Centerline is valid? [True, True] Translation: X:283.09, Y:-12.77, Z:-5.06 [[ 9.99849539e-01 -1.26410150e-02 1.18787293e-02 2.83085709e+02] [ 1.26482917e-02 9.99919863e-01 -5.37657945e-04 -1.27683398e+01] [-1.18709808e-02 6.87822682e-04 9.99929301e-01 -5.06382507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324391418 meters 0.03550138956626887 Centerline is valid? [True, True] Translation: X:283.12, Y:-12.77, Z:-5.06 [[ 9.99848579e-01 -1.27140379e-02 1.18815974e-02 2.83117938e+02] [ 1.27213345e-02 9.99918935e-01 -5.38730338e-04 -1.27674555e+01] [-1.18737848e-02 6.89798538e-04 9.99929266e-01 -5.06402470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354391418 meters 0.03506556589009759 Centerline is valid? [True, True] Translation: X:283.15, Y:-12.77, Z:-5.06 [[ 9.99860680e-01 -1.16120314e-02 1.19909006e-02 2.83150652e+02] [ 1.16193944e-02 9.99932344e-01 -5.44558444e-04 -1.27664688e+01] [-1.19837659e-02 6.83809579e-04 9.99927958e-01 -5.06395942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384391418 meters 0.03362562631828489 Centerline is valid? [True, True] Translation: X:283.18, Y:-12.77, Z:-5.06 [[ 9.99873935e-01 -1.05283188e-02 1.18856622e-02 2.83183291e+02] [ 1.05354923e-02 9.99944354e-01 -5.41087406e-04 -1.27651817e+01] [-1.18793040e-02 6.66240496e-04 9.99929217e-01 -5.06431863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414391418 meters 0.03509666187651493 Centerline is valid? [True, True] Translation: X:283.21, Y:-12.77, Z:-5.07 [[ 9.99886639e-01 -9.33537285e-03 1.18135719e-02 2.83214413e+02] [ 9.34238202e-03 9.99956214e-01 -5.38267211e-04 -1.27679984e+01] [-1.18080297e-02 6.48573094e-04 9.99930072e-01 -5.06529984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444391418 meters 0.034287858331337004 Centerline is valid? [True, True] Translation: X:283.24, Y:-12.77, Z:-5.07 [[ 9.99916224e-01 -6.53217111e-03 1.11748009e-02 2.83244927e+02] [ 6.53829777e-03 9.99978494e-01 -5.11810586e-04 -1.27669454e+01] [-1.11712173e-02 5.84831884e-04 9.99937429e-01 -5.06667963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474391418 meters 0.031280291287956126 Centerline is valid? [True, True] Translation: X:283.28, Y:-12.76, Z:-5.07 [[ 9.99931613e-01 -4.72681147e-03 1.06970523e-02 2.83276960e+02] [ 4.73231973e-03 9.99988683e-01 -4.89678595e-04 -1.27634150e+01] [-1.06946166e-02 5.40266979e-04 9.99942665e-01 -5.06681753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504391418 meters 0.031464329179734844 Centerline is valid? [True, True] Translation: X:283.31, Y:-12.76, Z:-5.07 [[ 9.99945079e-01 -2.60421347e-03 1.01516848e-02 2.83307021e+02] [ 2.60907781e-03 9.99996488e-01 -4.65951265e-04 -1.27640580e+01] [-1.01504357e-02 4.92412210e-04 9.99948362e-01 -5.06802546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534391418 meters 0.02945649335406591 Centerline is valid? [True, True] Translation: X:283.34, Y:-12.76, Z:-5.07 [[ 9.99949125e-01 2.62081472e-03 9.74057653e-03 2.83336674e+02] [-2.61657879e-03 9.99996477e-01 -4.47592745e-04 -1.27600339e+01] [-9.74171527e-03 4.22082987e-04 9.99952459e-01 -5.06857703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564391418 meters 0.027442755966570413 Centerline is valid? [True, True] Translation: X:283.37, Y:-12.76, Z:-5.07 [[ 9.99939301e-01 5.66861539e-03 9.44778711e-03 2.83368568e+02] [-5.66477414e-03 9.99983861e-01 -4.33287446e-04 -1.27572886e+01] [-9.45009078e-03 3.79741566e-04 9.99955275e-01 -5.06889298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594391418 meters 0.024668627624731047 Centerline is valid? [True, True] Translation: X:283.40, Y:-12.75, Z:-5.07 [[ 9.99882690e-01 1.23257668e-02 9.09291658e-03 2.83399045e+02] [-1.23224743e-02 9.99923988e-01 -4.18039697e-04 -1.27514434e+01] [-9.09737807e-03 3.05943426e-04 9.99958571e-01 -5.06934698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624391418 meters 0.022780390625247175 Centerline is valid? [True, True] Translation: X:283.43, Y:-12.75, Z:-5.07 [[ 9.99834280e-01 1.58382897e-02 8.97557923e-03 2.83429635e+02] [-1.58352229e-02 9.99874530e-01 -4.12645204e-04 -1.27485644e+01] [-8.98098865e-03 2.70446523e-04 9.99959634e-01 -5.06973770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654391418 meters 0.02129643594560898 Centerline is valid? [True, True] Translation: X:283.46, Y:-12.75, Z:-5.07 [[ 9.99772187e-01 1.92594529e-02 9.20046606e-03 2.83460038e+02] [-1.92563737e-02 9.99814489e-01 -4.23154429e-04 -1.27462742e+01] [-9.20690900e-03 2.45890416e-04 9.99957585e-01 -5.07018991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684391418 meters 0.018953697896221713 Centerline is valid? [True, True] Translation: X:283.49, Y:-12.74, Z:-5.07 [[ 9.99637632e-01 2.54477000e-02 8.77605143e-03 2.83489518e+02] [-2.54451365e-02 9.99676139e-01 -4.03655786e-04 -1.27406721e+01] [-8.78348131e-03 1.80201688e-04 9.99961408e-01 -5.07088775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714391418 meters 0.0178621832163864 Centerline is valid? [True, True] Translation: X:283.52, Y:-12.74, Z:-5.07 [[ 9.99555997e-01 2.84037631e-02 9.00189766e-03 2.83518970e+02] [-2.84011875e-02 9.99596519e-01 -4.13846152e-04 -1.27385756e+01] [-9.01002036e-03 1.57997820e-04 9.99959396e-01 -5.07118088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744391418 meters 0.01628506168136094 Centerline is valid? [True, True] Translation: X:283.55, Y:-12.73, Z:-5.07 [[ 9.99387085e-01 3.38560281e-02 8.90077906e-03 2.83547925e+02] [-3.38537291e-02 9.99426715e-01 -4.08871369e-04 -1.27334976e+01] [-8.90951914e-03 1.07296202e-04 9.99960304e-01 -5.07213345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774391418 meters 0.015646607131442353 Centerline is valid? [True, True] Translation: X:283.58, Y:-12.73, Z:-5.07 [[ 9.99298519e-01 3.65316127e-02 8.24086970e-03 2.83575707e+02] [-3.65297358e-02 9.99332495e-01 -3.78214781e-04 -1.27318341e+01] [-8.24918567e-03 7.69126778e-05 9.99965972e-01 -5.07272378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.804391418 meters 0.015187931424615489 Centerline is valid? [True, True] Translation: X:283.60, Y:-12.73, Z:-5.07 [[ 9.99210332e-01 3.88188394e-02 8.47412040e-03 2.83604412e+02] [-3.88169456e-02 9.99246263e-01 -3.87905132e-04 -1.27305066e+01] [-8.48279117e-03 5.86593446e-05 9.99964019e-01 -5.07302774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834391418 meters 0.014970895985866546 Centerline is valid? [True, True] Translation: X:283.63, Y:-12.73, Z:-5.07 [[ 9.99089388e-01 4.18393487e-02 8.35840388e-03 2.83632619e+02] [-4.18376133e-02 9.99124351e-01 -3.82442474e-04 -1.27285125e+01] [-8.36708599e-03 3.23985484e-05 9.99964995e-01 -5.07349349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.864391418 meters 0.014727639904039077 Centerline is valid? [True, True] Translation: X:283.66, Y:-12.73, Z:-5.07 [[ 9.99059110e-01 4.25961313e-02 8.15255688e-03 2.83661005e+02] [-4.25945130e-02 9.99092373e-01 -3.72108421e-04 -1.27283248e+01] [-8.16100777e-03 2.45041180e-05 9.99966698e-01 -5.07247204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894391418 meters 0.01497936003832111 Centerline is valid? [True, True] Translation: X:283.69, Y:-12.73, Z:-5.07 [[ 9.99030427e-01 4.32723000e-02 8.10636777e-03 2.83687842e+02] [-4.32707284e-02 9.99063315e-01 -3.69239415e-04 -1.27293509e+01] [-8.11475250e-03 1.81129722e-05 9.99967075e-01 -5.07429333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.924391418 meters 0.014793006180476204 Centerline is valid? [True, True] Translation: X:283.72, Y:-12.73, Z:-5.07 [[ 9.99021331e-01 4.34515935e-02 8.26678451e-03 2.83715525e+02] [-4.34499762e-02 9.99055533e-01 -3.75215430e-04 -1.27297850e+01] [-8.27528052e-03 1.56566278e-05 9.99965759e-01 -5.07251221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954391418 meters 0.014793006180476204 Centerline is valid? [True, True] Translation: X:283.74, Y:-12.73, Z:-5.07 [[ 9.99026555e-01 4.33313110e-02 8.26682945e-03 2.83742953e+02] [-4.33296978e-02 9.99060758e-01 -3.74221160e-04 -1.27309100e+01] [-8.27528038e-03 1.56576537e-05 9.99965759e-01 -5.07300787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters 0.014992441610804583 Centerline is valid? [True, True] Translation: X:283.77, Y:-12.73, Z:-5.07 [[ 9.99080045e-01 4.20705044e-02 8.31483129e-03 2.83769817e+02] [-4.20688357e-02 9.99114644e-01 -3.75561573e-04 -1.27341796e+01] [-8.32326977e-03 2.54208024e-05 9.99965361e-01 -5.07432001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014391418 meters 0.015049979995793782 Centerline is valid? [True, True] Translation: X:283.80, Y:-12.74, Z:-5.08 [[ 9.99137789e-01 4.07803810e-02 7.78710976e-03 2.83798490e+02] [-4.07788905e-02 9.99168134e-01 -3.50157439e-04 -1.27375238e+01] [-7.79491148e-03 3.23058329e-05 9.99969619e-01 -5.07536400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters 0.015253456636523327 Centerline is valid? [True, True] Translation: X:283.83, Y:-12.74, Z:-5.08 [[ 9.99268853e-01 3.74928934e-02 7.48610090e-03 2.83826635e+02] [-3.74914272e-02 9.99296893e-01 -3.36144147e-04 -1.27427249e+01] [-7.49344039e-03 5.52337697e-05 9.99971922e-01 -5.07558266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074391418 meters 0.015466223154702741 Centerline is valid? [True, True] Translation: X:283.86, Y:-12.75, Z:-5.08 [[ 9.99350214e-01 3.53402559e-02 7.08632966e-03 2.83855129e+02] [-3.53388915e-02 9.99375336e-01 -3.17703101e-04 -1.27462943e+01] [-7.09313079e-03 6.70736274e-05 9.99974841e-01 -5.07633403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters 0.016205717544780927 Centerline is valid? [True, True] Translation: X:283.88, Y:-12.75, Z:-5.08 [[ 9.99494809e-01 3.10983736e-02 6.55876233e-03 2.83883582e+02] [-3.10971162e-02 9.99516325e-01 -2.93622597e-04 -1.27526578e+01] [-6.56472120e-03 8.95156667e-05 9.99978448e-01 -5.07731648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134391418 meters 0.016882282440569416 Centerline is valid? [True, True] Translation: X:283.91, Y:-12.76, Z:-5.08 [[ 9.99565490e-01 2.87408385e-02 6.54182213e-03 2.83911110e+02] [-2.87395391e-02 9.99586891e-01 -2.92559052e-04 -1.27568453e+01] [-6.54752804e-03 1.04422979e-04 9.99978559e-01 -5.07841318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters 0.017472041642152505 Centerline is valid? [True, True] Translation: X:283.94, Y:-12.76, Z:-5.08 [[ 9.99625590e-01 2.66983979e-02 5.98955326e-03 2.83940177e+02] [-2.66972762e-02 9.99643529e-01 -2.67166440e-04 -1.27608301e+01] [-5.99455107e-03 1.07161653e-04 9.99982027e-01 -5.07911497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194391418 meters 0.019639154026666057 Centerline is valid? [True, True] Translation: X:283.97, Y:-12.77, Z:-5.08 [[ 9.99733601e-01 2.24356060e-02 5.41950317e-03 2.83968101e+02] [-2.24346303e-02 9.99748283e-01 -2.40754853e-04 -1.27691085e+01] [-5.42354047e-03 1.19106166e-04 9.99985285e-01 -5.08114816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters 0.019891088966990638 Centerline is valid? [True, True] Translation: X:284.00, Y:-12.77, Z:-5.08 [[ 9.99777245e-01 2.03629487e-02 5.55068982e-03 2.83997148e+02] [-2.03618905e-02 9.99792645e-01 -2.47089055e-04 -1.27721276e+01] [-5.55457031e-03 1.34011477e-04 9.99984564e-01 -5.08137418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254391418 meters 0.02099880087076947 Centerline is valid? [True, True] Translation: X:284.03, Y:-12.78, Z:-5.08 [[ 9.99832444e-01 1.74595980e-02 5.49961273e-03 2.84026084e+02] [-1.74585190e-02 9.99847559e-01 -2.44154227e-04 -1.27775909e+01] [-5.50303719e-03 1.48098225e-04 9.99984847e-01 -5.08099551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters 0.021047964482370195 Centerline is valid? [True, True] Translation: X:284.05, Y:-12.78, Z:-5.08 [[ 9.99848137e-01 1.62646630e-02 6.25809049e-03 2.84054510e+02] [-1.62632441e-02 9.99867706e-01 -2.77549505e-04 -1.27799614e+01] [-6.26177683e-03 1.75730502e-04 9.99980379e-01 -5.08080968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314391418 meters 0.021639256011989863 Centerline is valid? [True, True] Translation: X:284.08, Y:-12.78, Z:-5.08 [[ 9.99861159e-01 1.53478636e-02 6.48885462e-03 2.84083663e+02] [-1.53463256e-02 9.99882197e-01 -2.86752132e-04 -1.27831699e+01] [-6.49249125e-03 1.87132243e-04 9.99978906e-01 -5.08104031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters 0.022558792391241526 Centerline is valid? [True, True] Translation: X:284.11, Y:-12.79, Z:-5.08 [[ 9.99864247e-01 1.48300446e-02 7.18035133e-03 2.84112447e+02] [-1.48281502e-02 9.99890007e-01 -3.16987093e-04 -1.27873287e+01] [-7.18426248e-03 2.10472733e-04 9.99974171e-01 -5.08136113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374391418 meters 0.02378267144201765 Centerline is valid? [True, True] Translation: X:284.14, Y:-12.79, Z:-5.08 [[ 9.99878171e-01 1.34380620e-02 7.94111495e-03 2.84141435e+02] [-1.34357065e-02 9.99909676e-01 -3.49902270e-04 -1.27926394e+01] [-7.94509968e-03 2.43165152e-04 9.99968408e-01 -5.08147898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters 0.022413227276351165 Centerline is valid? [True, True] Translation: X:284.17, Y:-12.79, Z:-5.08 [[ 9.99892341e-01 1.22210044e-02 8.12111831e-03 2.84172218e+02] [-1.22185036e-02 9.99925287e-01 -3.57479615e-04 -1.27925643e+01] [-8.12488032e-03 2.58213216e-04 9.99966959e-01 -5.08112936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434391418 meters 0.02274397418083954 Centerline is valid? [True, True] Translation: X:284.20, Y:-12.80, Z:-5.08 [[ 9.99905490e-01 1.09559820e-02 8.30526312e-03 2.84202596e+02] [-1.09533229e-02 9.99939944e-01 -3.65585398e-04 -1.27952570e+01] [-8.30876969e-03 2.74580617e-04 9.99965444e-01 -5.08160167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters 0.026446516359195822 Centerline is valid? [True, True] Translation: X:284.23, Y:-12.80, Z:-5.08 [[ 9.99944834e-01 7.31848735e-03 7.53452697e-03 2.84231885e+02] [-7.31619579e-03 9.99973181e-01 -3.31658732e-04 -1.28045697e+01] [-7.53675215e-03 2.76516361e-04 9.99971560e-01 -5.08377349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494391418 meters 0.027891961244601252 Centerline is valid? [True, True] Translation: X:284.26, Y:-12.81, Z:-5.09 [[ 9.99959560e-01 5.13272681e-03 7.38471779e-03 2.84263926e+02] [-5.13047200e-03 9.99986786e-01 -3.24245863e-04 -1.28090720e+01] [-7.38628447e-03 2.86345662e-04 9.99972680e-01 -5.08519155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters 0.028201517702057716 Centerline is valid? [True, True] Translation: X:284.30, Y:-12.81, Z:-5.09 [[ 9.99981393e-01 9.88900939e-04 6.01956498e-03 2.84295086e+02] [-9.87323859e-04 9.99999478e-01 -2.64958438e-04 -1.28132821e+01] [-6.01982385e-03 2.59010248e-04 9.99981847e-01 -5.08616846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.554391418 meters 0.030273996159926694 Centerline is valid? [True, True] Translation: X:284.33, Y:-12.82, Z:-5.09 [[ 9.99982586e-01 -8.82968806e-04 5.83503990e-03 2.84325527e+02] [ 8.84476692e-04 9.99999576e-01 -2.55843703e-04 -1.28188370e+01] [-5.83481152e-03 2.61000205e-04 9.99982943e-01 -5.08740028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters 0.02983447768266238 Centerline is valid? [True, True] Translation: X:284.36, Y:-12.82, Z:-5.09 [[ 9.99980137e-01 -2.55433634e-03 5.76209284e-03 2.84357326e+02] [ 2.55583017e-03 9.99996702e-01 -2.51901745e-04 -1.28204998e+01] [-5.76143040e-03 2.66623672e-04 9.99983367e-01 -5.08789561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.614391418 meters 0.03446374166180556 Centerline is valid? [True, True] Translation: X:284.39, Y:-12.83, Z:-5.09 [[ 9.99969175e-01 -5.62395085e-03 5.47899944e-03 2.84387447e+02] [ 5.62537067e-03 9.99984148e-01 -2.43763241e-04 -1.28294889e+01] [-5.47754167e-03 2.74577130e-04 9.99984960e-01 -5.08919071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644391418 meters 0.03315626488019138 Centerline is valid? [True, True] Translation: X:284.42, Y:-12.83, Z:-5.09 [[ 9.99965775e-01 -6.54400034e-03 5.06204555e-03 2.84419353e+02] [ 6.54522055e-03 9.99978555e-01 -2.24521046e-04 -1.28299625e+01] [-5.06046773e-03 2.57645566e-04 9.99987163e-01 -5.08962288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.674391418 meters 0.03250555506047709 Centerline is valid? [True, True] Translation: X:284.45, Y:-12.83, Z:-5.09 [[ 9.99963539e-01 -7.26015364e-03 4.49555797e-03 2.84451536e+02] [ 7.26112403e-03 9.99973618e-01 -1.99570102e-04 -1.28311375e+01] [-4.49399046e-03 2.32205630e-04 9.99989875e-01 -5.09057961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704391418 meters 0.03329866721289111 Centerline is valid? [True, True] Translation: X:284.48, Y:-12.83, Z:-5.09 [[ 9.99962221e-01 -7.86832776e-03 3.69393442e-03 2.84483376e+02] [ 7.86898724e-03 9.99969026e-01 -1.64031816e-04 -1.28341419e+01] [-3.69252935e-03 1.93093142e-04 9.99993164e-01 -5.09222504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734391418 meters 0.03400181474361683 Centerline is valid? [True, True] Translation: X:284.52, Y:-12.84, Z:-5.09 [[ 9.99964935e-01 -7.97370485e-03 2.55887589e-03 2.84515553e+02] [ 7.97402107e-03 9.99968201e-01 -1.13400433e-04 -1.28364257e+01] [-2.55789030e-03 1.33800987e-04 9.99996720e-01 -5.09425983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764391418 meters 0.03482578809341838 Centerline is valid? [True, True] Translation: X:284.55, Y:-12.84, Z:-5.09 [[ 9.99969048e-01 -7.49086766e-03 2.40643186e-03 2.84546691e+02] [ 7.49114695e-03 9.99971935e-01 -1.07067466e-04 -1.28383938e+01] [-2.40556230e-03 1.25091087e-04 9.99997099e-01 -5.09489597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794391418 meters 0.03550252154767484 Centerline is valid? [True, True] Translation: X:284.58, Y:-12.84, Z:-5.09 [[ 9.99974185e-01 -6.17413732e-03 3.67537537e-03 2.84578307e+02] [ 6.17478193e-03 9.99980922e-01 -1.64064237e-04 -1.28390363e+01] [-3.67429230e-03 1.86754643e-04 9.99993232e-01 -5.09413919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824391418 meters 0.033876989408172506 Centerline is valid? [True, True] Translation: X:284.61, Y:-12.84, Z:-5.09 [[ 9.99975128e-01 -5.24175138e-03 4.71888885e-03 2.84610399e+02] [ 5.24280705e-03 9.99986234e-01 -2.11367327e-04 -1.28378342e+01] [-4.71771596e-03 2.36102293e-04 9.99988844e-01 -5.09359859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854391418 meters 0.033325257006503996 Centerline is valid? [True, True] Translation: X:284.64, Y:-12.84, Z:-5.09 [[ 9.99973702e-01 -2.46149199e-03 6.82181316e-03 2.84640928e+02] [ 2.46363879e-03 9.99996918e-01 -3.06310393e-04 -1.28381655e+01] [-6.82103815e-03 3.23108821e-04 9.99976684e-01 -5.09294912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884391418 meters 0.03242033698422129 Centerline is valid? [True, True] Translation: X:284.67, Y:-12.84, Z:-5.09 [[ 9.99970529e-01 -7.14921320e-04 7.64395167e-03 2.84672936e+02] [ 7.17577498e-04 9.99999683e-01 -3.44750637e-04 -1.28377595e+01] [-7.64370278e-03 3.50225605e-04 9.99970725e-01 -5.09286917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914391418 meters 0.030447679922205102 Centerline is valid? [True, True] Translation: X:284.70, Y:-12.84, Z:-5.09 [[ 9.99963629e-01 1.17014794e-03 8.44817198e-03 2.84704989e+02] [-1.16696268e-03 9.99999246e-01 -3.81955270e-04 -1.28354784e+01] [-8.44861255e-03 3.72082676e-04 9.99964241e-01 -5.09250480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944391418 meters 0.029768117488001223 Centerline is valid? [True, True] Translation: X:284.74, Y:-12.83, Z:-5.09 [[ 9.99957941e-01 2.98284437e-03 8.67289744e-03 2.84737245e+02] [-2.97955235e-03 9.99995484e-01 -3.92472573e-04 -1.28348497e+01] [-8.67402896e-03 3.66614714e-04 9.99962313e-01 -5.09257325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974391418 meters 0.028298777749840714 Centerline is valid? [True, True] Translation: X:284.77, Y:-12.83, Z:-5.09 [[ 9.99940536e-01 7.07475278e-03 8.29894093e-03 2.84768012e+02] [-7.07187130e-03 9.99974923e-01 -3.76505452e-04 -1.28319595e+01] [-8.30139650e-03 3.17794021e-04 9.99965492e-01 -5.09412600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004391418 meters 0.027276114095734473 Centerline is valid? [True, True] Translation: X:284.80, Y:-12.83, Z:-5.10 [[ 9.99926738e-01 9.22738008e-03 7.83414106e-03 2.84800204e+02] [-9.22489419e-03 9.99957387e-01 -3.53391092e-04 -1.28314850e+01] [-7.83706810e-03 2.81096079e-04 9.99969250e-01 -5.09555358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034391418 meters 0.025840751890308388 Centerline is valid? [True, True] Translation: X:284.83, Y:-12.83, Z:-5.10 [[ 9.99898508e-01 1.24215288e-02 6.97700971e-03 2.84830977e+02] [-1.24196082e-02 9.99922823e-01 -3.18534983e-04 -1.28302535e+01] [-6.98042794e-03 2.31850927e-04 9.99975610e-01 -5.09798348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064391418 meters 0.022997369939179273 Centerline is valid? [True, True] Translation: X:284.86, Y:-12.83, Z:-5.10 [[ 9.99882823e-01 1.38800002e-02 6.45641189e-03 2.84861625e+02] [-1.38783819e-02 9.99903647e-01 -2.95392051e-04 -1.28272611e+01] [-6.45988984e-03 2.05752888e-04 9.99979114e-01 -5.09827605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094391418 meters 0.022297201134945276 Centerline is valid? [True, True] Translation: X:284.89, Y:-12.83, Z:-5.10 [[ 9.99864615e-01 1.53512273e-02 5.92380188e-03 2.84891243e+02] [-1.53498879e-02 9.99882147e-01 -2.71501584e-04 -1.28267944e+01] [-5.92727162e-03 1.80535131e-04 9.99982417e-01 -5.09944093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124391418 meters 0.02074425551541901 Centerline is valid? [True, True] Translation: X:284.92, Y:-12.82, Z:-5.10 [[ 9.99825969e-01 1.80778705e-02 4.60685706e-03 2.84920391e+02] [-1.80770870e-02 9.99836574e-01 -2.11663564e-04 -1.28229106e+01] [-4.60993060e-03 1.28348172e-04 9.99989366e-01 -5.10061287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154391418 meters 0.02016512425860155 Centerline is valid? [True, True] Translation: X:284.95, Y:-12.82, Z:-5.10 [[ 9.99791811e-01 1.99360816e-02 4.34589981e-03 2.84949278e+02] [-1.99354031e-02 9.99801250e-01 -1.99399956e-04 -1.28214328e+01] [-4.34901131e-03 1.12721178e-04 9.99990537e-01 -5.10145338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184391418 meters 0.019310665430065696 Centerline is valid? [True, True] Translation: X:284.98, Y:-12.82, Z:-5.10 [[ 9.99749969e-01 2.19471921e-02 4.28024158e-03 2.84978068e+02] [-2.19465537e-02 9.99759126e-01 -1.96063984e-04 -1.28197397e+01] [-4.28351364e-03 1.02078410e-04 9.99990821e-01 -5.10202094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214391418 meters 0.01731983785908666 Centerline is valid? [True, True] Translation: X:285.01, Y:-12.81, Z:-5.10 [[ 9.99621751e-01 2.69974477e-02 5.24327618e-03 2.85007027e+02] [-2.69965630e-02 9.99635498e-01 -2.39459776e-04 -1.28146325e+01] [-5.24782979e-03 9.78187655e-05 9.99986225e-01 -5.10161743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244391418 meters 0.01675439053442102 Centerline is valid? [True, True] Translation: X:285.04, Y:-12.81, Z:-5.10 [[ 9.99556384e-01 2.90824786e-02 6.42216479e-03 2.85035001e+02] [-2.90811983e-02 9.99577010e-01 -2.92676128e-04 -1.28137089e+01] [-6.42796003e-03 1.05782045e-04 9.99979335e-01 -5.10189939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274391418 meters 0.01551078693472425 Centerline is valid? [True, True] Translation: X:285.06, Y:-12.81, Z:-5.10 [[ 9.99424771e-01 3.28147774e-02 8.56258929e-03 2.85064097e+02] [-3.28126523e-02 9.99461444e-01 -3.88588337e-04 -1.28092232e+01] [-8.57072930e-03 1.07403545e-04 9.99963265e-01 -5.09991881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.304391418 meters 0.015340627873532811 Centerline is valid? [True, True] Translation: X:285.09, Y:-12.81, Z:-5.10 [[ 9.99382989e-01 3.37721123e-02 9.64811900e-03 2.85091649e+02] [-3.37694666e-02 9.99429553e-01 -4.37042002e-04 -1.28086646e+01] [-9.65737509e-03 1.10960510e-04 9.99953360e-01 -5.09959148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334391418 meters 0.015352259012797187 Centerline is valid? [True, True] Translation: X:285.12, Y:-12.81, Z:-5.10 [[ 9.99362115e-01 3.40108825e-02 1.08914021e-02 2.85119674e+02] [-3.40075398e-02 9.99421455e-01 -4.92020245e-04 -1.28086040e+01] [-1.09018350e-02 1.21316604e-04 9.99940566e-01 -5.09931273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.364391418 meters 0.01555298091877691 Centerline is valid? [True, True] Translation: X:285.15, Y:-12.81, Z:-5.10 [[ 9.99412440e-01 3.19090704e-02 1.25134468e-02 2.85148879e+02] [-3.19045133e-02 9.99490762e-01 -5.63685929e-04 -1.28094579e+01] [-1.25250612e-02 1.64119300e-04 9.99921545e-01 -5.09857657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394391418 meters 0.016591077293183647 Centerline is valid? [True, True] Translation: X:285.18, Y:-12.81, Z:-5.10 [[ 9.99469467e-01 2.98923245e-02 1.29318464e-02 2.85176301e+02] [-2.98873004e-02 9.99553106e-01 -5.81628926e-04 -1.28130614e+01] [-1.29434535e-02 1.94822375e-04 9.99916211e-01 -5.09937258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.424391418 meters 0.01771496338669448 Centerline is valid? [True, True] Translation: X:285.21, Y:-12.82, Z:-5.10 [[ 9.99608746e-01 2.45713223e-02 1.33643486e-02 2.85205825e+02] [-2.45655075e-02 9.99698043e-01 -5.99102349e-04 -1.28181117e+01] [-1.33750338e-02 2.70565943e-04 9.99910514e-01 -5.10042596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454391418 meters 0.018617289339275398 Centerline is valid? [True, True] Translation: X:285.24, Y:-12.82, Z:-5.10 [[ 9.99666423e-01 2.19458096e-02 1.36170888e-02 2.85235195e+02] [-2.19395370e-02 9.99759113e-01 -6.09872228e-04 -1.28219327e+01] [-1.36271927e-02 3.10916165e-04 9.99907097e-01 -5.10173246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters 0.01941201733552294 Centerline is valid? [True, True] Translation: X:285.27, Y:-12.83, Z:-5.10 [[ 9.99721665e-01 1.96040189e-02 1.31253427e-02 2.85265135e+02] [-1.95979974e-02 9.99807768e-01 -5.87247778e-04 -1.28255006e+01] [-1.31343320e-02 3.29853895e-04 9.99913687e-01 -5.10277474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514391418 meters 0.019971548772228637 Centerline is valid? [True, True] Translation: X:285.30, Y:-12.83, Z:-5.10 [[ 9.99750947e-01 1.78724056e-02 1.33649088e-02 2.85295788e+02] [-1.78660126e-02 9.99840211e-01 -5.97594794e-04 -1.28283102e+01] [-1.33734537e-02 3.58668333e-04 9.99910507e-01 -5.10364495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters 0.02021186714298964 Centerline is valid? [True, True] Translation: X:285.33, Y:-12.83, Z:-5.10 [[ 9.99786074e-01 1.57026621e-02 1.34623045e-02 2.85326911e+02] [-1.56959816e-02 9.99876629e-01 -6.01761709e-04 -1.28315060e+01] [-1.34700929e-02 3.90328893e-04 9.99909198e-01 -5.10488944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574391418 meters 0.021397951860729743 Centerline is valid? [True, True] Translation: X:285.36, Y:-12.84, Z:-5.11 [[ 9.99782836e-01 1.55184894e-02 1.39088909e-02 2.85358289e+02] [-1.55113449e-02 9.99879499e-01 -6.21400159e-04 -1.28350482e+01] [-1.39168580e-02 4.05519609e-04 9.99903074e-01 -5.10600381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters 0.022304088374500437 Centerline is valid? [True, True] Translation: X:285.39, Y:-12.84, Z:-5.11 [[ 9.99764928e-01 1.66069078e-02 1.39391299e-02 2.85389831e+02] [-1.65997867e-02 9.99862018e-01 -6.26423459e-04 -1.28392181e+01] [-1.39476095e-02 3.94889621e-04 9.99902649e-01 -5.10778546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634391418 meters 0.020685687260046538 Centerline is valid? [True, True] Translation: X:285.42, Y:-12.84, Z:-5.11 [[ 9.99749955e-01 1.77287409e-02 1.36278501e-02 2.85422078e+02] [-1.77219880e-02 9.99842763e-01 -6.16132805e-04 -1.28385782e+01] [-1.36366306e-02 3.74466148e-04 9.99906947e-01 -5.10855802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters 0.019812151307159392 Centerline is valid? [True, True] Translation: X:285.45, Y:-12.84, Z:-5.11 [[ 9.99725201e-01 1.88421037e-02 1.39462372e-02 2.85453728e+02] [-1.88350694e-02 9.99822402e-01 -6.35572308e-04 -1.28387861e+01] [-1.39557359e-02 3.72719307e-04 9.99902545e-01 -5.10906120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694391418 meters 0.01961168884416358 Centerline is valid? [True, True] Translation: X:285.48, Y:-12.84, Z:-5.11 [[ 9.99694557e-01 2.05222232e-02 1.37706282e-02 2.85483788e+02] [-2.05155206e-02 9.99789337e-01 -6.27830637e-04 -1.28396899e+01] [-1.37806117e-02 3.45127265e-04 9.99904983e-01 -5.10974627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters 0.01851186825042712 Centerline is valid? [True, True] Translation: X:285.51, Y:-12.84, Z:-5.11 [[ 9.99602501e-01 2.37803003e-02 1.51438631e-02 2.85514143e+02] [-2.37725347e-02 9.99717153e-01 -6.92626358e-04 -1.28384945e+01] [-1.51560506e-02 3.32343030e-04 9.99885085e-01 -5.10981565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754391418 meters 0.018209898832644518 Centerline is valid? [True, True] Translation: X:285.54, Y:-12.84, Z:-5.11 [[ 9.99558747e-01 2.51818540e-02 1.57539127e-02 2.85544855e+02] [-2.51736240e-02 9.99682834e-01 -7.20527857e-04 -1.28388602e+01] [-1.57670604e-02 3.23626845e-04 9.99875640e-01 -5.10984447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters 0.01716833788964305 Centerline is valid? [True, True] Translation: X:285.58, Y:-12.84, Z:-5.11 [[ 9.99462771e-01 2.81744401e-02 1.67442915e-02 2.85575143e+02] [-2.81655625e-02 9.99602978e-01 -7.65824256e-04 -1.28376456e+01] [-1.67592204e-02 2.93800443e-04 9.99859511e-01 -5.10967069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814391418 meters 0.016935445477546725 Centerline is valid? [True, True] Translation: X:285.60, Y:-12.84, Z:-5.11 [[ 9.99437190e-01 2.92455826e-02 1.64316751e-02 2.85604634e+02] [-2.92371770e-02 9.99572220e-01 -7.51589930e-04 -1.28382318e+01] [-1.64466267e-02 2.70751133e-04 9.99864708e-01 -5.11057165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters 0.016935445477546725 Centerline is valid? [True, True] Translation: X:285.63, Y:-12.84, Z:-5.11 [[ 9.99438366e-01 2.92053246e-02 1.64317054e-02 2.85633757e+02] [-2.91969245e-02 9.99573397e-01 -7.50927796e-04 -1.28395249e+01] [-1.64466267e-02 2.70750788e-04 9.99864708e-01 -5.11109746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874391418 meters 0.016705518728633094 Centerline is valid? [True, True] Translation: X:285.66, Y:-12.84, Z:-5.11 [[ 9.99428299e-01 2.98063638e-02 1.59579674e-02 2.85663646e+02] [-2.97985277e-02 9.99555660e-01 -7.28654487e-04 -1.28405278e+01] [-1.59725952e-02 2.52713981e-04 9.99872398e-01 -5.11225181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters 0.016351016238552517 Centerline is valid? [True, True] Translation: X:285.69, Y:-12.84, Z:-5.11 [[ 9.99433493e-01 2.99960595e-02 1.52619987e-02 2.85693025e+02] [-2.99889230e-02 9.99549989e-01 -6.96296008e-04 -1.28422455e+01] [-1.52760168e-02 2.38210647e-04 9.99883286e-01 -5.11430799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934391418 meters 0.0167484021133442 Centerline is valid? [True, True] Translation: X:285.72, Y:-12.84, Z:-5.12 [[ 9.99455744e-01 2.95857571e-02 1.45910483e-02 2.85721297e+02] [-2.95791978e-02 9.99562218e-01 -6.65191764e-04 -1.28448178e+01] [-1.46043408e-02 2.33238226e-04 9.99893324e-01 -5.11590095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters 0.016779170180712507 Centerline is valid? [True, True] Translation: X:285.75, Y:-12.85, Z:-5.12 [[ 9.99491643e-01 2.85936352e-02 1.41017344e-02 2.85750491e+02] [-2.85874224e-02 9.99591090e-01 -6.41991669e-04 -1.28471225e+01] [-1.41143250e-02 2.38533069e-04 9.99900360e-01 -5.11661979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994391418 meters 0.017155009051024954 Centerline is valid? [True, True] Translation: X:285.78, Y:-12.85, Z:-5.12 [[ 9.99522546e-01 2.73219371e-02 1.44288761e-02 2.85779627e+02] [-2.73153089e-02 9.99626652e-01 -6.56285784e-04 -1.28507907e+01] [-1.44414202e-02 2.61843228e-04 9.99895683e-01 -5.11757946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters 0.017506285176842405 Centerline is valid? [True, True] Translation: X:285.81, Y:-12.85, Z:-5.12 [[ 9.99534862e-01 2.68462065e-02 1.44686313e-02 2.85808542e+02] [-2.68394993e-02 9.99639539e-01 -6.57576742e-04 -1.28534930e+01] [-1.44810694e-02 2.68940057e-04 9.99895108e-01 -5.11832110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.054391418 meters 0.017487408997425163 Centerline is valid? [True, True] Translation: X:285.84, Y:-12.86, Z:-5.12 [[ 9.99527878e-01 2.68889917e-02 1.48661604e-02 2.85837942e+02] [-2.68819303e-02 9.99638388e-01 -6.74655322e-04 -1.28556152e+01] [-1.48789254e-02 2.74705714e-04 9.99889265e-01 -5.11875826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters 0.016988492067635155 Centerline is valid? [True, True] Translation: X:285.87, Y:-12.86, Z:-5.12 [[ 9.99462675e-01 2.87725174e-02 1.57004446e-02 2.85866543e+02] [-2.87648831e-02 9.99585952e-01 -7.11897337e-04 -1.28567075e+01] [-1.57144269e-02 2.59893364e-04 9.99876487e-01 -5.11844333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.114391418 meters 0.016317003363097052 Centerline is valid? [True, True] Translation: X:285.90, Y:-12.86, Z:-5.12 [[ 9.99403680e-01 3.04963502e-02 1.61943802e-02 2.85896727e+02] [-3.04884715e-02 9.99534850e-01 -7.33231970e-04 -1.28565773e+01] [-1.62092083e-02 2.39052830e-04 9.99868594e-01 -5.11836967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144391418 meters 0.016190093289229504 Centerline is valid? [True, True] Translation: X:285.93, Y:-12.86, Z:-5.12 [[ 9.99329838e-01 3.25578016e-02 1.67291493e-02 2.85925689e+02] [-3.25496877e-02 9.99469832e-01 -7.57147680e-04 -1.28579259e+01] [-1.67449311e-02 2.12111685e-04 9.99859771e-01 -5.11824819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.174391418 meters 0.014725761361228253 Centerline is valid? [True, True] Translation: X:285.95, Y:-12.86, Z:-5.12 [[ 9.99118313e-01 3.76119656e-02 1.86530551e-02 2.85954650e+02] [-3.76027816e-02 9.99292410e-01 -8.42970281e-04 -1.28555898e+01] [-1.86715622e-02 1.40820287e-04 9.99825661e-01 -5.11732322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204391418 meters 0.014556776010923565 Centerline is valid? [True, True] Translation: X:285.98, Y:-12.86, Z:-5.12 [[ 9.99024114e-01 3.96890519e-02 1.93803825e-02 2.85982736e+02] [-3.96795608e-02 9.99212074e-01 -8.74169182e-04 -1.28564606e+01] [-1.93998071e-02 1.04311026e-04 9.99811801e-01 -5.11735203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234391418 meters 0.014203307678108559 Centerline is valid? [True, True] Translation: X:286.01, Y:-12.86, Z:-5.12 [[ 9.98892416e-01 4.26932676e-02 1.97794313e-02 2.86011458e+02] [-4.26840103e-02 9.99088226e-01 -8.90159196e-04 -1.28577265e+01] [-1.97994007e-02 4.49078225e-05 9.99803972e-01 -5.11811985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264391418 meters 0.014281572947874995 Centerline is valid? [True, True] Translation: X:286.04, Y:-12.86, Z:-5.12 [[ 9.98871533e-01 4.33836578e-02 1.93266187e-02 2.86040053e+02] [-4.33749786e-02 9.99058485e-01 -8.68238424e-04 -1.28597071e+01] [-1.93460898e-02 2.89669720e-05 9.99812846e-01 -5.11921419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294391418 meters 0.014223593482360958 Centerline is valid? [True, True] Translation: X:286.07, Y:-12.86, Z:-5.12 [[ 9.98877268e-01 4.34453229e-02 1.88867257e-02 2.86069038e+02] [-4.34370735e-02 9.99055806e-01 -8.46981202e-04 -1.28624128e+01] [-1.89056903e-02 2.56461758e-05 9.99821271e-01 -5.12037533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324391418 meters 0.01440315491648624 Centerline is valid? [True, True] Translation: X:286.10, Y:-12.87, Z:-5.12 [[ 9.98996798e-01 4.13309673e-02 1.72380163e-02 2.86097903e+02] [-4.13238027e-02 9.99145509e-01 -7.71774019e-04 -1.28681850e+01] [-1.72551847e-02 5.86593910e-05 9.99851116e-01 -5.12241006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354391418 meters 0.014507802848549137 Centerline is valid? [True, True] Translation: X:286.13, Y:-12.87, Z:-5.12 [[ 9.99092961e-01 3.92332012e-02 1.65533032e-02 2.86125531e+02] [-3.92263274e-02 9.99230078e-01 -7.39860958e-04 -1.28725758e+01] [-1.65695855e-02 8.98645855e-05 9.99862711e-01 -5.12379863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384391418 meters 0.01529963388808928 Centerline is valid? [True, True] Translation: X:286.15, Y:-12.88, Z:-5.13 [[ 9.99300660e-01 3.44298240e-02 1.45869169e-02 2.86154368e+02] [-3.44239948e-02 9.99407107e-01 -6.50582038e-04 -1.28811631e+01] [-1.46006679e-02 1.47987106e-04 9.99893394e-01 -5.12572545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414391418 meters 0.0159951085972352 Centerline is valid? [True, True] Translation: X:286.18, Y:-12.89, Z:-5.13 [[ 9.99402253e-01 3.16017282e-02 1.40166646e-02 2.86184235e+02] [-3.15960803e-02 9.99500524e-01 -6.24261107e-04 -1.28865990e+01] [-1.40293913e-02 1.81016298e-04 9.99901567e-01 -5.12711512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444391418 meters 0.016658429046478244 Centerline is valid? [True, True] Translation: X:286.21, Y:-12.89, Z:-5.13 [[ 9.99499647e-01 2.87379861e-02 1.32130115e-02 2.86213707e+02] [-2.87327236e-02 9.99586957e-01 -5.87981501e-04 -1.28918595e+01] [-1.32244513e-02 2.08041497e-04 9.99912531e-01 -5.12829072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474391418 meters 0.017124584149830088 Centerline is valid? [True, True] Translation: X:286.24, Y:-12.90, Z:-5.13 [[ 9.99576639e-01 2.62340593e-02 1.25823700e-02 2.86243349e+02] [-2.62290948e-02 9.99655802e-01 -5.59448314e-04 -1.28968362e+01] [-1.25927158e-02 2.29187291e-04 9.99920682e-01 -5.12921663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504391418 meters 0.018903005077200354 Centerline is valid? [True, True] Translation: X:286.27, Y:-12.90, Z:-5.13 [[ 9.99675363e-01 2.22380217e-02 1.24354285e-02 2.86272143e+02] [-2.22328762e-02 9.99752667e-01 -5.51879753e-04 -1.29045731e+01] [-1.24446255e-02 2.75225249e-04 9.99922525e-01 -5.12963060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534391418 meters 0.018998924048869995 Centerline is valid? [True, True] Translation: X:286.30, Y:-12.91, Z:-5.13 [[ 9.99689110e-01 2.14079029e-02 1.27821787e-02 2.86302474e+02] [-2.14023855e-02 9.99770781e-01 -5.68293783e-04 -1.29077838e+01] [-1.27914147e-02 2.94547990e-04 9.99918143e-01 -5.12967304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564391418 meters 0.01938005279970797 Centerline is valid? [True, True] Translation: X:286.33, Y:-12.91, Z:-5.13 [[ 9.99698857e-01 2.07452688e-02 1.31083971e-02 2.86333196e+02] [-2.07394092e-02 9.99784745e-01 -5.82797408e-04 -1.29109544e+01] [-1.31176658e-02 3.10761489e-04 9.99913911e-01 -5.12985938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594391418 meters 0.0190659570081328 Centerline is valid? [True, True] Translation: X:286.36, Y:-12.91, Z:-5.13 [[ 9.99672258e-01 2.13693539e-02 1.40970555e-02 2.86364659e+02] [-2.13626414e-02 9.99771596e-01 -6.26594761e-04 -1.29142411e+01] [-1.41072257e-02 3.25239057e-04 9.99900435e-01 -5.12899478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624391418 meters 0.019459229710830035 Centerline is valid? [True, True] Translation: X:286.39, Y:-12.92, Z:-5.13 [[ 9.99651411e-01 2.19592039e-02 1.46577253e-02 2.86394782e+02] [-2.19520000e-02 9.99758813e-01 -6.52206154e-04 -1.29176853e+01] [-1.46685120e-02 3.30212418e-04 9.99892357e-01 -5.12898457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654391418 meters 0.01838581828613298 Centerline is valid? [True, True] Translation: X:286.43, Y:-12.92, Z:-5.13 [[ 9.99617734e-01 2.31569332e-02 1.51043680e-02 2.86425930e+02] [-2.31494163e-02 9.99731790e-01 -6.72334597e-04 -1.29196126e+01] [-1.51158861e-02 3.22420284e-04 9.99885696e-01 -5.12912615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684391418 meters 0.018072640071205383 Centerline is valid? [True, True] Translation: X:286.46, Y:-12.92, Z:-5.13 [[ 9.99616218e-01 2.35014067e-02 1.46663259e-02 2.86457202e+02] [-2.34943483e-02 9.99723756e-01 -6.53406026e-04 -1.29216990e+01] [-1.46776304e-02 3.08579492e-04 9.99892230e-01 -5.12992972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714391418 meters 0.019136040284307477 Centerline is valid? [True, True] Translation: X:286.49, Y:-12.93, Z:-5.13 [[ 9.99614907e-01 2.35980004e-02 1.46003997e-02 2.86486958e+02] [-2.35910095e-02 9.99721482e-01 -6.50878846e-04 -1.29265753e+01] [-1.46116927e-02 3.06190028e-04 9.99893197e-01 -5.13090330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744391418 meters 0.019723267576654557 Centerline is valid? [True, True] Translation: X:286.52, Y:-12.93, Z:-5.13 [[ 9.99652689e-01 2.25345107e-02 1.36637002e-02 2.86517706e+02] [-2.25282693e-02 9.99746020e-01 -6.10550567e-04 -1.29312182e+01] [-1.36739884e-02 3.02518998e-04 9.99906461e-01 -5.13216263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774391418 meters 0.02004859209843507 Centerline is valid? [True, True] Translation: X:286.55, Y:-12.93, Z:-5.13 [[ 9.99677781e-01 2.20353446e-02 1.26007371e-02 2.86548648e+02] [-2.20299915e-02 9.99757152e-01 -5.63482202e-04 -1.29343802e+01] [-1.26100935e-02 2.85706506e-04 9.99920449e-01 -5.13319120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.804391418 meters 0.019167022188571737 Centerline is valid? [True, True] Translation: X:286.58, Y:-12.94, Z:-5.13 [[ 9.99696932e-01 2.13041904e-02 1.23359246e-02 2.86579340e+02] [-2.12989961e-02 9.99772998e-01 -5.52309566e-04 -1.29350381e+01] [-1.23448908e-02 2.89399370e-04 9.99923757e-01 -5.13348784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834391418 meters 0.019225107907638428 Centerline is valid? [True, True] Translation: X:286.61, Y:-12.94, Z:-5.13 [[ 9.99712382e-01 2.06109719e-02 1.22613415e-02 2.86609908e+02] [-2.06057882e-02 9.99787527e-01 -5.48970300e-04 -1.29390028e+01] [-1.22700511e-02 2.96157801e-04 9.99924676e-01 -5.13453134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.864391418 meters 0.01904972900056873 Centerline is valid? [True, True] Translation: X:286.64, Y:-12.94, Z:-5.13 [[ 9.99715195e-01 2.07029259e-02 1.18709125e-02 2.86640725e+02] [-2.06980764e-02 9.99785631e-01 -5.31238910e-04 -1.29406861e+01] [-1.18793659e-02 2.85382556e-04 9.99929397e-01 -5.13490769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894391418 meters 0.019082309534464006 Centerline is valid? [True, True] Translation: X:286.67, Y:-12.94, Z:-5.14 [[ 9.99714709e-01 2.10834397e-02 1.12245105e-02 2.86670764e+02] [-2.10791202e-02 9.99777684e-01 -5.03007764e-04 -1.29422237e+01] [-1.12326203e-02 2.66261454e-04 9.99936877e-01 -5.13557815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.924391418 meters 0.018442226146940792 Centerline is valid? [True, True] Translation: X:286.70, Y:-12.94, Z:-5.14 [[ 9.99674485e-01 2.32909392e-02 1.04142636e-02 2.86701654e+02] [-2.32873405e-02 9.99728704e-01 -4.66697897e-04 -1.29424671e+01] [-1.04223081e-02 2.24025477e-04 9.99945661e-01 -5.13685949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954391418 meters 0.01780970564650083 Centerline is valid? [True, True] Translation: X:286.73, Y:-12.94, Z:-5.14 [[ 9.99643494e-01 2.47688291e-02 9.96946246e-03 2.86731443e+02] [-2.47656015e-02 9.99693185e-01 -4.47090582e-04 -1.29423385e+01] [-9.97747759e-03 2.00031457e-04 9.99950204e-01 -5.13783555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters 0.017587210187584395 Centerline is valid? [True, True] Translation: X:286.76, Y:-12.94, Z:-5.14 [[ 9.99605314e-01 2.65398455e-02 9.21157975e-03 2.86759950e+02] [-2.65371665e-02 9.99647742e-01 -4.12958137e-04 -1.29425220e+01] [-9.21929475e-03 1.68345922e-04 9.99957487e-01 -5.13921049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014391418 meters 0.016683046725296097 Centerline is valid? [True, True] Translation: X:286.79, Y:-12.94, Z:-5.14 [[ 9.99562725e-01 2.83035764e-02 8.55951923e-03 2.86788684e+02] [-2.83013300e-02 9.99599364e-01 -3.83476143e-04 -1.29416595e+01] [-8.56694372e-03 1.41062680e-04 9.99963293e-01 -5.13976625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters 0.015872078315577312 Centerline is valid? [True, True] Translation: X:286.82, Y:-12.94, Z:-5.14 [[ 9.99474337e-01 3.14645657e-02 7.81225381e-03 2.86817583e+02] [-3.14627949e-02 9.99504863e-01 -3.49494001e-04 -1.29405664e+01] [-7.81938235e-03 1.03514945e-04 9.99969423e-01 -5.14074109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074391418 meters 0.0156786878523366 Centerline is valid? [True, True] Translation: X:286.85, Y:-12.94, Z:-5.14 [[ 9.99431016e-01 3.28316761e-02 7.72826679e-03 2.86845267e+02] [-3.28299871e-02 9.99460891e-01 -3.45331905e-04 -1.29408864e+01] [-7.73543824e-03 9.14165173e-05 9.99970077e-01 -5.14127411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters 0.014998607828859827 Centerline is valid? [True, True] Translation: X:286.87, Y:-12.94, Z:-5.14 [[ 9.99357679e-01 3.49041130e-02 8.11981182e-03 2.86874071e+02] [-3.49023257e-02 9.99390663e-01 -3.61753918e-04 -1.29399302e+01] [-8.12749082e-03 7.81212393e-05 9.99966968e-01 -5.14016016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134391418 meters 0.015146629147313682 Centerline is valid? [True, True] Translation: X:286.90, Y:-12.94, Z:-5.14 [[ 9.99345159e-01 3.52425141e-02 8.19862929e-03 2.86901769e+02] [-3.52407074e-02 9.99378787e-01 -3.64776874e-04 -1.29415211e+01] [-8.20639185e-03 7.56125072e-05 9.99966324e-01 -5.14105203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters 0.014894190562685941 Centerline is valid? [True, True] Translation: X:286.93, Y:-12.94, Z:-5.14 [[ 9.99349258e-01 3.50891412e-02 8.35544271e-03 2.86930786e+02] [-3.50872681e-02 9.99384183e-01 -3.70706547e-04 -1.29423300e+01] [-8.36330506e-03 7.72956542e-05 9.99965024e-01 -5.14046917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194391418 meters 0.015019046265343852 Centerline is valid? [True, True] Translation: X:286.96, Y:-12.95, Z:-5.14 [[ 9.99377696e-01 3.39716024e-02 9.49481950e-03 2.86958156e+02] [-3.39691409e-02 9.99422794e-01 -4.20442107e-04 -1.29459958e+01] [-9.50362212e-03 9.76496031e-05 9.99954835e-01 -5.14062821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters 0.01568745497003671 Centerline is valid? [True, True] Translation: X:286.99, Y:-12.95, Z:-5.14 [[ 9.99406435e-01 3.29430456e-02 1.00763743e-02 2.86985343e+02] [-3.29402327e-02 9.99457224e-01 -4.45036550e-04 -1.29495853e+01] [-1.00855659e-02 1.12854278e-04 9.99949133e-01 -5.14162626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254391418 meters 0.015867529649438442 Centerline is valid? [True, True] Translation: X:287.01, Y:-12.95, Z:-5.14 [[ 9.99459528e-01 3.09184936e-02 1.11668192e-02 2.87014094e+02] [-3.09149289e-02 9.99521898e-01 -4.91742836e-04 -1.29541998e+01] [-1.11766843e-02 1.46255641e-04 9.99937528e-01 -5.14107077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters 0.015972958314634224 Centerline is valid? [True, True] Translation: X:287.04, Y:-12.96, Z:-5.14 [[ 9.99484401e-01 2.99753128e-02 1.15070928e-02 2.87042813e+02] [-2.99714753e-02 9.99550626e-01 -5.05828500e-04 -1.29558809e+01] [-1.15170842e-02 1.60683146e-04 9.99933663e-01 -5.14106649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314391418 meters 0.016001004021708745 Centerline is valid? [True, True] Translation: X:287.07, Y:-12.96, Z:-5.14 [[ 9.99506830e-01 2.93094720e-02 1.12717187e-02 2.87072619e+02] [-2.93057604e-02 9.99570372e-01 -4.94344960e-04 -1.29584475e+01] [-1.12813650e-02 1.63774876e-04 9.99936350e-01 -5.14157366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters 0.01640900815388197 Centerline is valid? [True, True] Translation: X:287.10, Y:-12.96, Z:-5.14 [[ 9.99531651e-01 2.85366960e-02 1.10514859e-02 2.87100837e+02] [-2.85330841e-02 9.99592731e-01 -4.84396291e-04 -1.29611075e+01] [-1.10608080e-02 1.68836449e-04 9.99938813e-01 -5.14216022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374391418 meters 0.016739978896054396 Centerline is valid? [True, True] Translation: X:287.13, Y:-12.96, Z:-5.14 [[ 9.99556315e-01 2.76470584e-02 1.10821272e-02 2.87130249e+02] [-2.76433806e-02 9.99617731e-01 -4.84939714e-04 -1.29648380e+01] [-1.10912980e-02 1.78377093e-04 9.99938474e-01 -5.14241437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters 0.0166151273034201 Centerline is valid? [True, True] Translation: X:287.16, Y:-12.97, Z:-5.14 [[ 9.99567555e-01 2.71510126e-02 1.12926966e-02 2.87159763e+02] [-2.71471671e-02 9.99631326e-01 -4.93706122e-04 -1.29666361e+01] [-1.13019379e-02 1.86927899e-04 9.99936114e-01 -5.14254610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434391418 meters 0.017273931341069155 Centerline is valid? [True, True] Translation: X:287.19, Y:-12.97, Z:-5.14 [[ 9.99579311e-01 2.68276209e-02 1.10218235e-02 2.87188612e+02] [-2.68239412e-02 9.99640057e-01 -4.81574995e-04 -1.29704158e+01] [-1.10307758e-02 1.85723657e-04 9.99939142e-01 -5.14355644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters 0.016681093815867673 Centerline is valid? [True, True] Translation: X:287.22, Y:-12.97, Z:-5.14 [[ 9.99607760e-01 2.60718694e-02 1.02266580e-02 2.87218347e+02] [-2.60686690e-02 9.99660055e-01 -4.46148563e-04 -1.29726973e+01] [-1.02348134e-02 1.79378205e-04 9.99947607e-01 -5.14388808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494391418 meters 0.01697874438121973 Centerline is valid? [True, True] Translation: X:287.25, Y:-12.98, Z:-5.15 [[ 9.99621764e-01 2.57923842e-02 9.54367814e-03 2.87247141e+02] [-2.57895859e-02 9.99667307e-01 -4.16181456e-04 -1.29754996e+01] [-9.55123733e-03 1.69896534e-04 9.99954371e-01 -5.14511661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters 0.017429001520677032 Centerline is valid? [True, True] Translation: X:287.28, Y:-12.98, Z:-5.15 [[ 9.99650973e-01 2.50062493e-02 8.52173862e-03 2.87276909e+02] [-2.50039947e-02 9.99687282e-01 -3.71022267e-04 -1.29795912e+01] [-8.52835160e-03 1.57815263e-04 9.99963620e-01 -5.14660034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.554391418 meters 0.017682857746853298 Centerline is valid? [True, True] Translation: X:287.31, Y:-12.98, Z:-5.15 [[ 9.99667678e-01 2.45621050e-02 7.82544303e-03 2.87305494e+02] [-2.45601907e-02 9.99698295e-01 -3.40650733e-04 -1.29825776e+01] [-7.83144915e-03 1.48343154e-04 9.99969323e-01 -5.14774966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584391418 meters 0.017504334219341628 Centerline is valid? [True, True] Translation: X:287.34, Y:-12.98, Z:-5.15 [[ 9.99675950e-01 2.42351036e-02 7.78809411e-03 2.87335169e+02] [-2.42332027e-02 9.99706276e-01 -3.38372837e-04 -1.29845821e+01] [-7.79400705e-03 1.49532724e-04 9.99969615e-01 -5.14790686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.614391418 meters 0.017583431389655527 Centerline is valid? [True, True] Translation: X:287.37, Y:-12.99, Z:-5.15 [[ 9.99683935e-01 2.38784013e-02 7.86455468e-03 2.87365007e+02] [-2.38764544e-02 9.99714859e-01 -3.41366040e-04 -1.29871956e+01] [-7.87046344e-03 1.53480465e-04 9.99969016e-01 -5.14833938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644391418 meters 0.01972975101798365 Centerline is valid? [True, True] Translation: X:287.39, Y:-12.99, Z:-5.15 [[ 9.99685106e-01 2.39827683e-02 7.38344210e-03 2.87393478e+02] [-2.39810555e-02 9.99712362e-01 -3.20438293e-04 -1.29939295e+01] [-7.38900334e-03 1.43274654e-04 9.99972691e-01 -5.15072885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.674391418 meters 0.017637760143997216 Centerline is valid? [True, True] Translation: X:287.42, Y:-12.99, Z:-5.15 [[ 9.99684408e-01 2.40406358e-02 7.28914374e-03 2.87423052e+02] [-2.40389727e-02 9.99710972e-01 -3.15710066e-04 -1.29925090e+01] [-7.29462685e-03 1.40386903e-04 9.99973384e-01 -5.14940071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704391418 meters 0.017618932523117626 Centerline is valid? [True, True] Translation: X:287.45, Y:-12.99, Z:-5.15 [[ 9.99689380e-01 2.38762317e-02 7.14627781e-03 2.87452295e+02] [-2.38746307e-02 9.99714913e-01 -3.09259805e-04 -1.29940352e+01] [-7.15162446e-03 1.38548999e-04 9.99974417e-01 -5.14984940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734391418 meters 0.01792094872508682 Centerline is valid? [True, True] Translation: X:287.48, Y:-13.00, Z:-5.15 [[ 9.99699347e-01 2.34242681e-02 7.24699800e-03 2.87480755e+02] [-2.34226105e-02 9.99725604e-01 -3.13526525e-04 -1.29981943e+01] [-7.25235358e-03 1.43688650e-04 9.99973691e-01 -5.15000625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764391418 meters 0.01792094872508682 Centerline is valid? [True, True] Translation: X:287.51, Y:-13.00, Z:-5.15 [[ 9.99700277e-01 2.33845473e-02 7.24702596e-03 2.87509887e+02] [-2.33828933e-02 9.99726534e-01 -3.12878191e-04 -1.29994119e+01] [-7.25236066e-03 1.43327980e-04 9.99973691e-01 -5.15053220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794391418 meters 0.017933610457379533 Centerline is valid? [True, True] Translation: X:287.54, Y:-13.00, Z:-5.15 [[ 9.99708407e-01 2.30151911e-02 7.30761424e-03 2.87539828e+02] [-2.30135017e-02 9.99735105e-01 -3.15197808e-04 -1.30020856e+01] [-7.31293282e-03 1.46932106e-04 9.99973249e-01 -5.15070553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824391418 meters 0.018015993089277923 Centerline is valid? [True, True] Translation: X:287.57, Y:-13.01, Z:-5.15 [[ 9.99728119e-01 2.19089973e-02 7.98017005e-03 2.87569552e+02] [-2.19069504e-02 9.99759955e-01 -3.43827364e-04 -1.30059313e+01] [-7.98578736e-03 1.68912694e-04 9.99968099e-01 -5.15048335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854391418 meters 0.018798995042842135 Centerline is valid? [True, True] Translation: X:287.60, Y:-13.01, Z:-5.15 [[ 9.99740509e-01 2.13560487e-02 7.92678087e-03 2.87598270e+02] [-2.13540127e-02 9.99771919e-01 -3.41411031e-04 -1.30097211e+01] [-7.93226411e-03 1.72053859e-04 9.99968524e-01 -5.15129396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884391418 meters 0.019068963760874698 Centerline is valid? [True, True] Translation: X:287.63, Y:-13.01, Z:-5.15 [[ 9.99768690e-01 2.01816659e-02 7.43412622e-03 2.87627461e+02] [-2.01798471e-02 9.99796315e-01 -3.19598823e-04 -1.30136017e+01] [-7.43906204e-03 1.69505367e-04 9.99972315e-01 -5.15203486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914391418 meters 0.019105412546125407 Centerline is valid? [True, True] Translation: X:287.66, Y:-13.02, Z:-5.15 [[ 9.99779930e-01 1.98782132e-02 6.70429624e-03 2.87657013e+02] [-1.98767285e-02 9.99802397e-01 -2.88026726e-04 -1.30157060e+01] [-6.70869691e-03 1.54703864e-04 9.99977484e-01 -5.15276887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944391418 meters 0.01937710922240017 Centerline is valid? [True, True] Translation: X:287.69, Y:-13.02, Z:-5.15 [[ 9.99788935e-01 1.96577707e-02 5.97144435e-03 2.87686436e+02] [-1.96565898e-02 9.99806758e-01 -2.56380858e-04 -1.30179267e+01] [-5.97533030e-03 1.38948512e-04 9.99982138e-01 -5.15397506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974391418 meters 0.019364748428753614 Centerline is valid? [True, True] Translation: X:287.71, Y:-13.02, Z:-5.15 [[ 9.99788874e-01 1.98205809e-02 5.41782745e-03 2.87714646e+02] [-1.98196107e-02 9.99803545e-01 -2.32704573e-04 -1.30198430e+01] [-5.42137543e-03 1.25276211e-04 9.99985296e-01 -5.15478027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004391418 meters 0.018966991924508073 Centerline is valid? [True, True] Translation: X:287.74, Y:-13.02, Z:-5.16 [[ 9.99780883e-01 2.05564543e-02 3.95193516e-03 2.87743768e+02] [-2.05559425e-02 9.99788690e-01 -1.70079297e-04 -1.30210651e+01] [-3.95459630e-03 8.88062774e-05 9.99992177e-01 -5.15518225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034391418 meters 0.019069659098565055 Centerline is valid? [True, True] Translation: X:287.77, Y:-13.02, Z:-5.16 [[ 9.99762823e-01 2.14018301e-02 4.03233398e-03 2.87772770e+02] [-2.14013067e-02 9.99770951e-01 -1.72909095e-04 -1.30227603e+01] [-4.03511095e-03 8.65708687e-05 9.99991855e-01 -5.15568402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064391418 meters 0.01828571544293349 Centerline is valid? [True, True] Translation: X:287.80, Y:-13.02, Z:-5.16 [[ 9.99738686e-01 2.24748248e-02 4.17643228e-03 2.87801250e+02] [-2.24742727e-02 9.99747406e-01 -1.79081780e-04 -1.30225490e+01] [-4.17940217e-03 8.51727048e-05 9.99991263e-01 -5.15529891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094391418 meters 0.017203421737109637 Centerline is valid? [True, True] Translation: X:287.83, Y:-13.02, Z:-5.15 [[ 9.99677775e-01 2.50607882e-02 4.03762456e-03 2.87830501e+02] [-2.50602919e-02 9.99685927e-01 -1.73465538e-04 -1.30225722e+01] [-4.04070363e-03 7.22255927e-05 9.99991834e-01 -5.15476812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124391418 meters 0.01691705798532146 Centerline is valid? [True, True] Translation: X:287.86, Y:-13.02, Z:-5.16 [[ 9.99641855e-01 2.64739570e-02 3.91031009e-03 2.87858379e+02] [-2.64735053e-02 9.99649501e-01 -1.67252717e-04 -1.30240028e+01] [-3.91336737e-03 6.36732012e-05 9.99992341e-01 -5.15561552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154391418 meters 0.016441892442441656 Centerline is valid? [True, True] Translation: X:287.89, Y:-13.02, Z:-5.16 [[ 9.99598919e-01 2.81748594e-02 2.85967889e-03 2.87887295e+02] [-2.81746251e-02 9.99603009e-01 -1.22197577e-04 -1.30240807e+01] [-2.86198652e-03 4.15781850e-05 9.99995904e-01 -5.15599248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184391418 meters 0.015854084038013073 Centerline is valid? [True, True] Translation: X:287.92, Y:-13.02, Z:-5.16 [[ 9.99591969e-01 2.84400277e-02 2.65725450e-03 2.87915789e+02] [-2.84398264e-02 9.99595500e-01 -1.13490011e-04 -1.30247137e+01] [-2.65940730e-03 3.78718472e-05 9.99996463e-01 -5.15561931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214391418 meters 0.016097161458916973 Centerline is valid? [True, True] Translation: X:287.94, Y:-13.03, Z:-5.16 [[ 9.99604412e-01 2.80378534e-02 2.21333801e-03 2.87944272e+02] [-2.80377126e-02 9.99606862e-01 -9.45940972e-05 -1.30268301e+01] [-2.21512008e-03 3.24997418e-05 9.99997546e-01 -5.15620159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244391418 meters 0.01691276552331373 Centerline is valid? [True, True] Translation: X:287.97, Y:-13.03, Z:-5.16 [[ 9.99674992e-01 2.54731998e-02 1.01342326e-03 2.87971414e+02] [-2.54731676e-02 9.99675505e-01 -4.46842844e-05 -1.30314259e+01] [-1.01423266e-03 1.88546612e-05 9.99999485e-01 -5.15718264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274391418 meters 0.017228000030920117 Centerline is valid? [True, True] Translation: X:288.00, Y:-13.03, Z:-5.16 [[ 9.99721084e-01 2.35871995e-02 1.18205077e-03 2.87999640e+02] [-2.35871554e-02 9.99721783e-01 -5.12865985e-05 -1.30344400e+01] [-1.18293161e-03 2.33910788e-05 9.99999300e-01 -5.15736293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.304391418 meters 0.018138148175386736 Centerline is valid? [True, True] Translation: X:288.03, Y:-13.04, Z:-5.16 [[ 9.99767944e-01 2.15334985e-02 6.04914244e-04 2.88028415e+02] [-2.15334863e-02 9.99768127e-01 -2.67072718e-05 -1.30380738e+01] [-6.05349082e-04 1.36751617e-05 9.99999817e-01 -5.15780865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334391418 meters 0.01993915106812398 Centerline is valid? [True, True] Translation: X:288.06, Y:-13.04, Z:-5.16 [[ 9.99852795e-01 1.71221566e-02 1.10469288e-03 2.88056916e+02] [-1.71221150e-02 9.99853405e-01 -4.71581434e-05 -1.30443568e+01] [-1.10533838e-03 2.82365230e-05 9.99999389e-01 -5.15732066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.364391418 meters 0.021134517739148605 Centerline is valid? [True, True] Translation: X:288.09, Y:-13.05, Z:-5.16 [[ 9.99892549e-01 1.45750865e-02 1.56732549e-03 2.88085416e+02] [-1.45750004e-02 9.99893777e-01 -6.63563214e-05 -1.30481801e+01] [-1.56812615e-03 4.35054217e-05 9.99998770e-01 -5.15714534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394391418 meters 0.022392263781932587 Centerline is valid? [True, True] Translation: X:288.11, Y:-13.05, Z:-5.16 [[ 9.99923400e-01 1.22481178e-02 1.78276113e-03 2.88114908e+02] [-1.22480037e-02 9.99924988e-01 -7.49087929e-05 -1.30520604e+01] [-1.78354489e-03 5.30677900e-05 9.99998408e-01 -5.15735440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.424391418 meters 0.024092884978963332 Centerline is valid? [True, True] Translation: X:288.14, Y:-13.06, Z:-5.16 [[ 9.99965610e-01 7.99694795e-03 2.19725726e-03 2.88144834e+02] [-7.99676558e-03 9.99968021e-01 -9.17718390e-05 -1.30581633e+01] [-2.19792089e-03 7.41977316e-05 9.99997582e-01 -5.15688400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454391418 meters 0.02572193729588228 Centerline is valid? [True, True] Translation: X:288.17, Y:-13.06, Z:-5.16 [[ 9.99980541e-01 5.68404144e-03 2.57093400e-03 2.88174503e+02] [-5.68378519e-03 9.99983841e-01 -1.06966846e-04 -1.30623835e+01] [-2.57150046e-03 9.23521278e-05 9.99996689e-01 -5.15755377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters 0.02723463884229086 Centerline is valid? [True, True] Translation: X:288.20, Y:-13.07, Z:-5.16 [[ 9.99990288e-01 3.69456628e-03 2.40287962e-03 2.88204917e+02] [-3.69433742e-03 9.99993171e-01 -9.96748960e-05 -1.30663290e+01] [-2.40323146e-03 9.07968799e-05 9.99997108e-01 -5.15848204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514391418 meters 0.02934486368768951 Centerline is valid? [True, True] Translation: X:288.24, Y:-13.07, Z:-5.16 [[ 9.99998339e-01 7.20336621e-04 1.67452569e-03 2.88235518e+02] [-7.20220910e-04 9.99999738e-01 -6.97028578e-05 -1.30707743e+01] [-1.67457546e-03 6.84967135e-05 9.99998596e-01 -5.16015719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters 0.03043372992406213 Centerline is valid? [True, True] Translation: X:288.27, Y:-13.07, Z:-5.16 [[ 9.99999139e-01 -2.87126695e-04 1.28068332e-03 2.88267101e+02] [ 2.87194393e-04 9.99999957e-01 -5.26774870e-05 -1.30734116e+01] [-1.28066814e-03 5.30452467e-05 9.99999179e-01 -5.16101452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574391418 meters 0.03111419314456995 Centerline is valid? [True, True] Translation: X:288.30, Y:-13.08, Z:-5.16 [[ 9.99998553e-01 -1.22276197e-03 1.18285397e-03 2.88298440e+02] [ 1.22282037e-03 9.99999251e-01 -4.86477357e-05 -1.30753186e+01] [-1.18279360e-03 5.00940832e-05 9.99999299e-01 -5.16168189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters 0.027293373117963517 Centerline is valid? [True, True] Translation: X:288.33, Y:-13.07, Z:-5.16 [[ 9.99995311e-01 -2.92974074e-03 8.91254045e-04 2.88329656e+02] [ 2.92977471e-03 9.99995708e-01 -3.68135774e-05 -1.30708975e+01] [-8.91142365e-04 3.94245784e-05 9.99999602e-01 -5.15963825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634391418 meters 0.028513921631955735 Centerline is valid? [True, True] Translation: X:288.36, Y:-13.07, Z:-5.16 [[ 9.99992627e-01 -3.63298416e-03 1.24359518e-03 2.88360234e+02] [ 3.63304850e-03 9.99993399e-01 -4.94838429e-05 -1.30737114e+01] [-1.24340720e-03 5.40015197e-05 9.99999226e-01 -5.16029235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters 0.030627554643845437 Centerline is valid? [True, True] Translation: X:288.39, Y:-13.08, Z:-5.16 [[ 9.99982040e-01 -5.90237648e-03 1.04004899e-03 2.88391248e+02] [ 5.90242246e-03 9.99982580e-01 -4.11405198e-05 -1.30764451e+01] [-1.03978805e-03 4.72785894e-05 9.99999458e-01 -5.16048196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694391418 meters 0.031054020746006734 Centerline is valid? [True, True] Translation: X:288.42, Y:-13.08, Z:-5.16 [[ 9.99974340e-01 -7.13576400e-03 6.32319031e-04 2.88423723e+02] [ 7.13578134e-03 9.99974540e-01 -2.51630740e-05 -1.30773743e+01] [-6.32123374e-04 2.96745187e-05 9.99999800e-01 -5.16061502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters 0.03169850487832038 Centerline is valid? [True, True] Translation: X:288.46, Y:-13.08, Z:-5.16 [[ 9.99964760e-01 -8.39155793e-03 2.46770534e-04 2.88455589e+02] [ 8.39156039e-03 9.99964790e-01 -8.95228882e-06 -1.30785355e+01] [-2.46686722e-04 1.10227632e-05 9.99999970e-01 -5.16109663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754391418 meters 0.03256344835477033 Centerline is valid? [True, True] Translation: X:288.49, Y:-13.08, Z:-5.16 [[ 9.99934779e-01 -1.14055549e-02 -5.93185493e-04 2.88486375e+02] [ 1.14055720e-02 9.99934954e-01 2.53928658e-05 -1.30784268e+01] [ 5.92857289e-04 -3.21568295e-05 9.99999824e-01 -5.16139962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters 0.03553290421750264 Centerline is valid? [True, True] Translation: X:288.52, Y:-13.08, Z:-5.16 [[ 9.99917878e-01 -1.27736694e-02 -1.03498451e-03 2.88517014e+02] [ 1.27737242e-02 9.99918412e-01 4.63653500e-05 -1.30827487e+01] [ 1.03430781e-03 -5.95821490e-05 9.99999463e-01 -5.16327492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814391418 meters 0.03579814574927421 Centerline is valid? [True, True] Translation: X:288.55, Y:-13.08, Z:-5.16 [[ 9.99895800e-01 -1.44161820e-02 -7.50854688e-04 2.88547778e+02] [ 1.44162102e-02 9.99896081e-01 3.21579124e-05 -1.30835003e+01] [ 7.50313065e-04 -4.29790405e-05 9.99999718e-01 -5.16357982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters 0.03643440412470023 Centerline is valid? [True, True] Translation: X:288.58, Y:-13.08, Z:-5.16 [[ 9.99869398e-01 -1.61380445e-02 -8.66049414e-04 2.88579317e+02] [ 1.61380840e-02 9.99869772e-01 3.86511343e-05 -1.30846401e+01] [ 8.65312876e-04 -5.26224646e-05 9.99999624e-01 -5.16384948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874391418 meters 0.03667163542456952 Centerline is valid? [True, True] Translation: X:288.61, Y:-13.08, Z:-5.16 [[ 9.99801087e-01 -1.99282795e-02 -8.05758857e-04 2.88610051e+02] [ 1.99283142e-02 9.99801411e-01 3.49901877e-05 -1.30831980e+01] [ 8.04901548e-04 -5.10406434e-05 9.99999675e-01 -5.16331930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters 0.03760354129654378 Centerline is valid? [True, True] Translation: X:288.64, Y:-13.08, Z:-5.16 [[ 9.99767179e-01 -2.15528574e-02 -1.03048032e-03 2.88641842e+02] [ 2.15529152e-02 9.99767708e-01 4.49859712e-05 -1.30843368e+01] [ 1.02927137e-03 -6.71853524e-05 9.99999468e-01 -5.16392252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934391418 meters 0.04066915739682751 Centerline is valid? [True, True] Translation: X:288.67, Y:-13.09, Z:-5.16 [[ 9.99712472e-01 -2.39579510e-02 -9.95360378e-04 2.88672304e+02] [ 2.39580054e-02 9.99712965e-01 4.27499654e-05 -1.30866995e+01] [ 9.94050473e-04 -6.65845228e-05 9.99999504e-01 -5.16473432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters 0.0391009922213213 Centerline is valid? [True, True] Translation: X:288.70, Y:-13.08, Z:-5.16 [[ 9.99697410e-01 -2.45924884e-02 -5.45648054e-04 2.88704824e+02] [ 2.45925056e-02 9.99697558e-01 2.47702251e-05 -1.30845908e+01] [ 5.44873865e-04 -3.81815826e-05 9.99999851e-01 -5.16426297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994391418 meters 0.03893843098813328 Centerline is valid? [True, True] Translation: X:288.74, Y:-13.08, Z:-5.16 [[ 9.99688213e-01 -2.49686503e-02 -2.10320788e-04 2.88736759e+02] [ 2.49686531e-02 9.99688235e-01 1.04915776e-05 -1.30839758e+01] [ 2.09993257e-04 -1.57397332e-05 9.99999978e-01 -5.16446596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters 0.03931466569315586 Centerline is valid? [True, True] Translation: X:288.77, Y:-13.08, Z:-5.16 [[ 9.99712612e-01 -2.39446212e-02 1.16116484e-03 2.88767962e+02] [ 2.39446918e-02 9.99713284e-01 -4.68890189e-05 -1.30820287e+01] [-1.15970918e-03 7.46792778e-05 9.99999325e-01 -5.16402574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.054391418 meters 0.041667990419832275 Centerline is valid? [True, True] Translation: X:288.80, Y:-13.08, Z:-5.16 [[ 9.99745336e-01 -2.25170433e-02 1.49895031e-03 2.88798633e+02] [ 2.25171639e-02 9.99746455e-01 -6.36391297e-05 -1.30841717e+01] [-1.49713730e-03 9.73750330e-05 9.99998875e-01 -5.16471131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084391418 meters 0.03720120366625454 Centerline is valid? [True, True] Translation: X:288.83, Y:-13.08, Z:-5.16 [[ 9.99790853e-01 -2.03218724e-02 2.29601066e-03 2.88830879e+02] [ 2.03221500e-02 9.99793479e-01 -9.76375144e-05 -1.30775375e+01] [-2.29355231e-03 1.44276967e-04 9.99997359e-01 -5.16357712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.114391418 meters 0.03394625167586269 Centerline is valid? [True, True] Translation: X:288.86, Y:-13.07, Z:-5.16 [[ 9.99890283e-01 -1.44900633e-02 3.07575819e-03 2.88861625e+02] [ 1.44905385e-02 9.99894998e-01 -1.32288344e-04 -1.30702788e+01] [-3.07351837e-03 1.76843223e-04 9.99995261e-01 -5.16323637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144391418 meters 0.03388738741050841 Centerline is valid? [True, True] Translation: X:288.89, Y:-13.07, Z:-5.16 [[ 9.99939485e-01 -1.05246079e-02 3.20290836e-03 2.88891155e+02] [ 1.05251040e-02 9.99944600e-01 -1.38063979e-04 -1.30691445e+01] [-3.20127785e-03 1.71766567e-04 9.99994861e-01 -5.16414526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.174391418 meters 0.03429989307063097 Centerline is valid? [True, True] Translation: X:288.92, Y:-13.07, Z:-5.17 [[ 9.99972342e-01 -6.50429819e-03 3.60672785e-03 2.88920847e+02] [ 6.50489966e-03 9.99978831e-01 -1.55057389e-04 -1.30683113e+01] [-3.60564296e-03 1.78514503e-04 9.99993484e-01 -5.16551508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204391418 meters 0.026562331509459344 Centerline is valid? [True, True] Translation: X:288.95, Y:-13.05, Z:-5.16 [[ 9.99991987e-01 1.90179157e-03 3.52268160e-03 2.88951565e+02] [-1.90126981e-03 9.99998181e-01 -1.51455739e-04 -1.30548257e+01] [-3.52296323e-03 1.44756957e-04 9.99993784e-01 -5.16454715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234391418 meters 0.024361032372380027 Centerline is valid? [True, True] Translation: X:288.98, Y:-13.05, Z:-5.16 [[ 9.99976802e-01 5.74905575e-03 3.65298553e-03 2.88982951e+02] [-5.74852142e-03 9.99983465e-01 -1.56753362e-04 -1.30510403e+01] [-3.65382631e-03 1.35750461e-04 9.99993316e-01 -5.16488113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264391418 meters 0.021128667554843782 Centerline is valid? [True, True] Translation: X:289.01, Y:-13.04, Z:-5.17 [[ 9.99918620e-01 1.23630090e-02 3.14790695e-03 2.89013626e+02] [-1.23626440e-02 9.99923570e-01 -1.35393173e-04 -1.30444859e+01] [-3.14934023e-03 9.64657022e-05 9.99995036e-01 -5.16588390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294391418 meters 0.02117099121358328 Centerline is valid? [True, True] Translation: X:289.04, Y:-13.04, Z:-5.17 [[ 9.99885622e-01 1.47925046e-02 3.15039161e-03 2.89041932e+02] [-1.47921482e-02 9.99890581e-01 -1.36394711e-04 -1.30444367e+01] [-3.15206452e-03 8.97780507e-05 9.99995028e-01 -5.16784602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324391418 meters 0.020117732428173093 Centerline is valid? [True, True] Translation: X:289.07, Y:-13.04, Z:-5.17 [[ 9.99852059e-01 1.68870031e-02 3.26935609e-03 2.89070534e+02] [-1.68866304e-02 9.99857401e-01 -1.41573176e-04 -1.30429657e+01] [-3.27128062e-03 8.63438238e-05 9.99994646e-01 -5.16836226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354391418 meters 0.018251965703029272 Centerline is valid? [True, True] Translation: X:289.10, Y:-13.04, Z:-5.17 [[ 9.99824049e-01 1.84751308e-02 3.24667462e-03 2.89099152e+02] [-1.84747723e-02 9.99829317e-01 -1.40400246e-04 -1.30399445e+01] [-3.24871439e-03 8.03939679e-05 9.99994720e-01 -5.16825397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384391418 meters 0.01866035646562908 Centerline is valid? [True, True] Translation: X:289.13, Y:-13.04, Z:-5.17 [[ 9.99793022e-01 2.00979984e-02 3.15966281e-03 2.89126850e+02] [-2.00976667e-02 9.99798012e-01 -1.36692877e-04 -1.30399766e+01] [-3.16177185e-03 7.31627346e-05 9.99994999e-01 -5.17045295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414391418 meters 0.01775590419808677 Centerline is valid? [True, True] Translation: X:289.16, Y:-13.04, Z:-5.17 [[ 9.99790334e-01 2.02238610e-02 3.20666817e-03 2.89155304e+02] [-2.02235221e-02 9.99795474e-01 -1.38088454e-04 -1.30388904e+01] [-3.20880500e-03 7.32093771e-05 9.99994849e-01 -5.17042954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444391418 meters 0.017896026635648845 Centerline is valid? [True, True] Translation: X:289.18, Y:-13.04, Z:-5.17 [[ 9.99795770e-01 1.99220945e-02 3.39531342e-03 2.89183934e+02] [-1.99217140e-02 9.99801532e-01 -1.45845336e-04 -1.30399397e+01] [-3.39754511e-03 7.81750870e-05 9.99994225e-01 -5.17120850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474391418 meters 0.01796345288469382 Centerline is valid? [True, True] Translation: X:289.21, Y:-13.04, Z:-5.17 [[ 9.99812075e-01 1.90886753e-02 3.38188607e-03 2.89212310e+02] [-1.90882939e-02 9.99817791e-01 -1.45016508e-04 -1.30405251e+01] [-3.38403803e-03 8.04348203e-05 9.99994271e-01 -5.17116728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504391418 meters 0.01851592920555732 Centerline is valid? [True, True] Translation: X:289.24, Y:-13.04, Z:-5.17 [[ 9.99849794e-01 1.67701404e-02 4.37630621e-03 2.89241333e+02] [-1.67694830e-02 9.99859365e-01 -1.86883248e-04 -1.30426691e+01] [-4.37882481e-03 1.13466785e-04 9.99990406e-01 -5.17087704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534391418 meters 0.019192181194279234 Centerline is valid? [True, True] Translation: X:289.27, Y:-13.05, Z:-5.17 [[ 9.99871256e-01 1.53661356e-02 4.62094171e-03 2.89270845e+02] [-1.53653923e-02 9.99881926e-01 -1.96311577e-04 -1.30451903e+01] [-4.62341265e-03 1.25283721e-04 9.99989304e-01 -5.17143304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564391418 meters 0.02035750137170921 Centerline is valid? [True, True] Translation: X:289.30, Y:-13.05, Z:-5.17 [[ 9.99906538e-01 1.23543819e-02 5.85534469e-03 2.89300022e+02] [-1.23531380e-02 9.99923666e-01 -2.48568257e-04 -1.30480198e+01] [-5.85796864e-03 1.76213145e-04 9.99982826e-01 -5.17078642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594391418 meters 0.02142549869103424 Centerline is valid? [True, True] Translation: X:289.33, Y:-13.05, Z:-5.17 [[ 9.99919505e-01 1.09229338e-02 6.45548950e-03 2.89329621e+02] [-1.09213983e-02 9.99940322e-01 -2.73062887e-04 -1.30512354e+01] [-6.45808690e-03 2.02537934e-04 9.99979126e-01 -5.17096787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624391418 meters 0.022096722267692867 Centerline is valid? [True, True] Translation: X:289.36, Y:-13.05, Z:-5.17 [[ 9.99941429e-01 7.90357049e-03 7.39407000e-03 2.89360242e+02] [-7.90147666e-03 9.99968734e-01 -3.12347200e-04 -1.30537114e+01] [-7.39630748e-03 2.53904834e-04 9.99972615e-01 -5.17027479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654391418 meters 0.022096722267692867 Centerline is valid? [True, True] Translation: X:289.39, Y:-13.06, Z:-5.17 [[ 9.99941105e-01 7.94437520e-03 7.39408831e-03 2.89391074e+02] [-7.94228568e-03 9.99968411e-01 -3.11913889e-04 -1.30550520e+01] [-7.39633270e-03 2.53169557e-04 9.99972615e-01 -5.17083119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684391418 meters 0.023718825645714682 Centerline is valid? [True, True] Translation: X:289.42, Y:-13.06, Z:-5.17 [[ 9.99950246e-01 6.44268777e-03 7.61558470e-03 2.89421927e+02] [-6.44043387e-03 9.99979209e-01 -3.20445939e-04 -1.30587523e+01] [-7.61749090e-03 2.71382326e-04 9.99970950e-01 -5.17173858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714391418 meters 0.023720195573432672 Centerline is valid? [True, True] Translation: X:289.45, Y:-13.06, Z:-5.17 [[ 9.99958212e-01 5.21414820e-03 7.50913738e-03 2.89454061e+02] [-5.21192466e-03 9.99986368e-01 -3.15649237e-04 -1.30608056e+01] [-7.51068086e-03 2.76498988e-04 9.99971756e-01 -5.17226403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744391418 meters 0.027015719647204357 Centerline is valid? [True, True] Translation: X:289.48, Y:-13.07, Z:-5.17 [[ 9.99973110e-01 1.82183667e-03 7.10348654e-03 2.89483698e+02] [-1.81972684e-03 9.99998298e-01 -3.03465279e-04 -1.30673553e+01] [-7.10402731e-03 2.90530714e-04 9.99974724e-01 -5.17377817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774391418 meters 0.026034987730053496 Centerline is valid? [True, True] Translation: X:289.52, Y:-13.07, Z:-5.17 [[ 9.99974795e-01 6.52289911e-04 7.06998599e-03 2.89515778e+02] [-6.50192877e-04 9.99999744e-01 -2.98905243e-04 -1.30675470e+01] [-7.07017916e-03 2.94300855e-04 9.99974963e-01 -5.17381869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.804391418 meters 0.02782045435269629 Centerline is valid? [True, True] Translation: X:289.55, Y:-13.07, Z:-5.17 [[ 9.99975104e-01 -2.25796348e-04 7.05261811e-03 2.89547262e+02] [ 2.27920812e-04 9.99999929e-01 -3.00428370e-04 -1.30715036e+01] [-7.05254977e-03 3.02028329e-04 9.99975085e-01 -5.17498263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834391418 meters 0.028219883499193955 Centerline is valid? [True, True] Translation: X:289.58, Y:-13.07, Z:-5.18 [[ 9.99978337e-01 -7.54188443e-04 6.53881676e-03 2.89579318e+02] [ 7.56033653e-04 9.99999675e-01 -2.79726085e-04 -1.30733640e+01] [-6.53860367e-03 2.84663591e-04 9.99978583e-01 -5.17577999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.864391418 meters 0.029388091380921827 Centerline is valid? [True, True] Translation: X:289.61, Y:-13.08, Z:-5.18 [[ 9.99979305e-01 -1.10292968e-03 6.33827521e-03 2.89610221e+02] [ 1.10468235e-03 9.99999353e-01 -2.73026765e-04 -1.30757851e+01] [-6.33796998e-03 2.80022895e-04 9.99979876e-01 -5.17682955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894391418 meters 0.02985915865321576 Centerline is valid? [True, True] Translation: X:289.64, Y:-13.08, Z:-5.18 [[ 9.99981827e-01 -9.75989652e-04 5.94915216e-03 2.89642187e+02] [ 9.77551712e-04 9.99999488e-01 -2.59666341e-04 -1.30773965e+01] [-5.94889569e-03 2.65477226e-04 9.99982270e-01 -5.17785102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.924391418 meters 0.029697643872349553 Centerline is valid? [True, True] Translation: X:289.67, Y:-13.08, Z:-5.18 [[ 9.99986962e-01 3.01252288e-04 5.09751647e-03 2.89673396e+02] [-3.00125043e-04 9.99999930e-01 -2.21899729e-04 -1.30782910e+01] [-5.09758297e-03 2.20366944e-04 9.99986983e-01 -5.17916849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954391418 meters 0.027133190883711796 Centerline is valid? [True, True] Translation: X:289.71, Y:-13.08, Z:-5.18 [[ 9.99987500e-01 1.78601043e-03 4.67022388e-03 2.89705745e+02] [-1.78507465e-03 9.99998386e-01 -2.04533334e-04 -1.30756696e+01] [-4.67058164e-03 1.96194079e-04 9.99989074e-01 -5.17917168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters 0.02868987113995191 Centerline is valid? [True, True] Translation: X:289.74, Y:-13.08, Z:-5.18 [[ 9.99981310e-01 3.91360747e-03 4.69723065e-03 2.89735799e+02] [-3.91267869e-03 9.99992324e-01 -2.06903160e-04 -1.30782450e+01] [-4.69800433e-03 1.88520539e-04 9.99988947e-01 -5.18104351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014391418 meters 0.024166189500565857 Centerline is valid? [True, True] Translation: X:289.77, Y:-13.07, Z:-5.18 [[ 9.99943141e-01 9.48723620e-03 4.86891566e-03 2.89767101e+02] [-9.48630371e-03 9.99954981e-01 -2.14578806e-04 -1.30712846e+01] [-4.87073223e-03 1.68378592e-04 9.99988124e-01 -5.18083448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters 0.022684334644462425 Centerline is valid? [True, True] Translation: X:289.80, Y:-13.07, Z:-5.18 [[ 9.99900390e-01 1.29655031e-02 5.57722822e-03 2.89797398e+02] [-1.29643314e-02 9.99915929e-01 -2.46196740e-04 -1.30693657e+01] [-5.57995140e-03 1.73867182e-04 9.99984417e-01 -5.18132191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074391418 meters 0.019911513326384567 Centerline is valid? [True, True] Translation: X:289.83, Y:-13.07, Z:-5.18 [[ 9.99848621e-01 1.63694422e-02 5.89717047e-03 2.89826924e+02] [-1.63681885e-02 9.99865998e-01 -2.60804760e-04 -1.30653383e+01] [-5.90064947e-03 1.64239282e-04 9.99982578e-01 -5.18094460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters 0.019808431577887194 Centerline is valid? [True, True] Translation: X:289.86, Y:-13.07, Z:-5.18 [[ 9.99788432e-01 1.97988821e-02 5.57628537e-03 2.89855504e+02] [-1.97978141e-02 9.99803974e-01 -2.46671510e-04 -1.30654648e+01] [-5.58007609e-03 1.36221062e-04 9.99984422e-01 -5.18249259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134391418 meters 0.015903609708602107 Centerline is valid? [True, True] Translation: X:289.89, Y:-13.06, Z:-5.18 [[ 9.99647998e-01 2.59093046e-02 5.70859235e-03 2.89885130e+02] [-2.59082868e-02 9.99664292e-01 -2.52171770e-04 -1.30581863e+01] [-5.71320953e-03 1.04183156e-04 9.99983674e-01 -5.18144565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters 0.015150178475250214 Centerline is valid? [True, True] Translation: X:289.91, Y:-13.06, Z:-5.18 [[ 9.99584258e-01 2.83544813e-02 5.22821078e-03 2.89914243e+02] [-2.83536609e-02 9.99597927e-01 -2.30991578e-04 -1.30573579e+01] [-5.23265830e-03 8.26566295e-05 9.99986306e-01 -5.18187225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194391418 meters 0.014502548376855 Centerline is valid? [True, True] Translation: X:289.94, Y:-13.06, Z:-5.18 [[ 9.99481314e-01 3.17893921e-02 5.15146413e-03 2.89941972e+02] [-3.17886418e-02 9.99494588e-01 -2.27497363e-04 -1.30562479e+01] [-5.15609252e-03 6.36213151e-05 9.99986705e-01 -5.18326412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters 0.014358473531284163 Centerline is valid? [True, True] Translation: X:289.97, Y:-13.06, Z:-5.18 [[ 9.99447953e-01 3.28308331e-02 5.09164306e-03 2.89969448e+02] [-3.28301165e-02 9.99460921e-01 -2.24274768e-04 -1.30566229e+01] [-5.09626139e-03 5.69917231e-05 9.99987012e-01 -5.18394923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254391418 meters 0.014215696362331585 Centerline is valid? [True, True] Translation: X:290.00, Y:-13.06, Z:-5.18 [[ 9.99427828e-01 3.34372586e-02 5.09576633e-03 2.89997956e+02] [-3.34365526e-02 9.99440817e-01 -2.23698209e-04 -1.30573950e+01] [-5.10039672e-03 5.31853565e-05 9.99986991e-01 -5.18453234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters 0.014154938052478189 Centerline is valid? [True, True] Translation: X:290.03, Y:-13.06, Z:-5.18 [[ 9.99429935e-01 3.33304151e-02 5.37475234e-03 2.90025775e+02] [-3.33296279e-02 9.99444386e-01 -2.35983384e-04 -1.30583223e+01] [-5.37963148e-03 5.67103620e-05 9.99985528e-01 -5.18484831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314391418 meters 0.014201831012667051 Centerline is valid? [True, True] Translation: X:290.05, Y:-13.06, Z:-5.19 [[ 9.99444982e-01 3.29175905e-02 5.11462212e-03 2.90054368e+02] [-3.29168776e-02 9.99458068e-01 -2.23531457e-04 -1.30598506e+01] [-5.11920846e-03 5.50500032e-05 9.99986895e-01 -5.18537590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters 0.014873582573603541 Centerline is valid? [True, True] Translation: X:290.08, Y:-13.06, Z:-5.19 [[ 9.99513585e-01 3.07134687e-02 5.41067480e-03 2.90081660e+02] [-3.07126401e-02 9.99528228e-01 -2.36190938e-04 -1.30635059e+01] [-5.41537644e-03 6.98999434e-05 9.99985334e-01 -5.18671458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374391418 meters 0.015372004008765134 Centerline is valid? [True, True] Translation: X:290.11, Y:-13.07, Z:-5.19 [[ 9.99571372e-01 2.87550331e-02 5.49729362e-03 2.90110325e+02] [-2.87541527e-02 9.99586485e-01 -2.39129879e-04 -1.30660632e+01] [-5.50189660e-03 8.09573608e-05 9.99984861e-01 -5.18725930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters 0.015813075796385485 Centerline is valid? [True, True] Translation: X:290.14, Y:-13.07, Z:-5.19 [[ 9.99630222e-01 2.66632747e-02 5.33746376e-03 2.90138971e+02] [-2.66624170e-02 9.99644468e-01 -2.31792656e-04 -1.30691293e+01] [-5.34174647e-03 8.93972596e-05 9.99985729e-01 -5.18789024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434391418 meters 0.016739666957575894 Centerline is valid? [True, True] Translation: X:290.17, Y:-13.07, Z:-5.19 [[ 9.99692182e-01 2.41711600e-02 5.59422452e-03 2.90167101e+02] [-2.41701804e-02 9.99707829e-01 -2.42666141e-04 -1.30726171e+01] [-5.59845558e-03 1.07378028e-04 9.99984323e-01 -5.18825786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters 0.019622990318554318 Centerline is valid? [True, True] Translation: X:290.20, Y:-13.08, Z:-5.19 [[ 9.99811983e-01 1.83557003e-02 6.25038049e-03 2.90195699e+02] [-1.83543719e-02 9.99831508e-01 -2.69818973e-04 -1.30800881e+01] [-6.25428007e-03 1.55046435e-04 9.99980430e-01 -5.18866836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494391418 meters 0.020947598576692206 Centerline is valid? [True, True] Translation: X:290.23, Y:-13.08, Z:-5.19 [[ 9.99863896e-01 1.50540106e-02 6.75035037e-03 2.90225454e+02] [-1.50523909e-02 9.99886664e-01 -2.90687131e-04 -1.30837633e+01] [-6.75396132e-03 1.89038654e-04 9.99977174e-01 -5.18828326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters 0.02257043225819665 Centerline is valid? [True, True] Translation: X:290.26, Y:-13.09, Z:-5.19 [[ 9.99901002e-01 1.17336287e-02 7.76584878e-03 2.90255427e+02] [-1.17313897e-02 9.99931129e-01 -3.33806032e-04 -1.30884126e+01] [-7.76923070e-03 2.42668788e-04 9.99969790e-01 -5.18861105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.554391418 meters 0.02530404038780973 Centerline is valid? [True, True] Translation: X:290.29, Y:-13.09, Z:-5.19 [[ 9.99945469e-01 5.16227960e-03 9.07799020e-03 2.90286658e+02] [-5.15895647e-03 9.99986617e-01 -3.89443672e-04 -1.30948446e+01] [-9.07987912e-03 3.42589479e-04 9.99958718e-01 -5.18804361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584391418 meters 0.026937347076062615 Centerline is valid? [True, True] Translation: X:290.32, Y:-13.10, Z:-5.19 [[ 9.99952167e-01 2.01130005e-03 9.57179725e-03 2.90318912e+02] [-2.00746065e-03 9.99997901e-01 -4.10706686e-04 -1.30990580e+01] [-9.57260321e-03 3.91472034e-04 9.99954105e-01 -5.18851268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.614391418 meters 0.031932536406842446 Centerline is valid? [True, True] Translation: X:290.35, Y:-13.11, Z:-5.19 [[ 9.99928471e-01 -4.53639259e-03 1.10667649e-02 2.90348009e+02] [ 4.54194166e-03 9.99989572e-01 -4.76336506e-04 -1.31076576e+01] [-1.10644886e-02 5.26567035e-04 9.99938648e-01 -5.18922128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644391418 meters 0.03347098208750324 Centerline is valid? [True, True] Translation: X:290.38, Y:-13.11, Z:-5.19 [[ 9.99907891e-01 -7.52050304e-03 1.12982617e-02 2.90379167e+02] [ 7.52647899e-03 9.99971557e-01 -4.86499498e-04 -1.31113739e+01] [-1.12942816e-02 5.71490817e-04 9.99936054e-01 -5.18995471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.674391418 meters 0.033047454677032836 Centerline is valid? [True, True] Translation: X:290.41, Y:-13.11, Z:-5.19 [[ 9.99876789e-01 -1.05677287e-02 1.16072976e-02 2.90410575e+02] [ 1.05742462e-02 9.99943966e-01 -5.00268847e-04 -1.31121236e+01] [-1.16013605e-02 6.22945631e-04 9.99932508e-01 -5.19033058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704391418 meters 0.03623837839618229 Centerline is valid? [True, True] Translation: X:290.44, Y:-13.12, Z:-5.19 [[ 9.99843122e-01 -1.32491711e-02 1.17554459e-02 2.90440646e+02] [ 1.32560479e-02 9.99912006e-01 -5.07266415e-04 -1.31174314e+01] [-1.17476906e-02 6.63017590e-04 9.99930774e-01 -5.19143763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734391418 meters 0.037194523384744854 Centerline is valid? [True, True] Translation: X:290.47, Y:-13.12, Z:-5.19 [[ 9.99786317e-01 -1.70394194e-02 1.17037810e-02 2.90471430e+02] [ 1.70464975e-02 9.99854570e-01 -5.05271156e-04 -1.31191442e+01] [-1.16934694e-02 7.04671662e-04 9.99931381e-01 -5.19213008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764391418 meters 0.0362477083467626 Centerline is valid? [True, True] Translation: X:290.50, Y:-13.12, Z:-5.19 [[ 9.99754825e-01 -1.85052917e-02 1.21591009e-02 2.90503974e+02] [ 1.85130380e-02 9.99828481e-01 -5.24820292e-04 -1.31184621e+01] [-1.21473034e-02 7.49793516e-04 9.99925938e-01 -5.19260558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794391418 meters 0.03570864230215433 Centerline is valid? [True, True] Translation: X:290.54, Y:-13.12, Z:-5.19 [[ 9.99745134e-01 -1.90873489e-02 1.20557029e-02 2.90535629e+02] [ 1.90950194e-02 9.99817538e-01 -5.21459140e-04 -1.31184841e+01] [-1.20435499e-02 7.51530118e-04 9.99927191e-01 -5.19340414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824391418 meters 0.03983911623782663 Centerline is valid? [True, True] Translation: X:290.57, Y:-13.12, Z:-5.19 [[ 9.99742088e-01 -1.90081478e-02 1.24276766e-02 2.90567272e+02] [ 1.90162930e-02 9.99819029e-01 -5.37558645e-04 -1.31229680e+01] [-1.24152095e-02 7.73748342e-04 9.99922629e-01 -5.19450858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854391418 meters 0.0381162293598584 Centerline is valid? [True, True] Translation: X:290.60, Y:-13.12, Z:-5.20 [[ 9.99743876e-01 -1.86592118e-02 1.28068610e-02 2.90600008e+02] [ 1.86678770e-02 9.99825585e-01 -5.57379931e-04 -1.31206524e+01] [-1.27942270e-02 7.96314079e-04 9.99917833e-01 -5.19501826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884391418 meters 0.03758179385939464 Centerline is valid? [True, True] Translation: X:290.63, Y:-13.12, Z:-5.20 [[ 9.99778204e-01 -1.69652480e-02 1.24788880e-02 2.90631586e+02] [ 1.69733584e-02 9.99855794e-01 -5.44303534e-04 -1.31177510e+01] [-1.24678542e-02 7.55991448e-04 9.99921988e-01 -5.19636768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914391418 meters 0.03720235752912623 Centerline is valid? [True, True] Translation: X:290.66, Y:-13.12, Z:-5.20 [[ 9.99799524e-01 -1.53179326e-02 1.28946877e-02 2.90663101e+02] [ 1.53264631e-02 9.99882384e-01 -5.62986828e-04 -1.31163324e+01] [-1.28845473e-02 7.60503919e-04 9.99916702e-01 -5.19724684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944391418 meters 0.0350968758687483 Centerline is valid? [True, True] Translation: X:290.70, Y:-13.11, Z:-5.20 [[ 9.99821585e-01 -1.41156427e-02 1.25517585e-02 2.90695560e+02] [ 1.41236344e-02 9.99900106e-01 -5.48279034e-04 -1.31135157e+01] [-1.25427654e-02 7.25457661e-04 9.99921073e-01 -5.19808692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974391418 meters 0.03517965421864019 Centerline is valid? [True, True] Translation: X:290.73, Y:-13.11, Z:-5.20 [[ 9.99867859e-01 -1.05462106e-02 1.23709975e-02 2.90725131e+02] [ 1.05537207e-02 9.99944161e-01 -5.41941821e-04 -1.31109401e+01] [-1.23645913e-02 6.72430261e-04 9.99923329e-01 -5.19964241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004391418 meters 0.03423169505854573 Centerline is valid? [True, True] Translation: X:290.76, Y:-13.11, Z:-5.20 [[ 9.99887794e-01 -8.18136003e-03 1.25484573e-02 2.90757000e+02] [ 8.18889276e-03 9.99966320e-01 -5.49026896e-04 -1.31089060e+01] [-1.25435429e-02 6.51723263e-04 9.99921114e-01 -5.20033883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034391418 meters 0.030770825455878992 Centerline is valid? [True, True] Translation: X:290.79, Y:-13.10, Z:-5.20 [[ 9.99902712e-01 -5.59057622e-03 1.27793921e-02 2.90788838e+02] [ 5.59818883e-03 9.99984173e-01 -5.59999542e-04 -1.31036423e+01] [-1.27760592e-02 6.31486511e-04 9.99918183e-01 -5.20049930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064391418 meters 0.030139750837624272 Centerline is valid? [True, True] Translation: X:290.82, Y:-13.10, Z:-5.20 [[ 9.99911788e-01 4.58081799e-04 1.32742626e-02 2.90818929e+02] [-4.50389158e-04 9.99999729e-01 -5.82499135e-04 -1.30989988e+01] [-1.32745258e-02 5.76469168e-04 9.99911723e-01 -5.20089876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094391418 meters 0.02759044161444152 Centerline is valid? [True, True] Translation: X:290.85, Y:-13.09, Z:-5.20 [[ 9.99888933e-01 4.11822824e-03 1.43234763e-02 2.90850662e+02] [-4.10965144e-03 9.99991358e-01 -6.28175588e-04 -1.30944959e+01] [-1.43259395e-02 5.69241324e-04 9.99897216e-01 -5.20109330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124391418 meters 0.023901591300686774 Centerline is valid? [True, True] Translation: X:290.88, Y:-13.09, Z:-5.20 [[ 9.99857520e-01 8.07489953e-03 1.48234798e-02 2.90882401e+02] [-8.06613872e-03 9.99967256e-01 -6.50702038e-04 -1.30882188e+01] [-1.48282488e-02 5.31041082e-04 9.99889914e-01 -5.20099023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154391418 meters 0.02002498118106136 Centerline is valid? [True, True] Translation: X:290.91, Y:-13.08, Z:-5.20 [[ 9.99749845e-01 1.59273644e-02 1.57024085e-02 2.90913495e+02] [-1.59184898e-02 9.99873055e-01 -6.90009339e-04 -1.30785783e+01] [-1.57114051e-02 4.39878101e-04 9.99876471e-01 -5.20113491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184391418 meters 0.01856882842365306 Centerline is valid? [True, True] Translation: X:290.94, Y:-13.08, Z:-5.20 [[ 9.99665610e-01 1.99798929e-02 1.64155912e-02 2.90944782e+02] [-1.99707344e-02 9.99800305e-01 -7.21665499e-04 -1.30753256e+01] [-1.64267319e-02 3.93592769e-04 9.99864995e-01 -5.20161341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214391418 meters 0.018461930942481154 Centerline is valid? [True, True] Translation: X:290.98, Y:-13.07, Z:-5.20 [[ 9.99575011e-01 2.37838818e-02 1.68560013e-02 2.90975713e+02] [-2.37747539e-02 9.99717065e-01 -7.41730234e-04 -1.30742497e+01] [-1.68688734e-02 3.40667725e-04 9.99857652e-01 -5.20216145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244391418 meters 0.015212336015134687 Centerline is valid? [True, True] Translation: X:291.01, Y:-13.07, Z:-5.20 [[ 9.99361474e-01 3.09289937e-02 1.78897339e-02 2.91007042e+02] [-3.09198423e-02 9.99521557e-01 -7.87982320e-04 -1.30655755e+01] [-1.79055462e-02 2.34331421e-04 9.99839655e-01 -5.20231649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274391418 meters 0.014215338629968505 Centerline is valid? [True, True] Translation: X:291.04, Y:-13.06, Z:-5.20 [[ 9.99263795e-01 3.37726310e-02 1.82010496e-02 2.91037185e+02] [-3.37636236e-02 9.99429525e-01 -8.02040450e-04 -1.30621301e+01] [-1.82177533e-02 1.86916597e-04 9.99834025e-01 -5.20276919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.304391418 meters 0.013880452674731198 Centerline is valid? [True, True] Translation: X:291.07, Y:-13.06, Z:-5.20 [[ 9.99173115e-01 3.62530189e-02 1.84066450e-02 2.91065906e+02] [-3.62442417e-02 9.99342633e-01 -8.10332287e-04 -1.30603778e+01] [-1.84239220e-02 1.42527348e-04 9.99830255e-01 -5.20331306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334391418 meters 0.013521978675733397 Centerline is valid? [True, True] Translation: X:291.09, Y:-13.06, Z:-5.20 [[ 9.99029522e-01 3.99805973e-02 1.84815067e-02 2.91094542e+02] [-3.99724072e-02 9.99200454e-01 -8.12492935e-04 -1.30566160e+01] [-1.84992138e-02 7.29541172e-05 9.99828872e-01 -5.20459454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.364391418 meters 0.013368199600965209 Centerline is valid? [True, True] Translation: X:291.12, Y:-13.06, Z:-5.21 [[ 9.98957478e-01 4.15557159e-02 1.88965375e-02 2.91123174e+02] [-4.15474651e-02 9.99136187e-01 -8.29177586e-04 -1.30559968e+01] [-1.89146715e-02 4.32099201e-05 9.99821101e-01 -5.20548648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394391418 meters 0.013339452857097525 Centerline is valid? [True, True] Translation: X:291.15, Y:-13.06, Z:-5.21 [[ 9.98906401e-01 4.28180343e-02 1.87781492e-02 2.91150715e+02] [-4.28101380e-02 9.99082887e-01 -8.22472354e-04 -1.30555416e+01] [-1.87961442e-02 1.76777384e-05 9.99823337e-01 -5.20612667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.424391418 meters 0.01344334004226629 Centerline is valid? [True, True] Translation: X:291.18, Y:-13.06, Z:-5.21 [[ 9.98841510e-01 4.39619028e-02 1.95701174e-02 2.91179420e+02] [-4.39535848e-02 9.99033208e-01 -8.55173160e-04 -1.30550854e+01] [-1.95887922e-02 -5.99436251e-06 9.99808121e-01 -5.20668408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454391418 meters 0.013588880091684954 Centerline is valid? [True, True] Translation: X:291.21, Y:-13.05, Z:-5.21 [[ 9.98738847e-01 4.58591000e-02 2.04366893e-02 2.91206971e+02] [-4.58504614e-02 9.98947917e-01 -8.91308252e-04 -1.30539547e+01] [-2.04560628e-02 -4.68474572e-05 9.99790752e-01 -5.20735997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters 0.013741811239223713 Centerline is valid? [True, True] Translation: X:291.24, Y:-13.06, Z:-5.21 [[ 9.98724306e-01 4.61326857e-02 2.05313449e-02 2.91235930e+02] [-4.61240656e-02 9.98935319e-01 -8.93451569e-04 -1.30550072e+01] [-2.05507029e-02 -5.46772991e-05 9.99788811e-01 -5.20807131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514391418 meters 0.013708455276577764 Centerline is valid? [True, True] Translation: X:291.26, Y:-13.06, Z:-5.21 [[ 9.98768193e-01 4.49254813e-02 2.10664887e-02 2.91264100e+02] [-4.49161753e-02 9.98990340e-01 -9.14941556e-04 -1.30575564e+01] [-2.10863229e-02 -3.24115748e-05 9.99777658e-01 -5.20887204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters 0.013826435799126978 Centerline is valid? [True, True] Translation: X:291.29, Y:-13.06, Z:-5.21 [[ 9.98823460e-01 4.33227814e-02 2.17906323e-02 2.91292666e+02] [-4.33124907e-02 9.99061128e-01 -9.44214411e-04 -1.30603978e+01] [-2.18110796e-02 -7.03050025e-07 9.99762110e-01 -5.20981181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574391418 meters 0.013826435799126978 Centerline is valid? [True, True] Translation: X:291.32, Y:-13.06, Z:-5.21 [[ 9.98827015e-01 4.32407001e-02 2.17907098e-02 2.91320941e+02] [-4.32304289e-02 9.99064684e-01 -9.42422690e-04 -1.30615482e+01] [-2.18110796e-02 -7.04485931e-07 9.99762110e-01 -5.21032250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters 0.013822108717249138 Centerline is valid? [True, True] Translation: X:291.35, Y:-13.07, Z:-5.21 [[ 9.98924084e-01 4.09855900e-02 2.16991972e-02 2.91348958e+02] [-4.09749131e-02 9.99159737e-01 -9.36612418e-04 -1.30651000e+01] [-2.17193518e-02 4.64819810e-05 9.99764106e-01 -5.21093907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634391418 meters 0.014067745277312657 Centerline is valid? [True, True] Translation: X:291.38, Y:-13.07, Z:-5.21 [[ 9.99055531e-01 3.76967329e-02 2.16102299e-02 2.91377696e+02] [-3.76854199e-02 9.99289219e-01 -9.30651001e-04 -1.30694621e+01] [-2.16299523e-02 1.15381441e-04 9.99766039e-01 -5.21206447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters 0.01559913651611466 Centerline is valid? [True, True] Translation: X:291.41, Y:-13.08, Z:-5.21 [[ 9.99327394e-01 2.98185088e-02 2.13451584e-02 2.91406410e+02] [-2.98057097e-02 9.99555290e-01 -9.17589536e-04 -1.30785307e+01] [-2.13630271e-02 2.80764767e-04 9.99771745e-01 -5.21338456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694391418 meters 0.017279105574065954 Centerline is valid? [True, True] Translation: X:291.44, Y:-13.09, Z:-5.21 [[ 9.99444611e-01 2.58135901e-02 2.10743316e-02 2.91436727e+02] [-2.58002410e-02 9.99666709e-01 -9.05121854e-04 -1.30853484e+01] [-2.10906721e-02 3.60896325e-04 9.99777502e-01 -5.21417001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters 0.020439158845828344 Centerline is valid? [True, True] Translation: X:291.47, Y:-13.10, Z:-5.21 [[ 9.99630548e-01 1.68986784e-02 2.12885507e-02 2.91467280e+02] [-1.68830017e-02 9.99857052e-01 -9.15916953e-04 -1.30960455e+01] [-2.13009853e-02 5.56163928e-04 9.99772954e-01 -5.21493147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754391418 meters 0.022161044977086677 Centerline is valid? [True, True] Translation: X:291.50, Y:-13.10, Z:-5.22 [[ 9.99697070e-01 1.28158761e-02 2.10124230e-02 2.91498974e+02] [-1.27996897e-02 9.99917671e-01 -9.04636940e-04 -1.31019524e+01] [-2.10222867e-02 6.35410403e-04 9.99778805e-01 -5.21567518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters 0.02342748615721306 Centerline is valid? [True, True] Translation: X:291.53, Y:-13.11, Z:-5.22 [[ 9.99740489e-01 9.07836608e-03 2.08934808e-02 2.91531226e+02] [-9.06151196e-03 9.99958538e-01 -9.01203269e-04 -1.31067092e+01] [-2.09007960e-02 7.11642871e-04 9.99781301e-01 -5.21633281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814391418 meters 0.027440132288790636 Centerline is valid? [True, True] Translation: X:291.56, Y:-13.12, Z:-5.22 [[ 9.99799619e-01 3.32341330e-03 1.97402193e-02 2.91561018e+02] [-3.30722102e-03 9.99994167e-01 -8.52857948e-04 -1.31167454e+01] [-1.97429386e-02 7.87401784e-04 9.99804779e-01 -5.21725352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters 0.02725738379326774 Centerline is valid? [True, True] Translation: X:291.59, Y:-13.12, Z:-5.22 [[ 9.99810781e-01 1.57645856e-03 1.93885857e-02 2.91593504e+02] [-1.56050257e-03 9.99998431e-01 -8.38059753e-04 -1.31190650e+01] [-1.93898765e-02 8.07645238e-04 9.99811672e-01 -5.21816392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874391418 meters 0.029743337487366257 Centerline is valid? [True, True] Translation: X:291.62, Y:-13.12, Z:-5.22 [[ 9.99820646e-01 3.70940974e-04 1.89350929e-02 2.91624549e+02] [-3.55407270e-04 9.99999598e-01 -8.23724400e-04 -1.31249983e+01] [-1.89353909e-02 8.16846993e-04 9.99820376e-01 -5.21883510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters 0.029900854143536215 Centerline is valid? [True, True] Translation: X:291.66, Y:-13.13, Z:-5.22 [[ 9.99825431e-01 -5.19401841e-04 1.86772143e-02 2.91656738e+02] [ 5.34761017e-04 9.99999523e-01 -8.17363355e-04 -1.31273939e+01] [-1.86767809e-02 8.27208514e-04 9.99825232e-01 -5.21928588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934391418 meters 0.031048496529949118 Centerline is valid? [True, True] Translation: X:291.69, Y:-13.13, Z:-5.22 [[ 9.99843232e-01 -1.23636464e-03 1.76630568e-02 2.91687582e+02] [ 1.25029531e-03 9.99998916e-01 -7.77668630e-04 -1.31316719e+01] [-1.76620761e-02 7.99630753e-04 9.99843694e-01 -5.22050770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters 0.03154385514151523 Centerline is valid? [True, True] Translation: X:291.72, Y:-13.13, Z:-5.22 [[ 9.99847938e-01 -6.71173176e-04 1.74255483e-02 2.91718981e+02] [ 6.84689596e-04 9.99999469e-01 -7.69712458e-04 -1.31341502e+01] [-1.74250224e-02 7.81526506e-04 9.99847867e-01 -5.22135542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994391418 meters 0.031122508324220654 Centerline is valid? [True, True] Translation: X:291.75, Y:-13.13, Z:-5.22 [[ 9.99859390e-01 -1.41225339e-04 1.67684334e-02 2.91750824e+02] [ 1.53738929e-04 9.99999711e-01 -7.44971994e-04 -1.31349724e+01] [-1.67683233e-02 7.47445205e-04 9.99859122e-01 -5.22209079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters 0.03126471563325417 Centerline is valid? [True, True] Translation: X:291.78, Y:-13.14, Z:-5.22 [[ 9.99873290e-01 1.81971927e-03 1.58143468e-02 2.91781944e+02] [-1.80881858e-03 9.99998117e-01 -7.03567292e-04 -1.31357715e+01] [-1.58155973e-02 6.74872859e-04 9.99874698e-01 -5.22337446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.054391418 meters 0.030299611602099492 Centerline is valid? [True, True] Translation: X:291.81, Y:-13.14, Z:-5.22 [[ 9.99886361e-01 3.60117817e-03 1.46388471e-02 2.91814286e+02] [-3.59199454e-03 9.99993335e-01 -6.53590859e-04 -1.31358523e+01] [-1.46411033e-02 6.00933926e-04 9.99892633e-01 -5.22475702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084391418 meters 0.02556006502764041 Centerline is valid? [True, True] Translation: X:291.85, Y:-13.13, Z:-5.23 [[ 9.99890804e-01 5.24366175e-03 1.38161016e-02 2.91846457e+02] [-5.23562495e-03 9.99986103e-01 -6.17803593e-04 -1.31299688e+01] [-1.38191492e-02 5.45400205e-04 9.99904362e-01 -5.22536302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.114391418 meters 0.027657350275842506 Centerline is valid? [True, True] Translation: X:291.88, Y:-13.13, Z:-5.23 [[ 9.99880044e-01 9.17176751e-03 1.24810387e-02 2.91877141e+02] [-9.16550059e-03 9.99957840e-01 -5.59223199e-04 -1.31334229e+01] [-1.24856416e-02 4.44761150e-04 9.99921952e-01 -5.22721361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144391418 meters 0.024999739080836247 Centerline is valid? [True, True] Translation: X:291.91, Y:-13.13, Z:-5.23 [[ 9.99870127e-01 1.10946691e-02 1.16891875e-02 2.91909654e+02] [-1.10893155e-02 9.99938375e-01 -5.22712541e-04 -1.31304633e+01] [-1.16942665e-02 3.93019566e-04 9.99931542e-01 -5.22745817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.174391418 meters 0.023560705490105874 Centerline is valid? [True, True] Translation: X:291.94, Y:-13.13, Z:-5.23 [[ 9.99850901e-01 1.28378114e-02 1.15484789e-02 2.91942520e+02] [-1.28326534e-02 9.99917523e-01 -5.20632708e-04 -1.31290950e+01] [-1.15542102e-02 3.72357454e-04 9.99933179e-01 -5.22773718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204391418 meters 0.0215959297789765 Centerline is valid? [True, True] Translation: X:291.97, Y:-13.13, Z:-5.23 [[ 9.99805071e-01 1.62940267e-02 1.11500750e-02 2.91974569e+02] [-1.62894206e-02 9.99867192e-01 -5.03796223e-04 -1.31257125e+01] [-1.11568031e-02 3.22069757e-04 9.99937709e-01 -5.22719116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234391418 meters 0.022533957170395115 Centerline is valid? [True, True] Translation: X:292.00, Y:-13.13, Z:-5.23 [[ 9.99781388e-01 1.79776845e-02 1.06761213e-02 2.92004423e+02] [-1.79735428e-02 9.99838346e-01 -4.83759232e-04 -1.31283885e+01] [-1.06830923e-02 2.91765753e-04 9.99942892e-01 -5.22824588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264391418 meters 0.020658341078086968 Centerline is valid? [True, True] Translation: X:292.04, Y:-13.13, Z:-5.23 [[ 9.99771662e-01 1.89873346e-02 9.80334700e-03 2.92035328e+02] [-1.89838877e-02 9.99819691e-01 -4.44542088e-04 -1.31260322e+01] [-9.81002003e-03 2.58334943e-04 9.99951847e-01 -5.22829365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294391418 meters 0.02016626073385375 Centerline is valid? [True, True] Translation: X:292.06, Y:-13.13, Z:-5.23 [[ 9.99742999e-01 2.10153105e-02 8.50253826e-03 2.92064110e+02] [-2.10127862e-02 9.99779132e-01 -3.86121213e-04 -1.31253056e+01] [-8.50877479e-03 2.07359961e-04 9.99963778e-01 -5.22889692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324391418 meters 0.019801168368462664 Centerline is valid? [True, True] Translation: X:292.09, Y:-13.13, Z:-5.23 [[ 9.99731853e-01 2.16321369e-02 8.26278576e-03 2.92092731e+02] [-2.16297763e-02 9.99765979e-01 -3.74966875e-04 -1.31253457e+01] [-8.26896342e-03 1.96144122e-04 9.99965792e-01 -5.22914836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354391418 meters 0.020021715709422534 Centerline is valid? [True, True] Translation: X:292.12, Y:-13.13, Z:-5.23 [[ 9.99717319e-01 2.21837109e-02 8.55370875e-03 2.92121285e+02] [-2.21812091e-02 9.99753892e-01 -3.87245703e-04 -1.31270689e+01] [-8.56019416e-03 1.97404633e-04 9.99963341e-01 -5.22947348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384391418 meters 0.019923135312772473 Centerline is valid? [True, True] Translation: X:292.15, Y:-13.13, Z:-5.23 [[ 9.99716612e-01 2.22359817e-02 8.50038955e-03 2.92149626e+02] [-2.22335156e-02 9.99752731e-01 -3.84510813e-04 -1.31280957e+01] [-8.50683764e-03 1.95408303e-04 9.99963797e-01 -5.22949962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414391418 meters 0.01944066645714324 Centerline is valid? [True, True] Translation: X:292.18, Y:-13.13, Z:-5.23 [[ 9.99727453e-01 2.18718840e-02 8.16339072e-03 2.92178795e+02] [-2.18696020e-02 9.99760764e-01 -3.68713397e-04 -1.31287967e+01] [-8.16950220e-03 1.90082799e-04 9.99966611e-01 -5.22875295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444391418 meters 0.02083946417834542 Centerline is valid? [True, True] Translation: X:292.21, Y:-13.13, Z:-5.23 [[ 9.99743752e-01 2.11445499e-02 8.08323968e-03 2.92207515e+02] [-2.11422955e-02 9.99776410e-01 -3.64258464e-04 -1.31328190e+01] [-8.08913443e-03 1.93266881e-04 9.99967264e-01 -5.22980912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474391418 meters 0.020205548627231822 Centerline is valid? [True, True] Translation: X:292.24, Y:-13.13, Z:-5.23 [[ 9.99762893e-01 2.02007386e-02 8.12942779e-03 2.92236292e+02] [-2.01984296e-02 9.99795924e-01 -3.66049118e-04 -1.31333823e+01] [-8.13516323e-03 2.01760651e-04 9.99966889e-01 -5.22963462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504391418 meters 0.021299622979081063 Centerline is valid? [True, True] Translation: X:292.26, Y:-13.14, Z:-5.23 [[ 9.99800061e-01 1.81354543e-02 8.42276748e-03 2.92264798e+02] [-1.81329101e-02 9.99835514e-01 -3.78342628e-04 -1.31380906e+01] [-8.42824347e-03 2.25537698e-04 9.99964456e-01 -5.22968407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534391418 meters 0.022131719699950467 Centerline is valid? [True, True] Translation: X:292.29, Y:-13.14, Z:-5.23 [[ 9.99822054e-01 1.67724334e-02 8.63399004e-03 2.92292985e+02] [-1.67697139e-02 9.99859303e-01 -3.87287710e-04 -1.31413056e+01] [-8.63927102e-03 2.42429252e-04 9.99962651e-01 -5.22991915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564391418 meters 0.023548032176948494 Centerline is valid? [True, True] Translation: X:292.32, Y:-13.15, Z:-5.23 [[ 9.99852329e-01 1.47085913e-02 8.88698683e-03 2.92321883e+02] [-1.47056351e-02 9.99891787e-01 -3.97905801e-04 -1.31461486e+01] [-8.89187777e-03 2.67158256e-04 9.99960431e-01 -5.23014889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594391418 meters 0.0241760497182144 Centerline is valid? [True, True] Translation: X:292.35, Y:-13.15, Z:-5.23 [[ 9.99867685e-01 1.40704687e-02 8.16301836e-03 2.92352407e+02] [-1.40679585e-02 9.99900975e-01 -3.64853081e-04 -1.31489817e+01] [-8.16734367e-03 2.49967802e-04 9.99966615e-01 -5.23102356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624391418 meters 0.02456901674122374 Centerline is valid? [True, True] Translation: X:292.38, Y:-13.15, Z:-5.23 [[ 9.99874824e-01 1.37108669e-02 7.89609845e-03 2.92382808e+02] [-1.37085070e-02 9.99905972e-01 -3.52922867e-04 -1.31513851e+01] [-7.90019487e-03 2.44634969e-04 9.99968763e-01 -5.23197875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654391418 meters 0.024575473176610765 Centerline is valid? [True, True] Translation: X:292.41, Y:-13.15, Z:-5.23 [[ 9.99876862e-01 1.42452835e-02 6.58273541e-03 2.92412590e+02] [-1.42436535e-02 9.99898511e-01 -2.94435158e-04 -1.31534042e+01] [-6.58626164e-03 2.00636700e-04 9.99978290e-01 -5.23320311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684391418 meters 0.023110265400280498 Centerline is valid? [True, True] Translation: X:292.44, Y:-13.15, Z:-5.23 [[ 9.99868043e-01 1.49701732e-02 6.30797419e-03 2.92442029e+02] [-1.49686901e-02 9.99887923e-01 -2.82276483e-04 -1.31524511e+01] [-6.31149294e-03 1.87817124e-04 9.99980065e-01 -5.23313402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714391418 meters 0.021463454748661123 Centerline is valid? [True, True] Translation: X:292.47, Y:-13.15, Z:-5.23 [[ 9.99861594e-01 1.55658568e-02 5.87346095e-03 2.92472226e+02] [-1.55645821e-02 9.99878830e-01 -2.62675859e-04 -1.31510782e+01] [-5.87683804e-03 1.71221538e-04 9.99982717e-01 -5.23264361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744391418 meters 0.0211651839628518 Centerline is valid? [True, True] Translation: X:292.50, Y:-13.15, Z:-5.23 [[ 9.99824527e-01 1.78716850e-02 5.61405057e-03 2.92500517e+02] [-1.78705551e-02 9.99840277e-01 -2.51374406e-04 -1.31524827e+01] [-5.61764636e-03 1.51004097e-04 9.99984209e-01 -5.23301240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774391418 meters 0.02026600219581665 Centerline is valid? [True, True] Translation: X:292.53, Y:-13.15, Z:-5.23 [[ 9.99805459e-01 1.89388917e-02 5.51023408e-03 2.92528961e+02] [-1.89378216e-02 9.99820633e-01 -2.46311490e-04 -1.31523444e+01] [-5.51391059e-03 1.41911743e-04 9.99984788e-01 -5.23304621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.804391418 meters 0.020074551443804853 Centerline is valid? [True, True] Translation: X:292.56, Y:-13.15, Z:-5.23 [[ 9.99793671e-01 1.96556660e-02 5.12546541e-03 2.92557325e+02] [-1.96547512e-02 9.99806801e-01 -2.28792270e-04 -1.31535283e+01] [-5.12897224e-03 1.28005317e-04 9.99986839e-01 -5.23348944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834391418 meters 0.022718044882833823 Centerline is valid? [True, True] Translation: X:292.58, Y:-13.16, Z:-5.24 [[ 9.99777732e-01 2.03998967e-02 5.32259489e-03 2.92584572e+02] [-2.03989221e-02 9.99791892e-01 -2.37350660e-04 -1.31599669e+01] [-5.32632914e-03 1.28722706e-04 9.99985807e-01 -5.23688168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.864391418 meters 0.019042315501874147 Centerline is valid? [True, True] Translation: X:292.61, Y:-13.16, Z:-5.23 [[ 9.99763168e-01 2.11781439e-02 5.00938119e-03 2.92613147e+02] [-2.11772935e-02 9.99775711e-01 -2.22755775e-04 -1.31569334e+01] [-5.01297520e-03 1.16617883e-04 9.99987428e-01 -5.23448215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894391418 meters 0.019092763179015183 Centerline is valid? [True, True] Translation: X:292.64, Y:-13.16, Z:-5.24 [[ 9.99764543e-01 2.12458380e-02 4.41273847e-03 2.92641417e+02] [-2.12451796e-02 9.99774276e-01 -1.96031241e-04 -1.31592144e+01] [-4.41590726e-03 1.02235662e-04 9.99990245e-01 -5.23559202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.924391418 meters 0.01913284486183407 Centerline is valid? [True, True] Translation: X:292.67, Y:-13.16, Z:-5.24 [[ 9.99772339e-01 2.09501329e-02 4.04491431e-03 2.92669789e+02] [-2.09495781e-02 9.99780517e-01 -1.79485917e-04 -1.31612609e+01] [-4.04778678e-03 9.47058069e-05 9.99991803e-01 -5.23635994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954391418 meters 0.019326787840101528 Centerline is valid? [True, True] Translation: X:292.70, Y:-13.16, Z:-5.24 [[ 9.99782752e-01 2.04965396e-02 3.78692763e-03 2.92698166e+02] [-2.04960508e-02 9.99789920e-01 -1.67823882e-04 -1.31634315e+01] [-3.78957188e-03 9.01703610e-05 9.99992815e-01 -5.23722256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters 0.021415920475415934 Centerline is valid? [True, True] Translation: X:292.73, Y:-13.17, Z:-5.24 [[ 9.99817176e-01 1.89043006e-02 2.87077126e-03 2.92725264e+02] [-1.89040123e-02 9.99821295e-01 -1.27540281e-04 -1.31695658e+01] [-2.87266930e-03 7.32478686e-05 9.99995871e-01 -5.23954366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014391418 meters 0.02065908120508299 Centerline is valid? [True, True] Translation: X:292.75, Y:-13.17, Z:-5.24 [[ 9.99838745e-01 1.78215758e-02 2.20787431e-03 2.92754185e+02] [-1.78214027e-02 9.99841181e-01 -9.80455865e-05 -1.31702563e+01] [-2.20927098e-03 5.86823589e-05 9.99997558e-01 -5.23897533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters 0.02144341088771551 Centerline is valid? [True, True] Translation: X:292.78, Y:-13.17, Z:-5.24 [[ 9.99889292e-01 1.47576886e-02 1.90137976e-03 2.92783084e+02] [-1.47575546e-02 9.99891098e-01 -8.44928909e-05 -1.31744779e+01] [-1.90241962e-03 5.64238212e-05 9.99998189e-01 -5.23956786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074391418 meters 0.023137951949970294 Centerline is valid? [True, True] Translation: X:292.81, Y:-13.18, Z:-5.24 [[ 9.99913199e-01 1.31173386e-02 1.23715405e-03 2.92810951e+02] [-1.31172794e-02 9.99913963e-01 -5.60073941e-05 -1.31789830e+01] [-1.23778227e-03 3.97744373e-05 9.99999233e-01 -5.24095815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters 0.024040698754433557 Centerline is valid? [True, True] Translation: X:292.84, Y:-13.18, Z:-5.24 [[ 9.99935248e-01 1.12984784e-02 1.35810350e-03 2.92839860e+02] [-1.12984067e-02 9.99936169e-01 -6.04534619e-05 -1.31824346e+01] [-1.35869984e-03 4.51051417e-05 9.99999076e-01 -5.24148461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134391418 meters 0.025469648328798705 Centerline is valid? [True, True] Translation: X:292.87, Y:-13.19, Z:-5.24 [[ 9.99966538e-01 8.02001748e-03 1.61305566e-03 2.92868811e+02] [-8.01991321e-03 9.99967837e-01 -7.10960911e-05 -1.31869570e+01] [-1.61357398e-03 5.81571456e-05 9.99998696e-01 -5.24166085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters 0.02586271965362656 Centerline is valid? [True, True] Translation: X:292.90, Y:-13.19, Z:-5.24 [[ 9.99976432e-01 6.60418854e-03 1.87629575e-03 2.92898497e+02] [-6.60404610e-03 9.99978190e-01 -8.21013783e-05 -1.31893833e+01] [-1.87679704e-03 6.97082997e-05 9.99998236e-01 -5.24193317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194391418 meters 0.028116104020619866 Centerline is valid? [True, True] Translation: X:292.93, Y:-13.19, Z:-5.24 [[ 9.99983926e-01 5.18345492e-03 2.29794289e-03 2.92927700e+02] [-5.18323882e-03 9.99986562e-01 -9.99862283e-05 -1.31941199e+01] [-2.29843028e-03 8.80738343e-05 9.99997355e-01 -5.24298204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters 0.02901651380717531 Centerline is valid? [True, True] Translation: X:292.96, Y:-13.20, Z:-5.24 [[ 9.99992821e-01 2.67154255e-03 2.68720760e-03 2.92957700e+02] [-2.67123917e-03 9.99996425e-01 -1.16480845e-04 -1.31964224e+01] [-2.68750918e-03 1.09301835e-04 9.99996383e-01 -5.24273713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254391418 meters 0.029691826554887012 Centerline is valid? [True, True] Translation: X:292.99, Y:-13.20, Z:-5.24 [[ 9.99994526e-01 1.44217535e-03 2.97781557e-03 2.92988421e+02] [-1.44179811e-03 9.99998952e-01 -1.28826175e-04 -1.31990238e+01] [-2.97799824e-03 1.24532061e-04 9.99995558e-01 -5.24326636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters 0.030153233559737595 Centerline is valid? [True, True] Translation: X:293.02, Y:-13.20, Z:-5.24 [[ 9.99994083e-01 2.30383222e-04 3.43224882e-03 2.93019744e+02] [-2.29875494e-04 9.99999963e-01 -1.48322242e-04 -1.32013895e+01] [-3.43228286e-03 1.47532374e-04 9.99994099e-01 -5.24348374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314391418 meters 0.03289321737615586 Centerline is valid? [True, True] Translation: X:293.05, Y:-13.21, Z:-5.24 [[ 9.99982797e-01 -2.87338080e-03 5.11356029e-03 2.93050349e+02] [ 2.87455105e-03 9.99995844e-01 -2.21517544e-04 -1.32061883e+01] [-5.11290254e-03 2.36212923e-04 9.99986901e-01 -5.24293784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters 0.03088292509759342 Centerline is valid? [True, True] Translation: X:293.08, Y:-13.20, Z:-5.24 [[ 9.99973955e-01 -4.24284021e-03 5.83846695e-03 2.93082245e+02] [ 4.24438944e-03 9.99990961e-01 -2.52983773e-04 -1.32046427e+01] [-5.83734080e-03 2.77757912e-04 9.99982924e-01 -5.24152193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374391418 meters 0.034740136610296096 Centerline is valid? [True, True] Translation: X:293.11, Y:-13.21, Z:-5.24 [[ 9.99961808e-01 -5.70208461e-03 6.62329375e-03 2.93113001e+02] [ 5.70411393e-03 9.99983690e-01 -2.87541191e-04 -1.32111734e+01] [-6.62154614e-03 3.25310231e-04 9.99978024e-01 -5.24258233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters 0.033549500646175845 Centerline is valid? [True, True] Translation: X:293.14, Y:-13.21, Z:-5.24 [[ 9.99956643e-01 -6.95713925e-03 6.18951005e-03 2.93144715e+02] [ 6.95893226e-03 9.99975750e-01 -2.68196466e-04 -1.32103855e+01] [-6.18749408e-03 3.11257219e-04 9.99980809e-01 -5.24233701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434391418 meters 0.03517882378017267 Centerline is valid? [True, True] Translation: X:293.18, Y:-13.21, Z:-5.24 [[ 9.99937968e-01 -9.02695544e-03 6.52488382e-03 2.93176860e+02] [ 9.02900198e-03 9.99959197e-01 -2.84262788e-04 -1.32131931e+01] [-6.52205156e-03 3.43158343e-04 9.99978672e-01 -5.24329100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters 0.03517882378017267 Centerline is valid? [True, True] Translation: X:293.21, Y:-13.21, Z:-5.24 [[ 9.99938671e-01 -8.94871795e-03 6.52486156e-03 2.93208559e+02] [ 8.95076614e-03 9.99959901e-01 -2.84772005e-04 -1.32146613e+01] [-6.52205157e-03 3.43157051e-04 9.99978672e-01 -5.24386275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494391418 meters 0.03499833979562591 Centerline is valid? [True, True] Translation: X:293.24, Y:-13.22, Z:-5.24 [[ 9.99933148e-01 -9.62005015e-03 6.41511080e-03 2.93240485e+02] [ 9.62204681e-03 9.99953668e-01 -2.80452525e-04 -1.32155348e+01] [-6.41211561e-03 3.42160273e-04 9.99979384e-01 -5.24472653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters 0.036407622481130233 Centerline is valid? [True, True] Translation: X:293.27, Y:-13.22, Z:-5.25 [[ 9.99927723e-01 -1.03276883e-02 6.15531582e-03 2.93271359e+02] [ 1.03295440e-02 9.99946612e-01 -2.69763969e-04 -1.32184081e+01] [-6.15220116e-03 3.33326076e-04 9.99981019e-01 -5.24591528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.554391418 meters 0.03681818810946743 Centerline is valid? [True, True] Translation: X:293.30, Y:-13.22, Z:-5.25 [[ 9.99928995e-01 -1.03328171e-02 5.93623121e-03 2.93303999e+02] [ 1.03345437e-02 9.99946563e-01 -2.60249500e-04 -1.32190502e+01] [-5.93322488e-03 3.21579262e-04 9.99982347e-01 -5.24725837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584391418 meters 0.03664331753927309 Centerline is valid? [True, True] Translation: X:293.34, Y:-13.22, Z:-5.25 [[ 9.99938085e-01 -9.53619395e-03 5.73466448e-03 2.93336436e+02] [ 9.53779449e-03 9.99954483e-01 -2.51814666e-04 -1.32191762e+01] [-5.73200210e-03 3.06495126e-04 9.99983525e-01 -5.24833200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.614391418 meters 0.034653554032830096 Centerline is valid? [True, True] Translation: X:293.37, Y:-13.22, Z:-5.25 [[ 9.99951045e-01 -8.21685401e-03 5.51277370e-03 2.93368891e+02] [ 8.21831503e-03 9.99966200e-01 -2.42424041e-04 -1.32166722e+01] [-5.51059541e-03 2.87717885e-04 9.99984775e-01 -5.24883904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644391418 meters 0.03256224236960607 Centerline is valid? [True, True] Translation: X:293.40, Y:-13.21, Z:-5.25 [[ 9.99974252e-01 -4.51329951e-03 5.57902637e-03 2.93400235e+02] [ 4.51474501e-03 9.99989778e-01 -2.46527802e-04 -1.32121345e+01] [-5.57785669e-03 2.71709336e-04 9.99984407e-01 -5.24912704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.674391418 meters 0.029457683495646682 Centerline is valid? [True, True] Translation: X:293.43, Y:-13.21, Z:-5.25 [[ 9.99981864e-01 -1.59354933e-03 5.80796622e-03 2.93432236e+02] [ 1.59506460e-03 9.99998695e-01 -2.56272426e-04 -1.32079226e+01] [-5.80755026e-03 2.65531860e-04 9.99983101e-01 -5.24887390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704391418 meters 0.02714533393866745 Centerline is valid? [True, True] Translation: X:293.46, Y:-13.20, Z:-5.25 [[ 9.99979318e-01 1.47174604e-03 6.26077328e-03 2.93463935e+02] [-1.47004091e-03 9.99998881e-01 -2.76944359e-04 -1.32040735e+01] [-6.26117387e-03 2.67735038e-04 9.99980363e-01 -5.24839172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734391418 meters 0.02392224196097087 Centerline is valid? [True, True] Translation: X:293.50, Y:-13.20, Z:-5.25 [[ 9.99942355e-01 7.95061706e-03 7.21624183e-03 2.93495468e+02] [-7.94851562e-03 9.99968359e-01 -3.19842909e-04 -1.31966794e+01] [-7.21855645e-03 2.62466061e-04 9.99973911e-01 -5.24700627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764391418 meters 0.025161187240883242 Centerline is valid? [True, True] Translation: X:293.53, Y:-13.20, Z:-5.25 [[ 9.99901708e-01 1.14462323e-02 8.09675095e-03 2.93525957e+02] [-1.14436995e-02 9.99934454e-01 -3.59078635e-04 -1.31979764e+01] [-8.10033034e-03 2.66386556e-04 9.99967156e-01 -5.24801892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794391418 meters 0.02109902364501608 Centerline is valid? [True, True] Translation: X:293.56, Y:-13.19, Z:-5.25 [[ 9.99848165e-01 1.48740289e-02 9.07797833e-03 2.93556984e+02] [-1.48709823e-02 9.99889340e-01 -4.03009668e-04 -1.31908946e+01] [-9.08296814e-03 2.67950022e-04 9.99958713e-01 -5.24646336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824391418 meters 0.01860702143549509 Centerline is valid? [True, True] Translation: X:293.59, Y:-13.18, Z:-5.25 [[ 9.99703206e-01 2.19266321e-02 1.06170533e-02 2.93587011e+02] [-2.19228623e-02 9.99759554e-01 -4.71335682e-04 -1.31847718e+01] [-1.06248353e-02 2.38439596e-04 9.99943526e-01 -5.24580114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854391418 meters 0.0174627813587169 Centerline is valid? [True, True] Translation: X:293.62, Y:-13.18, Z:-5.25 [[ 9.99630431e-01 2.48492779e-02 1.10233385e-02 2.93616488e+02] [-2.48453885e-02 9.99691186e-01 -4.89654238e-04 -1.31820842e+01] [-1.10321019e-02 2.15594148e-04 9.99939121e-01 -5.24623841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884391418 meters 0.0166536050196417 Centerline is valid? [True, True] Translation: X:293.65, Y:-13.18, Z:-5.25 [[ 9.99554904e-01 2.76891561e-02 1.11042450e-02 2.93645498e+02] [-2.76853881e-02 9.99616565e-01 -4.92929819e-04 -1.31805621e+01] [-1.11136361e-02 1.85285084e-04 9.99938224e-01 -5.24740449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914391418 meters 0.015991451359065413 Centerline is valid? [True, True] Translation: X:293.67, Y:-13.18, Z:-5.25 [[ 9.99491285e-01 2.99844765e-02 1.08675036e-02 2.93674788e+02] [-2.99810085e-02 9.99550352e-01 -4.81927306e-04 -1.31789607e+01] [-1.08770674e-02 1.55863425e-04 9.99940831e-01 -5.24847202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944391418 meters 0.015005512886433871 Centerline is valid? [True, True] Translation: X:293.70, Y:-13.18, Z:-5.25 [[ 9.99372933e-01 3.40319704e-02 9.77577403e-03 2.93703506e+02] [-3.40293638e-02 9.99420740e-01 -4.32897429e-04 -1.31752251e+01] [-9.78484367e-03 9.99626017e-05 9.99952122e-01 -5.25025468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974391418 meters 0.014902223156691175 Centerline is valid? [True, True] Translation: X:293.73, Y:-13.18, Z:-5.25 [[ 9.99326375e-01 3.55030585e-02 9.29132526e-03 2.93732239e+02] [-3.55007738e-02 9.99369564e-01 -4.10764067e-04 -1.31751302e+01] [-9.30005106e-03 8.06381301e-05 9.99956750e-01 -5.25159886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004391418 meters 0.014620141614552157 Centerline is valid? [True, True] Translation: X:293.76, Y:-13.18, Z:-5.25 [[ 9.99291878e-01 3.65408099e-02 8.97288097e-03 2.93759953e+02] [-3.65387241e-02 9.99332159e-01 -3.96336889e-04 -1.31752292e+01] [-8.98137098e-03 6.81986120e-05 9.99959664e-01 -5.25261621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034391418 meters 0.014295405948319375 Centerline is valid? [True, True] Translation: X:293.79, Y:-13.17, Z:-5.25 [[ 9.99199393e-01 3.89235128e-02 9.24843021e-03 2.93788724e+02] [-3.89214123e-02 9.99242192e-01 -4.07065777e-04 -1.31740660e+01] [-9.25726610e-03 4.67779126e-05 9.99957149e-01 -5.25253975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064391418 meters 0.014064875954898798 Centerline is valid? [True, True] Translation: X:293.82, Y:-13.17, Z:-5.25 [[ 9.99145493e-01 4.00842289e-02 1.00766376e-02 2.93817436e+02] [-4.00818032e-02 9.99196304e-01 -4.42641792e-04 -1.31740440e+01] [-1.00862820e-02 3.83737464e-05 9.99949131e-01 -5.25183434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094391418 meters 0.013998391727709123 Centerline is valid? [True, True] Translation: X:293.85, Y:-13.17, Z:-5.25 [[ 9.99102856e-01 4.09870822e-02 1.06556567e-02 2.93846115e+02] [-4.09844311e-02 9.99159676e-01 -4.67136404e-04 -1.31748224e+01] [-1.06658491e-02 3.00012865e-05 9.99943118e-01 -5.25200766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124391418 meters 0.014011618498145742 Centerline is valid? [True, True] Translation: X:293.87, Y:-13.18, Z:-5.25 [[ 9.99026009e-01 4.26066434e-02 1.14763526e-02 2.93873890e+02] [-4.26036856e-02 9.99091925e-01 -5.02195539e-04 -1.31756532e+01] [-1.14873280e-02 1.27714893e-05 9.99934018e-01 -5.25238188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154391418 meters 0.013925756801638878 Centerline is valid? [True, True] Translation: X:293.90, Y:-13.18, Z:-5.25 [[ 9.99001416e-01 4.30164709e-02 1.20728534e-02 2.93902509e+02] [-4.30132447e-02 9.99074363e-01 -5.26873381e-04 -1.31770696e+01] [-1.20843426e-02 7.05465665e-06 9.99926982e-01 -5.25234049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184391418 meters 0.013903714669744497 Centerline is valid? [True, True] Translation: X:293.93, Y:-13.18, Z:-5.25 [[ 9.99009935e-01 4.26474855e-02 1.26626132e-02 2.93929909e+02] [-4.26439180e-02 9.99090182e-01 -5.51727034e-04 -1.31789304e+01] [-1.26746223e-02 1.11973503e-05 9.99919674e-01 -5.25285286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214391418 meters 0.013889904697403973 Centerline is valid? [True, True] Translation: X:293.96, Y:-13.18, Z:-5.25 [[ 9.99041904e-01 4.19012267e-02 1.26317333e-02 2.93957947e+02] [-4.18976372e-02 9.99121758e-01 -5.48776257e-04 -1.31816479e+01] [-1.26436340e-02 1.90106977e-05 9.99920066e-01 -5.25391697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244391418 meters 0.014025761009195038 Centerline is valid? [True, True] Translation: X:293.99, Y:-13.19, Z:-5.26 [[ 9.99152070e-01 3.91764844e-02 1.26627312e-02 2.93985537e+02] [-3.91726781e-02 9.99232306e-01 -5.48576167e-04 -1.31871987e+01] [-1.26745014e-02 5.20779187e-05 9.99919674e-01 -5.25527598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274391418 meters 0.014115227453264018 Centerline is valid? [True, True] Translation: X:294.01, Y:-13.19, Z:-5.26 [[ 9.99244540e-01 3.67954427e-02 1.25078195e-02 2.94014583e+02] [-3.67915588e-02 9.99322815e-01 -5.40556091e-04 -1.31912798e+01] [-1.25192394e-02 7.99655450e-05 9.99921628e-01 -5.25572392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.304391418 meters 0.015149249487653609 Centerline is valid? [True, True] Translation: X:294.04, Y:-13.20, Z:-5.26 [[ 9.99427831e-01 3.14672676e-02 1.24024967e-02 2.94041873e+02] [-3.14630494e-02 9.99504772e-01 -5.35127181e-04 -1.31998763e+01] [-1.24131936e-02 1.44600632e-04 9.99922943e-01 -5.25677749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334391418 meters 0.016024460375414298 Centerline is valid? [True, True] Translation: X:294.07, Y:-13.21, Z:-5.26 [[ 9.99522364e-01 2.82807834e-02 1.24595951e-02 2.94070004e+02] [-2.82762944e-02 9.99600002e-01 -5.36330269e-04 -1.32053161e+01] [-1.24697792e-02 1.83762918e-04 9.99922232e-01 -5.25715619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.364391418 meters 0.01834941108017913 Centerline is valid? [True, True] Translation: X:294.10, Y:-13.22, Z:-5.26 [[ 9.99677930e-01 2.16720420e-02 1.32045369e-02 2.94099439e+02] [-2.16664461e-02 9.99765094e-01 -5.66709106e-04 -1.32158472e+01] [-1.32137168e-02 2.80431199e-04 9.99912656e-01 -5.25756201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394391418 meters 0.019752868003477635 Centerline is valid? [True, True] Translation: X:294.13, Y:-13.22, Z:-5.26 [[ 9.99741727e-01 1.84598475e-02 1.32557245e-02 2.94129985e+02] [-1.84539353e-02 9.99829550e-01 -5.68199297e-04 -1.32218565e+01] [-1.32639540e-02 3.23432264e-04 9.99911978e-01 -5.25809198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.424391418 meters 0.02116221370237256 Centerline is valid? [True, True] Translation: X:294.16, Y:-13.23, Z:-5.26 [[ 9.99794600e-01 1.50914178e-02 1.35279946e-02 2.94161216e+02] [-1.50849545e-02 9.99886048e-01 -5.79693335e-04 -1.32273026e+01] [-1.35352014e-02 3.75505083e-04 9.99908324e-01 -5.25908188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454391418 meters 0.02233304843036139 Centerline is valid? [True, True] Translation: X:294.19, Y:-13.23, Z:-5.26 [[ 9.99838447e-01 1.21442479e-02 1.32513101e-02 2.94193126e+02] [-1.21377834e-02 9.99926173e-01 -5.68155676e-04 -1.32325344e+01] [-1.32572316e-02 4.07222357e-04 9.99912036e-01 -5.25997840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters 0.02500588085531341 Centerline is valid? [True, True] Translation: X:294.22, Y:-13.24, Z:-5.26 [[ 9.99871918e-01 9.38381627e-03 1.29650524e-02 2.94224056e+02] [-9.37739483e-03 9.99955877e-01 -5.55992797e-04 -1.32394217e+01] [-1.29696977e-02 4.34343168e-04 9.99915796e-01 -5.26144737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514391418 meters 0.026682769492832714 Centerline is valid? [True, True] Translation: X:294.26, Y:-13.25, Z:-5.26 [[ 9.99905568e-01 4.94121809e-03 1.28234109e-02 2.94255144e+02] [-4.93451575e-03 9.99987672e-01 -5.54252082e-04 -1.32458135e+01] [-1.28259915e-02 4.90922420e-04 9.99917623e-01 -5.26252340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters 0.027035693515757304 Centerline is valid? [True, True] Translation: X:294.29, Y:-13.25, Z:-5.26 [[ 9.99914029e-01 3.30086758e-03 1.26901372e-02 2.94286821e+02] [-3.29418043e-03 9.99994424e-01 -5.47823009e-04 -1.32490189e+01] [-1.26918747e-02 5.05972310e-04 9.99919327e-01 -5.26324138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574391418 meters 0.03006387809958114 Centerline is valid? [True, True] Translation: X:294.32, Y:-13.26, Z:-5.26 [[ 9.99920492e-01 1.49046678e-03 1.25215027e-02 2.94317967e+02] [-1.48377486e-03 9.99998751e-01 -5.43707839e-04 -1.32555070e+01] [-1.25222974e-02 5.25085519e-04 9.99921455e-01 -5.26415445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters 0.029351818481400192 Centerline is valid? [True, True] Translation: X:294.35, Y:-13.26, Z:-5.26 [[ 9.99907349e-01 -2.40165154e-03 1.33987355e-02 2.94349374e+02] [ 2.40972598e-03 9.99996925e-01 -5.86514607e-04 -1.32573047e+01] [-1.33972857e-02 6.18747546e-04 9.99910061e-01 -5.26384424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634391418 meters 0.030798291989436215 Centerline is valid? [True, True] Translation: X:294.38, Y:-13.26, Z:-5.26 [[ 9.99896888e-01 -4.31923468e-03 1.36951516e-02 2.94381124e+02] [ 4.32785522e-03 9.99990455e-01 -5.99885089e-04 -1.32611771e+01] [-1.36924298e-02 6.59093867e-04 9.99906037e-01 -5.26413611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters 0.031625441408051236 Centerline is valid? [True, True] Translation: X:294.41, Y:-13.26, Z:-5.26 [[ 9.99864991e-01 -7.98829302e-03 1.43592079e-02 2.94412087e+02] [ 7.99816800e-03 9.99967815e-01 -6.30414550e-04 -1.32645118e+01] [-1.43537098e-02 7.45176795e-04 9.99896703e-01 -5.26396925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694391418 meters 0.034341180716594776 Centerline is valid? [True, True] Translation: X:294.44, Y:-13.27, Z:-5.26 [[ 9.99851935e-01 -9.23390973e-03 1.45204248e-02 2.94442643e+02] [ 9.24414204e-03 9.99957069e-01 -6.37722407e-04 -1.32700542e+01] [-1.45139127e-02 7.71856851e-04 9.99894370e-01 -5.26479470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters 0.03675816865957433 Centerline is valid? [True, True] Translation: X:294.47, Y:-13.27, Z:-5.27 [[ 9.99843043e-01 -1.01472493e-02 1.45232076e-02 2.94474083e+02] [ 1.01575850e-02 9.99948207e-01 -6.38077974e-04 -1.32747146e+01] [-1.45159807e-02 7.85498538e-04 9.99894329e-01 -5.26604223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754391418 meters 0.034927596092370325 Centerline is valid? [True, True] Translation: X:294.51, Y:-13.27, Z:-5.27 [[ 9.99854029e-01 -1.09092495e-02 1.31494996e-02 2.94506628e+02] [ 1.09178138e-02 9.99940231e-01 -5.79688265e-04 -1.32736277e+01] [-1.31423897e-02 7.23167435e-04 9.99913374e-01 -5.26820005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters 0.033894868872223545 Centerline is valid? [True, True] Translation: X:294.54, Y:-13.27, Z:-5.27 [[ 9.99857235e-01 -1.11393815e-02 1.27052911e-02 2.94538505e+02] [ 1.11474076e-02 9.99937708e-01 -5.61066454e-04 -1.32735292e+01] [-1.26982498e-02 7.02617411e-04 9.99919127e-01 -5.26934492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814391418 meters 0.03832881051928994 Centerline is valid? [True, True] Translation: X:294.57, Y:-13.28, Z:-5.27 [[ 9.99856259e-01 -1.14667929e-02 1.24889346e-02 2.94569075e+02] [ 1.14745873e-02 9.99934012e-01 -5.52620350e-04 -1.32805024e+01] [-1.24817737e-02 6.95846287e-04 9.99921858e-01 -5.27124248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters 0.03342796464731659 Centerline is valid? [True, True] Translation: X:294.60, Y:-13.27, Z:-5.27 [[ 9.99863574e-01 -1.20186516e-02 1.13307204e-02 2.94601491e+02] [ 1.20251075e-02 9.99927570e-01 -5.01810275e-04 -1.32748484e+01] [-1.13238686e-02 6.37994946e-04 9.99935679e-01 -5.27214823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874391418 meters 0.03400909808081365 Centerline is valid? [True, True] Translation: X:294.63, Y:-13.28, Z:-5.27 [[ 9.99867415e-01 -1.25606789e-02 1.03625555e-02 2.94633660e+02] [ 1.25661152e-02 9.99920938e-01 -4.59662491e-04 -1.32759784e+01] [-1.03559625e-02 5.89818613e-04 9.99946202e-01 -5.27360257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters 0.03555620582727982 Centerline is valid? [True, True] Translation: X:294.66, Y:-13.28, Z:-5.27 [[ 9.99864118e-01 -1.31713611e-02 9.91264758e-03 2.94664733e+02] [ 1.31763674e-02 9.99913091e-01 -4.39893993e-04 -1.32785553e+01] [-9.90599208e-03 5.70446906e-04 9.99950772e-01 -5.27468856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934391418 meters 0.03591965525731167 Centerline is valid? [True, True] Translation: X:294.70, Y:-13.28, Z:-5.28 [[ 9.99861576e-01 -1.36040101e-02 9.57915020e-03 2.94696984e+02] [ 1.36087238e-02 9.99907306e-01 -4.27063721e-04 -1.32797770e+01] [-9.57245249e-03 5.57364614e-04 9.99954028e-01 -5.27571536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters 0.03721893341062582 Centerline is valid? [True, True] Translation: X:294.73, Y:-13.28, Z:-5.28 [[ 9.99851559e-01 -1.44803892e-02 9.33695592e-03 2.94728747e+02] [ 1.44849140e-02 9.99895001e-01 -4.17163415e-04 -1.32808763e+01] [-9.32993487e-03 5.52346494e-04 9.99956323e-01 -5.27660612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994391418 meters 0.03768066621691767 Centerline is valid? [True, True] Translation: X:294.76, Y:-13.28, Z:-5.28 [[ 9.99840510e-01 -1.46311709e-02 1.02412467e-02 2.94760658e+02] [ 1.46366283e-02 9.99892774e-01 -4.58137111e-04 -1.32820239e+01] [-1.02334454e-02 6.07961363e-04 9.99947452e-01 -5.27652692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters 0.038143018267257925 Centerline is valid? [True, True] Translation: X:294.79, Y:-13.28, Z:-5.28 [[ 9.99823799e-01 -1.44810393e-02 1.19444339e-02 2.94792771e+02] [ 1.44884667e-02 9.99894893e-01 -5.35526895e-04 -1.32816248e+01] [-1.19354235e-02 7.08489068e-04 9.99928519e-01 -5.27517657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.054391418 meters 0.03889541638377133 Centerline is valid? [True, True] Translation: X:294.82, Y:-13.28, Z:-5.27 [[ 9.99806853e-01 -1.44259098e-02 1.33473038e-02 2.94824964e+02] [ 1.44351961e-02 9.99895627e-01 -5.99656238e-04 -1.32823735e+01] [-1.33372602e-02 7.92211364e-04 9.99910741e-01 -5.27480888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084391418 meters 0.039558455013875816 Centerline is valid? [True, True] Translation: X:294.86, Y:-13.28, Z:-5.27 [[ 9.99800270e-01 -1.39634720e-02 1.42982891e-02 2.94856560e+02] [ 1.39741003e-02 9.99902150e-01 -6.43681150e-04 -1.32829076e+01] [-1.42879019e-02 8.43358312e-04 9.99897567e-01 -5.27446906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.114391418 meters 0.037378368976725175 Centerline is valid? [True, True] Translation: X:294.89, Y:-13.28, Z:-5.27 [[ 9.99799929e-01 -1.27244295e-02 1.54334422e-02 2.94889584e+02] [ 1.27366791e-02 9.99918643e-01 -6.95666198e-04 -1.32781234e+01] [-1.54233347e-02 8.92097817e-04 9.99880655e-01 -5.27353884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144391418 meters 0.035929242753345095 Centerline is valid? [True, True] Translation: X:294.92, Y:-13.28, Z:-5.27 [[ 9.99796618e-01 -1.20300839e-02 1.61863855e-02 2.94922140e+02] [ 1.20434952e-02 9.99927207e-01 -7.31327123e-04 -1.32759314e+01] [-1.61764093e-02 9.26119040e-04 9.99868724e-01 -5.27373776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.174391418 meters 0.036578276005684744 Centerline is valid? [True, True] Translation: X:294.95, Y:-13.28, Z:-5.27 [[ 9.99805088e-01 -1.13900801e-02 1.61261334e-02 2.94953271e+02] [ 1.14033272e-02 9.99934714e-01 -7.29751200e-04 -1.32765420e+01] [-1.61167686e-02 9.13500539e-04 9.99869699e-01 -5.27435296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204391418 meters 0.03578241785129133 Centerline is valid? [True, True] Translation: X:294.99, Y:-13.27, Z:-5.28 [[ 9.99826134e-01 -1.06957948e-02 1.52742231e-02 2.94985288e+02] [ 1.07076365e-02 9.99942431e-01 -6.93699670e-04 -1.32740868e+01] [-1.52659241e-02 8.57129888e-04 9.99883102e-01 -5.27585639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234391418 meters 0.037029689899669885 Centerline is valid? [True, True] Translation: X:295.02, Y:-13.28, Z:-5.28 [[ 9.99836956e-01 -1.03632538e-02 1.47872874e-02 2.95016108e+02] [ 1.03743294e-02 9.99945959e-01 -6.72478005e-04 -1.32757148e+01] [-1.47795192e-02 8.25776552e-04 9.99890436e-01 -5.27732175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264391418 meters 0.036825116430791595 Centerline is valid? [True, True] Translation: X:295.05, Y:-13.28, Z:-5.28 [[ 9.99845257e-01 -1.04465481e-02 1.41538691e-02 2.95048398e+02] [ 1.04567372e-02 9.99945118e-01 -6.46063459e-04 -1.32755817e+01] [-1.41463432e-02 7.93966775e-04 9.99899620e-01 -5.27841736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294391418 meters 0.03701288731564033 Centerline is valid? [True, True] Translation: X:295.08, Y:-13.28, Z:-5.28 [[ 9.99853235e-01 -1.05419639e-02 1.35046472e-02 2.95080148e+02] [ 1.05512618e-02 9.99944143e-01 -6.17429325e-04 -1.32760114e+01] [-1.34973840e-02 7.59829777e-04 9.99908617e-01 -5.27946119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324391418 meters 0.03740872096621017 Centerline is valid? [True, True] Translation: X:295.11, Y:-13.27, Z:-5.28 [[ 9.99879986e-01 -9.86681093e-03 1.19439976e-02 2.95111345e+02] [ 9.87404652e-03 9.99951101e-01 -5.46972962e-04 -1.32747565e+01] [-1.19380167e-02 6.64842906e-04 9.99928518e-01 -5.28146982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354391418 meters 0.0375604522398958 Centerline is valid? [True, True] Translation: X:295.14, Y:-13.27, Z:-5.28 [[ 9.99894820e-01 -8.97662216e-03 1.13916082e-02 2.95142626e+02] [ 8.98315341e-03 9.99959514e-01 -5.22299135e-04 -1.32746023e+01] [-1.13864585e-02 6.24576764e-04 9.99934977e-01 -5.28246859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384391418 meters 0.0375604522398958 Centerline is valid? [True, True] Translation: X:295.18, Y:-13.28, Z:-5.28 [[ 9.99895851e-01 -8.86105696e-03 1.13915956e-02 2.95175170e+02] [ 8.86758386e-03 9.99960546e-01 -5.22574115e-04 -1.32762203e+01] [-1.13865156e-02 6.23535619e-04 9.99934977e-01 -5.28305577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414391418 meters 0.03726154939991519 Centerline is valid? [True, True] Translation: X:295.21, Y:-13.28, Z:-5.28 [[ 9.99911013e-01 -7.44485756e-03 1.10697779e-02 2.95207362e+02] [ 7.45095091e-03 9.99972112e-01 -5.09308609e-04 -1.32756331e+01] [-1.10656774e-02 5.91743659e-04 9.99938598e-01 -5.28378625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444391418 meters 0.03467725773792697 Centerline is valid? [True, True] Translation: X:295.24, Y:-13.27, Z:-5.28 [[ 9.99927878e-01 -2.76689434e-03 1.16868829e-02 2.95238240e+02] [ 2.77338292e-03 9.99996009e-01 -5.39032151e-04 -1.32692946e+01] [-1.16853448e-02 5.71405476e-04 9.99931561e-01 -5.28318454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474391418 meters 0.03183056723433253 Centerline is valid? [True, True] Translation: X:295.27, Y:-13.26, Z:-5.28 [[ 9.99927333e-01 3.22407653e-04 1.20508925e-02 2.95270337e+02] [-3.15732314e-04 9.99999796e-01 -5.55827407e-04 -1.32645081e+01] [-1.20510692e-02 5.51982161e-04 9.99927231e-01 -5.28241620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504391418 meters 0.028541485772274944 Centerline is valid? [True, True] Translation: X:295.30, Y:-13.26, Z:-5.28 [[ 9.99910640e-01 3.65644821e-03 1.28585924e-02 2.95302694e+02] [-3.64911273e-03 9.99993166e-01 -5.93889268e-04 -1.32591793e+01] [-1.28606761e-02 5.46913744e-04 9.99917149e-01 -5.28159426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534391418 meters 0.02965417059617558 Centerline is valid? [True, True] Translation: X:295.33, Y:-13.26, Z:-5.28 [[ 9.99884054e-01 7.19349665e-03 1.34213571e-02 2.95333135e+02] [-7.18580926e-03 9.99973989e-01 -6.20909475e-04 -1.32602264e+01] [-1.34254745e-02 5.24394171e-04 9.99909737e-01 -5.28160037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564391418 meters 0.022046671889408256 Centerline is valid? [True, True] Translation: X:295.36, Y:-13.25, Z:-5.28 [[ 9.99795278e-01 1.42146623e-02 1.43995166e-02 2.95364817e+02] [-1.42065362e-02 9.99898860e-01 -6.66472321e-04 -1.32470499e+01] [-1.44075339e-02 4.61768626e-04 9.99896099e-01 -5.28000990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594391418 meters 0.021139738195041988 Centerline is valid? [True, True] Translation: X:295.40, Y:-13.25, Z:-5.28 [[ 9.99737071e-01 1.76878664e-02 1.45920729e-02 2.95395185e+02] [-1.76798866e-02 9.99843470e-01 -6.75688678e-04 -1.32451910e+01] [-1.46017403e-02 4.17524826e-04 9.99893302e-01 -5.28063395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624391418 meters 0.018590184667202615 Centerline is valid? [True, True] Translation: X:295.43, Y:-13.24, Z:-5.28 [[ 9.99583634e-01 2.52189179e-02 1.40201390e-02 2.95425495e+02] [-2.52122867e-02 9.99681909e-01 -6.49555871e-04 -1.32393297e+01] [-1.40320604e-02 2.95805654e-04 9.99901502e-01 -5.28119385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654391418 meters 0.016875574878321215 Centerline is valid? [True, True] Translation: X:295.46, Y:-13.24, Z:-5.28 [[ 9.99490171e-01 2.90267404e-02 1.32983432e-02 2.95455043e+02] [-2.90211075e-02 9.99578609e-01 -6.16397227e-04 -1.32351981e+01] [-1.33106314e-02 2.30150324e-04 9.99911383e-01 -5.28177776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684391418 meters 0.01586880138191926 Centerline is valid? [True, True] Translation: X:295.48, Y:-13.23, Z:-5.28 [[ 9.99381032e-01 3.28008432e-02 1.27144483e-02 2.95483790e+02] [-3.27960072e-02 9.99461893e-01 -5.88727010e-04 -1.32320157e+01] [-1.27269173e-02 1.71379468e-04 9.99918995e-01 -5.28268524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714391418 meters 0.014688622166836975 Centerline is valid? [True, True] Translation: X:295.51, Y:-13.23, Z:-5.28 [[ 9.99126733e-01 4.04392973e-02 1.05088087e-02 2.95511466e+02] [-4.04364207e-02 9.99181995e-01 -4.86146108e-04 -1.32263908e+01] [-1.05198719e-02 6.07829609e-05 9.99944663e-01 -5.28458944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744391418 meters 0.014598986515878152 Centerline is valid? [True, True] Translation: X:295.54, Y:-13.22, Z:-5.29 [[ 9.99000328e-01 4.37199705e-02 9.32243946e-03 2.95539364e+02] [-4.37178549e-02 9.99043825e-01 -4.30701657e-04 -1.32241272e+01] [-9.33235584e-03 2.27140412e-05 9.99956452e-01 -5.28551747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774391418 meters 0.014621537780004789 Centerline is valid? [True, True] Translation: X:295.57, Y:-13.22, Z:-5.29 [[ 9.98844038e-01 4.72813301e-02 8.66394653e-03 2.95567638e+02] [-4.72796460e-02 9.98881612e-01 -3.99209277e-04 -1.32222218e+01] [-8.67313202e-03 -1.08805184e-05 9.99962388e-01 -5.28629608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.804391418 meters 0.0151676465478431 Centerline is valid? [True, True] Translation: X:295.60, Y:-13.22, Z:-5.29 [[ 9.98594865e-01 5.24358268e-02 7.66683974e-03 2.95596067e+02] [-5.24346639e-02 9.98624295e-01 -3.52741982e-04 -1.32194345e+01] [-7.67478875e-03 -4.97618330e-05 9.99970547e-01 -5.28693264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834391418 meters 0.0156293317189327 Centerline is valid? [True, True] Translation: X:295.62, Y:-13.22, Z:-5.29 [[ 9.98503136e-01 5.41784232e-02 7.49576724e-03 2.95623454e+02] [-5.41773662e-02 9.98531269e-01 -3.44148823e-04 -1.32193385e+01] [-7.50340341e-03 -6.24672477e-05 9.99971847e-01 -5.28784745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.864391418 meters 0.01575034865235661 Centerline is valid? [True, True] Translation: X:295.65, Y:-13.22, Z:-5.29 [[ 9.98449807e-01 5.51613021e-02 7.43059179e-03 2.95652201e+02] [-5.51602976e-02 9.98477454e-01 -3.40216960e-04 -1.32205864e+01] [-7.43804518e-03 -7.01840964e-05 9.99972335e-01 -5.28805861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894391418 meters 0.016001807964615918 Centerline is valid? [True, True] Translation: X:295.68, Y:-13.22, Z:-5.29 [[ 9.98408804e-01 5.57626259e-02 8.38981065e-03 2.95679523e+02] [-5.57613626e-02 9.98444051e-01 -3.84597580e-04 -1.32224288e+01] [-8.39820270e-03 -8.38416638e-05 9.99964731e-01 -5.28820088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.924391418 meters 0.01590047196579531 Centerline is valid? [True, True] Translation: X:295.71, Y:-13.23, Z:-5.29 [[ 9.98433242e-01 5.52786591e-02 8.67933201e-03 2.95708685e+02] [-5.52773175e-02 9.98470962e-01 -3.94577983e-04 -1.32250988e+01] [-8.68787273e-03 -8.58104169e-05 9.99962256e-01 -5.28789756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954391418 meters 0.01571361519614541 Centerline is valid? [True, True] Translation: X:295.74, Y:-13.23, Z:-5.29 [[ 9.98479688e-01 5.43528931e-02 9.16925742e-03 2.95737605e+02] [-5.43513639e-02 9.98521786e-01 -4.16060823e-04 -1.32285000e+01] [-9.17831740e-03 -8.29333661e-05 9.99957875e-01 -5.28779655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters 0.014985916075481824 Centerline is valid? [True, True] Translation: X:295.77, Y:-13.24, Z:-5.29 [[ 9.98674025e-01 5.06544413e-02 9.18259960e-03 2.95765121e+02] [-5.06527563e-02 9.98716239e-01 -4.16123167e-04 -1.32356661e+01] [-9.19188982e-03 -4.95525821e-05 9.99957752e-01 -5.28842457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014391418 meters 0.014676695557064382 Centerline is valid? [True, True] Translation: X:295.79, Y:-13.24, Z:-5.29 [[ 9.98818339e-01 4.77753872e-02 8.91281463e-03 2.95794104e+02] [-4.77736939e-02 9.98858104e-01 -4.02921025e-04 -1.32411213e+01] [-8.92188683e-03 -2.33531685e-05 9.99960199e-01 -5.28887702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters 0.01443711202685711 Centerline is valid? [True, True] Translation: X:295.82, Y:-13.25, Z:-5.29 [[ 9.99166790e-01 3.99929580e-02 8.14178726e-03 2.95821983e+02] [-3.99912901e-02 9.99199961e-01 -3.67613340e-04 -1.32531604e+01] [-8.14997546e-03 4.17064643e-05 9.99966788e-01 -5.28952307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074391418 meters 0.015151228572147398 Centerline is valid? [True, True] Translation: X:295.85, Y:-13.26, Z:-5.29 [[ 9.99363004e-01 3.49140708e-02 7.38870325e-03 2.95849391e+02] [-3.49125581e-02 9.99390315e-01 -3.33658611e-04 -1.32609678e+01] [-7.39584785e-03 7.54875402e-05 9.99972647e-01 -5.29105583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters 0.016066603818470953 Centerline is valid? [True, True] Translation: X:295.88, Y:-13.27, Z:-5.29 [[ 9.99533659e-01 2.97507544e-02 6.88172215e-03 2.95877725e+02] [-2.97493283e-02 9.99557343e-01 -3.09519602e-04 -1.32686538e+01] [-6.88788434e-03 1.04648649e-04 9.99976273e-01 -5.29201575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134391418 meters 0.017985087265184628 Centerline is valid? [True, True] Translation: X:295.91, Y:-13.28, Z:-5.29 [[ 9.99689290e-01 2.42017375e-02 5.96660077e-03 2.95905619e+02] [-2.42005685e-02 9.99707087e-01 -2.68064197e-04 -1.32770443e+01] [-5.97134070e-03 1.23585777e-04 9.99982164e-01 -5.29374100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters 0.020150999731753546 Centerline is valid? [True, True] Translation: X:295.93, Y:-13.29, Z:-5.30 [[ 9.99802178e-01 1.90997664e-02 5.55006018e-03 2.95933939e+02] [-1.90986796e-02 9.99817573e-01 -2.48749408e-04 -1.32852076e+01] [-5.55379875e-03 1.42701379e-04 9.99984567e-01 -5.29541898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194391418 meters 0.02538085812659378 Centerline is valid? [True, True] Translation: X:295.96, Y:-13.30, Z:-5.30 [[ 9.99938139e-01 1.02410257e-02 4.34038136e-03 2.95962127e+02] [-1.02402797e-02 9.99947548e-01 -1.94079470e-04 -1.33001274e+01] [-4.34214127e-03 1.49620745e-04 9.99990562e-01 -5.29790004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters 0.027280373375749217 Centerline is valid? [True, True] Translation: X:295.99, Y:-13.31, Z:-5.30 [[ 9.99974825e-01 6.25529102e-03 3.34963483e-03 2.95992306e+02] [-6.25482565e-03 9.99980427e-01 -1.49388808e-04 -1.33064476e+01] [-3.35050374e-03 1.28433665e-04 9.99994379e-01 -5.29863809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254391418 meters 0.029193380490518343 Centerline is valid? [True, True] Translation: X:296.02, Y:-13.31, Z:-5.30 [[ 9.99995932e-01 -9.71432397e-05 2.85075633e-03 2.96022726e+02] [ 9.75054174e-05 9.99999987e-01 -1.26907509e-04 -1.33143713e+01] [-2.85074397e-03 1.27184957e-04 9.99995929e-01 -5.29847092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters 0.03010687079343278 Centerline is valid? [True, True] Translation: X:296.05, Y:-13.32, Z:-5.30 [[ 9.99993576e-01 -2.36122998e-03 2.69668107e-03 2.96054433e+02] [ 2.36155221e-03 9.99997205e-01 -1.16313701e-04 -1.33188854e+01] [-2.69639888e-03 1.22681307e-04 9.99996357e-01 -5.29871240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314391418 meters 0.03070433393560862 Centerline is valid? [True, True] Translation: X:296.09, Y:-13.32, Z:-5.30 [[ 9.99987698e-01 -4.34262655e-03 2.39702290e-03 2.96086188e+02] [ 4.34288698e-03 9.99990564e-01 -1.03455385e-04 -1.33228433e+01] [-2.39655102e-03 1.13864112e-04 9.99997122e-01 -5.29863378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters 0.03447775852402131 Centerline is valid? [True, True] Translation: X:296.12, Y:-13.33, Z:-5.30 [[ 9.99965224e-01 -7.96485406e-03 2.47212301e-03 2.96115598e+02] [ 7.96515420e-03 9.99968271e-01 -1.11587126e-04 -1.33317341e+01] [-2.47115580e-03 1.31274087e-04 9.99996938e-01 -5.29937151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374391418 meters 0.0348038458326254 Centerline is valid? [True, True] Translation: X:296.15, Y:-13.33, Z:-5.30 [[ 9.99953445e-01 -9.32103938e-03 2.49514802e-03 2.96147821e+02] [ 9.32134626e-03 9.99956549e-01 -1.11389332e-04 -1.33348293e+01] [-2.49400134e-03 1.34642285e-04 9.99996881e-01 -5.29952939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters 0.0357300685544798 Centerline is valid? [True, True] Translation: X:296.18, Y:-13.34, Z:-5.30 [[ 9.99941551e-01 -1.05558836e-02 2.33827522e-03 2.96179788e+02] [ 1.05561567e-02 9.99944277e-01 -1.04484259e-04 -1.33386581e+01] [-2.33704200e-03 1.29161351e-04 9.99997261e-01 -5.29985974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434391418 meters 0.03589629125480231 Centerline is valid? [True, True] Translation: X:296.21, Y:-13.34, Z:-5.30 [[ 9.99918957e-01 -1.25343349e-02 2.22938248e-03 2.96211941e+02] [ 1.25345883e-02 9.99921434e-01 -9.97131798e-05 -1.33426966e+01] [-2.22795748e-03 1.27649490e-04 9.99997510e-01 -5.29995899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters 0.03903333365943426 Centerline is valid? [True, True] Translation: X:296.24, Y:-13.35, Z:-5.30 [[ 9.99907149e-01 -1.35530633e-02 1.41668925e-03 2.96243028e+02] [ 1.35531665e-02 9.99908150e-01 -6.32909464e-05 -1.33493574e+01] [-1.41570134e-03 8.24856951e-05 9.99998994e-01 -5.30173480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494391418 meters 0.03955346882914818 Centerline is valid? [True, True] Translation: X:296.28, Y:-13.35, Z:-5.30 [[ 9.99897730e-01 -1.42444068e-02 1.27538299e-03 2.96275221e+02] [ 1.42444906e-02 9.99898540e-01 -5.66486443e-05 -1.33527912e+01] [-1.27444667e-03 7.48100320e-05 9.99999185e-01 -5.30246941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters 0.036842975749545655 Centerline is valid? [True, True] Translation: X:296.31, Y:-13.35, Z:-5.30 [[ 9.99872256e-01 -1.59834798e-02 -3.14895955e-05 2.96307687e+02] [ 1.59834799e-02 9.99872256e-01 2.89310739e-06 -1.33528880e+01] [ 3.14393308e-05 -3.39605112e-06 9.99999999e-01 -5.30238064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.554391418 meters 0.03644664097306421 Centerline is valid? [True, True] Translation: X:296.34, Y:-13.35, Z:-5.30 [[ 9.99864332e-01 -1.64519158e-02 -8.08105863e-04 2.96340056e+02] [ 1.64519522e-02 9.99864657e-01 3.84019193e-05 -1.33547211e+01] [ 8.07364706e-04 -5.16916284e-05 9.99999673e-01 -5.30320023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584391418 meters 0.04068818794556996 Centerline is valid? [True, True] Translation: X:296.37, Y:-13.36, Z:-5.31 [[ 9.99855049e-01 -1.69432454e-02 -1.67582155e-03 2.96370967e+02] [ 1.69433994e-02 9.99856447e-01 7.77632447e-05 -1.33619906e+01] [ 1.67426342e-03 -1.06146087e-04 9.99998593e-01 -5.30588774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.614391418 meters 0.038923045206062316 Centerline is valid? [True, True] Translation: X:296.40, Y:-13.36, Z:-5.31 [[ 9.99852368e-01 -1.70307352e-02 -2.27934269e-03 2.96402776e+02] [ 1.70310207e-02 9.99854956e-01 1.05890294e-04 -1.33614944e+01] [ 2.27720870e-03 -1.44694194e-04 9.99997397e-01 -5.30604417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644391418 meters 0.03781960380296819 Centerline is valid? [True, True] Translation: X:296.44, Y:-13.36, Z:-5.31 [[ 9.99852188e-01 -1.65381242e-02 -4.70022844e-03 2.96435406e+02] [ 1.65393273e-02 9.99863192e-01 2.17215907e-04 -1.33608351e+01] [ 4.69599307e-03 -2.94922417e-04 9.99988930e-01 -5.30744995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.674391418 meters 0.03956535027959411 Centerline is valid? [True, True] Translation: X:296.47, Y:-13.36, Z:-5.31 [[ 9.99861344e-01 -1.56308601e-02 -5.74182699e-03 2.96465908e+02] [ 1.56326331e-02 9.99877768e-01 2.64042512e-04 -1.33637157e+01] [ 5.73699795e-03 -3.53765776e-04 9.99983481e-01 -5.30975484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704391418 meters 0.03789459216988195 Centerline is valid? [True, True] Translation: X:296.50, Y:-13.36, Z:-5.31 [[ 9.99870178e-01 -1.46231104e-02 -6.76697138e-03 2.96497742e+02] [ 1.46255539e-02 9.99892992e-01 3.11745779e-04 -1.33620442e+01] [ 6.76168856e-03 -4.10676012e-04 9.99977055e-01 -5.31037069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734391418 meters 0.03415117060383132 Centerline is valid? [True, True] Translation: X:296.53, Y:-13.36, Z:-5.31 [[ 9.99917807e-01 -1.07448673e-02 -6.99478864e-03 2.96528462e+02] [ 1.07473784e-02 9.99942194e-01 3.21499780e-04 -1.33561488e+01] [ 6.99092983e-03 -3.96648995e-04 9.99975484e-01 -5.30955601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764391418 meters 0.03150185084343529 Centerline is valid? [True, True] Translation: X:296.56, Y:-13.35, Z:-5.31 [[ 9.99943032e-01 -8.17481369e-03 -6.86339012e-03 2.96558377e+02] [ 8.17716385e-03 9.99966517e-01 3.14426680e-04 -1.33523772e+01] [ 6.86058993e-03 -3.70531833e-04 9.99976397e-01 -5.30870548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794391418 meters 0.029949043673959487 Centerline is valid? [True, True] Translation: X:296.59, Y:-13.35, Z:-5.31 [[ 9.99986292e-01 -1.91870161e-03 -4.87177419e-03 2.96587656e+02] [ 1.91981152e-03 9.99998132e-01 2.23160022e-04 -1.33482355e+01] [ 4.87133691e-03 -2.32509851e-04 9.99988108e-01 -5.30755219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824391418 meters 0.0293171797885 Centerline is valid? [True, True] Translation: X:296.62, Y:-13.35, Z:-5.31 [[ 9.99990863e-01 1.73662377e-03 -3.90604721e-03 2.96616192e+02] [-1.73594187e-03 9.99998477e-01 1.77960108e-04 -1.33469367e+01] [ 3.90635031e-03 -1.71177811e-04 9.99992356e-01 -5.30750934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854391418 meters 0.027421879504529723 Centerline is valid? [True, True] Translation: X:296.65, Y:-13.34, Z:-5.31 [[ 9.99982642e-01 5.22247321e-03 -2.72775313e-03 2.96646099e+02] [-5.22215377e-03 9.99986357e-01 1.24216897e-04 -1.33437966e+01] [ 2.72836464e-03 -1.09969995e-04 9.99996272e-01 -5.30646563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884391418 meters 0.024725497128363437 Centerline is valid? [True, True] Translation: X:296.68, Y:-13.34, Z:-5.31 [[ 9.99957338e-01 9.09552754e-03 -1.61062786e-03 2.96676577e+02] [-9.09542218e-03 9.99958633e-01 7.27304994e-05 -1.33397318e+01] [ 1.61122275e-03 -5.80780562e-05 9.99998700e-01 -5.30524302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914391418 meters 0.021106141928771208 Centerline is valid? [True, True] Translation: X:296.71, Y:-13.33, Z:-5.30 [[ 9.99863336e-01 1.65320342e-02 1.52116122e-05 2.96707307e+02] [-1.65320342e-02 9.99863337e-01 -7.78096288e-07 -1.33332737e+01] [-1.52223970e-05 5.26511060e-07 1.00000000e+00 -5.30432967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944391418 meters 0.0204252354537232 Centerline is valid? [True, True] Translation: X:296.74, Y:-13.33, Z:-5.31 [[ 9.99807514e-01 1.96175096e-02 2.97579897e-04 2.96735402e+02] [-1.96175059e-02 9.99807558e-01 -1.53535281e-05 -1.33325998e+01] [-2.97823828e-04 9.51279737e-06 9.99999956e-01 -5.30534285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974391418 meters 0.019113850117986927 Centerline is valid? [True, True] Translation: X:296.76, Y:-13.33, Z:-5.31 [[ 9.99743326e-01 2.26261950e-02 1.15648820e-03 2.96764854e+02] [-2.26261479e-02 9.99743995e-01 -5.37596878e-05 -1.33309638e+01] [-1.15740851e-03 2.75790160e-05 9.99999330e-01 -5.30553328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004391418 meters 0.01605792875937745 Centerline is valid? [True, True] Translation: X:296.79, Y:-13.33, Z:-5.30 [[ 9.99618250e-01 2.75953117e-02 1.36105912e-03 2.96793607e+02] [-2.75952510e-02 9.99619177e-01 -6.33963604e-05 -1.33261712e+01] [-1.36229024e-03 2.58133908e-05 9.99999072e-01 -5.30446631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034391418 meters 0.01594525212274709 Centerline is valid? [True, True] Translation: X:296.82, Y:-13.33, Z:-5.31 [[ 9.99546825e-01 3.00539922e-02 1.70342321e-03 2.96821496e+02] [-3.00539010e-02 9.99548276e-01 -7.91518786e-05 -1.33267245e+01] [-1.70503257e-03 2.79214965e-05 9.99998546e-01 -5.30628663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064391418 meters 0.014973690701030842 Centerline is valid? [True, True] Translation: X:296.85, Y:-13.33, Z:-5.31 [[ 9.99481737e-01 3.21751146e-02 1.00930897e-03 2.96850927e+02] [-3.21750837e-02 9.99482247e-01 -4.68424702e-05 -1.33254046e+01] [-1.01029356e-03 1.43435927e-05 9.99999490e-01 -5.30638342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094391418 meters 0.013995149363862806 Centerline is valid? [True, True] Translation: X:296.88, Y:-13.32, Z:-5.31 [[ 9.99279287e-01 3.79580038e-02 3.09246939e-04 2.96879947e+02] [-3.79580009e-02 9.99279335e-01 -1.54244245e-05 -1.33228151e+01] [-3.09609556e-04 3.67491232e-06 9.99999952e-01 -5.30833081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124391418 meters 0.0137479840762547 Centerline is valid? [True, True] Translation: X:296.91, Y:-13.32, Z:-5.31 [[ 9.99154416e-01 4.11151105e-02 -4.10344186e-05 2.96907348e+02] [-4.11151105e-02 9.99154416e-01 8.64285124e-08 -1.33219494e+01] [ 4.10032739e-05 1.60077923e-06 9.99999999e-01 -5.30942223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154391418 meters 0.013451626014697021 Centerline is valid? [True, True] Translation: X:296.94, Y:-13.32, Z:-5.31 [[ 9.99014200e-01 4.43911398e-02 2.35417231e-04 2.96936456e+02] [-4.43911382e-02 9.99014227e-01 -1.20199520e-05 -1.33205638e+01] [-2.35718743e-04 1.55766392e-06 9.99999972e-01 -5.30973451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184391418 meters 0.013895083239471124 Centerline is valid? [True, True] Translation: X:296.97, Y:-13.32, Z:-5.31 [[ 9.98674342e-01 5.14435591e-02 1.76619165e-03 2.96965119e+02] [-5.14434964e-02 9.98675903e-01 -8.09193210e-05 -1.33169879e+01] [-1.76801582e-03 -1.00470244e-05 9.99998437e-01 -5.30889486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214391418 meters 0.014703682179349323 Centerline is valid? [True, True] Translation: X:296.99, Y:-13.32, Z:-5.31 [[ 9.98506598e-01 5.45743198e-02 2.49351086e-03 2.96992455e+02] [-5.45742030e-02 9.98509711e-01 -1.14909467e-04 -1.33157405e+01] [-2.49606592e-03 -2.13435071e-05 9.99996885e-01 -5.30928767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244391418 meters 0.01525040844760342 Centerline is valid? [True, True] Translation: X:297.02, Y:-13.32, Z:-5.31 [[ 9.98327792e-01 5.76851699e-02 3.74699963e-03 2.97021672e+02] [-5.76849414e-02 9.98334823e-01 -1.69106072e-04 -1.33153785e+01] [-3.75051512e-03 -4.73221624e-05 9.99992966e-01 -5.30868102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274391418 meters 0.01525040844760342 Centerline is valid? [True, True] Translation: X:297.05, Y:-13.32, Z:-5.31 [[ 9.98334514e-01 5.75687222e-02 3.74698798e-03 2.97049105e+02] [-5.75684919e-02 9.98341545e-01 -1.69368571e-04 -1.33164907e+01] [-3.75052410e-03 -4.66219565e-05 9.99992966e-01 -5.30917651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.304391418 meters 0.016060854251660307 Centerline is valid? [True, True] Translation: X:297.08, Y:-13.32, Z:-5.31 [[ 9.98179184e-01 6.01223954e-02 4.85948298e-03 2.97077326e+02] [-6.01220455e-02 9.98191010e-01 -2.18195042e-04 -1.33158763e+01] [-4.86381064e-03 -7.43643083e-05 9.99988169e-01 -5.30919537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334391418 meters 0.01722008400933289 Centerline is valid? [True, True] Translation: X:297.11, Y:-13.32, Z:-5.31 [[ 9.97952378e-01 6.36298200e-02 6.50360600e-03 2.97105646e+02] [-6.36292756e-02 9.97973562e-01 -2.90797702e-04 -1.33161031e+01] [-6.50893025e-03 -1.23617480e-04 9.99978809e-01 -5.30877801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.364391418 meters 0.017726720978381714 Centerline is valid? [True, True] Translation: X:297.13, Y:-13.32, Z:-5.31 [[ 9.97936608e-01 6.38686420e-02 6.58198673e-03 2.97133112e+02] [-6.38680940e-02 9.97958306e-01 -2.93638446e-04 -1.33178531e+01] [-6.58730262e-03 -1.27346392e-04 9.99978295e-01 -5.30975219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394391418 meters 0.016546819462932506 Centerline is valid? [True, True] Translation: X:297.16, Y:-13.32, Z:-5.31 [[ 9.97991055e-01 6.30111536e-02 6.59155245e-03 2.97161347e+02] [-6.30105907e-02 9.98012815e-01 -2.93242938e-04 -1.33228107e+01] [-6.59693140e-03 -1.22683785e-04 9.99978232e-01 -5.30989184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.424391418 meters 0.014691940558243556 Centerline is valid? [True, True] Translation: X:297.19, Y:-13.33, Z:-5.31 [[ 9.98293082e-01 5.79642354e-02 7.14627571e-03 2.97190135e+02] [-5.79634350e-02 9.98318656e-01 -3.19235230e-04 -1.33326190e+01] [-7.15276458e-03 -9.55323655e-05 9.99974414e-01 -5.31079502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454391418 meters 0.013880174286492188 Centerline is valid? [True, True] Translation: X:297.22, Y:-13.34, Z:-5.31 [[ 9.98510883e-01 5.40063022e-02 7.70299240e-03 2.97218490e+02] [-5.40052874e-02 9.98540592e-01 -3.39845423e-04 -1.33392154e+01] [-7.71010439e-03 -7.66629650e-05 9.99970274e-01 -5.31148302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters 0.012996936559855458 Centerline is valid? [True, True] Translation: X:297.25, Y:-13.35, Z:-5.31 [[ 9.98729017e-01 4.97824572e-02 7.87771997e-03 2.97247403e+02] [-4.97812697e-02 9.98760084e-01 -3.46883497e-04 -1.33462773e+01] [-7.88522097e-03 -4.57202883e-05 9.99968910e-01 -5.31227029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514391418 meters 0.012768873194338184 Centerline is valid? [True, True] Translation: X:297.27, Y:-13.35, Z:-5.31 [[ 9.98959230e-01 4.48224617e-02 8.45008738e-03 2.97274507e+02] [-4.48209230e-02 9.98994968e-01 -3.71475368e-04 -1.33535423e+01] [-8.45824521e-03 -7.65196858e-06 9.99964228e-01 -5.31329000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters 0.013597677266738575 Centerline is valid? [True, True] Translation: X:297.30, Y:-13.37, Z:-5.31 [[ 9.99376512e-01 3.41189598e-02 9.08201384e-03 2.97302861e+02] [-3.41167514e-02 9.99417775e-01 -3.98021468e-04 -1.33678168e+01] [-9.09030614e-03 8.79244981e-05 9.99958678e-01 -5.31390326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574391418 meters 0.015180329612044827 Centerline is valid? [True, True] Translation: X:297.33, Y:-13.38, Z:-5.32 [[ 9.99536386e-01 2.87981628e-02 9.88327233e-03 2.97330556e+02] [-2.87952937e-02 9.99585236e-01 -4.32498573e-04 -1.33766864e+01] [-9.89162827e-03 1.47706330e-04 9.99951066e-01 -5.31537766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters 0.016683722603249566 Centerline is valid? [True, True] Translation: X:297.36, Y:-13.38, Z:-5.32 [[ 9.99663578e-01 2.37966869e-02 1.03174096e-02 2.97360020e+02] [-2.37933140e-02 9.99716798e-01 -4.49554282e-04 -1.33845861e+01] [-1.03251856e-02 2.03917676e-04 9.99946673e-01 -5.31611641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634391418 meters 0.020462042582765443 Centerline is valid? [True, True] Translation: X:297.39, Y:-13.40, Z:-5.32 [[ 9.99824379e-01 1.49235263e-02 1.13357229e-02 2.97389069e+02] [-1.49188922e-02 9.99888585e-01 -4.93266315e-04 -1.33987401e+01] [-1.13418212e-02 3.24063259e-04 9.99935627e-01 -5.31716142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters 0.021207774821303163 Centerline is valid? [True, True] Translation: X:297.42, Y:-13.40, Z:-5.32 [[ 9.99869090e-01 1.14979590e-02 1.13842150e-02 2.97420668e+02] [-1.14930874e-02 9.99933831e-01 -4.93254070e-04 -1.34040774e+01] [-1.13891331e-02 3.62349720e-04 9.99935076e-01 -5.31782755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694391418 meters 0.02399791021551366 Centerline is valid? [True, True] Translation: X:297.45, Y:-13.41, Z:-5.32 [[ 9.99906723e-01 8.14989350e-03 1.09601176e-02 2.97451546e+02] [-8.14514705e-03 9.99966714e-01 -4.77634276e-04 -1.34119781e+01] [-1.09636454e-02 3.88317954e-04 9.99939822e-01 -5.31945280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters 0.026719877745473096 Centerline is valid? [True, True] Translation: X:297.48, Y:-13.42, Z:-5.32 [[ 9.99948851e-01 2.05102368e-03 9.90397302e-03 2.97481974e+02] [-2.04680833e-03 9.99997810e-01 -4.35738881e-04 -1.34217350e+01] [-9.90484504e-03 4.15445059e-04 9.99950860e-01 -5.32187694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754391418 meters 0.028730112960278355 Centerline is valid? [True, True] Translation: X:297.51, Y:-13.43, Z:-5.32 [[ 9.99951509e-01 -7.55591136e-04 9.81876193e-03 2.97513087e+02] [ 7.59862082e-04 9.99999618e-01 -4.31254815e-04 -1.34280258e+01] [-9.81843233e-03 4.38694808e-04 9.99951702e-01 -5.32319478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters 0.0326670822662781 Centerline is valid? [True, True] Translation: X:297.54, Y:-13.44, Z:-5.32 [[ 9.99945180e-01 -3.23723897e-03 9.95776767e-03 2.97543321e+02] [ 3.24177560e-03 9.99994649e-01 -4.39479679e-04 -1.34365188e+01] [-9.95629169e-03 4.71736435e-04 9.99950324e-01 -5.32470565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814391418 meters 0.03293079403372066 Centerline is valid? [True, True] Translation: X:297.57, Y:-13.44, Z:-5.33 [[ 9.99920691e-01 -7.03710589e-03 1.04446268e-02 2.97574394e+02] [ 7.04230853e-03 9.99975096e-01 -4.61421610e-04 -1.34410867e+01] [-1.04411197e-02 5.34939300e-04 9.99945347e-01 -5.32528687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters 0.03419556895509001 Centerline is valid? [True, True] Translation: X:297.61, Y:-13.45, Z:-5.33 [[ 9.99909049e-01 -8.06126123e-03 1.08124511e-02 2.97606543e+02] [ 8.06689834e-03 9.99967348e-01 -4.77841846e-04 -1.34450702e+01] [-1.08082461e-02 5.65021330e-04 9.99941430e-01 -5.32595289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874391418 meters 0.03527438295827102 Centerline is valid? [True, True] Translation: X:297.64, Y:-13.45, Z:-5.33 [[ 9.99898314e-01 -8.83332478e-03 1.11952875e-02 2.97638298e+02] [ 8.83942691e-03 9.99960809e-01 -4.95696764e-04 -1.34482540e+01] [-1.11904701e-02 5.94606284e-04 9.99937208e-01 -5.32632607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters 0.036424265913183256 Centerline is valid? [True, True] Translation: X:297.67, Y:-13.45, Z:-5.33 [[ 9.99894767e-01 -8.83142152e-03 1.15092042e-02 2.97670211e+02] [ 8.83787992e-03 9.99960815e-01 -5.10410116e-04 -1.34510481e+01] [-1.15042456e-02 6.12073368e-04 9.99933637e-01 -5.32642334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934391418 meters 0.036089914659570566 Centerline is valid? [True, True] Translation: X:297.70, Y:-13.45, Z:-5.33 [[ 9.99891665e-01 -8.47588068e-03 1.20340093e-02 2.97702084e+02] [ 8.48293239e-03 9.99963876e-01 -5.35058085e-04 -1.34517813e+01] [-1.20290395e-02 6.37083807e-04 9.99927446e-01 -5.32645874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters 0.036286864039091975 Centerline is valid? [True, True] Translation: X:297.73, Y:-13.45, Z:-5.33 [[ 9.99892672e-01 -7.65468639e-03 1.24919715e-02 2.97733713e+02] [ 7.66223388e-03 9.99970490e-01 -5.56438561e-04 -1.34534346e+01] [-1.24873435e-02 6.52095247e-04 9.99921817e-01 -5.32695321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994391418 meters 0.03567286561835104 Centerline is valid? [True, True] Translation: X:297.77, Y:-13.45, Z:-5.33 [[ 9.99894936e-01 -7.05603202e-03 1.26621018e-02 2.97766179e+02] [ 7.06375111e-03 9.99974892e-01 -5.65001546e-04 -1.34539561e+01] [-1.26577972e-02 6.54384121e-04 9.99919673e-01 -5.32737309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters 0.0315861371423248 Centerline is valid? [True, True] Translation: X:297.80, Y:-13.45, Z:-5.33 [[ 9.99900252e-01 -5.94975405e-03 1.28096037e-02 2.97799058e+02] [ 5.95757465e-03 9.99982090e-01 -5.72453602e-04 -1.34499411e+01] [-1.28059684e-02 6.48710672e-04 9.99917790e-01 -5.32769822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.054391418 meters 0.03633505496746925 Centerline is valid? [True, True] Translation: X:297.83, Y:-13.46, Z:-5.33 [[ 9.99904024e-01 -5.69213857e-03 1.26309781e-02 2.97830393e+02] [ 5.69973112e-03 9.99983597e-01 -5.65188111e-04 -1.34572894e+01] [-1.26275538e-02 6.37127045e-04 9.99920066e-01 -5.32927608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084391418 meters 0.031013176811586378 Centerline is valid? [True, True] Translation: X:297.86, Y:-13.45, Z:-5.33 [[ 9.99905081e-01 -5.43061771e-03 1.26624391e-02 2.97862840e+02] [ 5.43826748e-03 9.99985050e-01 -5.69776723e-04 -1.34513397e+01] [-1.26591556e-02 6.38584372e-04 9.99919666e-01 -5.32918928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.114391418 meters 0.03232421722064419 Centerline is valid? [True, True] Translation: X:297.89, Y:-13.45, Z:-5.33 [[ 9.99918492e-01 -5.53694401e-03 1.15044607e-02 2.97894090e+02] [ 5.54326928e-03 9.99984502e-01 -5.17995242e-04 -1.34534623e+01] [-1.15014143e-02 5.81725344e-04 9.99933687e-01 -5.33091029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144391418 meters 0.0315500949016247 Centerline is valid? [True, True] Translation: X:297.93, Y:-13.45, Z:-5.33 [[ 9.99917850e-01 -5.38877963e-03 1.16298889e-02 2.97927586e+02] [ 5.39525745e-03 9.99985307e-01 -5.25695348e-04 -1.34533759e+01] [-1.16268851e-02 5.88398406e-04 9.99932232e-01 -5.33165840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.174391418 meters 0.03153110354766487 Centerline is valid? [True, True] Translation: X:297.96, Y:-13.45, Z:-5.33 [[ 9.99920323e-01 -5.17719525e-03 1.15127964e-02 2.97960287e+02] [ 5.18354519e-03 9.99986429e-01 -5.21783586e-04 -1.34545608e+01] [-1.15099388e-02 5.81419112e-04 9.99933589e-01 -5.33238610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204391418 meters 0.03248497495392168 Centerline is valid? [True, True] Translation: X:297.99, Y:-13.46, Z:-5.33 [[ 9.99913336e-01 -4.96303757e-03 1.21937774e-02 2.97990951e+02] [ 4.97016910e-03 9.99987495e-01 -5.54615067e-04 -1.34564719e+01] [-1.21908724e-02 6.15172137e-04 9.99925499e-01 -5.33302994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234391418 meters 0.031828492518467595 Centerline is valid? [True, True] Translation: X:298.02, Y:-13.46, Z:-5.33 [[ 9.99912522e-01 -3.00736159e-03 1.28803426e-02 2.98022783e+02] [ 3.01516643e-03 9.99995282e-01 -5.86573232e-04 -1.34551508e+01] [-1.28785178e-02 6.25358297e-04 9.99916873e-01 -5.33308740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264391418 meters 0.0316422752288328 Centerline is valid? [True, True] Translation: X:298.05, Y:-13.45, Z:-5.33 [[ 9.99914829e-01 -1.56796925e-03 1.29566818e-02 2.98054915e+02] [ 1.57576004e-03 9.99998584e-01 -5.91108577e-04 -1.34549467e+01] [-1.29557366e-02 6.11474853e-04 9.99915884e-01 -5.33328597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294391418 meters 0.031603231437119954 Centerline is valid? [True, True] Translation: X:298.09, Y:-13.45, Z:-5.33 [[ 9.99911054e-01 5.04063905e-04 1.33278151e-02 2.98085613e+02] [-4.95987111e-04 9.99999691e-01 -6.09308823e-04 -1.34548278e+01] [-1.33281182e-02 6.02644203e-04 9.99910995e-01 -5.33334442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324391418 meters 0.02823603545665961 Centerline is valid? [True, True] Translation: X:298.12, Y:-13.45, Z:-5.33 [[ 9.99881905e-01 5.32124919e-03 1.44173678e-02 2.98116675e+02] [-5.31228758e-03 9.99985672e-01 -6.59809849e-04 -1.34482727e+01] [-1.44206723e-02 5.83142725e-04 9.99895847e-01 -5.33261878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354391418 meters 0.02713323833245025 Centerline is valid? [True, True] Translation: X:298.15, Y:-13.45, Z:-5.33 [[ 9.99854882e-01 7.85706617e-03 1.51155795e-02 2.98147858e+02] [-7.84750094e-03 9.99968968e-01 -6.92015962e-04 -1.34466580e+01] [-1.51205477e-02 5.73296014e-04 9.99885514e-01 -5.33262084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384391418 meters 0.026211136933902222 Centerline is valid? [True, True] Translation: X:298.18, Y:-13.45, Z:-5.33 [[ 9.99826705e-01 1.05515875e-02 1.53370289e-02 2.98178920e+02] [-1.05420472e-02 9.99944184e-01 -7.02757679e-04 -1.34454961e+01] [-1.53435881e-02 5.40952212e-04 9.99882134e-01 -5.33312467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414391418 meters 0.024648403392836738 Centerline is valid? [True, True] Translation: X:298.21, Y:-13.44, Z:-5.33 [[ 9.99788578e-01 1.30226051e-02 1.59126252e-02 2.98211708e+02] [-1.30126396e-02 9.99915066e-01 -7.29647182e-04 -1.34434815e+01] [-1.59207755e-02 5.22427663e-04 9.99873120e-01 -5.33302093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444391418 meters 0.02290592760443815 Centerline is valid? [True, True] Translation: X:298.24, Y:-13.44, Z:-5.33 [[ 9.99709835e-01 1.72262404e-02 1.68375027e-02 2.98242578e+02] [-1.72156484e-02 9.99851500e-01 -7.73824017e-04 -1.34392806e+01] [-1.68483325e-02 4.83730953e-04 9.99857940e-01 -5.33268769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474391418 meters 0.022234041641586304 Centerline is valid? [True, True] Translation: X:298.28, Y:-13.44, Z:-5.33 [[ 9.99673949e-01 1.89242457e-02 1.71425999e-02 2.98275392e+02] [-1.89135052e-02 9.99820813e-01 -7.88458829e-04 -1.34383885e+01] [-1.71544491e-02 4.63975099e-04 9.99852744e-01 -5.33264035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504391418 meters 0.021838145383106827 Centerline is valid? [True, True] Translation: X:298.31, Y:-13.44, Z:-5.33 [[ 9.99632264e-01 2.04176160e-02 1.78454065e-02 2.98306738e+02] [-2.04061837e-02 9.99791434e-01 -8.22504757e-04 -1.34383003e+01] [-1.78584781e-02 4.58045650e-04 9.99840420e-01 -5.33248258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534391418 meters 0.02222169663041034 Centerline is valid? [True, True] Translation: X:298.34, Y:-13.44, Z:-5.33 [[ 9.99604325e-01 2.14605707e-02 1.81834339e-02 2.98337942e+02] [-2.14487921e-02 9.99769593e-01 -8.42562943e-04 -1.34392535e+01] [-1.81973262e-02 4.52216868e-04 9.99834313e-01 -5.33275303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564391418 meters 0.021840511397029163 Centerline is valid? [True, True] Translation: X:298.37, Y:-13.44, Z:-5.33 [[ 9.99597563e-01 2.19013730e-02 1.80288944e-02 2.98370508e+02] [-2.18897884e-02 9.99760037e-01 -8.39668281e-04 -1.34386160e+01] [-1.80429580e-02 4.44681685e-04 9.99837114e-01 -5.33312679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594391418 meters 0.02008600458335082 Centerline is valid? [True, True] Translation: X:298.40, Y:-13.44, Z:-5.33 [[ 9.99599259e-01 2.18408330e-02 1.80083386e-02 2.98402964e+02] [-2.18291819e-02 9.99761359e-01 -8.43322594e-04 -1.34367191e+01] [-1.80224599e-02 4.49877340e-04 9.99837481e-01 -5.33382105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624391418 meters 0.020218505389435114 Centerline is valid? [True, True] Translation: X:298.43, Y:-13.44, Z:-5.33 [[ 9.99631704e-01 2.06972450e-02 1.75522130e-02 2.98434851e+02] [-2.06859177e-02 9.99785682e-01 -8.26676198e-04 -1.34373794e+01] [-1.75655611e-02 4.63288104e-04 9.99845606e-01 -5.33463338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654391418 meters 0.02045912191120577 Centerline is valid? [True, True] Translation: X:298.47, Y:-13.44, Z:-5.34 [[ 9.99638849e-01 2.01464915e-02 1.77845506e-02 2.98466956e+02] [-2.01346855e-02 9.99796922e-01 -8.42660377e-04 -1.34390430e+01] [-1.77979156e-02 4.84269715e-04 9.99841487e-01 -5.33521990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684391418 meters 0.02104655361509863 Centerline is valid? [True, True] Translation: X:298.50, Y:-13.44, Z:-5.34 [[ 9.99650703e-01 1.95367098e-02 1.77985649e-02 2.98498956e+02] [-1.95246992e-02 9.99809015e-01 -8.48343646e-04 -1.34415351e+01] [-1.78117394e-02 5.00535696e-04 9.99841233e-01 -5.33587960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714391418 meters 0.021601383322623104 Centerline is valid? [True, True] Translation: X:298.53, Y:-13.44, Z:-5.34 [[ 9.99665108e-01 1.87257329e-02 1.78611015e-02 2.98531147e+02] [-1.87134186e-02 9.99824522e-01 -8.56351750e-04 -1.34439251e+01] [-1.78740031e-02 5.21822696e-04 9.99840111e-01 -5.33652697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744391418 meters 0.02322163869373015 Centerline is valid? [True, True] Translation: X:298.56, Y:-13.45, Z:-5.34 [[ 9.99693376e-01 1.68193932e-02 1.81731041e-02 2.98562590e+02] [-1.68062357e-02 9.99858381e-01 -8.76499197e-04 -1.34486296e+01] [-1.81852726e-02 5.70808971e-04 9.99834471e-01 -5.33722063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774391418 meters 0.024054922993666166 Centerline is valid? [True, True] Translation: X:298.59, Y:-13.45, Z:-5.34 [[ 9.99704186e-01 1.60962040e-02 1.82332999e-02 2.98593373e+02] [-1.60827528e-02 9.99870273e-01 -8.84133729e-04 -1.34515939e+01] [-1.82451658e-02 5.90630535e-04 9.99833369e-01 -5.33794901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.804391418 meters 0.02294224531819176 Centerline is valid? [True, True] Translation: X:298.63, Y:-13.45, Z:-5.34 [[ 9.99719814e-01 1.53227010e-02 1.80418524e-02 2.98625940e+02] [-1.53093231e-02 9.99882419e-01 -8.79381926e-04 -1.34518594e+01] [-1.80532055e-02 6.02926988e-04 9.99836846e-01 -5.33863027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834391418 meters 0.024215662503099 Centerline is valid? [True, True] Translation: X:298.66, Y:-13.46, Z:-5.34 [[ 9.99744093e-01 1.42921041e-02 1.75352332e-02 2.98656900e+02] [-1.42792227e-02 9.99897677e-01 -8.59593175e-04 -1.34552366e+01] [-1.75457243e-02 6.08983699e-04 9.99845876e-01 -5.33947972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.864391418 meters 0.026232680186534012 Centerline is valid? [True, True] Translation: X:298.69, Y:-13.46, Z:-5.34 [[ 9.99777460e-01 1.19886484e-02 1.73580654e-02 2.98688003e+02] [-1.19756339e-02 9.99927925e-01 -8.53523428e-04 -1.34601969e+01] [-1.73670469e-02 6.45459649e-04 9.99848973e-01 -5.34008962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894391418 meters 0.02702435346234609 Centerline is valid? [True, True] Translation: X:298.72, Y:-13.46, Z:-5.34 [[ 9.99793399e-01 1.10127539e-02 1.70844733e-02 2.98719797e+02] [-1.09999651e-02 9.99939144e-01 -8.42357306e-04 -1.34634163e+01] [-1.70927103e-02 6.54254665e-04 9.99853695e-01 -5.34089431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.924391418 meters 0.027816899882161652 Centerline is valid? [True, True] Translation: X:298.75, Y:-13.47, Z:-5.34 [[ 9.99801639e-01 1.02709507e-02 1.70642934e-02 2.98752342e+02] [-1.02580049e-02 9.99947027e-01 -8.46008026e-04 -1.34664717e+01] [-1.70720787e-02 6.70794607e-04 9.99854036e-01 -5.34158015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954391418 meters 0.02841955633577319 Centerline is valid? [True, True] Translation: X:298.78, Y:-13.47, Z:-5.34 [[ 9.99823147e-01 9.49936893e-03 1.62307203e-02 2.98783975e+02] [-9.48748427e-03 9.99954665e-01 -8.09077253e-04 -1.34691183e+01] [-1.62376702e-02 6.54945463e-04 9.99867946e-01 -5.34296157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters 0.02784174075389572 Centerline is valid? [True, True] Translation: X:298.82, Y:-13.47, Z:-5.34 [[ 9.99826307e-01 9.93568138e-03 1.57682653e-02 2.98816916e+02] [-9.92448915e-03 9.99950441e-01 -7.87888582e-04 -1.34699641e+01] [-1.57753121e-02 6.31259753e-04 9.99875363e-01 -5.34376130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014391418 meters 0.02923731230049949 Centerline is valid? [True, True] Translation: X:298.85, Y:-13.47, Z:-5.34 [[ 9.99824287e-01 1.06410563e-02 1.54325015e-02 2.98848092e+02] [-1.06303443e-02 9.99943195e-01 -7.75988516e-04 -1.34730148e+01] [-1.54398822e-02 6.11799360e-04 9.99880611e-01 -5.34494409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters 0.028919973041033088 Centerline is valid? [True, True] Translation: X:298.88, Y:-13.47, Z:-5.35 [[ 9.99818436e-01 1.20246379e-02 1.47818248e-02 2.98879381e+02] [-1.20149041e-02 9.99927539e-01 -7.47133063e-04 -1.34740582e+01] [-1.47897377e-02 5.69395204e-04 9.99890464e-01 -5.34629891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074391418 meters 0.023573889199867252 Centerline is valid? [True, True] Translation: X:298.91, Y:-13.47, Z:-5.35 [[ 9.99779537e-01 1.59082930e-02 1.37041427e-02 2.98911056e+02] [-1.59002589e-02 9.99873341e-01 -6.95013177e-04 -1.34671189e+01] [-1.37134634e-02 4.76960536e-04 9.99905852e-01 -5.34719050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters 0.02267481876723344 Centerline is valid? [True, True] Translation: X:298.94, Y:-13.47, Z:-5.35 [[ 9.99732973e-01 1.88597650e-02 1.33525909e-02 2.98943630e+02] [-1.88524087e-02 9.99822049e-01 -6.76594735e-04 -1.34670623e+01] [-1.33629752e-02 4.24685565e-04 9.99910621e-01 -5.34811706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134391418 meters 0.021802251801110457 Centerline is valid? [True, True] Translation: X:298.97, Y:-13.47, Z:-5.35 [[ 9.99672823e-01 2.19112306e-02 1.31963850e-02 2.98974433e+02] [-2.19042476e-02 9.99759846e-01 -6.73479206e-04 -1.34663574e+01] [-1.32079726e-02 3.84201975e-04 9.99912697e-01 -5.34901574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters 0.01897555878051703 Centerline is valid? [True, True] Translation: X:299.00, Y:-13.46, Z:-5.35 [[ 9.99511061e-01 2.86268295e-02 1.25755308e-02 2.99004824e+02] [-2.86210092e-02 9.99590128e-01 -6.42586807e-04 -1.34606119e+01] [-1.25887717e-02 2.82348237e-04 9.99920718e-01 -5.34873001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194391418 meters 0.01897555878051703 Centerline is valid? [True, True] Translation: X:299.03, Y:-13.46, Z:-5.35 [[ 9.99512182e-01 2.85876437e-02 1.25755380e-02 2.99033944e+02] [-2.85818221e-02 9.99591250e-01 -6.42446408e-04 -1.34620599e+01] [-1.25887638e-02 2.82701221e-04 9.99920718e-01 -5.34925578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters 0.01789297992245682 Centerline is valid? [True, True] Translation: X:299.06, Y:-13.46, Z:-5.35 [[ 9.99412903e-01 3.18056658e-02 1.27377149e-02 2.99062960e+02] [-3.17999581e-02 9.99494042e-01 -6.50426636e-04 -1.34599275e+01] [-1.27519574e-02 2.44985972e-04 9.99918660e-01 -5.34963263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254391418 meters 0.01660061489447007 Centerline is valid? [True, True] Translation: X:299.09, Y:-13.46, Z:-5.35 [[ 9.99324440e-01 3.46210191e-02 1.23308225e-02 2.99091588e+02] [-3.46158958e-02 9.99400493e-01 -6.28737768e-04 -1.34574678e+01] [-1.23451976e-02 2.01470552e-04 9.99923775e-01 -5.34978482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters 0.015459181679741058 Centerline is valid? [True, True] Translation: X:299.12, Y:-13.45, Z:-5.35 [[ 9.99157890e-01 3.93326265e-02 1.16813927e-02 2.99120884e+02] [-3.93283606e-02 9.99226164e-01 -5.94765264e-04 -1.34541717e+01] [-1.16957469e-02 1.34854382e-04 9.99931593e-01 -5.35071127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314391418 meters 0.015171384818063759 Centerline is valid? [True, True] Translation: X:299.15, Y:-13.45, Z:-5.35 [[ 9.99115371e-01 4.04347519e-02 1.15545201e-02 2.99149721e+02] [-4.04306623e-02 9.99182174e-01 -5.87404378e-04 -1.34544181e+01] [-1.15688221e-02 1.19727842e-04 9.99933072e-01 -5.35144121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters 0.015130342643404326 Centerline is valid? [True, True] Translation: X:299.18, Y:-13.46, Z:-5.35 [[ 9.99105437e-01 4.07656561e-02 1.12466761e-02 2.99177869e+02] [-4.07618106e-02 9.99168729e-01 -5.71035364e-04 -1.34558997e+01] [-1.12606057e-02 1.12089656e-04 9.99936591e-01 -5.35272350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374391418 meters 0.01573363903998493 Centerline is valid? [True, True] Translation: X:299.21, Y:-13.46, Z:-5.35 [[ 9.99184014e-01 3.87707913e-02 1.13195638e-02 2.99205317e+02] [-3.87667805e-02 9.99248121e-01 -5.73605485e-04 -1.34584516e+01] [-1.13332920e-02 1.34314387e-04 9.99935767e-01 -5.35297542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters 0.016184395890390096 Centerline is valid? [True, True] Translation: X:299.23, Y:-13.46, Z:-5.35 [[ 9.99253640e-01 3.69191748e-02 1.13638450e-02 2.99234060e+02] [-3.69150267e-02 9.99318243e-01 -5.74633016e-04 -1.34609886e+01] [-1.13773126e-02 1.54707492e-04 9.99935264e-01 -5.35337904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434391418 meters 0.0163161884971435 Centerline is valid? [True, True] Translation: X:299.26, Y:-13.46, Z:-5.35 [[ 9.99342534e-01 3.45566376e-02 1.09698911e-02 2.99262402e+02] [-3.45526381e-02 9.99402726e-01 -5.53963244e-04 -1.34627227e+01] [-1.09824822e-02 1.74560355e-04 9.99939675e-01 -5.35353376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters 0.019188298728748696 Centerline is valid? [True, True] Translation: X:299.29, Y:-13.47, Z:-5.36 [[ 9.99535854e-01 2.87550052e-02 1.00611369e-02 2.99290268e+02] [-2.87513574e-02 9.99586466e-01 -5.07052622e-04 -1.34702522e+01] [-1.00715566e-02 2.17545933e-04 9.99949257e-01 -5.35520860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494391418 meters 0.019898646824550188 Centerline is valid? [True, True] Translation: X:299.32, Y:-13.47, Z:-5.36 [[ 9.99629439e-01 2.54613001e-02 9.62844855e-03 2.99320069e+02] [-2.54578094e-02 9.99675780e-01 -4.84946882e-04 -1.34734270e+01] [-9.63767419e-03 2.39647971e-04 9.99953528e-01 -5.35571601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters 0.023558148305783042 Centerline is valid? [True, True] Translation: X:299.35, Y:-13.48, Z:-5.36 [[ 9.99708435e-01 2.22357121e-02 9.41372529e-03 2.99348573e+02] [-2.22322342e-02 9.99752721e-01 -4.73944318e-04 -1.34812641e+01] [-9.42193596e-03 2.64517986e-04 9.99955578e-01 -5.35755296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.554391418 meters 0.023627305727465207 Centerline is valid? [True, True] Translation: X:299.38, Y:-13.48, Z:-5.36 [[ 9.99829279e-01 1.59945085e-02 9.25138918e-03 2.99378277e+02] [-1.59908906e-02 9.99872029e-01 -4.64912042e-04 -1.34836094e+01] [-9.25764132e-03 3.16894720e-04 9.99957097e-01 -5.35645804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584391418 meters 0.02526171375111035 Centerline is valid? [True, True] Translation: X:299.41, Y:-13.49, Z:-5.36 [[ 9.99862437e-01 1.34855371e-02 9.65646403e-03 2.99407441e+02] [-1.34814805e-02 9.99909003e-01 -4.85059245e-04 -1.34874793e+01] [-9.66212660e-03 3.54809087e-04 9.99953258e-01 -5.35667095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.614391418 meters 0.025103659556491284 Centerline is valid? [True, True] Translation: X:299.44, Y:-13.49, Z:-5.36 [[ 9.99890385e-01 1.13426234e-02 9.51646561e-03 2.99438660e+02] [-1.13385933e-02 9.99935602e-01 -4.77332158e-04 -1.34886599e+01] [-9.52126697e-03 3.69376502e-04 9.99954603e-01 -5.35661194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644391418 meters 0.025541450118326987 Centerline is valid? [True, True] Translation: X:299.47, Y:-13.49, Z:-5.36 [[ 9.99901124e-01 1.00107973e-02 9.87558323e-03 2.99470077e+02] [-1.00063882e-02 9.99949812e-01 -4.95771832e-04 -1.34906466e+01] [-9.88005066e-03 3.96903892e-04 9.99951112e-01 -5.35679449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.674391418 meters 0.025697701420875838 Centerline is valid? [True, True] Translation: X:299.50, Y:-13.49, Z:-5.36 [[ 9.99909092e-01 9.09482440e-03 9.95448747e-03 2.99501817e+02] [-9.09031336e-03 9.99958558e-01 -4.98319254e-04 -1.34922990e+01] [-9.95860706e-03 4.07784542e-04 9.99950329e-01 -5.35701476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704391418 meters 0.02679848054383365 Centerline is valid? [True, True] Translation: X:299.53, Y:-13.50, Z:-5.36 [[ 9.99909316e-01 9.16095329e-03 9.87097052e-03 2.99533700e+02] [-9.15649010e-03 9.99957955e-01 -4.97251245e-04 -1.34952202e+01] [-9.87511079e-03 4.06822709e-04 9.99951157e-01 -5.35804252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734391418 meters 0.026055490046851978 Centerline is valid? [True, True] Translation: X:299.57, Y:-13.50, Z:-5.36 [[ 9.99903809e-01 9.89302359e-03 9.72117797e-03 2.99566221e+02] [-9.88871699e-03 9.99950985e-01 -4.90979674e-04 -1.34955944e+01] [-9.72555875e-03 3.94802468e-04 9.99952628e-01 -5.35849831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764391418 meters 0.024534286671852205 Centerline is valid? [True, True] Translation: X:299.60, Y:-13.49, Z:-5.36 [[ 9.99881935e-01 1.22021046e-02 9.33944180e-03 2.99598498e+02] [-1.21982076e-02 9.99925487e-01 -4.74119735e-04 -1.34939693e+01] [-9.34453115e-03 3.60139309e-04 9.99956274e-01 -5.35881081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794391418 meters 0.024771677951901768 Centerline is valid? [True, True] Translation: X:299.63, Y:-13.49, Z:-5.36 [[ 9.99865389e-01 1.35317596e-02 9.27880089e-03 2.99628594e+02] [-1.35279313e-02 9.99908380e-01 -4.75235714e-04 -1.34947198e+01] [-9.28438154e-03 3.49648761e-04 9.99956838e-01 -5.35913791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824391418 meters 0.024420846605000785 Centerline is valid? [True, True] Translation: X:299.66, Y:-13.49, Z:-5.36 [[ 9.99845977e-01 1.50962281e-02 8.95137762e-03 2.99659541e+02] [-1.50927136e-02 9.99885993e-01 -4.60043928e-04 -1.34946597e+01] [-8.95730203e-03 3.24872491e-04 9.99959830e-01 -5.35964361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854391418 meters 0.023293719689874204 Centerline is valid? [True, True] Translation: X:299.69, Y:-13.49, Z:-5.36 [[ 9.99821547e-01 1.68705626e-02 8.50048601e-03 2.99689901e+02] [-1.68674498e-02 9.99857639e-01 -4.37748803e-04 -1.34930648e+01] [-8.50666094e-03 2.94289164e-04 9.99963774e-01 -5.35999713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884391418 meters 0.022027174693167763 Centerline is valid? [True, True] Translation: X:299.72, Y:-13.49, Z:-5.36 [[ 9.99755722e-01 2.07104394e-02 7.71846161e-03 2.99719836e+02] [-2.07079943e-02 9.99785488e-01 -3.96573562e-04 -1.34901478e+01] [-7.72501912e-03 2.36642829e-04 9.99970134e-01 -5.36100316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914391418 meters 0.02114243993852165 Centerline is valid? [True, True] Translation: X:299.75, Y:-13.49, Z:-5.36 [[ 9.99719423e-01 2.24744942e-02 7.48146958e-03 2.99748434e+02] [-2.24722327e-02 9.99747393e-01 -3.86206746e-04 -1.34890833e+01] [-7.48825951e-03 2.17973060e-04 9.99971939e-01 -5.36144469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944391418 meters 0.020796453376243428 Centerline is valid? [True, True] Translation: X:299.78, Y:-13.49, Z:-5.36 [[ 9.99682609e-01 2.41175453e-02 7.28181238e-03 2.99776381e+02] [-2.41154490e-02 9.99709110e-01 -3.75562407e-04 -1.34888019e+01] [-7.28875182e-03 1.99839031e-04 9.99973417e-01 -5.36247506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974391418 meters 0.02029416409422858 Centerline is valid? [True, True] Translation: X:299.81, Y:-13.49, Z:-5.36 [[ 9.99643193e-01 2.56856755e-02 7.33029137e-03 2.99805264e+02] [-2.56836003e-02 9.99670051e-01 -3.77105232e-04 -1.34884670e+01] [-7.33755895e-03 1.88702405e-04 9.99973062e-01 -5.36329465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004391418 meters 0.018611545875633607 Centerline is valid? [True, True] Translation: X:299.83, Y:-13.49, Z:-5.36 [[ 9.99574952e-01 2.84775863e-02 6.24034017e-03 2.99834544e+02] [-2.84761384e-02 9.99594421e-01 -3.20775254e-04 -1.34850153e+01] [-6.24694413e-03 1.42938119e-04 9.99980477e-01 -5.36408568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034391418 meters 0.018303695846234386 Centerline is valid? [True, True] Translation: X:299.86, Y:-13.48, Z:-5.37 [[ 9.99544436e-01 2.96587348e-02 5.59291062e-03 2.99861985e+02] [-2.96575902e-02 9.99560076e-01 -2.87495989e-04 -1.34846373e+01] [-5.59897693e-03 1.21492765e-04 9.99984318e-01 -5.36517461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064391418 meters 0.017981174110418753 Centerline is valid? [True, True] Translation: X:299.89, Y:-13.48, Z:-5.37 [[ 9.99516549e-01 3.06399301e-02 5.27859479e-03 2.99890907e+02] [-3.06389282e-02 9.99530481e-01 -2.70578747e-04 -1.34841652e+01] [-5.28440691e-03 1.08717448e-04 9.99986032e-01 -5.36616168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094391418 meters 0.0169880010388104 Centerline is valid? [True, True] Translation: X:299.92, Y:-13.48, Z:-5.37 [[ 9.99445242e-01 3.30180228e-02 4.36099768e-03 2.99919971e+02] [-3.30173619e-02 9.99454753e-01 -2.23454576e-04 -1.34815495e+01] [-4.36599789e-03 7.93419740e-05 9.99990466e-01 -5.36703189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124391418 meters 0.016575195855696185 Centerline is valid? [True, True] Translation: X:299.95, Y:-13.48, Z:-5.37 [[ 9.99416512e-01 3.39088650e-02 4.10181140e-03 2.99949177e+02] [-3.39082889e-02 9.99424927e-01 -2.09949559e-04 -1.34808317e+01] [-4.10657170e-03 7.07416505e-05 9.99991565e-01 -5.36720598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154391418 meters 0.01651429199192391 Centerline is valid? [True, True] Translation: X:299.98, Y:-13.48, Z:-5.37 [[ 9.99368528e-01 3.53106350e-02 3.96297084e-03 2.99976709e+02] [-3.53101082e-02 9.99376383e-01 -2.02841505e-04 -1.34811049e+01] [-3.96766193e-03 6.27804875e-05 9.99992127e-01 -5.36815395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184391418 meters 0.015031350192623241 Centerline is valid? [True, True] Translation: X:300.01, Y:-13.48, Z:-5.37 [[ 9.99268712e-01 3.80209287e-02 4.05586691e-03 3.00005617e+02] [-3.80204020e-02 9.99276942e-01 -2.06923007e-04 -1.34776832e+01] [-4.06080168e-03 5.25659966e-05 9.99991754e-01 -5.36666072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214391418 meters 0.01480857371162713 Centerline is valid? [True, True] Translation: X:300.03, Y:-13.48, Z:-5.37 [[ 9.99207303e-01 3.96073351e-02 4.00319131e-03 3.00033449e+02] [-3.96068348e-02 9.99215321e-01 -2.04197213e-04 -1.34774879e+01] [-4.00813780e-03 4.54816091e-05 9.99991966e-01 -5.36723716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244391418 meters 0.014606189420080996 Centerline is valid? [True, True] Translation: X:300.06, Y:-13.48, Z:-5.37 [[ 9.99147845e-01 4.10393702e-02 4.39926608e-03 3.00062431e+02] [-4.10387839e-02 9.99157529e-01 -2.23487310e-04 -1.34770482e+01] [-4.40473160e-03 4.27563343e-05 9.99990298e-01 -5.36751256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274391418 meters 0.013969104918360963 Centerline is valid? [True, True] Translation: X:300.09, Y:-13.47, Z:-5.37 [[ 9.98997962e-01 4.44966702e-02 4.80805181e-03 3.00091418e+02] [-4.44960124e-02 9.99009532e-01 -2.43743484e-04 -1.34747753e+01] [-4.81413536e-03 2.95601107e-05 9.99988412e-01 -5.36723204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.304391418 meters 0.013982295095583535 Centerline is valid? [True, True] Translation: X:300.12, Y:-13.47, Z:-5.37 [[ 9.98905761e-01 4.64723343e-02 5.25393168e-03 3.00118996e+02] [-4.64715778e-02 9.98919577e-01 -2.66030660e-04 -1.34748162e+01] [-5.26061828e-03 2.15810638e-05 9.99986163e-01 -5.36903483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334391418 meters 0.013883212518420276 Centerline is valid? [True, True] Translation: X:300.15, Y:-13.47, Z:-5.37 [[ 9.98728160e-01 5.00954398e-02 5.70177647e-03 3.00147391e+02] [-5.00946127e-02 9.98744435e-01 -2.87879716e-04 -1.34729309e+01] [-5.70903898e-03 1.88529540e-06 9.99983703e-01 -5.36956928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.364391418 meters 0.01375923812737693 Centerline is valid? [True, True] Translation: X:300.18, Y:-13.47, Z:-5.37 [[ 9.98635821e-01 5.18836784e-02 5.88052498e-03 3.00175020e+02] [-5.18828313e-02 9.98653135e-01 -2.96610730e-04 -1.34731282e+01] [-5.88799396e-03 -8.89218557e-06 9.99982666e-01 -5.36856910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394391418 meters 0.01400717467724866 Centerline is valid? [True, True] Translation: X:300.20, Y:-13.47, Z:-5.37 [[ 9.98563861e-01 5.32455518e-02 5.92674855e-03 3.00201447e+02] [-5.32447119e-02 9.98581449e-01 -2.99529772e-04 -1.34732525e+01] [-5.93428978e-03 -1.64684129e-05 9.99982392e-01 -5.36942209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.424391418 meters 0.01410454261047485 Centerline is valid? [True, True] Translation: X:300.23, Y:-13.47, Z:-5.37 [[ 9.98502445e-01 5.44155778e-02 5.64029950e-03 3.00230707e+02] [-5.44148523e-02 9.98518375e-01 -2.82119945e-04 -1.34737801e+01] [-5.64729441e-03 -2.52186095e-05 9.99984054e-01 -5.36970962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454391418 meters 0.014360534280313812 Centerline is valid? [True, True] Translation: X:300.26, Y:-13.47, Z:-5.37 [[ 9.98438433e-01 5.55860228e-02 5.55780900e-03 3.00259542e+02] [-5.55853389e-02 9.98453901e-01 -2.77575102e-04 -1.34744469e+01] [-5.56464538e-03 -3.17910465e-05 9.99984517e-01 -5.37030219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters 0.014695033794020575 Centerline is valid? [True, True] Translation: X:300.29, Y:-13.48, Z:-5.37 [[ 9.98353491e-01 5.71612119e-02 4.78577962e-03 3.00287396e+02] [-5.71607225e-02 9.98364961e-01 -2.39086084e-04 -1.34754258e+01] [-4.79162113e-03 -3.48661944e-05 9.99988520e-01 -5.37142329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514391418 meters 0.014620283603908846 Centerline is valid? [True, True] Translation: X:300.32, Y:-13.48, Z:-5.37 [[ 9.98331520e-01 5.75809526e-02 4.31385572e-03 3.00316445e+02] [-5.75805610e-02 9.98340840e-01 -2.15026622e-04 -1.34777271e+01] [-4.31907978e-03 -3.37263775e-05 9.99990672e-01 -5.37152137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters 0.014992756601429189 Centerline is valid? [True, True] Translation: X:300.34, Y:-13.48, Z:-5.37 [[ 9.98331869e-01 5.75884084e-02 4.12981267e-03 3.00343336e+02] [-5.75880429e-02 9.98340410e-01 -2.07470958e-04 -1.34792994e+01] [-4.13490679e-03 -3.07029599e-05 9.99991451e-01 -5.37260486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574391418 meters 0.014749032711439588 Centerline is valid? [True, True] Translation: X:300.37, Y:-13.48, Z:-5.37 [[ 9.98352798e-01 5.71984198e-02 4.47563787e-03 3.00371541e+02] [-5.71980006e-02 9.98362830e-01 -2.21702243e-04 -1.34836462e+01] [-4.48099151e-03 -3.46604833e-05 9.99989960e-01 -5.37298157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters 0.01422285505434468 Centerline is valid? [True, True] Translation: X:300.40, Y:-13.49, Z:-5.37 [[ 9.98409794e-01 5.61896635e-02 4.53927346e-03 3.00400607e+02] [-5.61892233e-02 9.98420112e-01 -2.24530887e-04 -1.34878164e+01] [-4.54471824e-03 -3.08844133e-05 9.99989672e-01 -5.37252978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634391418 meters 0.01391616345823541 Centerline is valid? [True, True] Translation: X:300.43, Y:-13.49, Z:-5.37 [[ 9.98457838e-01 5.53266593e-02 4.57228194e-03 3.00429457e+02] [-5.53262055e-02 9.98468307e-01 -2.25783333e-04 -1.34916169e+01] [-4.57777045e-03 -2.75318722e-05 9.99989522e-01 -5.37316371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters 0.013822408026746934 Centerline is valid? [True, True] Translation: X:300.46, Y:-13.50, Z:-5.38 [[ 9.98627329e-01 5.21096818e-02 5.29510149e-03 3.00457291e+02] [-5.21090301e-02 9.98641367e-01 -2.61063912e-04 -1.34980806e+01] [-5.30151135e-03 -1.52170450e-05 9.99985947e-01 -5.37507875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694391418 meters 0.013549134566235577 Centerline is valid? [True, True] Translation: X:300.49, Y:-13.50, Z:-5.37 [[ 9.98707290e-01 5.05006692e-02 5.78203854e-03 3.00485795e+02] [-5.04998709e-02 9.98724027e-01 -2.84075243e-04 -1.35027632e+01] [-5.78900681e-03 -8.28418424e-06 9.99983244e-01 -5.37445274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters 0.013483118289214389 Centerline is valid? [True, True] Translation: X:300.51, Y:-13.51, Z:-5.38 [[ 9.98863649e-01 4.73145511e-02 5.72218083e-03 3.00513323e+02] [-4.73137167e-02 9.98880039e-01 -2.81173398e-04 -1.35100747e+01] [-5.72907581e-03 1.01162438e-05 9.99983589e-01 -5.37523232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754391418 meters 0.013559733827540037 Centerline is valid? [True, True] Translation: X:300.54, Y:-13.52, Z:-5.38 [[ 9.98992097e-01 4.45280996e-02 5.66022984e-03 3.00542055e+02] [-4.45272448e-02 9.99008132e-01 -2.77025694e-04 -1.35169762e+01] [-5.66695106e-03 2.47120398e-05 9.99983942e-01 -5.37548018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters 0.013559733827540037 Centerline is valid? [True, True] Translation: X:300.57, Y:-13.52, Z:-5.38 [[ 9.98997407e-01 4.44088065e-02 5.66022794e-03 3.00569485e+02] [-4.44079495e-02 9.99013442e-01 -2.77066485e-04 -1.35181977e+01] [-5.66694799e-03 2.54295835e-05 9.99983942e-01 -5.37597563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814391418 meters 0.013638397396141873 Centerline is valid? [True, True] Translation: X:300.60, Y:-13.52, Z:-5.38 [[ 9.99050384e-01 4.31265280e-02 6.19941508e-03 3.00597346e+02] [-4.31254811e-02 9.99069618e-01 -3.02515113e-04 -1.35226722e+01] [-6.20669368e-03 3.48750820e-05 9.99980738e-01 -5.37647297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters 0.013643705452479215 Centerline is valid? [True, True] Translation: X:300.62, Y:-13.53, Z:-5.38 [[ 9.99116834e-01 4.14292159e-02 7.01225260e-03 3.00624166e+02] [-4.14278411e-02 9.99141440e-01 -3.41262485e-04 -1.35272430e+01] [-7.02037040e-03 5.04586069e-05 9.99975356e-01 -5.37703948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874391418 meters 0.013845233003568125 Centerline is valid? [True, True] Translation: X:300.65, Y:-13.53, Z:-5.38 [[ 9.99185437e-01 3.96712382e-02 7.39294551e-03 3.00652413e+02] [-3.96696751e-02 9.99212785e-01 -3.58007710e-04 -1.35318921e+01] [-7.40132827e-03 6.44403442e-05 9.99972608e-01 -5.37709254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters 0.014815092875220827 Centerline is valid? [True, True] Translation: X:300.68, Y:-13.54, Z:-5.38 [[ 9.99315518e-01 3.60618548e-02 8.24856337e-03 3.00679706e+02] [-3.60597914e-02 9.99349555e-01 -3.98798998e-04 -1.35409126e+01] [-8.25757956e-03 1.01084553e-04 9.99965900e-01 -5.37832919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934391418 meters 0.014644129781276282 Centerline is valid? [True, True] Translation: X:300.71, Y:-13.54, Z:-5.38 [[ 9.99369214e-01 3.45004190e-02 8.41987975e-03 3.00708626e+02] [-3.44982223e-02 9.99404677e-01 -4.06036372e-04 -1.35444655e+01] [-8.42887562e-03 1.15309367e-04 9.99964470e-01 -5.37790194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters 0.015155802360076215 Centerline is valid? [True, True] Translation: X:300.74, Y:-13.55, Z:-5.38 [[ 9.99429319e-01 3.26821925e-02 8.53872358e-03 3.00737476e+02] [-3.26798731e-02 9.99465786e-01 -4.11046299e-04 -1.35511583e+01] [-8.54759596e-03 1.31767319e-04 9.99963460e-01 -5.37886278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994391418 meters 0.015229874587534168 Centerline is valid? [True, True] Translation: X:300.77, Y:-13.55, Z:-5.38 [[ 9.99429068e-01 3.26504369e-02 8.68837306e-03 3.00765619e+02] [-3.26480392e-02 9.99466823e-01 -4.17693573e-04 -1.35543380e+01] [-8.69737850e-03 1.33796755e-04 9.99962168e-01 -5.37965586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters 0.015206676531540859 Centerline is valid? [True, True] Translation: X:300.79, Y:-13.56, Z:-5.38 [[ 9.99404041e-01 3.33555779e-02 8.88641742e-03 3.00793231e+02] [-3.33531060e-02 9.99443539e-01 -4.26257447e-04 -1.35572284e+01] [-8.89569054e-03 1.29613793e-04 9.99960424e-01 -5.38049950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.054391418 meters 0.014737037061588862 Centerline is valid? [True, True] Translation: X:300.82, Y:-13.56, Z:-5.38 [[ 9.99350433e-01 3.48937125e-02 9.00779114e-03 3.00821551e+02] [-3.48912452e-02 9.99391022e-01 -4.30963626e-04 -1.35587345e+01] [-9.01734352e-03 1.16390637e-04 9.99959336e-01 -5.38071962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084391418 meters 0.014737037061588862 Centerline is valid? [True, True] Translation: X:300.85, Y:-13.56, Z:-5.38 [[ 9.99353232e-01 3.48134541e-02 9.00782576e-03 3.00849829e+02] [-3.48109900e-02 9.99393821e-01 -4.30238175e-04 -1.35600074e+01] [-9.01734349e-03 1.16388578e-04 9.99959336e-01 -5.38123036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.114391418 meters 0.013696478968881898 Centerline is valid? [True, True] Translation: X:300.88, Y:-13.56, Z:-5.38 [[ 9.99178252e-01 3.96539604e-02 8.38949492e-03 3.00877314e+02] [-3.96519968e-02 9.99213470e-01 -4.00314424e-04 -1.35608789e+01] [-8.39877039e-03 6.73252408e-05 9.99964727e-01 -5.38191627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144391418 meters 0.013370478504426846 Centerline is valid? [True, True] Translation: X:300.91, Y:-13.56, Z:-5.38 [[ 9.99056865e-01 4.25621268e-02 8.59337419e-03 3.00906552e+02] [-4.25601835e-02 9.99093821e-01 -4.08967697e-04 -1.35609843e+01] [-8.60299359e-03 4.28464028e-05 9.99962993e-01 -5.38214719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.174391418 meters 0.01324603863740751 Centerline is valid? [True, True] Translation: X:300.94, Y:-13.56, Z:-5.38 [[ 9.98929871e-01 4.54266759e-02 8.69076078e-03 3.00935420e+02] [-4.54248029e-02 9.98967676e-01 -4.12887315e-04 -1.35614041e+01] [-8.70054519e-03 1.76693768e-05 9.99962149e-01 -5.38228704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204391418 meters 0.013162971967496275 Centerline is valid? [True, True] Translation: X:300.96, Y:-13.56, Z:-5.38 [[ 9.98672350e-01 5.05346429e-02 9.98934782e-03 3.00963907e+02] [-5.05324342e-02 9.98722308e-01 -4.73541403e-04 -1.35622311e+01] [-1.00005148e-02 -3.18733558e-05 9.99949993e-01 -5.38219522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234391418 meters 0.013336407719377911 Centerline is valid? [True, True] Translation: X:300.99, Y:-13.56, Z:-5.38 [[ 9.98573086e-01 5.24807026e-02 9.87765981e-03 3.00993020e+02] [-5.24786461e-02 9.98621937e-01 -4.67449957e-04 -1.35639869e+01] [-9.88857987e-03 -5.15832666e-05 9.99951105e-01 -5.38294269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264391418 meters 0.01354656249757115 Centerline is valid? [True, True] Translation: X:301.02, Y:-13.57, Z:-5.38 [[ 9.98518764e-01 5.35143506e-02 9.82309118e-03 3.01021865e+02] [-5.35123746e-02 9.98567079e-01 -4.64072168e-04 -1.35663777e+01] [-9.83384999e-03 -6.22721678e-05 9.99951645e-01 -5.38400973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294391418 meters 0.013868372471619327 Centerline is valid? [True, True] Translation: X:301.05, Y:-13.57, Z:-5.39 [[ 9.98475729e-01 5.43638683e-02 9.52833048e-03 3.01049189e+02] [-5.43620532e-02 9.98521189e-01 -4.49579263e-04 -1.35707658e+01] [-9.53868075e-03 -6.90856265e-05 9.99954503e-01 -5.38567191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324391418 meters 0.013664508130694173 Centerline is valid? [True, True] Translation: X:301.08, Y:-13.57, Z:-5.39 [[ 9.98501544e-01 5.39417775e-02 9.21690742e-03 3.01076750e+02] [-5.39400675e-02 9.98544080e-01 -4.34188611e-04 -1.35739497e+01] [-9.22690925e-03 -6.36226101e-05 9.99957429e-01 -5.38642210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354391418 meters 0.01385955084714017 Centerline is valid? [True, True] Translation: X:301.10, Y:-13.58, Z:-5.39 [[ 9.98555548e-01 5.29827443e-02 8.92443761e-03 3.01103561e+02] [-5.29811072e-02 9.98595427e-01 -4.19927429e-04 -1.35767787e+01] [-8.93415149e-03 -5.35057212e-05 9.99960088e-01 -5.38820845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384391418 meters 0.013092644850347973 Centerline is valid? [True, True] Translation: X:301.13, Y:-13.59, Z:-5.39 [[ 9.98718940e-01 4.97624265e-02 9.17490294e-03 3.01131753e+02] [-4.97605840e-02 9.98761083e-01 -4.29123082e-04 -1.35856565e+01] [-9.18489020e-03 -2.79751795e-05 9.99957818e-01 -5.38777394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414391418 meters 0.013075171873868219 Centerline is valid? [True, True] Translation: X:301.16, Y:-13.59, Z:-5.39 [[ 9.98820371e-01 4.76272210e-02 9.46116285e-03 3.01159424e+02] [-4.76251721e-02 9.98865180e-01 -4.41868765e-04 -1.35905151e+01] [-9.47147111e-03 -9.24198546e-06 9.99955145e-01 -5.38834019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444391418 meters 0.012906290959886909 Centerline is valid? [True, True] Translation: X:301.19, Y:-13.60, Z:-5.39 [[ 9.98944672e-01 4.49128923e-02 9.61116726e-03 3.01188411e+02] [-4.49106634e-02 9.98990907e-01 -4.47716204e-04 -1.35958468e+01] [-9.62157693e-03 1.55998190e-05 9.99953711e-01 -5.38778482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474391418 meters 0.013380600894777637 Centerline is valid? [True, True] Translation: X:301.22, Y:-13.61, Z:-5.39 [[ 9.99170602e-01 3.93634258e-02 1.04225338e-02 3.01216210e+02] [-3.93605113e-02 9.99224957e-01 -4.84690299e-04 -1.36056909e+01] [-1.04335349e-02 7.40520393e-05 9.99945566e-01 -5.38767753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504391418 meters 0.01416543313023068 Centerline is valid? [True, True] Translation: X:301.24, Y:-13.61, Z:-5.39 [[ 9.99288705e-01 3.61912409e-02 1.05961647e-02 3.01243978e+02] [-3.61880613e-02 9.99344877e-01 -4.91710188e-04 -1.36116318e+01] [-1.06070185e-02 1.07905779e-04 9.99943738e-01 -5.38815440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534391418 meters 0.01523800995671581 Centerline is valid? [True, True] Translation: X:301.27, Y:-13.62, Z:-5.39 [[ 9.99397494e-01 3.29315386e-02 1.09619009e-02 3.01272321e+02] [-3.29279570e-02 9.99457599e-01 -5.07096313e-04 -1.36174932e+01] [-1.09726546e-02 1.45837782e-04 9.99939788e-01 -5.38898227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564391418 meters 0.01632712597123717 Centerline is valid? [True, True] Translation: X:301.30, Y:-13.62, Z:-5.39 [[ 9.99497643e-01 2.97547925e-02 1.09139198e-02 3.01301049e+02] [-2.97510596e-02 9.99557212e-01 -5.04257351e-04 -1.36235648e+01] [-1.09240914e-02 1.79303354e-04 9.99940314e-01 -5.38951941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594391418 meters 0.01948453549820518 Centerline is valid? [True, True] Translation: X:301.33, Y:-13.63, Z:-5.39 [[ 9.99663374e-01 2.34468402e-02 1.11078778e-02 3.01329860e+02] [-2.34425942e-02 9.99725053e-01 -5.12316632e-04 -1.36345311e+01] [-1.11168360e-02 2.51746700e-04 9.99938174e-01 -5.39032377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624391418 meters 0.018567293212149363 Centerline is valid? [True, True] Translation: X:301.36, Y:-13.64, Z:-5.39 [[ 9.99730444e-01 2.02740700e-02 1.13138064e-02 3.01360695e+02] [-2.02694720e-02 9.99794417e-01 -5.20933495e-04 -1.36365361e+01] [-1.13220419e-02 2.91468193e-04 9.99935861e-01 -5.38993692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654391418 meters 0.020084081955890332 Centerline is valid? [True, True] Translation: X:301.39, Y:-13.64, Z:-5.39 [[ 9.99785645e-01 1.73990283e-02 1.12221921e-02 3.01391121e+02] [-1.73943089e-02 9.99848573e-01 -5.18018976e-04 -1.36424790e+01] [-1.12295057e-02 3.22705661e-04 9.99936895e-01 -5.39084230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684391418 meters 0.022201972728710197 Centerline is valid? [True, True] Translation: X:301.42, Y:-13.65, Z:-5.39 [[ 9.99849379e-01 1.33358695e-02 1.11074201e-02 3.01422711e+02] [-1.33310118e-02 9.99911007e-01 -5.11272108e-04 -1.36512162e+01] [-1.11132498e-02 3.63121952e-04 9.99938180e-01 -5.39136007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714391418 meters 0.022818037836842657 Centerline is valid? [True, True] Translation: X:301.45, Y:-13.66, Z:-5.39 [[ 9.99861825e-01 1.22270612e-02 1.12618772e-02 3.01454723e+02] [-1.22219646e-02 9.99925173e-01 -5.21264455e-04 -1.36550543e+01] [-1.12674081e-02 3.83550164e-04 9.99936447e-01 -5.39193958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744391418 meters 0.02396515945266213 Centerline is valid? [True, True] Translation: X:301.49, Y:-13.66, Z:-5.39 [[ 9.99872288e-01 1.16067308e-02 1.09859294e-02 3.01485633e+02] [-1.16018007e-02 9.99932566e-01 -5.12394594e-04 -1.36590910e+01] [-1.09911358e-02 3.84872591e-04 9.99939522e-01 -5.39278741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774391418 meters 0.022224873759372557 Centerline is valid? [True, True] Translation: X:301.52, Y:-13.66, Z:-5.39 [[ 9.99864638e-01 1.23473093e-02 1.08742294e-02 3.01517590e+02] [-1.23425155e-02 9.99923699e-01 -5.07843846e-04 -1.36598145e+01] [-1.08796702e-02 3.73559758e-04 9.99940745e-01 -5.39283781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.804391418 meters 0.022638220255590133 Centerline is valid? [True, True] Translation: X:301.55, Y:-13.66, Z:-5.39 [[ 9.99849782e-01 1.34716707e-02 1.09053740e-02 3.01548994e+02] [-1.34668800e-02 9.99909186e-01 -5.12613705e-04 -1.36623926e+01] [-1.09112894e-02 3.65675338e-04 9.99940403e-01 -5.39383583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834391418 meters 0.02173657887676404 Centerline is valid? [True, True] Translation: X:301.58, Y:-13.66, Z:-5.39 [[ 9.99820080e-01 1.53813615e-02 1.11005216e-02 3.01580996e+02] [-1.53764833e-02 9.99881637e-01 -5.24674002e-04 -1.36635987e+01] [-1.11072779e-02 3.53892618e-04 9.99938250e-01 -5.39429079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.864391418 meters 0.0196912190734175 Centerline is valid? [True, True] Translation: X:301.61, Y:-13.66, Z:-5.39 [[ 9.99745239e-01 1.94364597e-02 1.14752594e-02 3.01612417e+02] [-1.94314557e-02 9.99811042e-01 -5.47414576e-04 -1.36626942e+01] [-1.14837309e-02 3.24294121e-04 9.99934007e-01 -5.39461089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894391418 meters 0.01903712948263581 Centerline is valid? [True, True] Translation: X:301.64, Y:-13.66, Z:-5.40 [[ 9.99695309e-01 2.17621550e-02 1.16489663e-02 3.01643498e+02] [-2.17571503e-02 9.99763130e-01 -5.56198876e-04 -1.36630526e+01] [-1.16583111e-02 3.02581097e-04 9.99931994e-01 -5.39520635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.924391418 meters 0.017916102275575038 Centerline is valid? [True, True] Translation: X:301.67, Y:-13.66, Z:-5.40 [[ 9.99631555e-01 2.44554694e-02 1.17763935e-02 3.01674977e+02] [-2.44505356e-02 9.99700883e-01 -5.62764132e-04 -1.36629289e+01] [-1.17866336e-02 2.74617656e-04 9.99930498e-01 -5.39572603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954391418 meters 0.016219383795045925 Centerline is valid? [True, True] Translation: X:301.71, Y:-13.66, Z:-5.40 [[ 9.99511205e-01 2.93005705e-02 1.09008288e-02 3.01705609e+02] [-2.92966253e-02 9.99570626e-01 -5.21450948e-04 -1.36614663e+01] [-1.09114270e-02 2.01838569e-04 9.99940448e-01 -5.39707279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters 0.015642306743439107 Centerline is valid? [True, True] Translation: X:301.74, Y:-13.66, Z:-5.40 [[ 9.99453200e-01 3.14047976e-02 1.03460062e-02 3.01735746e+02] [-3.14013515e-02 9.99506733e-01 -4.95401080e-04 -1.36614015e+01] [-1.03564608e-02 1.70251617e-04 9.99946356e-01 -5.39808943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014391418 meters 0.015299813362378045 Centerline is valid? [True, True] Translation: X:301.76, Y:-13.66, Z:-5.40 [[ 9.99406323e-01 3.30230244e-02 9.82248082e-03 3.01764104e+02] [-3.30199950e-02 9.99454581e-01 -4.70475312e-04 -1.36618169e+01] [-9.83265997e-03 1.45857734e-04 9.99951648e-01 -5.39935726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters 0.014702246431758562 Centerline is valid? [True, True] Translation: X:301.79, Y:-13.66, Z:-5.40 [[ 9.99313546e-01 3.58365698e-02 9.39021942e-03 3.01792671e+02] [-3.58339322e-02 9.99357658e-01 -4.49042187e-04 -1.36617630e+01] [-9.40027982e-03 1.12245454e-04 9.99955810e-01 -5.40027994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074391418 meters 0.013983232931131222 Centerline is valid? [True, True] Translation: X:301.82, Y:-13.66, Z:-5.40 [[ 9.99279666e-01 3.67878787e-02 9.31675745e-03 3.01821478e+02] [-3.67853225e-02 9.99323092e-01 -4.45645514e-04 -1.36616482e+01] [-9.32684522e-03 1.02604573e-04 9.99956499e-01 -5.39948721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters 0.013624959622032069 Centerline is valid? [True, True] Translation: X:301.85, Y:-13.66, Z:-5.40 [[ 9.99257076e-01 3.72576552e-02 9.85717547e-03 3.01850578e+02] [-3.72548250e-02 9.99305687e-01 -4.70642699e-04 -1.36624583e+01] [-9.86786655e-03 1.03065700e-04 9.99951306e-01 -5.39889018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134391418 meters 0.014096652592743187 Centerline is valid? [True, True] Translation: X:301.88, Y:-13.67, Z:-5.40 [[ 9.99240270e-01 3.76459866e-02 1.00827754e-02 3.01878782e+02] [-3.76430540e-02 9.99291134e-01 -4.80546229e-04 -1.36651388e+01] [-1.00937187e-02 1.00634685e-04 9.99949052e-01 -5.39949863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters 0.013521749922625038 Centerline is valid? [True, True] Translation: X:301.91, Y:-13.67, Z:-5.40 [[ 9.99235508e-01 3.74680770e-02 1.11598537e-02 3.01907468e+02] [-3.74644850e-02 9.99297819e-01 -5.30820273e-04 -1.36668425e+01] [-1.11719063e-02 1.12316292e-04 9.99937586e-01 -5.39820475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194391418 meters 0.01571085988571169 Centerline is valid? [True, True] Translation: X:301.94, Y:-13.67, Z:-5.40 [[ 9.99230875e-01 3.76841111e-02 1.08428248e-02 3.01935130e+02] [-3.76807418e-02 9.99289696e-01 -5.14934729e-04 -1.36704393e+01] [-1.08545280e-02 1.05972997e-04 9.99941082e-01 -5.40012025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters 0.014299138064545107 Centerline is valid? [True, True] Translation: X:301.96, Y:-13.67, Z:-5.40 [[ 9.99262530e-01 3.67756251e-02 1.10431152e-02 3.01963932e+02] [-3.67720855e-02 9.99323541e-01 -5.23468131e-04 -1.36726251e+01] [-1.10548959e-02 1.17003711e-04 9.99938886e-01 -5.40057592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254391418 meters 0.0145545978651869 Centerline is valid? [True, True] Translation: X:301.99, Y:-13.68, Z:-5.40 [[ 9.99301022e-01 3.57817658e-02 1.08228205e-02 3.01992194e+02] [-3.57783176e-02 9.99359620e-01 -5.12119343e-04 -1.36751487e+01] [-1.08342143e-02 1.24539073e-04 9.99941300e-01 -5.40127603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters 0.015419757289328729 Centerline is valid? [True, True] Translation: X:302.02, Y:-13.68, Z:-5.40 [[ 9.99379109e-01 3.37250948e-02 1.01987806e-02 3.02020454e+02] [-3.37219357e-02 9.99431138e-01 -4.81613426e-04 -1.36799104e+01] [-1.02092214e-02 1.37391773e-04 9.99947875e-01 -5.40270440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314391418 meters 0.015251590938774755 Centerline is valid? [True, True] Translation: X:302.05, Y:-13.68, Z:-5.40 [[ 9.99421939e-01 3.25843135e-02 9.69795492e-03 3.02049514e+02] [-3.25814074e-02 9.99468980e-01 -4.57549206e-04 -1.36815461e+01] [-9.70771405e-03 1.41311695e-04 9.99952869e-01 -5.40261946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters 0.015864606760260948 Centerline is valid? [True, True] Translation: X:302.08, Y:-13.69, Z:-5.40 [[ 9.99447898e-01 3.17689188e-02 9.72810146e-03 3.02078531e+02] [-3.17659656e-02 9.99495229e-01 -4.57981396e-04 -1.36856687e+01] [-9.73774058e-03 1.48706007e-04 9.99952576e-01 -5.40400312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374391418 meters 0.016027514833676242 Centerline is valid? [True, True] Translation: X:302.11, Y:-13.69, Z:-5.40 [[ 9.99489156e-01 3.05766268e-02 9.30035418e-03 3.02107446e+02] [-3.05738811e-02 9.99532414e-01 -4.37292355e-04 -1.36887933e+01] [-9.30937639e-03 1.52721044e-04 9.99956655e-01 -5.40369528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters 0.01581920043001446 Centerline is valid? [True, True] Translation: X:302.14, Y:-13.69, Z:-5.40 [[ 9.99473689e-01 3.10758957e-02 9.30775218e-03 3.02136251e+02] [-3.10731735e-02 9.99517017e-01 -4.36968831e-04 -1.36904629e+01] [-9.31683589e-03 1.47517451e-04 9.99956586e-01 -5.40362112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434391418 meters 0.015471252541198533 Centerline is valid? [True, True] Translation: X:302.17, Y:-13.69, Z:-5.40 [[ 9.99443288e-01 3.19559742e-02 9.58796055e-03 3.02165560e+02] [-3.19531316e-02 9.99489267e-01 -4.49550003e-04 -1.36909127e+01] [-9.59742947e-03 1.42934368e-04 9.99953933e-01 -5.40346285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters 0.014565641848352183 Centerline is valid? [True, True] Translation: X:302.19, Y:-13.69, Z:-5.40 [[ 9.99322623e-01 3.56281110e-02 9.21591422e-03 3.02194656e+02] [-3.56256449e-02 9.99365112e-01 -4.31668887e-04 -1.36903783e+01] [-9.22544270e-03 1.03053597e-04 9.99957439e-01 -5.40365502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494391418 meters 0.013945189342632464 Centerline is valid? [True, True] Translation: X:302.22, Y:-13.69, Z:-5.40 [[ 9.99236442e-01 3.80761640e-02 8.76003640e-03 3.02223549e+02] [-3.80740327e-02 9.99274837e-01 -4.10007395e-04 -1.36898716e+01] [-8.76929546e-03 7.61644188e-05 9.99961546e-01 -5.40444737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524391418 meters 0.013449108735967495 Centerline is valid? [True, True] Translation: X:302.25, Y:-13.69, Z:-5.41 [[ 9.99127077e-01 4.09246830e-02 8.38176469e-03 3.02252369e+02] [-4.09228375e-02 9.99162233e-01 -3.91638249e-04 -1.36892849e+01] [-8.39077040e-03 4.82907841e-05 9.99964796e-01 -5.40561438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.554391418 meters 0.013018618393543646 Centerline is valid? [True, True] Translation: X:302.28, Y:-13.69, Z:-5.41 [[ 9.99019210e-01 4.35954918e-02 7.74927621e-03 3.02281279e+02] [-4.35939989e-02 9.99049264e-01 -3.61539658e-04 -1.36885530e+01] [-7.75767019e-03 2.33631246e-05 9.99969909e-01 -5.40666339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584391418 meters 0.013431268960442708 Centerline is valid? [True, True] Translation: X:302.31, Y:-13.69, Z:-5.41 [[ 9.98778822e-01 4.89182635e-02 6.91873740e-03 3.02309693e+02] [-4.89172025e-02 9.98802785e-01 -3.22588095e-04 -1.36860009e+01] [-6.92623464e-03 -1.62511212e-05 9.99976013e-01 -5.40833748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.614391418 meters 0.01351186075734352 Centerline is valid? [True, True] Translation: X:302.34, Y:-13.69, Z:-5.41 [[ 9.98675486e-01 5.10730803e-02 6.23012406e-03 3.02338372e+02] [-5.10722660e-02 9.98694918e-01 -2.89831095e-04 -1.36860761e+01] [-6.23679580e-03 -2.87393436e-05 9.99980551e-01 -5.40800904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644391418 meters 0.013887838470411206 Centerline is valid? [True, True] Translation: X:302.37, Y:-13.69, Z:-5.41 [[ 9.98593730e-01 5.27260430e-02 5.52514375e-03 3.02367578e+02] [-5.27254297e-02 9.98609014e-01 -2.56713961e-04 -1.36861806e+01] [-5.53099387e-03 -3.49626262e-05 9.99984703e-01 -5.40876859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.674391418 meters 0.014785038126769552 Centerline is valid? [True, True] Translation: X:302.40, Y:-13.69, Z:-5.41 [[ 9.98492387e-01 5.47113885e-02 4.42918390e-03 3.02395595e+02] [-5.47110129e-02 9.98502210e-01 -2.06003361e-04 -1.36864332e+01] [-4.43382064e-03 -3.66323502e-05 9.99990170e-01 -5.40967751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704391418 meters 0.014634279487698612 Centerline is valid? [True, True] Translation: X:302.42, Y:-13.69, Z:-5.41 [[ 9.98499519e-01 5.46004199e-02 4.18394255e-03 3.02424252e+02] [-5.46000865e-02 9.98508284e-01 -1.93951789e-04 -1.36887288e+01] [-4.18829114e-03 -3.47828575e-05 9.99991228e-01 -5.40962655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734391418 meters 0.014844544935112851 Centerline is valid? [True, True] Translation: X:302.45, Y:-13.69, Z:-5.41 [[ 9.98538887e-01 5.38943056e-02 3.93630283e-03 3.02450731e+02] [-5.38940024e-02 9.98546645e-01 -1.83134592e-04 -1.36908452e+01] [-3.94045190e-03 -2.92761018e-05 9.99992236e-01 -5.41038243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764391418 meters 0.01399492240178218 Centerline is valid? [True, True] Translation: X:302.48, Y:-13.70, Z:-5.41 [[ 9.98670671e-01 5.13822847e-02 4.09276444e-03 3.02479478e+02] [-5.13819426e-02 9.98679058e-01 -1.88767793e-04 -1.36970684e+01] [-4.09705746e-03 -2.17773290e-05 9.99991607e-01 -5.40877810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794391418 meters 0.013669726322927123 Centerline is valid? [True, True] Translation: X:302.51, Y:-13.70, Z:-5.41 [[ 9.98786890e-01 4.90429040e-02 4.42054359e-03 3.02507318e+02] [-4.90424829e-02 9.98796673e-01 -2.03655449e-04 -1.37011685e+01] [-4.42521208e-03 -1.33860414e-05 9.99990209e-01 -5.40906578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824391418 meters 0.01333691589739957 Centerline is valid? [True, True] Translation: X:302.54, Y:-13.71, Z:-5.41 [[ 9.98911494e-01 4.64227442e-02 4.55595772e-03 3.02535594e+02] [-4.64222737e-02 9.98921883e-01 -2.09016780e-04 -1.37057251e+01] [-4.56074900e-03 -2.70865239e-06 9.99989600e-01 -5.40905683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854391418 meters 0.01349835710145597 Centerline is valid? [True, True] Translation: X:302.56, Y:-13.72, Z:-5.41 [[ 9.99182798e-01 4.01376290e-02 4.76509186e-03 3.02564455e+02] [-4.01370453e-02 9.99194160e-01 -2.18100146e-04 -1.37151489e+01] [-4.77000598e-03 2.66652060e-05 9.99988623e-01 -5.40918260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884391418 meters 0.014271175386779487 Centerline is valid? [True, True] Translation: X:302.59, Y:-13.72, Z:-5.41 [[ 9.99320458e-01 3.65363284e-02 4.87021587e-03 3.02591687e+02] [-3.65356768e-02 9.99332324e-01 -2.22718115e-04 -1.37212846e+01] [-4.87510145e-03 4.46301355e-05 9.99988116e-01 -5.41030048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914391418 meters 0.015279162338376197 Centerline is valid? [True, True] Translation: X:302.62, Y:-13.73, Z:-5.41 [[ 9.99451023e-01 3.28022056e-02 4.65489479e-03 3.02619873e+02] [-3.28015732e-02 9.99461861e-01 -2.12146562e-04 -1.37273191e+01] [-4.65934869e-03 5.93422266e-05 9.99989143e-01 -5.41077748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944391418 meters 0.018243542973940843 Centerline is valid? [True, True] Translation: X:302.65, Y:-13.74, Z:-5.41 [[ 9.99665664e-01 2.54557764e-02 4.53475313e-03 3.02648928e+02] [-2.54551049e-02 9.99675945e-01 -2.05745558e-04 -1.37371601e+01] [-4.53852104e-03 9.02441536e-05 9.99989697e-01 -5.41139311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974391418 meters 0.02063090076006908 Centerline is valid? [True, True] Translation: X:302.68, Y:-13.74, Z:-5.41 [[ 9.99746793e-01 2.20252385e-02 4.60846287e-03 3.02677581e+02] [-2.20245158e-02 9.99757409e-01 -2.07502427e-04 -1.37438161e+01] [-4.61191519e-03 1.05950722e-04 9.99989359e-01 -5.41247150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004391418 meters 0.022201435202112933 Centerline is valid? [True, True] Translation: X:302.71, Y:-13.75, Z:-5.41 [[ 9.99818534e-01 1.84855632e-02 4.60260173e-03 3.02707145e+02] [-1.84847974e-02 9.99829120e-01 -2.08875485e-04 -1.37488021e+01] [-4.60567642e-03 1.23759420e-04 9.99989386e-01 -5.41266217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034391418 meters 0.022201435202112933 Centerline is valid? [True, True] Translation: X:302.74, Y:-13.75, Z:-5.41 [[ 9.99819296e-01 1.84442787e-02 4.60261060e-03 3.02736283e+02] [-1.84435134e-02 9.99829882e-01 -2.08679615e-04 -1.37500739e+01] [-4.60567656e-03 1.23753595e-04 9.99989386e-01 -5.41318814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064391418 meters 0.02375726789291649 Centerline is valid? [True, True] Translation: X:302.77, Y:-13.76, Z:-5.41 [[ 9.99872751e-01 1.52277119e-02 4.75387733e-03 3.02766149e+02] [-1.52268630e-02 9.99884042e-01 -2.14701477e-04 -1.37551841e+01] [-4.75659549e-03 1.42287517e-04 9.99988677e-01 -5.41342044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094391418 meters 0.02731433733288076 Centerline is valid? [True, True] Translation: X:302.80, Y:-13.76, Z:-5.41 [[ 9.99938369e-01 9.86095334e-03 5.10101727e-03 3.02795463e+02] [-9.85990575e-03 9.99951363e-01 -2.30477142e-04 -1.37637541e+01] [-5.10304190e-03 1.80167388e-04 9.99986963e-01 -5.41399263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124391418 meters 0.026297850896413306 Centerline is valid? [True, True] Translation: X:302.83, Y:-13.76, Z:-5.41 [[ 9.99954519e-01 7.88611035e-03 5.36363888e-03 3.02827132e+02] [-7.88492669e-03 9.99968884e-01 -2.41793580e-04 -1.37644435e+01] [-5.36537880e-03 1.99490684e-04 9.99985586e-01 -5.41331472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154391418 meters 0.026938683603309 Centerline is valid? [True, True] Translation: X:302.86, Y:-13.77, Z:-5.41 [[ 9.99962942e-01 6.87003855e-03 5.18811193e-03 3.02858819e+02] [-6.86893240e-03 9.99976382e-01 -2.30998726e-04 -1.37670833e+01] [-5.18957636e-03 1.95353375e-04 9.99986515e-01 -5.41371921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184391418 meters 0.027004225377074143 Centerline is valid? [True, True] Translation: X:302.89, Y:-13.77, Z:-5.41 [[ 9.99958976e-01 7.07587021e-03 5.65502449e-03 3.02890236e+02] [-7.07453079e-03 9.99974942e-01 -2.56822778e-04 -1.37682498e+01] [-5.65670003e-03 2.16805597e-04 9.99983977e-01 -5.41422983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214391418 meters 0.02891481369278972 Centerline is valid? [True, True] Translation: X:302.92, Y:-13.77, Z:-5.42 [[ 9.99949747e-01 8.24650974e-03 5.70070948e-03 3.02921228e+02] [-8.24518273e-03 9.99965975e-01 -2.56243023e-04 -1.37715953e+01] [-5.70262863e-03 2.09226755e-04 9.99983718e-01 -5.41586423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244391418 meters 0.026427843505039232 Centerline is valid? [True, True] Translation: X:302.95, Y:-13.77, Z:-5.42 [[ 9.99933500e-01 9.94022861e-03 5.84708017e-03 3.02952633e+02] [-9.93883430e-03 9.99950573e-01 -2.67472421e-04 -1.37690235e+01] [-5.84944990e-03 2.09341473e-04 9.99982870e-01 -5.41562141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274391418 meters 0.021591534167557963 Centerline is valid? [True, True] Translation: X:302.98, Y:-13.76, Z:-5.41 [[ 9.99873969e-01 1.47936448e-02 5.76152377e-03 3.02983726e+02] [-1.47923686e-02 9.99890552e-01 -2.64054673e-04 -1.37620997e+01] [-5.76479951e-03 1.78794811e-04 9.99983367e-01 -5.41486530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.304391418 meters 0.020224915862657563 Centerline is valid? [True, True] Translation: X:303.01, Y:-13.76, Z:-5.42 [[ 9.99827904e-01 1.76253676e-02 5.78859471e-03 3.03014259e+02] [-1.76241246e-02 9.99844648e-01 -2.65680129e-04 -1.37604326e+01] [-5.79237815e-03 1.63615493e-04 9.99983211e-01 -5.41533638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334391418 meters 0.0176501522156246 Centerline is valid? [True, True] Translation: X:303.04, Y:-13.76, Z:-5.42 [[ 9.99704436e-01 2.36525623e-02 5.62117068e-03 3.03044427e+02] [-2.36514839e-02 9.99720231e-01 -2.58243786e-04 -1.37553439e+01] [-5.62570618e-03 1.25218430e-04 9.99984168e-01 -5.41555110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.364391418 meters 0.0162084240466978 Centerline is valid? [True, True] Translation: X:303.07, Y:-13.75, Z:-5.42 [[ 9.99623532e-01 2.67590343e-02 6.06205464e-03 3.03074167e+02] [-2.67578367e-02 9.99641906e-01 -2.78595839e-04 -1.37525323e+01] [-6.06733881e-03 1.16283488e-04 9.99981587e-01 -5.41557897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394391418 meters 0.016102426663241607 Centerline is valid? [True, True] Translation: X:303.10, Y:-13.75, Z:-5.42 [[ 9.99472666e-01 3.19205563e-02 5.95555136e-03 3.03101767e+02] [-3.19194901e-02 9.99490406e-01 -2.74020173e-04 -1.37503453e+01] [-5.96126332e-03 8.37775109e-05 9.99982228e-01 -5.41859162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.424391418 meters 0.015369261907048798 Centerline is valid? [True, True] Translation: X:303.13, Y:-13.75, Z:-5.42 [[ 9.99400729e-01 3.41517397e-02 5.64279243e-03 3.03129316e+02] [-3.41508185e-02 9.99416657e-01 -2.59565333e-04 -1.37492647e+01] [-5.64836535e-03 6.67038031e-05 9.99984046e-01 -5.41952020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454391418 meters 0.015369261907048798 Centerline is valid? [True, True] Translation: X:303.16, Y:-13.75, Z:-5.42 [[ 9.99403540e-01 3.40693703e-02 5.64283924e-03 3.03157605e+02] [-3.40684535e-02 9.99419468e-01 -2.58540548e-04 -1.37504615e+01] [-5.64837170e-03 6.61435328e-05 9.99984046e-01 -5.42003106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters 0.014578011699459102 Centerline is valid? [True, True] Translation: X:303.19, Y:-13.75, Z:-5.42 [[ 9.99308829e-01 3.66801523e-02 6.03577674e-03 3.03186689e+02] [-3.66791546e-02 9.99327055e-01 -2.75936387e-04 -1.37478664e+01] [-6.04183638e-03 5.43584790e-05 9.99981746e-01 -5.42089363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514391418 meters 0.014167387907747426 Centerline is valid? [True, True] Translation: X:303.22, Y:-13.75, Z:-5.42 [[ 9.99275226e-01 3.75185389e-02 6.43287601e-03 3.03215801e+02] [-3.75174270e-02 9.99295930e-01 -2.93470540e-04 -1.37476229e+01] [-6.43935741e-03 5.19128836e-05 9.99979266e-01 -5.42096105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters 0.015434121433016626 Centerline is valid? [True, True] Translation: X:303.24, Y:-13.75, Z:-5.42 [[ 9.99250125e-01 3.82303280e-02 6.13435942e-03 3.03244767e+02] [-3.82293327e-02 9.99268953e-01 -2.79464762e-04 -1.37470632e+01] [-6.14055894e-03 4.47427317e-05 9.99981146e-01 -5.42046713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574391418 meters 0.014300867106601731 Centerline is valid? [True, True] Translation: X:303.27, Y:-13.75, Z:-5.42 [[ 9.99266496e-01 3.75373791e-02 7.57721499e-03 3.03272242e+02] [-3.75358467e-02 9.99295222e-01 -3.44389543e-04 -1.37479245e+01] [-7.58480222e-03 5.97197516e-05 9.99971233e-01 -5.42121686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters 0.01444093989741015 Centerline is valid? [True, True] Translation: X:303.30, Y:-13.75, Z:-5.42 [[ 9.99296174e-01 3.67201826e-02 7.66712363e-03 3.03301310e+02] [-3.67185983e-02 9.99325585e-01 -3.47338819e-04 -1.37493651e+01] [-7.67470715e-03 6.55683196e-05 9.99970547e-01 -5.42144524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634391418 meters 0.01483120395057477 Centerline is valid? [True, True] Translation: X:303.33, Y:-13.75, Z:-5.42 [[ 9.99337289e-01 3.54766572e-02 8.14800926e-03 3.03330350e+02] [-3.54748328e-02 9.99370502e-01 -3.68376601e-04 -1.37512333e+01] [-8.15594888e-03 7.90832074e-05 9.99966737e-01 -5.42143417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters 0.015666881659437908 Centerline is valid? [True, True] Translation: X:303.36, Y:-13.76, Z:-5.42 [[ 9.99444496e-01 3.20611093e-02 9.09857899e-03 3.03359602e+02] [-3.20587040e-02 9.99485904e-01 -4.10124259e-04 -1.37550590e+01] [-9.10705048e-03 1.18207783e-04 9.99958523e-01 -5.42068651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694391418 meters 0.015908848224116885 Centerline is valid? [True, True] Translation: X:303.39, Y:-13.76, Z:-5.42 [[ 9.99501407e-01 3.00361462e-02 9.73489489e-03 3.03389506e+02] [-3.00333008e-02 9.99548803e-01 -4.38375843e-04 -1.37570733e+01] [-9.74366965e-03 1.45786246e-04 9.99952519e-01 -5.42017191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters 0.01756911223749236 Centerline is valid? [True, True] Translation: X:303.42, Y:-13.76, Z:-5.42 [[ 9.99569084e-01 2.76995127e-02 9.71513061e-03 3.03419199e+02] [-2.76965725e-02 9.99616281e-01 -4.37075417e-04 -1.37599463e+01] [-9.72350950e-03 1.67811255e-04 9.99952711e-01 -5.42050365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754391418 meters 0.019954528934526084 Centerline is valid? [True, True] Translation: X:303.45, Y:-13.77, Z:-5.42 [[ 9.99705466e-01 2.16830423e-02 1.09007427e-02 3.03448264e+02] [-2.16789909e-02 9.99764863e-01 -4.89697980e-04 -1.37665869e+01] [-1.09087976e-02 2.53236646e-04 9.99940465e-01 -5.42093990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters 0.021761047859521324 Centerline is valid? [True, True] Translation: X:303.48, Y:-13.77, Z:-5.42 [[ 9.99766317e-01 1.85028016e-02 1.11784820e-02 3.03479523e+02] [-1.84983501e-02 9.99828765e-01 -5.01499310e-04 -1.37707172e+01] [-1.11858470e-02 2.94598646e-04 9.99937393e-01 -5.42160959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814391418 meters 0.023697942506579004 Centerline is valid? [True, True] Translation: X:303.51, Y:-13.77, Z:-5.42 [[ 9.99809211e-01 1.58831985e-02 1.13694965e-02 3.03511889e+02] [-1.58784374e-02 9.99873800e-01 -5.08913553e-04 -1.37749140e+01] [-1.13761448e-02 3.28286620e-04 9.99935236e-01 -5.42242450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters 0.02706293620252962 Centerline is valid? [True, True] Translation: X:303.54, Y:-13.78, Z:-5.42 [[ 9.99873970e-01 1.05687512e-02 1.18467156e-02 3.03541466e+02] [-1.05631522e-02 9.99944065e-01 -5.35097776e-04 -1.37810575e+01] [-1.18517083e-02 4.09891679e-04 9.99929682e-01 -5.42298008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874391418 meters 0.028401854079150447 Centerline is valid? [True, True] Translation: X:303.57, Y:-13.78, Z:-5.42 [[ 9.99898846e-01 7.89533133e-03 1.18305267e-02 3.03573676e+02] [-7.88954591e-03 9.99968734e-01 -5.35616257e-04 -1.37838957e+01] [-1.18343856e-02 4.42224594e-04 9.99929873e-01 -5.42346348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters 0.027754509363443817 Centerline is valid? [True, True] Translation: X:303.61, Y:-13.78, Z:-5.42 [[ 9.99905374e-01 5.74328495e-03 1.25003292e-02 3.03606134e+02] [-5.73665855e-03 9.99983385e-01 -5.65890564e-04 -1.37844392e+01] [-1.25033715e-02 4.94126896e-04 9.99921708e-01 -5.42322906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934391418 meters 0.02867488012893645 Centerline is valid? [True, True] Translation: X:303.64, Y:-13.79, Z:-5.42 [[ 9.99916750e-01 3.60644392e-03 1.23889513e-02 3.03636877e+02] [-3.59970936e-03 9.99993361e-01 -5.65849808e-04 -1.37866066e+01] [-1.23909097e-02 5.21206077e-04 9.99923094e-01 -5.42353743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters 0.026026604071470515 Centerline is valid? [True, True] Translation: X:303.67, Y:-13.78, Z:-5.42 [[ 9.99920086e-01 1.84759839e-03 1.25063583e-02 3.03669317e+02] [-1.84060808e-03 9.99998143e-01 -5.70427608e-04 -1.37835672e+01] [-1.25073890e-02 5.47362718e-04 9.99921630e-01 -5.42328309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994391418 meters 0.03268102343926625 Centerline is valid? [True, True] Translation: X:303.70, Y:-13.79, Z:-5.42 [[ 9.99922067e-01 -7.30184095e-04 1.24630161e-02 3.03700231e+02] [ 7.37380055e-04 9.99999564e-01 -5.72799773e-04 -1.37907911e+01] [-1.24625925e-02 5.81945113e-04 9.99922170e-01 -5.42444239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024391418 meters 0.03538606387324795 Centerline is valid? [True, True] Translation: X:303.73, Y:-13.79, Z:-5.43 [[ 9.99917300e-01 -1.39096732e-03 1.27850704e-02 3.03730821e+02] [ 1.39861768e-03 9.99998848e-01 -5.89460689e-04 -1.37939249e+01] [-1.27842358e-02 6.07293366e-04 9.99918094e-01 -5.42507965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.054391418 meters 0.030245149632836695 Centerline is valid? [True, True] Translation: X:303.76, Y:-13.78, Z:-5.42 [[ 9.99906404e-01 -1.54414599e-03 1.35940988e-02 3.03763014e+02] [ 1.55282812e-03 9.99998597e-01 -6.28137407e-04 -1.37847530e+01] [-1.35931098e-02 6.49187915e-04 9.99907399e-01 -5.42469352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084391418 meters 0.02860829124096667 Centerline is valid? [True, True] Translation: X:303.80, Y:-13.78, Z:-5.43 [[ 9.99906764e-01 -1.26351268e-03 1.35965700e-02 3.03795502e+02] [ 1.27223115e-03 9.99998991e-01 -6.32595204e-04 -1.37822141e+01] [-1.35957570e-02 6.49834203e-04 9.99907362e-01 -5.42514520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.114391418 meters 0.036713539048848595 Centerline is valid? [True, True] Translation: X:303.83, Y:-13.79, Z:-5.43 [[ 9.99906640e-01 -8.98446521e-04 1.36346856e-02 3.03826027e+02] [ 9.07196772e-04 9.99999387e-01 -6.35592662e-04 -1.37921395e+01] [-1.36341062e-02 6.47902666e-04 9.99906841e-01 -5.42657590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144391418 meters 0.02838700374244217 Centerline is valid? [True, True] Translation: X:303.86, Y:-13.78, Z:-5.43 [[ 9.99914750e-01 1.99904509e-04 1.30557622e-02 3.03858771e+02] [-1.91966463e-04 9.99999796e-01 -6.09261265e-04 -1.37769707e+01] [-1.30558814e-02 6.06703057e-04 9.99914584e-01 -5.42655580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.174391418 meters 0.028383794079409753 Centerline is valid? [True, True] Translation: X:303.89, Y:-13.78, Z:-5.43 [[ 9.99916241e-01 6.36085122e-04 1.29269602e-02 3.03890704e+02] [-6.28325778e-04 9.99999620e-01 -6.04297483e-04 -1.37751863e+01] [-1.29273397e-02 5.96124526e-04 9.99916261e-01 -5.42707618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204391418 meters 0.028909375912268782 Centerline is valid? [True, True] Translation: X:303.92, Y:-13.77, Z:-5.43 [[ 9.99920114e-01 1.18601811e-03 1.25840383e-02 3.03922050e+02] [-1.17869458e-03 9.99999132e-01 -5.89370411e-04 -1.37745995e+01] [-1.25847264e-02 5.74490591e-04 9.99920644e-01 -5.42785807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234391418 meters 0.029880751121948754 Centerline is valid? [True, True] Translation: X:303.95, Y:-13.77, Z:-5.43 [[ 9.99911312e-01 2.08157154e-03 1.31543210e-02 3.03953240e+02] [-2.07363524e-03 9.99997660e-01 -6.16932992e-04 -1.37713496e+01] [-1.31555744e-02 5.89601014e-04 9.99913288e-01 -5.42741468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264391418 meters 0.02919959245359924 Centerline is valid? [True, True] Translation: X:303.99, Y:-13.77, Z:-5.43 [[ 9.99915895e-01 2.59359652e-03 1.27073625e-02 3.03986787e+02] [-2.58623995e-03 9.99996478e-01 -5.95320093e-04 -1.37690706e+01] [-1.27088618e-02 5.62405735e-04 9.99919081e-01 -5.42733166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294391418 meters 0.029802508086126923 Centerline is valid? [True, True] Translation: X:304.02, Y:-13.77, Z:-5.43 [[ 9.99913272e-01 3.21134294e-03 1.27724319e-02 3.04018491e+02] [-3.20390434e-03 9.99994686e-01 -6.02814017e-04 -1.37685347e+01] [-1.27742999e-02 5.61840086e-04 9.99918247e-01 -5.42762404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324391418 meters 0.030028528643781815 Centerline is valid? [True, True] Translation: X:304.05, Y:-13.76, Z:-5.43 [[ 9.99930272e-01 4.40167834e-03 1.09579055e-02 3.04050312e+02] [-4.39625084e-03 9.99990202e-01 -5.19342641e-04 -1.37646202e+01] [-1.09600841e-02 4.71132727e-04 9.99939825e-01 -5.42817859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354391418 meters 0.02939254378560643 Centerline is valid? [True, True] Translation: X:304.08, Y:-13.76, Z:-5.43 [[ 9.99935943e-01 5.25081165e-03 1.00268811e-02 3.04083030e+02] [-5.24629000e-03 9.99986124e-01 -4.77202210e-04 -1.37623162e+01] [-1.00292476e-02 4.24567717e-04 9.99949616e-01 -5.42896580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384391418 meters 0.030862648378049876 Centerline is valid? [True, True] Translation: X:304.12, Y:-13.76, Z:-5.43 [[ 9.99941547e-01 6.46927410e-03 8.66323957e-03 3.04115351e+02] [-6.46592963e-03 9.99979010e-01 -4.14006424e-04 -1.37607255e+01] [-8.66573605e-03 3.57966327e-04 9.99962388e-01 -5.43051082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414391418 meters 0.026109131113745885 Centerline is valid? [True, True] Translation: X:304.15, Y:-13.75, Z:-5.43 [[ 9.99945643e-01 6.99215978e-03 7.73441158e-03 3.04149284e+02] [-6.98950228e-03 9.99975504e-01 -3.70571493e-04 -1.37545961e+01] [-7.73681322e-03 3.16491662e-04 9.99970020e-01 -5.42960625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444391418 meters 0.024745289358808358 Centerline is valid? [True, True] Translation: X:304.18, Y:-13.75, Z:-5.43 [[ 9.99939134e-01 8.89881976e-03 6.52220278e-03 3.04182176e+02] [-8.89695978e-03 9.99960372e-01 -3.14135654e-04 -1.37482700e+01] [-6.52473975e-03 2.56088758e-04 9.99978681e-01 -5.42999608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474391418 meters 0.02573142946333231 Centerline is valid? [True, True] Translation: X:304.21, Y:-13.75, Z:-5.43 [[ 9.99927729e-01 1.03546434e-02 6.10883174e-03 3.04212666e+02] [-1.03530105e-02 9.99946361e-01 -2.98863097e-04 -1.37480797e+01] [-6.11159869e-03 2.35596698e-04 9.99981296e-01 -5.43114855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504391418 meters 0.023739304050680136 Centerline is valid? [True, True] Translation: X:304.24, Y:-13.74, Z:-5.43 [[ 9.99913681e-01 1.18755743e-02 5.62155034e-03 3.04243635e+02] [-1.18742136e-02 9.99929461e-01 -2.75362660e-04 -1.37434867e+01] [-5.62442389e-03 2.08587401e-04 9.99984161e-01 -5.43058571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534391418 meters 0.02220021100047531 Centerline is valid? [True, True] Translation: X:304.27, Y:-13.74, Z:-5.43 [[ 9.99853986e-01 1.60759553e-02 5.79395152e-03 3.04274260e+02] [-1.60745804e-02 9.99870755e-01 -2.83807456e-04 -1.37357777e+01] [-5.79776516e-03 1.90630677e-04 9.99983175e-01 -5.42990980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564391418 meters 0.02081809046926162 Centerline is valid? [True, True] Translation: X:304.30, Y:-13.73, Z:-5.43 [[ 9.99808772e-01 1.86111279e-02 6.00380577e-03 3.04304685e+02] [-1.86096957e-02 9.99826781e-01 -2.94329241e-04 -1.37315742e+01] [-6.00824360e-03 1.82543959e-04 9.99981934e-01 -5.42939123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594391418 meters 0.01925629222770214 Centerline is valid? [True, True] Translation: X:304.33, Y:-13.73, Z:-5.43 [[ 9.99747851e-01 2.14918144e-02 6.50662179e-03 3.04334800e+02] [-2.14901927e-02 9.99769008e-01 -3.19052004e-04 -1.37274756e+01] [-6.51197582e-03 1.79142999e-04 9.99978781e-01 -5.42904572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624391418 meters 0.01670283496326334 Centerline is valid? [True, True] Translation: X:304.36, Y:-13.72, Z:-5.43 [[ 9.99607342e-01 2.72123808e-02 6.68195920e-03 3.04364804e+02] [-2.72108002e-02 9.99629664e-01 -3.27363375e-04 -1.37185403e+01] [-6.68839297e-03 1.45413376e-04 9.99977622e-01 -5.42877407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654391418 meters 0.01625833523328554 Centerline is valid? [True, True] Translation: X:304.39, Y:-13.72, Z:-5.43 [[ 9.99534578e-01 2.97726647e-02 6.64956537e-03 3.04393295e+02] [-2.97711548e-02 9.99556688e-01 -3.25963390e-04 -1.37157558e+01] [-6.65632233e-03 1.27846440e-04 9.99977838e-01 -5.42943727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684391418 meters 0.014743208041435594 Centerline is valid? [True, True] Translation: X:304.42, Y:-13.71, Z:-5.43 [[ 9.99361040e-01 3.51058124e-02 6.71514450e-03 3.04421649e+02] [-3.51043952e-02 9.99383597e-01 -3.28833494e-04 -1.37081847e+01] [-6.72254923e-03 9.28922960e-05 9.99977399e-01 -5.42974781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714391418 meters 0.014493948611375573 Centerline is valid? [True, True] Translation: X:304.45, Y:-13.71, Z:-5.43 [[ 9.99291544e-01 3.71061737e-02 6.28825526e-03 3.04449534e+02] [-3.71049738e-02 9.99311326e-01 -3.07400747e-04 -1.37054448e+01] [-6.29533117e-03 7.38574205e-05 9.99980181e-01 -5.43055108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744391418 meters 0.014129617266822731 Centerline is valid? [True, True] Translation: X:304.48, Y:-13.70, Z:-5.43 [[ 9.99211749e-01 3.92378958e-02 6.02239142e-03 3.04477588e+02] [-3.92368373e-02 9.99229896e-01 -2.93868297e-04 -1.37028391e+01] [-6.02928433e-03 5.73370625e-05 9.99981822e-01 -5.43140018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774391418 meters 0.013685267120214397 Centerline is valid? [True, True] Translation: X:304.51, Y:-13.70, Z:-5.43 [[ 9.99145006e-01 4.09340846e-02 5.80144241e-03 3.04506530e+02] [-4.09331350e-02 9.99161848e-01 -2.82384181e-04 -1.36998346e+01] [-5.80813905e-03 4.46715193e-05 9.99983132e-01 -5.43114532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.804391418 meters 0.013480927844001943 Centerline is valid? [True, True] Translation: X:304.53, Y:-13.69, Z:-5.43 [[ 9.99052049e-01 4.31610364e-02 5.66812684e-03 3.04534960e+02] [-4.31601639e-02 9.99068128e-01 -2.76213150e-04 -1.36949711e+01] [-5.67476651e-03 3.13140303e-05 9.99983898e-01 -5.43182006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834391418 meters 0.013509675035706 Centerline is valid? [True, True] Translation: X:304.56, Y:-13.69, Z:-5.43 [[ 9.99028166e-01 4.37431050e-02 5.40970940e-03 3.04563313e+02] [-4.37423238e-02 9.99042812e-01 -2.62702062e-04 -1.36935682e+01] [-5.41602269e-03 2.58134987e-05 9.99985333e-01 -5.43209593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.864391418 meters 0.013413859897191786 Centerline is valid? [True, True] Translation: X:304.59, Y:-13.69, Z:-5.43 [[ 9.99007994e-01 4.42500848e-02 4.99572663e-03 3.04592336e+02] [-4.42494298e-02 9.99020485e-01 -2.41622007e-04 -1.36930010e+01] [-5.00152504e-03 2.03242614e-05 9.99987492e-01 -5.43288535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894391418 meters 0.013413859897191786 Centerline is valid? [True, True] Translation: X:304.62, Y:-13.69, Z:-5.43 [[ 9.99013306e-01 4.41300036e-02 4.99572088e-03 3.04619765e+02] [-4.41293464e-02 9.99025797e-01 -2.41743644e-04 -1.36942063e+01] [-5.00152218e-03 2.10472192e-05 9.99987492e-01 -5.43338080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.924391418 meters 0.013352156795755049 Centerline is valid? [True, True] Translation: X:304.65, Y:-13.69, Z:-5.43 [[ 9.99013508e-01 4.40679887e-02 5.47930734e-03 3.04648750e+02] [-4.40672049e-02 9.99028534e-01 -2.63763097e-04 -1.36930230e+01] [-5.48560789e-03 2.20451374e-05 9.99984954e-01 -5.43405892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954391418 meters 0.013503723192892317 Centerline is valid? [True, True] Translation: X:304.68, Y:-13.69, Z:-5.43 [[ 9.99033879e-01 4.35691655e-02 5.74770097e-03 3.04675364e+02] [-4.35682890e-02 9.99050413e-01 -2.77683637e-04 -1.36933037e+01] [-5.75434147e-03 2.69978636e-05 9.99983443e-01 -5.43461476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters 0.01345586298482681 Centerline is valid? [True, True] Translation: X:304.70, Y:-13.69, Z:-5.43 [[ 9.99068630e-01 4.27092875e-02 6.14724654e-03 3.04702942e+02] [-4.27082842e-02 9.99087542e-01 -2.94451434e-04 -1.36939154e+01] [-6.15421324e-03 3.16388391e-05 9.99981062e-01 -5.43456561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014391418 meters 0.013543290193027486 Centerline is valid? [True, True] Translation: X:304.73, Y:-13.69, Z:-5.44 [[ 9.99094041e-01 4.20510317e-02 6.54271625e-03 3.04729427e+02] [-4.20498856e-02 9.99115463e-01 -3.12696034e-04 -1.36948573e+01] [-6.55007817e-03 3.72922753e-05 9.99978547e-01 -5.43513667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters 0.01374778669982495 Centerline is valid? [True, True] Translation: X:304.76, Y:-13.70, Z:-5.44 [[ 9.99152969e-01 4.05099858e-02 7.23092918e-03 3.04756425e+02] [-4.05085547e-02 9.99179132e-01 -3.44327659e-04 -1.36964537e+01] [-7.23894225e-03 5.11215124e-05 9.99973797e-01 -5.43524020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074391418 meters 0.013799555212135115 Centerline is valid? [True, True] Translation: X:304.78, Y:-13.70, Z:-5.44 [[ 9.99185205e-01 3.96361723e-02 7.60914893e-03 3.04784538e+02] [-3.96345727e-02 9.99214176e-01 -3.60967956e-04 -1.36980499e+01] [-7.61747687e-03 5.90884749e-05 9.99970985e-01 -5.43568669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters 0.014117381423889724 Centerline is valid? [True, True] Translation: X:304.81, Y:-13.70, Z:-5.44 [[ 9.99225223e-01 3.85729526e-02 7.81548978e-03 3.04813763e+02] [-3.85712430e-02 9.99255784e-01 -3.69411564e-04 -1.36999899e+01] [-7.82392267e-03 6.76721970e-05 9.99969390e-01 -5.43622624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134391418 meters 0.014626913535734417 Centerline is valid? [True, True] Translation: X:304.84, Y:-13.70, Z:-5.44 [[ 9.99292439e-01 3.67436235e-02 8.03285253e-03 3.04842591e+02] [-3.67417636e-02 9.99324722e-01 -3.79030847e-04 -1.37029306e+01] [-8.04135509e-03 8.36214904e-05 9.99967664e-01 -5.43679411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters 0.014822095175561335 Centerline is valid? [True, True] Translation: X:304.87, Y:-13.71, Z:-5.44 [[ 9.99325079e-01 3.58827331e-02 7.86229488e-03 3.04870711e+02] [-3.58809278e-02 9.99356003e-01 -3.70598701e-04 -1.37052282e+01] [-7.87052968e-03 8.82421411e-05 9.99969023e-01 -5.43752334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194391418 meters 0.014540520111825671 Centerline is valid? [True, True] Translation: X:304.90, Y:-13.71, Z:-5.44 [[ 9.99357637e-01 3.48644078e-02 8.29381931e-03 3.04899559e+02] [-3.48623721e-02 9.99392047e-01 -3.89932218e-04 -1.37057989e+01] [-8.30237181e-03 1.00539525e-04 9.99965530e-01 -5.43692459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters 0.014874284477675762 Centerline is valid? [True, True] Translation: X:304.93, Y:-13.71, Z:-5.44 [[ 9.99399874e-01 3.36196436e-02 8.34334242e-03 3.04927474e+02] [-3.36175444e-02 9.99434694e-01 -3.91762022e-04 -1.37088286e+01] [-8.35179678e-03 1.11044231e-04 9.99965117e-01 -5.43768535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254391418 meters 0.01505771869314513 Centerline is valid? [True, True] Translation: X:304.96, Y:-13.71, Z:-5.44 [[ 9.99413236e-01 3.32061413e-02 8.39856961e-03 3.04955796e+02] [-3.32040085e-02 9.99448518e-01 -3.93299879e-04 -1.37105498e+01] [-8.40699792e-03 1.14202928e-04 9.99964654e-01 -5.43810931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters 0.01619579880237065 Centerline is valid? [True, True] Translation: X:304.98, Y:-13.71, Z:-5.44 [[ 9.99416484e-01 3.29988940e-02 8.81836887e-03 3.04983553e+02] [-3.29965398e-02 9.99455381e-01 -4.12353675e-04 -1.37143231e+01] [-8.82717343e-03 1.21137401e-04 9.99961032e-01 -5.44014156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314391418 meters 0.01510255554823025 Centerline is valid? [True, True] Translation: X:305.01, Y:-13.71, Z:-5.44 [[ 9.99403907e-01 3.33618615e-02 8.87794031e-03 3.05012451e+02] [-3.33594992e-02 9.99443331e-01 -4.14079019e-04 -1.37132937e+01] [-8.88681269e-03 1.17668546e-04 9.99960505e-01 -5.43909466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters 0.014578168670847323 Centerline is valid? [True, True] Translation: X:305.04, Y:-13.71, Z:-5.44 [[ 9.99323187e-01 3.56598179e-02 9.03020108e-03 3.05041485e+02] [-3.56574745e-02 9.99363982e-01 -4.20427108e-04 -1.37137684e+01] [-9.03945006e-03 9.81483934e-05 9.99959139e-01 -5.43941025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374391418 meters 0.014432449022355734 Centerline is valid? [True, True] Translation: X:305.07, Y:-13.71, Z:-5.44 [[ 9.99253226e-01 3.75242346e-02 9.21529710e-03 3.05069511e+02] [-3.75218790e-02 9.99295715e-01 -4.28437018e-04 -1.37147189e+01] [-9.22488367e-03 8.23418099e-05 9.99957446e-01 -5.44078932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters 0.013667058023292218 Centerline is valid? [True, True] Translation: X:305.10, Y:-13.71, Z:-5.44 [[ 9.99058867e-01 4.23225365e-02 9.49651574e-03 3.05098571e+02] [-4.23202628e-02 9.99103999e-01 -4.40339354e-04 -1.37123640e+01] [-9.50664313e-03 3.80298944e-05 9.99954810e-01 -5.44021939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434391418 meters 0.013542190412959242 Centerline is valid? [True, True] Translation: X:305.13, Y:-13.71, Z:-5.44 [[ 9.98929410e-01 4.52592024e-02 9.57276932e-03 3.05126065e+02] [-4.52570303e-02 9.98975277e-01 -4.43514079e-04 -1.37120648e+01] [-9.58303298e-03 9.80414641e-06 9.99954082e-01 -5.44125650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters 0.013789962917235138 Centerline is valid? [True, True] Translation: X:305.15, Y:-13.71, Z:-5.44 [[ 9.98799335e-01 4.79921714e-02 9.83055567e-03 3.05152787e+02] [-4.79900264e-02 9.98847712e-01 -4.54106441e-04 -1.37114110e+01] [-9.84102159e-03 -1.82074150e-05 9.99951576e-01 -5.44174578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494391418 meters 0.014236053894504705 Centerline is valid? [True, True] Translation: X:305.18, Y:-13.71, Z:-5.44 [[ 9.98656291e-01 5.09165309e-02 9.64981078e-03 3.05181683e+02] [-5.09146174e-02 9.98702911e-01 -4.44015135e-04 -1.37112702e+01] [-9.65990183e-03 -4.78979161e-05 9.99953341e-01 -5.44241103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524391418 meters 0.01497525341306089 Centerline is valid? [True, True] Translation: X:305.21, Y:-13.71, Z:-5.44 [[ 9.98385501e-01 5.60287202e-02 9.33672436e-03 3.05210948e+02] [-5.60271583e-02 9.98429153e-01 -4.28967635e-04 -1.37116202e+01] [-9.34609230e-03 -9.48350659e-05 9.99956320e-01 -5.44226828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.554391418 meters 0.015410814948974397 Centerline is valid? [True, True] Translation: X:305.24, Y:-13.71, Z:-5.44 [[ 9.98296836e-01 5.75752648e-02 9.40830033e-03 3.05239519e+02] [-5.75737547e-02 9.98341162e-01 -4.31493330e-04 -1.37128935e+01] [-9.41753683e-03 -1.10912749e-04 9.99955648e-01 -5.44268440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584391418 meters 0.015632491632394874 Centerline is valid? [True, True] Translation: X:305.27, Y:-13.71, Z:-5.44 [[ 9.98229141e-01 5.86979096e-02 9.65077750e-03 3.05268026e+02] [-5.86963808e-02 9.98275783e-01 -4.41820134e-04 -1.37149840e+01] [-9.66007139e-03 -1.25427978e-04 9.99953333e-01 -5.44305967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.614391418 meters 0.01591879085736118 Centerline is valid? [True, True] Translation: X:305.29, Y:-13.72, Z:-5.44 [[ 9.98232619e-01 5.85667587e-02 1.00783235e-02 3.05294819e+02] [-5.85650889e-02 9.98283486e-01 -4.60987119e-04 -1.37196371e+01] [-1.00880224e-02 -1.30065532e-04 9.99949106e-01 -5.44391072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644391418 meters 0.015734621618984666 Centerline is valid? [True, True] Translation: X:305.32, Y:-13.72, Z:-5.44 [[ 9.98298998e-01 5.74297574e-02 1.00466100e-02 3.05323690e+02] [-5.74280594e-02 9.98349542e-01 -4.57652996e-04 -1.37239101e+01] [-1.00563114e-02 -1.20082786e-04 9.99949427e-01 -5.44489168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.674391418 meters 0.015266234002339608 Centerline is valid? [True, True] Translation: X:305.35, Y:-13.73, Z:-5.45 [[ 9.98401562e-01 5.56367360e-02 9.94354940e-03 3.05352574e+02] [-5.56349915e-02 9.98451072e-01 -4.52182678e-04 -1.37289921e+01] [-9.95330553e-03 -1.01749394e-04 9.99950459e-01 -5.44573877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704391418 meters 0.01463108253191382 Centerline is valid? [True, True] Translation: X:305.38, Y:-13.74, Z:-5.45 [[ 9.98696573e-01 5.00721325e-02 9.89632326e-03 3.05380016e+02] [-5.00701374e-02 9.98745603e-01 -4.49416726e-04 -1.37396979e+01] [-9.90641259e-03 -4.66793210e-05 9.99950929e-01 -5.44763879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734391418 meters 0.014263853901405108 Centerline is valid? [True, True] Translation: X:305.41, Y:-13.75, Z:-5.45 [[ 9.98869817e-01 4.65284601e-02 9.70523132e-03 3.05407838e+02] [-4.65263829e-02 9.98916965e-01 -4.39821735e-04 -1.37464023e+01] [-9.71518444e-03 -1.22246522e-05 9.99952806e-01 -5.44868664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764391418 meters 0.014362633850913995 Centerline is valid? [True, True] Translation: X:305.44, Y:-13.75, Z:-5.45 [[ 9.99055942e-01 4.23398832e-02 9.72419869e-03 3.05435154e+02] [-4.23376071e-02 9.99103265e-01 -4.39899436e-04 -1.37532536e+01] [-9.73410395e-03 2.77848417e-05 9.99952622e-01 -5.44910335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794391418 meters 0.01547086658318266 Centerline is valid? [True, True] Translation: X:305.46, Y:-13.77, Z:-5.45 [[ 9.99383650e-01 3.36195377e-02 1.01018214e-02 3.05462900e+02] [-3.36166498e-02 9.99434697e-01 -4.55595006e-04 -1.37659711e+01] [-1.01114277e-02 1.15724807e-04 9.99948872e-01 -5.44897767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824391418 meters 0.016829925571118443 Centerline is valid? [True, True] Translation: X:305.49, Y:-13.77, Z:-5.45 [[ 9.99538917e-01 2.86856980e-02 9.95411443e-03 3.05491397e+02] [-2.86826604e-02 9.99588468e-01 -4.47814418e-04 -1.37735354e+01] [-9.96286386e-03 1.62097455e-04 9.99950356e-01 -5.44954920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854391418 meters 0.018874456625835815 Centerline is valid? [True, True] Translation: X:305.52, Y:-13.78, Z:-5.45 [[ 9.99671665e-01 2.36475709e-02 9.86686203e-03 3.05519925e+02] [-2.36443502e-02 9.99720335e-01 -4.42961343e-04 -1.37817722e+01] [-9.87457758e-03 2.09520362e-04 9.99951223e-01 -5.45061951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884391418 meters 0.023798549677843308 Centerline is valid? [True, True] Translation: X:305.55, Y:-13.80, Z:-5.45 [[ 9.99861621e-01 1.34123125e-02 9.84114904e-03 3.05548746e+02] [-1.34086256e-02 9.99910003e-01 -4.40526927e-04 -1.37970530e+01] [-9.84617185e-03 3.08509684e-04 9.99951478e-01 -5.45163943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914391418 meters 0.028634884438911257 Centerline is valid? [True, True] Translation: X:305.58, Y:-13.81, Z:-5.45 [[ 9.99917579e-01 7.97173491e-03 1.00641319e-02 3.05578635e+02] [-7.96760013e-03 9.99968157e-01 -4.50870808e-04 -1.38076338e+01] [-1.00674056e-02 3.70646668e-04 9.99949254e-01 -5.45263218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944391418 meters 0.02976989486411141 Centerline is valid? [True, True] Translation: X:305.61, Y:-13.81, Z:-5.45 [[ 9.99945006e-01 2.91665992e-03 1.00736593e-02 3.05609191e+02] [-2.91225926e-03 9.99995657e-01 -4.51489337e-04 -1.38130016e+01] [-1.00749324e-02 4.22127400e-04 9.99949157e-01 -5.45272616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974391418 meters 0.03859389157707916 Centerline is valid? [True, True] Translation: X:305.64, Y:-13.83, Z:-5.45 [[ 9.99927755e-01 -6.15012122e-03 1.03276595e-02 3.05638764e+02] [ 6.15523184e-03 9.99980949e-01 -4.63134322e-04 -1.38301785e+01] [-1.03246145e-02 5.26670001e-04 9.99946561e-01 -5.45415905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004391418 meters 0.03508229230377803 Centerline is valid? [True, True] Translation: X:305.67, Y:-13.83, Z:-5.45 [[ 9.99897018e-01 -9.98119299e-03 1.03116378e-02 3.05669583e+02] [ 9.98649155e-03 9.99950027e-01 -4.62479211e-04 -1.38282852e+01] [-1.03065064e-02 5.65408667e-04 9.99946727e-01 -5.45377224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034391418 meters 0.03821479538425322 Centerline is valid? [True, True] Translation: X:305.70, Y:-13.84, Z:-5.45 [[ 9.99858047e-01 -1.30563015e-02 1.06498005e-02 3.05699600e+02] [ 1.30621296e-02 9.99914573e-01 -4.77870502e-04 -1.38350510e+01] [-1.06426515e-02 6.16911741e-04 9.99943175e-01 -5.45480473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064391418 meters 0.04091647315842409 Centerline is valid? [True, True] Translation: X:305.73, Y:-13.84, Z:-5.46 [[ 9.99807713e-01 -1.66119730e-02 1.04201636e-02 3.05730650e+02] [ 1.66177454e-02 9.99861806e-01 -4.67619253e-04 -1.38417944e+01] [-1.04109556e-02 6.40688961e-04 9.99945599e-01 -5.45614888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094391418 meters 0.040819276582969445 Centerline is valid? [True, True] Translation: X:305.76, Y:-13.84, Z:-5.46 [[ 9.99797510e-01 -1.72548596e-02 1.03541919e-02 3.05762764e+02] [ 1.72605944e-02 9.99850917e-01 -4.64752830e-04 -1.38437914e+01] [-1.03446291e-02 6.43378230e-04 9.99946286e-01 -5.45673017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124391418 meters 0.04227135134879649 Centerline is valid? [True, True] Translation: X:305.79, Y:-13.85, Z:-5.46 [[ 9.99791500e-01 -1.74934642e-02 1.05325368e-02 3.05793395e+02] [ 1.74994221e-02 9.99846761e-01 -4.73758361e-04 -1.38470995e+01] [-1.05226351e-02 6.57972889e-04 9.99944419e-01 -5.45767519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154391418 meters 0.04326528077762085 Centerline is valid? [True, True] Translation: X:305.82, Y:-13.85, Z:-5.46 [[ 9.99792677e-01 -1.71902234e-02 1.09132930e-02 3.05824645e+02] [ 1.71966092e-02 9.99852007e-01 -4.91567267e-04 -1.38498234e+01] [-1.09032277e-02 6.79136988e-04 9.99940327e-01 -5.45809278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184391418 meters 0.04206453895618633 Centerline is valid? [True, True] Translation: X:305.86, Y:-13.85, Z:-5.46 [[ 9.99823351e-01 -1.53478631e-02 1.08493932e-02 3.05856041e+02] [ 1.53540745e-02 9.99881999e-01 -4.89446570e-04 -1.38487486e+01] [-1.08406010e-02 6.55942503e-04 9.99941024e-01 -5.45920211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214391418 meters 0.04163686845558791 Centerline is valid? [True, True] Translation: X:305.89, Y:-13.85, Z:-5.46 [[ 9.99854803e-01 -1.37978641e-02 9.99961915e-03 3.05888608e+02] [ 1.38030595e-02 9.99904632e-01 -4.50731499e-04 -1.38491836e+01] [-9.99244637e-03 5.88691392e-04 9.99949901e-01 -5.46077346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244391418 meters 0.03635589914364398 Centerline is valid? [True, True] Translation: X:305.92, Y:-13.84, Z:-5.46 [[ 9.99882037e-01 -1.20281316e-02 9.55178485e-03 3.05920183e+02] [ 1.20328092e-02 9.99927510e-01 -4.32386025e-04 -1.38429483e+01] [-9.54589164e-03 5.47269825e-04 9.99954287e-01 -5.46111558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274391418 meters 0.034418099798175325 Centerline is valid? [True, True] Translation: X:305.95, Y:-13.84, Z:-5.46 [[ 9.99930276e-01 -8.06994822e-03 8.62088550e-03 3.05951221e+02] [ 8.07361556e-03 9.99967332e-01 -3.90685342e-04 -1.38396110e+01] [-8.61745106e-03 4.60259817e-04 9.99962763e-01 -5.46316805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.304391418 meters 0.03187785228077853 Centerline is valid? [True, True] Translation: X:305.98, Y:-13.84, Z:-5.46 [[ 9.99947784e-01 -5.68136771e-03 8.49423354e-03 3.05982761e+02] [ 5.68484229e-03 9.99983767e-01 -3.84963571e-04 -1.38364058e+01] [-8.49190853e-03 4.33231848e-04 9.99963849e-01 -5.46339459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334391418 meters 0.03179026030196256 Centerline is valid? [True, True] Translation: X:306.01, Y:-13.84, Z:-5.46 [[ 9.99958030e-01 -3.33467502e-03 8.53340620e-03 3.06013014e+02] [ 3.33810116e-03 9.99994354e-01 -3.87286690e-04 -1.38359370e+01] [-8.53206654e-03 4.15755808e-04 9.99963515e-01 -5.46415336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.364391418 meters 0.02826142398459659 Centerline is valid? [True, True] Translation: X:306.04, Y:-13.83, Z:-5.46 [[ 9.99962669e-01 2.16085978e-03 8.36609210e-03 3.06044170e+02] [-2.15775782e-03 9.99997600e-01 -3.79786533e-04 -1.38282267e+01] [-8.36689269e-03 3.61720355e-04 9.99964932e-01 -5.46386542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394391418 meters 0.025812664797056347 Centerline is valid? [True, True] Translation: X:306.08, Y:-13.82, Z:-5.46 [[ 9.99944229e-01 5.56169465e-03 8.97809954e-03 3.06076010e+02] [-5.55825933e-03 9.99984470e-01 -4.07539163e-04 -1.38242108e+01] [-8.98022671e-03 3.57613829e-04 9.99959613e-01 -5.46397467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.424391418 meters 0.024024139916372443 Centerline is valid? [True, True] Translation: X:306.11, Y:-13.82, Z:-5.46 [[ 9.99913850e-01 9.21594439e-03 9.34659705e-03 3.06107654e+02] [-9.21237329e-03 9.99957475e-01 -4.25057327e-04 -1.38211402e+01] [-9.35011689e-03 3.38916367e-04 9.99956229e-01 -5.46429977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454391418 meters 0.02115035516309379 Centerline is valid? [True, True] Translation: X:306.14, Y:-13.81, Z:-5.46 [[ 9.99806226e-01 1.69741039e-02 9.96949893e-03 3.06137616e+02] [-1.69704183e-02 9.99855889e-01 -4.54169407e-04 -1.38135003e+01] [-9.97577133e-03 2.84894833e-04 9.99950200e-01 -5.46460186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters 0.01893363382272405 Centerline is valid? [True, True] Translation: X:306.17, Y:-13.81, Z:-5.46 [[ 9.99722384e-01 2.11974424e-02 1.02870533e-02 3.06168829e+02] [-2.11937433e-02 9.99775278e-01 -4.68483959e-04 -1.38095381e+01] [-1.02946723e-02 2.50332733e-04 9.99946977e-01 -5.46473590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514391418 meters 0.015928964804443065 Centerline is valid? [True, True] Translation: X:306.20, Y:-13.80, Z:-5.47 [[ 9.99484593e-01 3.00078379e-02 1.14051558e-02 3.06197964e+02] [-3.00038552e-02 9.99549648e-01 -5.20188947e-04 -1.38015007e+01] [-1.14156292e-02 1.77722197e-04 9.99934824e-01 -5.46510269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters 0.014516056533739614 Centerline is valid? [True, True] Translation: X:306.23, Y:-13.80, Z:-5.47 [[ 9.99330597e-01 3.46225571e-02 1.18167527e-02 3.06226914e+02] [-3.46186115e-02 9.99400451e-01 -5.38341953e-04 -1.37973667e+01] [-1.18283068e-02 1.28902014e-04 9.99930035e-01 -5.46515798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574391418 meters 0.013866408751988624 Centerline is valid? [True, True] Translation: X:306.26, Y:-13.79, Z:-5.47 [[ 9.99182164e-01 3.85699604e-02 1.21392233e-02 3.06255869e+02] [-3.85660999e-02 9.99255899e-01 -5.52032559e-04 -1.37940477e+01] [-1.21514824e-02 8.34185882e-05 9.99926165e-01 -5.46568091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters 0.013247568251209055 Centerline is valid? [True, True] Translation: X:306.28, Y:-13.79, Z:-5.47 [[ 9.99025039e-01 4.23436866e-02 1.24893324e-02 3.06284845e+02] [-4.23399079e-02 9.99103103e-01 -5.66929193e-04 -1.37912404e+01] [-1.25021366e-02 3.75792761e-05 9.99921845e-01 -5.46638776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634391418 meters 0.013438105257290679 Centerline is valid? [True, True] Translation: X:306.31, Y:-13.79, Z:-5.47 [[ 9.98749492e-01 4.83666941e-02 1.26536299e-02 3.06312093e+02] [-4.83633074e-02 9.98829646e-01 -5.73685489e-04 -1.37860227e+01] [-1.26665680e-02 -3.90033042e-05 9.99919775e-01 -5.46756144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters 0.013547344126536298 Centerline is valid? [True, True] Translation: X:306.34, Y:-13.78, Z:-5.47 [[ 9.98641865e-01 5.04551068e-02 1.29887475e-02 3.06340543e+02] [-5.04517427e-02 9.98726328e-01 -5.86751886e-04 -1.37847285e+01] [-1.30018087e-02 -6.93499476e-05 9.99915471e-01 -5.46820318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694391418 meters 0.013707291651259758 Centerline is valid? [True, True] Translation: X:306.37, Y:-13.78, Z:-5.47 [[ 9.98558981e-01 5.19816079e-02 1.33369392e-02 3.06369250e+02] [-5.19782110e-02 9.98648038e-01 -6.01437350e-04 -1.37846879e+01] [-1.33501719e-02 -9.26595753e-05 9.99910878e-01 -5.46866509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters 0.013986322467460748 Centerline is valid? [True, True] Translation: X:306.40, Y:-13.78, Z:-5.47 [[ 9.98538289e-01 5.23748138e-02 1.33478062e-02 3.06397379e+02] [-5.23714593e-02 9.98627493e-01 -6.00969966e-04 -1.37846044e+01] [-1.33609619e-02 -9.89525659e-05 9.99910733e-01 -5.46994631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754391418 meters 0.0136964973698496 Centerline is valid? [True, True] Translation: X:306.43, Y:-13.79, Z:-5.47 [[ 9.98577162e-01 5.15252929e-02 1.37402716e-02 3.06426455e+02] [-5.15216781e-02 9.98671686e-01 -6.17163759e-04 -1.37868753e+01] [-1.37538198e-02 -9.16362167e-05 9.99905408e-01 -5.47027598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters 0.013348124037971107 Centerline is valid? [True, True] Translation: X:306.45, Y:-13.79, Z:-5.47 [[ 9.98662887e-01 4.98465821e-02 1.37024461e-02 3.06454979e+02] [-4.98428435e-02 9.98756884e-01 -6.14421183e-04 -1.37895339e+01] [-1.37160391e-02 -6.93692416e-05 9.99905928e-01 -5.47099981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814391418 meters 0.012901923524200625 Centerline is valid? [True, True] Translation: X:306.48, Y:-13.80, Z:-5.47 [[ 9.98895096e-01 4.47717445e-02 1.42856024e-02 3.06483365e+02] [-4.47671783e-02 9.98997243e-01 -6.39422147e-04 -1.37960213e+01] [-1.42999054e-02 -8.10461737e-07 9.99897751e-01 -5.47167075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters 0.012901923524200625 Centerline is valid? [True, True] Translation: X:306.51, Y:-13.80, Z:-5.47 [[ 9.98898574e-01 4.46940566e-02 1.42856520e-02 3.06511642e+02] [-4.46894982e-02 9.99000721e-01 -6.38312006e-04 -1.37972071e+01] [-1.42999054e-02 -8.09665874e-07 9.99897751e-01 -5.47218143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874391418 meters 0.013055751430537402 Centerline is valid? [True, True] Translation: X:306.54, Y:-13.80, Z:-5.47 [[ 9.99042018e-01 4.11581794e-02 1.48677967e-02 3.06540406e+02] [-4.11528684e-02 9.99152642e-01 -6.63107091e-04 -1.38019506e+01] [-1.48824906e-02 5.06193660e-05 9.99889248e-01 -5.47278860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters 0.01352062452686578 Centerline is valid? [True, True] Translation: X:306.57, Y:-13.81, Z:-5.47 [[ 9.99170447e-01 3.77106083e-02 1.53729893e-02 3.06568834e+02] [-3.77045413e-02 9.99288697e-01 -6.84395328e-04 -1.38069665e+01] [-1.53878634e-02 1.04196076e-04 9.99881594e-01 -5.47315643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934391418 meters 0.015240157786517178 Centerline is valid? [True, True] Translation: X:306.60, Y:-13.82, Z:-5.47 [[ 9.99380993e-01 3.12432012e-02 1.61707266e-02 3.06597247e+02] [-3.12356635e-02 9.99511789e-01 -7.18552183e-04 -1.38159194e+01] [-1.61852817e-02 2.13004020e-04 9.99868987e-01 -5.47330298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters 0.01618729615364343 Centerline is valid? [True, True] Translation: X:306.63, Y:-13.82, Z:-5.47 [[ 9.99460021e-01 2.85918134e-02 1.61917980e-02 3.06626245e+02] [-2.85839233e-02 9.99591138e-01 -7.18554826e-04 -1.38202464e+01] [-1.62057225e-02 2.55341710e-04 9.99868646e-01 -5.47384210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994391418 meters 0.017042698919397827 Centerline is valid? [True, True] Translation: X:306.66, Y:-13.82, Z:-5.47 [[ 9.99519897e-01 2.64305276e-02 1.61679554e-02 3.06656842e+02] [-2.64223947e-02 9.99650611e-01 -7.16465852e-04 -1.38245728e+01] [-1.61812430e-02 2.88925776e-04 9.99869033e-01 -5.47452873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024391418 meters 0.017471602351731806 Centerline is valid? [True, True] Translation: X:306.69, Y:-13.83, Z:-5.48 [[ 9.99576949e-01 2.43374322e-02 1.59252159e-02 3.06687448e+02] [-2.43292762e-02 9.99703750e-01 -7.05709109e-04 -1.38287486e+01] [-1.59376732e-02 3.17961581e-04 9.99872937e-01 -5.47579986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.054391418 meters 0.017804785769168153 Centerline is valid? [True, True] Translation: X:306.72, Y:-13.83, Z:-5.48 [[ 9.99577660e-01 2.40992772e-02 1.62396661e-02 3.06717961e+02] [-2.40907651e-02 9.99709516e-01 -7.19609338e-04 -1.38318306e+01] [-1.62522908e-02 3.28079437e-04 9.99867869e-01 -5.47640321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084391418 meters 0.01796611062737019 Centerline is valid? [True, True] Translation: X:306.75, Y:-13.83, Z:-5.48 [[ 9.99579822e-01 2.40013736e-02 1.62515478e-02 3.06749383e+02] [-2.39928315e-02 9.99711871e-01 -7.20417368e-04 -1.38345296e+01] [-1.62641563e-02 3.30194016e-04 9.99867675e-01 -5.47717041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.114391418 meters 0.017302101994546747 Centerline is valid? [True, True] Translation: X:306.78, Y:-13.84, Z:-5.48 [[ 9.99558254e-01 2.41879426e-02 1.72696329e-02 3.06780605e+02] [-2.41783121e-02 9.99707368e-01 -7.66257964e-04 -1.38354387e+01] [-1.72831135e-02 3.48368898e-04 9.99850575e-01 -5.47738755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144391418 meters 0.017259525372086592 Centerline is valid? [True, True] Translation: X:306.81, Y:-13.84, Z:-5.48 [[ 9.99527432e-01 2.51536832e-02 1.76693332e-02 3.06811594e+02] [-2.51437410e-02 9.99683538e-01 -7.84643011e-04 -1.38385089e+01] [-1.76834782e-02 3.39999075e-04 9.99843577e-01 -5.47786058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.174391418 meters 0.01729185493321768 Centerline is valid? [True, True] Translation: X:306.84, Y:-13.84, Z:-5.48 [[ 9.99528021e-01 2.52173157e-02 1.75448864e-02 3.06843330e+02] [-2.52074424e-02 9.99681935e-01 -7.83700711e-04 -1.38400524e+01] [-1.75590688e-02 3.41069109e-04 9.99845769e-01 -5.47884936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204391418 meters 0.017303791523996553 Centerline is valid? [True, True] Translation: X:306.87, Y:-13.84, Z:-5.48 [[ 9.99526630e-01 2.55694702e-02 1.71089883e-02 3.06874325e+02] [-2.55601218e-02 9.99672994e-01 -7.64887648e-04 -1.38421524e+01] [-1.71229513e-02 3.27217749e-04 9.99853338e-01 -5.47993640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234391418 meters 0.01724989844077415 Centerline is valid? [True, True] Translation: X:306.90, Y:-13.84, Z:-5.48 [[ 9.99534658e-01 2.56419579e-02 1.65214509e-02 3.06904804e+02] [-2.56332397e-02 9.99671141e-01 -7.39274308e-04 -1.38441803e+01] [-1.65349741e-02 3.15431982e-04 9.99863238e-01 -5.48131964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264391418 meters 0.01731627002123063 Centerline is valid? [True, True] Translation: X:306.94, Y:-13.85, Z:-5.48 [[ 9.99540833e-01 2.57532671e-02 1.59653727e-02 3.06935920e+02] [-2.57451360e-02 9.99668284e-01 -7.14652107e-04 -1.38459427e+01] [-1.59784813e-02 3.03293272e-04 9.99872290e-01 -5.48193590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294391418 meters 0.017795797930804286 Centerline is valid? [True, True] Translation: X:306.97, Y:-13.85, Z:-5.48 [[ 9.99580961e-01 2.47093588e-02 1.50781461e-02 3.06967573e+02] [-2.47019794e-02 9.99694631e-01 -6.75480459e-04 -1.38484275e+01] [-1.50902324e-02 3.02737351e-04 9.99886090e-01 -5.48316865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324391418 meters 0.018131202450588267 Centerline is valid? [True, True] Translation: X:307.00, Y:-13.85, Z:-5.48 [[ 9.99619403e-01 2.34930313e-02 1.44612139e-02 3.06997680e+02] [-2.34861066e-02 9.99723953e-01 -6.48511617e-04 -1.38511415e+01] [-1.44724574e-02 3.08627185e-04 9.99895221e-01 -5.48404421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354391418 meters 0.018979897336518795 Centerline is valid? [True, True] Translation: X:307.03, Y:-13.85, Z:-5.48 [[ 9.99666846e-01 2.16379446e-02 1.40711113e-02 3.07028746e+02] [-2.16312069e-02 9.99765819e-01 -6.30865687e-04 -1.38544924e+01] [-1.40814667e-02 3.26280392e-04 9.99900798e-01 -5.48464238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384391418 meters 0.02000656403272874 Centerline is valid? [True, True] Translation: X:307.06, Y:-13.86, Z:-5.49 [[ 9.99760310e-01 1.70208852e-02 1.37699824e-02 3.07059945e+02] [-1.70139882e-02 9.99855061e-01 -6.17872824e-04 -1.38583446e+01] [-1.37785034e-02 3.83442408e-04 9.99904998e-01 -5.48508018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414391418 meters 0.02227921501356269 Centerline is valid? [True, True] Translation: X:307.09, Y:-13.86, Z:-5.49 [[ 9.99806446e-01 1.43659058e-02 1.34421769e-02 3.07090961e+02] [-1.43591001e-02 9.99896721e-01 -6.02677113e-04 -1.38637487e+01] [-1.34494466e-02 4.09542900e-04 9.99909468e-01 -5.48580001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444391418 meters 0.022572044851601736 Centerline is valid? [True, True] Translation: X:307.12, Y:-13.87, Z:-5.49 [[ 9.99846247e-01 1.18667650e-02 1.29097879e-02 3.07122602e+02] [-1.18602384e-02 9.99929496e-01 -5.81999628e-04 -1.38659016e+01] [-1.29157841e-02 4.28796981e-04 9.99916496e-01 -5.48638506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474391418 meters 0.026563865680726034 Centerline is valid? [True, True] Translation: X:307.15, Y:-13.87, Z:-5.49 [[ 9.99903320e-01 5.72636997e-03 1.26712119e-02 3.07152146e+02] [-5.71953077e-03 9.99983478e-01 -5.75915585e-04 -1.38734837e+01] [-1.26743004e-02 5.03386519e-04 9.99919551e-01 -5.48733921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504391418 meters 0.030471556486175527 Centerline is valid? [True, True] Translation: X:307.18, Y:-13.88, Z:-5.49 [[ 9.99916327e-01 3.18464863e-03 1.25378167e-02 3.07183109e+02] [-3.17776274e-03 9.99994789e-01 -5.69093012e-04 -1.38808258e+01] [-1.25395638e-02 5.29203188e-04 9.99921237e-01 -5.48814767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534391418 meters 0.029486942696819878 Centerline is valid? [True, True] Translation: X:307.21, Y:-13.88, Z:-5.49 [[ 9.99921491e-01 7.57955065e-04 1.25074771e-02 3.07214840e+02] [-7.50899489e-04 9.99999556e-01 -5.68795127e-04 -1.38812821e+01] [-1.25079027e-02 5.59358614e-04 9.99921617e-01 -5.48787244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564391418 meters 0.029607947540628052 Centerline is valid? [True, True] Translation: X:307.25, Y:-13.88, Z:-5.49 [[ 9.99926962e-01 -1.80234868e-03 1.19508589e-02 3.07246839e+02] [ 1.80901971e-03 9.99998214e-01 -5.47418419e-04 -1.38826496e+01] [-1.19498509e-02 5.68997776e-04 9.99928436e-01 -5.48804023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594391418 meters 0.03158948588358396 Centerline is valid? [True, True] Translation: X:307.28, Y:-13.89, Z:-5.49 [[ 9.99913237e-01 -6.62521714e-03 1.13853065e-02 3.07277612e+02] [ 6.63159786e-03 9.99977874e-01 -5.22772398e-04 -1.38860846e+01] [-1.13815912e-02 5.98229815e-04 9.99935049e-01 -5.48827339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624391418 meters 0.03612863000247225 Centerline is valid? [True, True] Translation: X:307.31, Y:-13.89, Z:-5.49 [[ 9.99902807e-01 -8.59351385e-03 1.09785084e-02 3.07307995e+02] [ 8.59956575e-03 9.99962896e-01 -5.04161219e-04 -1.38935755e+01] [-1.09737686e-02 5.98522623e-04 9.99939607e-01 -5.48899532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654391418 meters 0.0371247245632163 Centerline is valid? [True, True] Translation: X:307.34, Y:-13.90, Z:-5.49 [[ 9.99885215e-01 -1.04462033e-02 1.09742638e-02 3.07340362e+02] [ 1.04523638e-02 9.99945245e-01 -5.04153183e-04 -1.38959530e+01] [-1.09683965e-02 6.18802312e-04 9.99939654e-01 -5.48910061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684391418 meters 0.03862192939159673 Centerline is valid? [True, True] Translation: X:307.37, Y:-13.90, Z:-5.49 [[ 9.99849335e-01 -1.30598474e-02 1.14345078e-02 3.07371094e+02] [ 1.30667186e-02 9.99914488e-01 -5.26408442e-04 -1.38982133e+01] [-1.14266552e-02 6.75740627e-04 9.99934485e-01 -5.48795467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714391418 meters 0.036526748530265926 Centerline is valid? [True, True] Translation: X:307.40, Y:-13.90, Z:-5.49 [[ 9.99830125e-01 -1.40152214e-02 1.19705481e-02 3.07402993e+02] [ 1.40228218e-02 9.99901523e-01 -5.51219176e-04 -1.38960235e+01] [-1.19616438e-02 7.18986400e-04 9.99928198e-01 -5.48704615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744391418 meters 0.03966107334644998 Centerline is valid? [True, True] Translation: X:307.43, Y:-13.90, Z:-5.49 [[ 9.99804941e-01 -1.54043523e-02 1.23606400e-02 3.07433918e+02] [ 1.54125918e-02 9.99881056e-01 -5.71604323e-04 -1.38993708e+01] [-1.23503645e-02 7.62002325e-04 9.99923441e-01 -5.48639243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774391418 meters 0.04018158887003102 Centerline is valid? [True, True] Translation: X:307.47, Y:-13.90, Z:-5.49 [[ 9.99799837e-01 -1.58659261e-02 1.21884917e-02 3.07465971e+02] [ 1.58739794e-02 9.99873841e-01 -5.64262884e-04 -1.39004784e+01] [-1.21780014e-02 7.57629805e-04 9.99925558e-01 -5.48662236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.804391418 meters 0.04108759272836063 Centerline is valid? [True, True] Translation: X:307.50, Y:-13.90, Z:-5.49 [[ 9.99794821e-01 -1.64294591e-02 1.18486091e-02 3.07498407e+02] [ 1.64371195e-02 9.99864750e-01 -5.49425894e-04 -1.39020319e+01] [-1.18379798e-02 7.44070168e-04 9.99929652e-01 -5.48758706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834391418 meters 0.04261253767741292 Centerline is valid? [True, True] Translation: X:307.53, Y:-13.90, Z:-5.49 [[ 9.99807341e-01 -1.62145290e-02 1.10621151e-02 3.07531117e+02] [ 1.62211986e-02 9.99868296e-01 -5.13462882e-04 -1.39039469e+01] [-1.10523326e-02 6.92804726e-04 9.99938681e-01 -5.48949144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.864391418 meters 0.043484815842890594 Centerline is valid? [True, True] Translation: X:307.56, Y:-13.90, Z:-5.49 [[ 9.99809199e-01 -1.68425608e-02 9.89412486e-03 3.07561765e+02] [ 1.68479348e-02 9.99857958e-01 -4.60041856e-04 -1.39046576e+01] [-9.88497120e-03 6.26649650e-04 9.99950946e-01 -5.49029382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894391418 meters 0.04163721085564229 Centerline is valid? [True, True] Translation: X:307.59, Y:-13.90, Z:-5.49 [[ 9.99819320e-01 -1.65990193e-02 9.26286889e-03 3.07594595e+02] [ 1.66037304e-02 9.99862055e-01 -4.31934834e-04 -1.39024308e+01] [-9.25442144e-03 5.85654970e-04 9.99957005e-01 -5.49096947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.924391418 meters 0.039859209680599576 Centerline is valid? [True, True] Translation: X:307.63, Y:-13.90, Z:-5.49 [[ 9.99859024e-01 -1.46915095e-02 8.12969733e-03 3.07625930e+02] [ 1.46950876e-02 9.99891949e-01 -3.80564078e-04 -1.38986018e+01] [-8.12322785e-03 4.99977042e-04 9.99966881e-01 -5.49182277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954391418 meters 0.03970237720356031 Centerline is valid? [True, True] Translation: X:307.66, Y:-13.90, Z:-5.49 [[ 9.99881373e-01 -1.34256389e-02 7.54937950e-03 3.07657843e+02] [ 1.34286873e-02 9.99909769e-01 -3.53242339e-04 -1.38978054e+01] [-7.54395581e-03 4.54578691e-04 9.99971441e-01 -5.49257017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters 0.038893592423017126 Centerline is valid? [True, True] Translation: X:307.69, Y:-13.90, Z:-5.49 [[ 9.99903697e-01 -1.15972821e-02 7.62237715e-03 3.07689121e+02] [ 1.16003445e-02 9.99932650e-01 -3.57674181e-04 -1.38962318e+01] [-7.61771573e-03 4.46061936e-04 9.99970885e-01 -5.49291822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014391418 meters 0.03739126683537585 Centerline is valid? [True, True] Translation: X:307.72, Y:-13.89, Z:-5.49 [[ 9.99950863e-01 -5.88105740e-03 7.98024382e-03 3.07719732e+02] [ 5.88423844e-03 9.99982617e-01 -3.75194177e-04 -1.38906759e+01] [-7.97789856e-03 4.22133399e-04 9.99968087e-01 -5.49451020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters 0.035537611215346765 Centerline is valid? [True, True] Translation: X:307.75, Y:-13.89, Z:-5.49 [[ 9.99964564e-01 -3.04261092e-03 7.84943832e-03 3.07751282e+02] [ 3.04559839e-03 9.99995294e-01 -3.68671403e-04 -1.38883229e+01] [-7.84827966e-03 3.92564576e-04 9.99969125e-01 -5.49444433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074391418 meters 0.029415411086652774 Centerline is valid? [True, True] Translation: X:307.78, Y:-13.88, Z:-5.49 [[ 9.99950097e-01 4.64403283e-03 8.84508851e-03 3.07782254e+02] [-4.64053252e-03 9.99989146e-01 -4.16217299e-04 -1.38756655e+01] [-8.84692543e-03 3.75150608e-04 9.99960795e-01 -5.49345355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters 0.030176156053624403 Centerline is valid? [True, True] Translation: X:307.81, Y:-13.88, Z:-5.49 [[ 9.99920683e-01 8.83804317e-03 8.97314134e-03 3.07812797e+02] [-8.83461262e-03 9.99960885e-01 -4.21879981e-04 -1.38768102e+01] [-8.97651895e-03 3.42572291e-04 9.99959652e-01 -5.49394337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134391418 meters 0.02687030418086758 Centerline is valid? [True, True] Translation: X:307.84, Y:-13.87, Z:-5.49 [[ 9.99861807e-01 1.34178755e-02 9.81465756e-03 3.07844727e+02] [-1.34139884e-02 9.99909922e-01 -4.61774001e-04 -1.38700684e+01] [-9.81996950e-03 3.30056484e-04 9.99951728e-01 -5.49348436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters 0.024188586622664845 Centerline is valid? [True, True] Translation: X:307.88, Y:-13.86, Z:-5.49 [[ 9.99792237e-01 1.79435576e-02 9.67009776e-03 3.07875808e+02] [-1.79399859e-02 9.99838962e-01 -4.55977101e-04 -1.38635545e+01] [-9.67672235e-03 2.82400949e-04 9.99953140e-01 -5.49314763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194391418 meters 0.020439720470427383 Centerline is valid? [True, True] Translation: X:307.91, Y:-13.85, Z:-5.49 [[ 9.99616878e-01 2.58600833e-02 9.86677486e-03 3.07906647e+02] [-2.58567460e-02 9.99665550e-01 -4.65670893e-04 -1.38546417e+01] [-9.87551721e-03 2.10369793e-04 9.99951214e-01 -5.49270591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters 0.019789998104101945 Centerline is valid? [True, True] Translation: X:307.94, Y:-13.85, Z:-5.49 [[ 9.99509856e-01 2.95852250e-02 1.02352945e-02 3.07935162e+02] [-2.95818326e-02 9.99562245e-01 -4.82716318e-04 -1.38520398e+01] [-1.02450953e-02 1.79700948e-04 9.99947501e-01 -5.49344824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254391418 meters 0.019166290299777126 Centerline is valid? [True, True] Translation: X:307.96, Y:-13.85, Z:-5.49 [[ 9.99397911e-01 3.29422990e-02 1.08913343e-02 3.07964170e+02] [-3.29386673e-02 9.99457243e-01 -5.12701154e-04 -1.38482824e+01] [-1.09023126e-02 1.53646424e-04 9.99940556e-01 -5.49350286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters 0.01704851384028793 Centerline is valid? [True, True] Translation: X:307.99, Y:-13.84, Z:-5.49 [[ 9.99211149e-01 3.79820702e-02 1.15948974e-02 3.07993112e+02] [-3.79783051e-02 9.99278415e-01 -5.44815527e-04 -1.38421247e+01] [-1.16072239e-02 1.04031198e-04 9.99932628e-01 -5.49263434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314391418 meters 0.015132857926856378 Centerline is valid? [True, True] Translation: X:308.02, Y:-13.84, Z:-5.49 [[ 9.99170963e-01 3.92044357e-02 1.09726530e-02 3.08020583e+02] [-3.92011449e-02 9.99231207e-01 -5.14909742e-04 -1.38419070e+01] [-1.09844040e-02 8.43423050e-05 9.99939666e-01 -5.49300567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters 0.01750476543109524 Centerline is valid? [True, True] Translation: X:308.05, Y:-13.84, Z:-5.49 [[ 9.99025643e-01 4.22282234e-02 1.28274206e-02 3.08049702e+02] [-4.22239967e-02 9.99107989e-01 -6.00269296e-04 -1.38368339e+01] [-1.28413267e-02 5.80594520e-05 9.99917545e-01 -5.49296774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374391418 meters 0.01856884460711203 Centerline is valid? [True, True] Translation: X:308.08, Y:-13.84, Z:-5.49 [[ 9.98997715e-01 4.28109134e-02 1.30687345e-02 3.08078638e+02] [-4.28065901e-02 9.99083191e-01 -6.10489260e-04 -1.38366499e+01] [-1.30828886e-02 5.04494136e-05 9.99914414e-01 -5.49403217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters 0.01651984314476314 Centerline is valid? [True, True] Translation: X:308.11, Y:-13.84, Z:-5.49 [[ 9.99024646e-01 4.24087658e-02 1.22985286e-02 3.08106821e+02] [-4.24049155e-02 9.99100342e-01 -5.73783604e-04 -1.38370048e+01] [-1.23117976e-02 5.17058931e-05 9.99924206e-01 -5.49444184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434391418 meters 0.015355406156447145 Centerline is valid? [True, True] Translation: X:308.13, Y:-13.84, Z:-5.50 [[ 9.99045330e-01 4.20048211e-02 1.20009770e-02 3.08134167e+02] [-4.20011435e-02 9.99117407e-01 -5.58420980e-04 -1.38375445e+01] [-1.20138414e-02 5.38331140e-05 9.99927830e-01 -5.49509324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters 0.014460800255396667 Centerline is valid? [True, True] Translation: X:308.16, Y:-13.84, Z:-5.50 [[ 9.99058391e-01 4.17571791e-02 1.17758057e-02 3.08161600e+02] [-4.17536346e-02 9.99127787e-01 -5.46796550e-04 -1.38374821e+01] [-1.17883674e-02 5.45989919e-05 9.99930513e-01 -5.49503687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494391418 meters 0.016137744171030526 Centerline is valid? [True, True] Translation: X:308.19, Y:-13.84, Z:-5.50 [[ 9.99040718e-01 4.19166678e-02 1.26742567e-02 3.08190473e+02] [-4.19125924e-02 9.99121109e-01 -5.87110515e-04 -1.38379844e+01] [-1.26877271e-02 5.53363543e-05 9.99919506e-01 -5.49573207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524391418 meters 0.016802062557986646 Centerline is valid? [True, True] Translation: X:308.22, Y:-13.84, Z:-5.50 [[ 9.99071231e-01 4.09772493e-02 1.33244646e-02 3.08218481e+02] [-4.09726750e-02 9.99160077e-01 -6.16215155e-04 -1.38399843e+01] [-1.33385239e-02 6.97038755e-05 9.99911036e-01 -5.49619933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.554391418 meters 0.014644431784742916 Centerline is valid? [True, True] Translation: X:308.25, Y:-13.84, Z:-5.50 [[ 9.99147947e-01 3.90825324e-02 1.32640709e-02 3.08247305e+02] [-3.90778549e-02 9.99235982e-01 -6.11738532e-04 -1.38415346e+01] [-1.32778452e-02 9.28858584e-05 9.99911841e-01 -5.49502870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584391418 meters 0.01464101845828894 Centerline is valid? [True, True] Translation: X:308.28, Y:-13.84, Z:-5.50 [[ 9.99201023e-01 3.76359481e-02 1.34480899e-02 3.08275525e+02] [-3.76310224e-02 9.99291510e-01 -6.19221773e-04 -1.38438131e+01] [-1.34618671e-02 1.12661656e-04 9.99909379e-01 -5.49526270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.614391418 meters 0.016756246650871654 Centerline is valid? [True, True] Translation: X:308.30, Y:-13.85, Z:-5.50 [[ 9.99310102e-01 3.42736770e-02 1.43050695e-02 3.08303674e+02] [-3.42677825e-02 9.99412471e-01 -6.57035552e-04 -1.38495278e+01] [-1.43191839e-02 1.66379253e-04 9.99897461e-01 -5.49709813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644391418 meters 0.015913600264477898 Centerline is valid? [True, True] Translation: X:308.33, Y:-13.85, Z:-5.50 [[ 9.99411927e-01 3.11310894e-02 1.43755161e-02 3.08332122e+02] [-3.11248286e-02 9.99515288e-01 -6.59099239e-04 -1.38537732e+01] [-1.43890666e-02 2.11276168e-04 9.99896450e-01 -5.49688771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.674391418 meters 0.016653729060036915 Centerline is valid? [True, True] Translation: X:308.36, Y:-13.86, Z:-5.50 [[ 9.99494423e-01 2.83669777e-02 1.43600891e-02 3.08360313e+02] [-2.83604617e-02 9.99597545e-01 -6.57232919e-04 -1.38585342e+01] [-1.43729535e-02 2.49641880e-04 9.99896673e-01 -5.49793926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704391418 meters 0.016653729060036915 Centerline is valid? [True, True] Translation: X:308.39, Y:-13.86, Z:-5.50 [[ 9.99496693e-01 2.82868635e-02 1.43601417e-02 3.08388591e+02] [-2.82803558e-02 9.99599815e-01 -6.56081487e-04 -1.38597497e+01] [-1.43729535e-02 2.49641360e-04 9.99896673e-01 -5.49845002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734391418 meters 0.019479692781903635 Centerline is valid? [True, True] Translation: X:308.42, Y:-13.87, Z:-5.50 [[ 9.99638493e-01 2.26322491e-02 1.45142597e-02 3.08417117e+02] [-2.26250243e-02 9.99743802e-01 -6.61800156e-04 -1.38683450e+01] [-1.45255192e-02 3.33175432e-04 9.99894444e-01 -5.50017799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764391418 meters 0.019728584438234324 Centerline is valid? [True, True] Translation: X:308.45, Y:-13.87, Z:-5.50 [[ 9.99693661e-01 1.99536671e-02 1.46436334e-02 3.08447636e+02] [-1.99460363e-02 9.99800836e-01 -6.66975514e-04 -1.38722811e+01] [-1.46540256e-02 3.74688748e-04 9.99892554e-01 -5.50066993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794391418 meters 0.021018976172559562 Centerline is valid? [True, True] Translation: X:308.48, Y:-13.88, Z:-5.50 [[ 9.99749781e-01 1.72888745e-02 1.41939994e-02 3.08478292e+02] [-1.72814379e-02 9.99850456e-01 -6.46419851e-04 -1.38768438e+01] [-1.42030526e-02 4.00965386e-04 9.99899051e-01 -5.50170366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824391418 meters 0.023057738162277054 Centerline is valid? [True, True] Translation: X:308.51, Y:-13.88, Z:-5.50 [[ 9.99825386e-01 1.32823619e-02 1.31444503e-02 3.08509882e+02] [-1.32756507e-02 9.99911696e-01 -5.97699713e-04 -1.38836986e+01] [-1.31512284e-02 4.23094216e-04 9.99913429e-01 -5.50303575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854391418 meters 0.023756675967485555 Centerline is valid? [True, True] Translation: X:308.54, Y:-13.89, Z:-5.50 [[ 9.99845537e-01 1.22559051e-02 1.25974102e-02 3.08541958e+02] [-1.22496223e-02 9.99924805e-01 -5.75776066e-04 -1.38872774e+01] [-1.26035196e-02 4.21373613e-04 9.99920484e-01 -5.50396157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884391418 meters 0.02287003070148184 Centerline is valid? [True, True] Translation: X:308.57, Y:-13.89, Z:-5.50 [[ 9.99857115e-01 1.15415824e-02 1.23507893e-02 3.08573691e+02] [-1.15354470e-02 9.99933303e-01 -5.67885954e-04 -1.38878614e+01] [-1.23565198e-02 4.25332937e-04 9.99923565e-01 -5.50456851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914391418 meters 0.02597446936037633 Centerline is valid? [True, True] Translation: X:308.61, Y:-13.89, Z:-5.51 [[ 9.99856924e-01 1.16795336e-02 1.22360115e-02 3.08605907e+02] [-1.16734851e-02 9.99931703e-01 -5.65621743e-04 -1.38949370e+01] [-1.22417820e-02 4.22703918e-04 9.99924977e-01 -5.50584982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944391418 meters 0.02349384892268992 Centerline is valid? [True, True] Translation: X:308.64, Y:-13.89, Z:-5.51 [[ 9.99855722e-01 1.19592124e-02 1.20628198e-02 3.08638500e+02] [-1.19533087e-02 9.99928399e-01 -5.61388051e-04 -1.38933387e+01] [-1.20686699e-02 4.17116446e-04 9.99927084e-01 -5.50595618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974391418 meters 0.02301548439660456 Centerline is valid? [True, True] Translation: X:308.67, Y:-13.89, Z:-5.51 [[ 9.99855017e-01 1.23902958e-02 1.16801239e-02 3.08670943e+02] [-1.23847536e-02 9.99923157e-01 -5.46709824e-04 -1.38943303e+01] [-1.16860003e-02 4.01975104e-04 9.99931636e-01 -5.50662490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004391418 meters 0.023586842667836356 Centerline is valid? [True, True] Translation: X:308.70, Y:-13.90, Z:-5.51 [[ 9.99841815e-01 1.34532035e-02 1.16342602e-02 3.08702240e+02] [-1.34477364e-02 9.99909425e-01 -5.48017303e-04 -1.38969593e+01] [-1.16405790e-02 3.91476151e-04 9.99932170e-01 -5.50803213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034391418 meters 0.02324903659397751 Centerline is valid? [True, True] Translation: X:308.73, Y:-13.90, Z:-5.51 [[ 9.99827450e-01 1.42706242e-02 1.18920242e-02 3.08734082e+02] [-1.42649165e-02 9.99898091e-01 -5.64644324e-04 -1.38979870e+01] [-1.18988701e-02 3.94908162e-04 9.99929128e-01 -5.50873623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064391418 meters 0.02273485707119582 Centerline is valid? [True, True] Translation: X:308.77, Y:-13.90, Z:-5.51 [[ 9.99809329e-01 1.53876811e-02 1.20218219e-02 3.08765586e+02] [-1.53819186e-02 9.99881528e-01 -5.71655892e-04 -1.38987748e+01] [-1.20291941e-02 3.86628207e-04 9.99927572e-01 -5.50924301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094391418 meters 0.022255309724767924 Centerline is valid? [True, True] Translation: X:308.80, Y:-13.90, Z:-5.51 [[ 9.99768092e-01 1.77211318e-02 1.22361612e-02 3.08796265e+02] [-1.77153291e-02 9.99842902e-01 -5.82462369e-04 -1.38987454e+01] [-1.22445608e-02 3.65559670e-04 9.99924966e-01 -5.50977376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124391418 meters 0.021355952977412402 Centerline is valid? [True, True] Translation: X:308.83, Y:-13.90, Z:-5.51 [[ 9.99727582e-01 1.97578537e-02 1.24253229e-02 3.08826458e+02] [-1.97520228e-02 9.99804735e-01 -5.91826886e-04 -1.38987722e+01] [-1.24345899e-02 3.46240401e-04 9.99922628e-01 -5.51003180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154391418 meters 0.020333059001336154 Centerline is valid? [True, True] Translation: X:308.86, Y:-13.90, Z:-5.51 [[ 9.99685820e-01 2.16322186e-02 1.26612737e-02 3.08856629e+02] [-2.16263131e-02 9.99765942e-01 -6.03169437e-04 -1.38979684e+01] [-1.26713581e-02 3.29163264e-04 9.99919661e-01 -5.51028318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184391418 meters 0.018344297597185085 Centerline is valid? [True, True] Translation: X:308.89, Y:-13.89, Z:-5.51 [[ 9.99585766e-01 2.57284612e-02 1.28974052e-02 3.08886683e+02] [-2.57226761e-02 9.99668929e-01 -6.14263064e-04 -1.38947276e+01] [-1.29089393e-02 2.82252840e-04 9.99916636e-01 -5.50993460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214391418 meters 0.017538497671678623 Centerline is valid? [True, True] Translation: X:308.92, Y:-13.89, Z:-5.51 [[ 9.99528818e-01 2.77396027e-02 1.31398837e-02 3.08915275e+02] [-2.77337774e-02 9.99615149e-01 -6.25372836e-04 -1.38947429e+01] [-1.31521744e-02 2.60659561e-04 9.99913472e-01 -5.51037502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244391418 meters 0.016919041495205598 Centerline is valid? [True, True] Translation: X:308.94, Y:-13.89, Z:-5.51 [[ 9.99473000e-01 2.97551364e-02 1.29751181e-02 3.08943685e+02] [-2.97496358e-02 9.99557191e-01 -6.16780391e-04 -1.38947755e+01] [-1.29877250e-02 2.30450309e-04 9.99915629e-01 -5.51134216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274391418 meters 0.016050327554042516 Centerline is valid? [True, True] Translation: X:308.97, Y:-13.89, Z:-5.51 [[ 9.99413471e-01 3.17627582e-02 1.28000282e-02 3.08972257e+02] [-3.17575777e-02 9.99495416e-01 -6.07826099e-04 -1.38946162e+01] [-1.28128757e-02 2.00971702e-04 9.99917892e-01 -5.51206878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.304391418 meters 0.014756742998686526 Centerline is valid? [True, True] Translation: X:309.00, Y:-13.89, Z:-5.51 [[ 9.99285423e-01 3.59219218e-02 1.17583624e-02 3.09000918e+02] [-3.59178473e-02 9.99354590e-01 -5.57579856e-04 -1.38918057e+01] [-1.17708028e-02 1.34846356e-04 9.99930713e-01 -5.51365166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334391418 meters 0.014164649171337876 Centerline is valid? [True, True] Translation: X:309.03, Y:-13.89, Z:-5.51 [[ 9.99214406e-01 3.79613273e-02 1.13802140e-02 3.09030205e+02] [-3.79576526e-02 9.99279203e-01 -5.38798558e-04 -1.38911193e+01] [-1.13924646e-02 1.06409073e-04 9.99935098e-01 -5.51463704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.364391418 meters 0.01360620743774624 Centerline is valid? [True, True] Translation: X:309.06, Y:-13.89, Z:-5.52 [[ 9.99043564e-01 4.23779901e-02 1.07732194e-02 3.09058671e+02] [-4.23749621e-02 9.99101648e-01 -5.09285220e-04 -1.38883410e+01] [-1.07851237e-02 5.22833582e-05 9.99941837e-01 -5.51547312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394391418 meters 0.013393346022044013 Centerline is valid? [True, True] Translation: X:309.09, Y:-13.89, Z:-5.52 [[ 9.98952319e-01 4.44568412e-02 1.08560745e-02 3.09087458e+02] [-4.44538982e-02 9.99011305e-01 -5.12359598e-04 -1.38878592e+01] [-1.08681191e-02 2.92279757e-05 9.99940940e-01 -5.51566125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.424391418 meters 0.013303882133200802 Centerline is valid? [True, True] Translation: X:309.12, Y:-13.89, Z:-5.52 [[ 9.98787375e-01 4.79173512e-02 1.13007262e-02 3.09116334e+02] [-4.79143945e-02 9.98851304e-01 -5.32388678e-04 -1.38864768e+01] [-1.13132558e-02 -9.72436460e-06 9.99936003e-01 -5.51566747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454391418 meters 0.013429631325923562 Centerline is valid? [True, True] Translation: X:309.14, Y:-13.89, Z:-5.52 [[ 9.98720764e-01 4.92051763e-02 1.16484477e-02 3.09144017e+02] [-4.92021308e-02 9.98788691e-01 -5.48057248e-04 -1.38868177e+01] [-1.16613051e-02 -2.57722911e-05 9.99932004e-01 -5.51589725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters 0.013485048280112828 Centerline is valid? [True, True] Translation: X:309.17, Y:-13.89, Z:-5.52 [[ 9.98690343e-01 4.97594576e-02 1.18993486e-02 3.09172130e+02] [-4.97563358e-02 9.98761230e-01 -5.58436068e-04 -1.38876747e+01] [-1.19123956e-02 -3.43632773e-05 9.99929044e-01 -5.51581637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514391418 meters 0.013688950217106657 Centerline is valid? [True, True] Translation: X:309.20, Y:-13.89, Z:-5.52 [[ 9.98653471e-01 5.04170248e-02 1.22216187e-02 3.09199454e+02] [-5.04137981e-02 9.98728252e-01 -5.72144322e-04 -1.38883600e+01] [-1.22349217e-02 -4.47643044e-05 9.99925150e-01 -5.51651201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters 0.013496494905127733 Centerline is valid? [True, True] Translation: X:309.23, Y:-13.89, Z:-5.52 [[ 9.98649866e-01 5.02385131e-02 1.32112444e-02 3.09228420e+02] [-5.02347578e-02 9.98737247e-01 -6.16154143e-04 -1.38905103e+01] [-1.32255166e-02 -4.83414111e-05 9.99912538e-01 -5.51612473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574391418 meters 0.01340024074508693 Centerline is valid? [True, True] Translation: X:309.26, Y:-13.89, Z:-5.52 [[ 9.98698265e-01 4.91973993e-02 1.34681677e-02 3.09257093e+02] [-4.91934163e-02 9.98789074e-01 -6.27062275e-04 -1.38933110e+01] [-1.34827085e-02 -3.62991727e-05 9.99909103e-01 -5.51687078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters 0.013369374562328718 Centerline is valid? [True, True] Translation: X:309.28, Y:-13.90, Z:-5.52 [[ 9.98904336e-01 4.49301010e-02 1.30925078e-02 3.09283934e+02] [-4.49259796e-02 9.98990133e-01 -6.08880128e-04 -1.39003360e+01] [-1.31066432e-02 2.00192612e-05 9.99914104e-01 -5.51836978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634391418 meters 0.013624364802775969 Centerline is valid? [True, True] Translation: X:309.31, Y:-13.91, Z:-5.52 [[ 9.99031077e-01 4.19393890e-02 1.33414768e-02 3.09312353e+02] [-4.19348707e-02 9.99120155e-01 -6.18356774e-04 -1.39054117e+01] [-1.33556718e-02 5.82845311e-05 9.99910807e-01 -5.51924798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters 0.014097876029238128 Centerline is valid? [True, True] Translation: X:309.34, Y:-13.91, Z:-5.52 [[ 9.99176515e-01 3.83179159e-02 1.33427785e-02 3.09341013e+02] [-3.83130871e-02 9.99265593e-01 -6.17427350e-04 -1.39103574e+01] [-1.33566380e-02 1.05715873e-04 9.99910791e-01 -5.51983333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694391418 meters 0.01633317265201912 Centerline is valid? [True, True] Translation: X:309.37, Y:-13.92, Z:-5.52 [[ 9.99487802e-01 2.94895770e-02 1.24297191e-02 3.09368685e+02] [-2.94847149e-02 9.99565066e-01 -5.74276058e-04 -1.39215041e+01] [-1.24412481e-02 2.07495192e-04 9.99922583e-01 -5.52136680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters 0.019173968539729212 Centerline is valid? [True, True] Translation: X:309.40, Y:-13.93, Z:-5.52 [[ 9.99630663e-01 2.44517314e-02 1.18596336e-02 3.09398168e+02] [-2.44469641e-02 9.99700979e-01 -5.46810057e-04 -1.39285935e+01] [-1.18694577e-02 2.56676064e-04 9.99929523e-01 -5.52317136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754391418 meters 0.02077234503157246 Centerline is valid? [True, True] Translation: X:309.43, Y:-13.94, Z:-5.52 [[ 9.99754332e-01 1.89060302e-02 1.15688643e-02 3.09428329e+02] [-1.89011306e-02 9.99821216e-01 -5.32712722e-04 -1.39361412e+01] [-1.15768675e-02 3.13917235e-04 9.99932937e-01 -5.52346143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters 0.023293290481650658 Centerline is valid? [True, True] Translation: X:309.46, Y:-13.94, Z:-5.52 [[ 9.99842713e-01 1.36086198e-02 1.13734469e-02 3.09458934e+02] [-1.36035434e-02 9.99907330e-01 -5.23584067e-04 -1.39435156e+01] [-1.13795182e-02 3.68782536e-04 9.99935183e-01 -5.52410596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814391418 meters 0.029701543642548792 Centerline is valid? [True, True] Translation: X:309.49, Y:-13.96, Z:-5.53 [[ 9.99929956e-01 3.51841619e-03 1.13005959e-02 3.09488326e+02] [-3.51276068e-03 9.99993695e-01 -5.20271009e-04 -1.39579271e+01] [-1.13023552e-02 4.80538278e-04 9.99936011e-01 -5.52578845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters 0.031757854985233744 Centerline is valid? [True, True] Translation: X:309.52, Y:-13.96, Z:-5.53 [[ 9.99934263e-01 -9.84579681e-04 1.14237095e-02 3.09518850e+02] [ 9.90660530e-04 9.99999371e-01 -5.26654262e-04 -1.39635330e+01] [-1.14231838e-02 5.37936659e-04 9.99934609e-01 -5.52634742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874391418 meters 0.03406730534036056 Centerline is valid? [True, True] Translation: X:309.55, Y:-13.97, Z:-5.53 [[ 9.99923414e-01 -4.53628378e-03 1.15146944e-02 3.09549484e+02] [ 4.54269942e-03 9.99989541e-01 -5.31075830e-04 -1.39696436e+01] [-1.15121649e-02 5.83342953e-04 9.99933563e-01 -5.52704841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters 0.035722113043290656 Centerline is valid? [True, True] Translation: X:309.58, Y:-13.97, Z:-5.53 [[ 9.99885088e-01 -9.77912835e-03 1.15836166e-02 3.09579650e+02] [ 9.78597554e-03 9.99951973e-01 -5.34575862e-04 -1.39747033e+01] [-1.15778326e-02 6.47871421e-04 9.99932765e-01 -5.52777349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934391418 meters 0.03811926476653824 Centerline is valid? [True, True] Translation: X:309.61, Y:-13.98, Z:-5.53 [[ 9.99871134e-01 -1.09002277e-02 1.17856407e-02 3.09610621e+02] [ 1.09073901e-02 9.99940365e-01 -5.43613875e-04 -1.39799276e+01] [-1.17790124e-02 6.72094403e-04 9.99930399e-01 -5.52851466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters 0.03651119193178973 Centerline is valid? [True, True] Translation: X:309.64, Y:-13.98, Z:-5.53 [[ 9.99863411e-01 -1.14547929e-02 1.19141559e-02 3.09643012e+02] [ 1.14621587e-02 9.99934156e-01 -5.50134191e-04 -1.39796729e+01] [-1.19070697e-02 6.86620994e-04 9.99928873e-01 -5.52880497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994391418 meters 0.03795228060827094 Centerline is valid? [True, True] Translation: X:309.67, Y:-13.98, Z:-5.53 [[ 9.99869668e-01 -1.06506774e-02 1.21329835e-02 3.09674567e+02] [ 1.06582693e-02 9.99943042e-01 -5.61240036e-04 -1.39830209e+01] [-1.21263148e-02 6.90483494e-04 9.99926235e-01 -5.52952084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024391418 meters 0.03902051376609523 Centerline is valid? [True, True] Translation: X:309.71, Y:-13.99, Z:-5.53 [[ 9.99882355e-01 -9.31888811e-03 1.21833320e-02 3.09705574e+02] [ 9.32645800e-03 9.99956348e-01 -5.64662136e-04 -1.39853502e+01] [-1.21775381e-02 6.78223041e-04 9.99925621e-01 -5.53013249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.054391418 meters 0.03503662171381283 Centerline is valid? [True, True] Translation: X:309.74, Y:-13.98, Z:-5.53 [[ 9.99917739e-01 -5.21884114e-03 1.17166079e-02 3.09736580e+02] [ 5.22557180e-03 9.99986199e-01 -5.43913506e-04 -1.39798779e+01] [-1.17136076e-02 6.05094739e-04 9.99931210e-01 -5.53084520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084391418 meters 0.033026787874115345 Centerline is valid? [True, True] Translation: X:309.77, Y:-13.98, Z:-5.53 [[ 9.99931393e-01 -2.58020313e-03 1.14259135e-02 3.09768421e+02] [ 2.58643157e-03 9.99996515e-01 -5.30372126e-04 -1.39774165e+01] [-1.14245052e-02 5.59888083e-04 9.99934581e-01 -5.53139921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.114391418 meters 0.03175888355904961 Centerline is valid? [True, True] Translation: X:309.80, Y:-13.98, Z:-5.53 [[ 9.99933740e-01 3.83420296e-04 1.15051962e-02 3.09800460e+02] [-3.77294706e-04 9.99999786e-01 -5.34585239e-04 -1.39758810e+01] [-1.15053987e-02 5.30208967e-04 9.99933670e-01 -5.53195881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144391418 meters 0.030200280073891392 Centerline is valid? [True, True] Translation: X:309.83, Y:-13.97, Z:-5.53 [[ 9.99927033e-01 3.32678646e-03 1.16130044e-02 3.09831628e+02] [-3.32072933e-03 9.99994340e-01 -5.40825764e-04 -1.39740752e+01] [-1.16147378e-02 5.02222657e-04 9.99932421e-01 -5.53233774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.174391418 meters 0.026048029027698677 Centerline is valid? [True, True] Translation: X:309.86, Y:-13.97, Z:-5.53 [[ 9.99878739e-01 8.80724920e-03 1.28428750e-02 3.09863216e+02] [-8.80028377e-03 9.99961097e-01 -5.98770409e-04 -1.39669047e+01] [-1.28476489e-02 4.85676857e-04 9.99917348e-01 -5.53254479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204391418 meters 0.02391444476199229 Centerline is valid? [True, True] Translation: X:309.90, Y:-13.96, Z:-5.53 [[ 9.99845453e-01 1.15978694e-02 1.32121323e-02 3.09895354e+02] [-1.15907539e-02 9.99932636e-01 -6.15007404e-04 -1.39640202e+01] [-1.32183750e-02 4.61773782e-04 9.99912527e-01 -5.53274855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234391418 meters 0.025356026501487754 Centerline is valid? [True, True] Translation: X:309.93, Y:-13.97, Z:-5.53 [[ 9.99806714e-01 1.41732411e-02 1.36254583e-02 3.09926691e+02] [-1.41658567e-02 9.99899455e-01 -6.38317805e-04 -1.39659451e+01] [-1.36331354e-02 4.45178137e-04 9.99906965e-01 -5.53418095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264391418 meters 0.022133260075631107 Centerline is valid? [True, True] Translation: X:309.96, Y:-13.96, Z:-5.53 [[ 9.99760320e-01 1.70392133e-02 1.37465236e-02 3.09959173e+02] [-1.70319195e-02 9.99854737e-01 -6.47491292e-04 -1.39611062e+01] [-1.37555594e-02 4.13206419e-04 9.99905302e-01 -5.53463458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294391418 meters 0.020034001564473627 Centerline is valid? [True, True] Translation: X:309.99, Y:-13.96, Z:-5.54 [[ 9.99673838e-01 2.15759819e-02 1.36636424e-02 3.09991202e+02] [-2.15691351e-02 9.99767149e-01 -6.48272144e-04 -1.39566962e+01] [-1.36744479e-02 3.53347752e-04 9.99906438e-01 -5.53630021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324391418 meters 0.018537014566979523 Centerline is valid? [True, True] Translation: X:310.02, Y:-13.95, Z:-5.54 [[ 9.99629078e-01 2.36234508e-02 1.35513763e-02 3.10021582e+02] [-2.36168899e-02 9.99720875e-01 -6.43997199e-04 -1.39540133e+01] [-1.35628072e-02 3.23716965e-04 9.99907968e-01 -5.53724611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354391418 meters 0.016894384064615676 Centerline is valid? [True, True] Translation: X:310.05, Y:-13.95, Z:-5.54 [[ 9.99517817e-01 2.79235320e-02 1.35797738e-02 3.10051602e+02] [-2.79173378e-02 9.99610027e-01 -6.45524298e-04 -1.39495695e+01] [-1.35925034e-02 2.66101906e-04 9.99907582e-01 -5.53815567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384391418 meters 0.01702850613382907 Centerline is valid? [True, True] Translation: X:310.08, Y:-13.95, Z:-5.54 [[ 9.99457411e-01 2.99372482e-02 1.37348008e-02 3.10080573e+02] [-2.99311083e-02 9.99551751e-01 -6.52417708e-04 -1.39497133e+01] [-1.37481758e-02 2.40965904e-04 9.99905460e-01 -5.53869687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414391418 meters 0.0155466648276718 Centerline is valid? [True, True] Translation: X:310.11, Y:-13.95, Z:-5.54 [[ 9.99381739e-01 3.21490249e-02 1.42330693e-02 3.10110082e+02] [-3.21426683e-02 9.99483063e-01 -6.75196823e-04 -1.39470058e+01] [-1.42474186e-02 2.17290550e-04 9.99898477e-01 -5.53871748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444391418 meters 0.014319794885053283 Centerline is valid? [True, True] Translation: X:310.14, Y:-13.94, Z:-5.54 [[ 9.99215947e-01 3.63431224e-02 1.57056783e-02 3.10139370e+02] [-3.63359158e-02 9.99339356e-01 -7.44060127e-04 -1.39430972e+01] [-1.57223439e-02 1.72796542e-04 9.99876381e-01 -5.53804370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474391418 meters 0.013900919330492065 Centerline is valid? [True, True] Translation: X:310.17, Y:-13.94, Z:-5.54 [[ 9.99120977e-01 3.85039562e-02 1.65746507e-02 3.10167291e+02] [-3.84962500e-02 9.99258437e-01 -7.83862063e-04 -1.39421920e+01] [-1.65925413e-02 1.45111134e-04 9.99862324e-01 -5.53790560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504391418 meters 0.013213892826965357 Centerline is valid? [True, True] Translation: X:310.19, Y:-13.94, Z:-5.54 [[ 9.98942559e-01 4.24426372e-02 1.76744416e-02 3.10194827e+02] [-4.24345233e-02 9.99098902e-01 -8.34021899e-04 -1.39399597e+01] [-1.76939133e-02 8.31334654e-05 9.99843447e-01 -5.53847837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534391418 meters 0.013072035471150673 Centerline is valid? [True, True] Translation: X:310.22, Y:-13.94, Z:-5.54 [[ 9.98877962e-01 4.37771873e-02 1.80658498e-02 3.10223350e+02] [-4.37689607e-02 9.99041318e-01 -8.50701111e-04 -1.39398382e+01] [-1.80857717e-02 5.90231235e-05 9.99836437e-01 -5.53886653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564391418 meters 0.012928651346185665 Centerline is valid? [True, True] Translation: X:310.25, Y:-13.94, Z:-5.54 [[ 9.98816052e-01 4.50635627e-02 1.83240270e-02 3.10252487e+02] [-4.50553425e-02 9.98984121e-01 -8.61400058e-04 -1.39402686e+01] [-1.83442298e-02 3.47848913e-05 9.99831730e-01 -5.53968530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594391418 meters 0.013046670962295009 Centerline is valid? [True, True] Translation: X:310.28, Y:-13.94, Z:-5.54 [[ 9.98785060e-01 4.55805664e-02 1.87300801e-02 3.10281316e+02] [-4.55720970e-02 9.98960666e-01 -8.78978141e-04 -1.39410170e+01] [-1.87506776e-02 2.43412105e-05 9.99824190e-01 -5.54056774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624391418 meters 0.013055680282408236 Centerline is valid? [True, True] Translation: X:310.31, Y:-13.94, Z:-5.54 [[ 9.98816738e-01 4.47571546e-02 1.90241962e-02 3.10309910e+02] [-4.47482968e-02 9.98997896e-01 -8.91256479e-04 -1.39438400e+01] [-1.90450221e-02 3.89015097e-05 9.99818626e-01 -5.54184421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654391418 meters 0.013055680282408236 Centerline is valid? [True, True] Translation: X:310.34, Y:-13.95, Z:-5.54 [[ 9.98820259e-01 4.46784960e-02 1.90242663e-02 3.10338182e+02] [-4.46696524e-02 9.99001417e-01 -8.89759216e-04 -1.39450860e+01] [-1.90450221e-02 3.89021681e-05 9.99818626e-01 -5.54235489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684391418 meters 0.013201452578556766 Centerline is valid? [True, True] Translation: X:310.37, Y:-13.95, Z:-5.54 [[ 9.98890227e-01 4.33245897e-02 1.84741630e-02 3.10365524e+02] [-4.33160450e-02 9.99061047e-01 -8.62605526e-04 -1.39485994e+01] [-1.84941887e-02 6.14205540e-05 9.99828966e-01 -5.54338089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714391418 meters 0.01320511846401716 Centerline is valid? [True, True] Translation: X:310.39, Y:-13.95, Z:-5.54 [[ 9.98967116e-01 4.14988871e-02 1.85079138e-02 3.10393673e+02] [-4.14900316e-02 9.99138546e-01 -8.62362464e-04 -1.39523644e+01] [-1.85277572e-02 9.35778159e-05 9.99828342e-01 -5.54423616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744391418 meters 0.013569608425786132 Centerline is valid? [True, True] Translation: X:310.42, Y:-13.96, Z:-5.55 [[ 9.99043315e-01 3.94933616e-02 1.87810633e-02 3.10421691e+02] [-3.94839272e-02 9.99219824e-01 -8.73023228e-04 -1.39571532e+01] [-1.88008894e-02 1.30637883e-04 9.99823239e-01 -5.54520268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774391418 meters 0.01465334980300744 Centerline is valid? [True, True] Translation: X:310.45, Y:-13.96, Z:-5.55 [[ 9.99221254e-01 3.50174722e-02 1.81841463e-02 3.10450379e+02] [-3.50079185e-02 9.99386679e-01 -8.43537237e-04 -1.39639993e+01] [-1.82025321e-02 2.06291223e-04 9.99834299e-01 -5.54634603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.804391418 meters 0.015943695654847243 Centerline is valid? [True, True] Translation: X:310.48, Y:-13.97, Z:-5.55 [[ 9.99306949e-01 3.26410338e-02 1.78937249e-02 3.10478631e+02] [-3.26314266e-02 9.99467110e-01 -8.28692692e-04 -1.39692575e+01] [-1.79112389e-02 2.44220596e-04 9.99839551e-01 -5.54711007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834391418 meters 0.016619265542751335 Centerline is valid? [True, True] Translation: X:310.51, Y:-13.97, Z:-5.55 [[ 9.99431130e-01 2.86404034e-02 1.78085188e-02 3.10508064e+02] [-2.86302709e-02 9.99589730e-01 -8.23714264e-04 -1.39746358e+01] [-1.78248040e-02 3.13382961e-04 9.99841076e-01 -5.54839217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.864391418 meters 0.01793376782696217 Centerline is valid? [True, True] Translation: X:310.54, Y:-13.98, Z:-5.55 [[ 9.99487872e-01 2.66572145e-02 1.77027154e-02 3.10536984e+02] [-2.66469034e-02 9.99644573e-01 -8.18122643e-04 -1.39800081e+01] [-1.77182323e-02 3.45981112e-04 9.99842960e-01 -5.54912993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894391418 meters 0.017752845211044428 Centerline is valid? [True, True] Translation: X:310.57, Y:-13.98, Z:-5.55 [[ 9.99537356e-01 2.47081558e-02 1.77364323e-02 3.10567748e+02] [-2.46975051e-02 9.99694634e-01 -8.19323562e-04 -1.39825482e+01] [-1.77512602e-02 3.80898881e-04 9.99842361e-01 -5.54984252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.924391418 meters 0.020393703264157712 Centerline is valid? [True, True] Translation: X:310.60, Y:-13.99, Z:-5.55 [[ 9.99609925e-01 2.11635648e-02 1.82236271e-02 3.10598105e+02] [-2.11517251e-02 9.99775923e-01 -8.42210078e-04 -1.39910054e+01] [-1.82373678e-02 4.56420401e-04 9.99833581e-01 -5.55031462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954391418 meters 0.021498949930214173 Centerline is valid? [True, True] Translation: X:310.63, Y:-14.00, Z:-5.55 [[ 9.99636539e-01 1.97500890e-02 1.83500589e-02 3.10630037e+02] [-1.97378314e-02 9.99804830e-01 -8.48873230e-04 -1.39951323e+01] [-1.83632429e-02 4.86374328e-04 9.99831263e-01 -5.55109498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters 0.022552385023509987 Centerline is valid? [True, True] Translation: X:310.66, Y:-14.00, Z:-5.55 [[ 9.99669186e-01 1.82626713e-02 1.81106056e-02 3.10661623e+02] [-1.82504012e-02 9.99833093e-01 -8.42565445e-04 -1.39990963e+01] [-1.81229703e-02 5.11760894e-04 9.99835635e-01 -5.55171259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014391418 meters 0.02516648914553713 Centerline is valid? [True, True] Translation: X:310.69, Y:-14.01, Z:-5.55 [[ 9.99736838e-01 1.45842197e-02 1.77074852e-02 3.10692578e+02] [-1.45718379e-02 9.99893482e-01 -8.28072825e-04 -1.40053606e+01] [-1.77176759e-02 5.69824303e-04 9.99842867e-01 -5.55261499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters 0.024945206063033343 Centerline is valid? [True, True] Translation: X:310.72, Y:-14.01, Z:-5.55 [[ 9.99763800e-01 1.29181897e-02 1.74775229e-02 3.10724899e+02] [-1.29057998e-02 9.99916379e-01 -8.21513935e-04 -1.40072070e+01] [-1.74866739e-02 5.95758482e-04 9.99846919e-01 -5.55345992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074391418 meters 0.028206752838235323 Centerline is valid? [True, True] Translation: X:310.76, Y:-14.01, Z:-5.55 [[ 9.99792932e-01 1.10172716e-02 1.71088463e-02 3.10755221e+02] [-1.10050413e-02 9.99939116e-01 -8.08843156e-04 -1.40139929e+01] [-1.71167159e-02 6.20392111e-04 9.99853306e-01 -5.55437673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters 0.029107388083283895 Centerline is valid? [True, True] Translation: X:310.79, Y:-14.02, Z:-5.56 [[ 9.99838963e-01 6.54898818e-03 1.67080397e-02 3.10785721e+02] [-6.53666211e-03 9.99978322e-01 -7.92237610e-04 -1.40178265e+01] [-1.67128659e-02 6.82895220e-04 9.99860097e-01 -5.55571601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134391418 meters 0.02819060426014976 Centerline is valid? [True, True] Translation: X:310.82, Y:-14.02, Z:-5.56 [[ 9.99863985e-01 4.40115133e-03 1.58947119e-02 3.10817517e+02] [-4.38972887e-03 9.99990081e-01 -7.53450680e-04 -1.40184182e+01] [-1.58978703e-02 6.83574723e-04 9.99873387e-01 -5.55652977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters 0.03008154404365943 Centerline is valid? [True, True] Translation: X:310.85, Y:-14.02, Z:-5.56 [[ 9.99875618e-01 2.19559637e-03 1.56181598e-02 3.10848588e+02] [-2.18423258e-03 9.99997337e-01 -7.44621574e-04 -1.40229092e+01] [-1.56197532e-02 7.10415263e-04 9.99877752e-01 -5.55753930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194391418 meters 0.032045946314433825 Centerline is valid? [True, True] Translation: X:310.88, Y:-14.03, Z:-5.56 [[ 9.99885519e-01 -3.83474103e-04 1.51261801e-02 3.10880150e+02] [ 3.94457647e-04 9.99999661e-01 -7.23151237e-04 -1.40270160e+01] [-1.51258977e-02 7.29035087e-04 9.99885331e-01 -5.55857870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters 0.03542339529844691 Centerline is valid? [True, True] Translation: X:310.91, Y:-14.03, Z:-5.56 [[ 9.99883706e-01 -5.41130963e-03 1.42580513e-02 3.10910629e+02] [ 5.42160890e-03 9.99985069e-01 -6.83793444e-04 -1.40328367e+01] [-1.42541381e-02 7.61015500e-04 9.99898115e-01 -5.56056419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254391418 meters 0.037183109815149766 Centerline is valid? [True, True] Translation: X:310.94, Y:-14.04, Z:-5.56 [[ 9.99874426e-01 -7.38123579e-03 1.40231704e-02 3.10942473e+02] [ 7.39138898e-03 9.99972457e-01 -6.72339097e-04 -1.40364075e+01] [-1.40178215e-02 7.75905377e-04 9.99901444e-01 -5.56175138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters 0.038808130753355354 Centerline is valid? [True, True] Translation: X:310.97, Y:-14.04, Z:-5.56 [[ 9.99864325e-01 -9.36853555e-03 1.35484856e-02 3.10974779e+02] [ 9.37820845e-03 9.99955812e-01 -6.50588290e-04 -1.40393948e+01] [-1.35417919e-02 7.77560544e-04 9.99908003e-01 -5.56301748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314391418 meters 0.04018664412158885 Centerline is valid? [True, True] Translation: X:311.01, Y:-14.04, Z:-5.56 [[ 9.99855701e-01 -1.08842721e-02 1.30426445e-02 3.11006541e+02] [ 1.08933737e-02 9.99940469e-01 -6.26995738e-04 -1.40421473e+01] [-1.30350437e-02 7.68983664e-04 9.99914745e-01 -5.56409335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters 0.042078088012412 Centerline is valid? [True, True] Translation: X:311.04, Y:-14.04, Z:-5.57 [[ 9.99832448e-01 -1.37885247e-02 1.20395904e-02 3.11037113e+02] [ 1.37965146e-02 9.99904655e-01 -5.80826776e-04 -1.40436477e+01] [-1.20304337e-02 7.46833843e-04 9.99927353e-01 -5.56525452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374391418 meters 0.0415630288286483 Centerline is valid? [True, True] Translation: X:311.07, Y:-14.04, Z:-5.57 [[ 9.99815755e-01 -1.48415231e-02 1.21731733e-02 3.11069050e+02] [ 1.48497678e-02 9.99889564e-01 -5.87164293e-04 -1.40431652e+01] [-1.21631145e-02 7.67824907e-04 9.99925732e-01 -5.56561406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters 0.04574837531816039 Centerline is valid? [True, True] Translation: X:311.10, Y:-14.05, Z:-5.57 [[ 9.99805472e-01 -1.60795727e-02 1.14221803e-02 3.11099743e+02] [ 1.60869225e-02 9.99870445e-01 -5.51877809e-04 -1.40485117e+01] [-1.14118265e-02 7.35518182e-04 9.99934612e-01 -5.56640124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434391418 meters 0.044637265501020755 Centerline is valid? [True, True] Translation: X:311.13, Y:-14.05, Z:-5.57 [[ 9.99753502e-01 -1.85713400e-02 1.21672114e-02 3.11130812e+02] [ 1.85798759e-02 9.99827206e-01 -5.88880825e-04 -1.40457015e+01] [-1.21541727e-02 8.14800945e-04 9.99925803e-01 -5.56533098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters 0.04718428988454605 Centerline is valid? [True, True] Translation: X:311.16, Y:-14.05, Z:-5.57 [[ 9.99732240e-01 -1.96422964e-02 1.22322564e-02 3.11161391e+02] [ 1.96509985e-02 9.99806725e-01 -5.91602841e-04 -1.40490950e+01] [-1.22182718e-02 8.31820485e-04 9.99925008e-01 -5.56592602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494391418 meters 0.050602879171201605 Centerline is valid? [True, True] Translation: X:311.19, Y:-14.05, Z:-5.57 [[ 9.99706676e-01 -2.08998399e-02 1.22376240e-02 3.11192386e+02] [ 2.09086690e-02 9.99781213e-01 -5.93957743e-04 -1.40538740e+01] [-1.22225329e-02 8.49655949e-04 9.99924941e-01 -5.56662817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524391418 meters 0.04618415406526211 Centerline is valid? [True, True] Translation: X:311.22, Y:-14.05, Z:-5.57 [[ 9.99663555e-01 -2.29635650e-02 1.20603134e-02 3.11223879e+02] [ 2.29722976e-02 9.99735930e-01 -5.86029590e-04 -1.40470397e+01] [-1.20436713e-02 8.62885532e-04 9.99927100e-01 -5.56679810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.554391418 meters 0.04852983865928982 Centerline is valid? [True, True] Translation: X:311.25, Y:-14.05, Z:-5.57 [[ 9.99656096e-01 -2.36309212e-02 1.13696750e-02 3.11254771e+02] [ 2.36387314e-02 9.99720413e-01 -5.53018471e-04 -1.40502073e+01] [-1.13534278e-02 8.21592978e-04 9.99935210e-01 -5.56770354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584391418 meters 0.046014604472475684 Centerline is valid? [True, True] Translation: X:311.29, Y:-14.04, Z:-5.57 [[ 9.99642259e-01 -2.43169618e-02 1.11372897e-02 3.11287233e+02] [ 2.43245038e-02 9.99703968e-01 -5.42204045e-04 -1.40449545e+01] [-1.11208080e-02 8.12919122e-04 9.99937831e-01 -5.56755470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.614391418 meters 0.05004344084422216 Centerline is valid? [True, True] Translation: X:311.32, Y:-14.05, Z:-5.57 [[ 9.99653767e-01 -2.37686672e-02 1.12870366e-02 3.11317936e+02] [ 2.37763830e-02 9.99717151e-01 -5.49885456e-04 -1.40498323e+01] [-1.12707740e-02 8.18059973e-04 9.99936148e-01 -5.56808710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644391418 meters 0.04596416288106858 Centerline is valid? [True, True] Translation: X:311.35, Y:-14.04, Z:-5.57 [[ 9.99678552e-01 -2.25904431e-02 1.15093005e-02 3.11350880e+02] [ 2.25984142e-02 9.99744465e-01 -5.62979624e-04 -1.40446901e+01] [-1.14936415e-02 8.22890596e-04 9.99933607e-01 -5.56776311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.674391418 meters 0.043783545811155636 Centerline is valid? [True, True] Translation: X:311.38, Y:-14.04, Z:-5.57 [[ 9.99745201e-01 -1.89563465e-02 1.22551911e-02 3.11381988e+02] [ 1.89651338e-02 9.99819965e-01 -6.01200653e-04 -1.40401467e+01] [-1.22415882e-02 8.33468807e-04 9.99924722e-01 -5.56757343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704391418 meters 0.0421054084891205 Centerline is valid? [True, True] Translation: X:311.41, Y:-14.04, Z:-5.57 [[ 9.99785352e-01 -1.63887571e-02 1.26750796e-02 3.11414066e+02] [ 1.63979522e-02 9.99865351e-01 -6.21854595e-04 -1.40377563e+01] [-1.26631815e-02 8.29566464e-04 9.99919475e-01 -5.56751687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734391418 meters 0.041229379634694516 Centerline is valid? [True, True] Translation: X:311.44, Y:-14.04, Z:-5.57 [[ 9.99830970e-01 -1.34540825e-02 1.25306880e-02 3.11444284e+02] [ 1.34628590e-02 9.99909182e-01 -6.16305265e-04 -1.40361037e+01] [-1.25212581e-02 7.84899976e-04 9.99921298e-01 -5.56776034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764391418 meters 0.03806401577752388 Centerline is valid? [True, True] Translation: X:311.48, Y:-14.03, Z:-5.57 [[ 9.99868717e-01 -1.05843294e-02 1.22686925e-02 3.11475898e+02] [ 1.05925247e-02 9.99943716e-01 -6.03190441e-04 -1.40313130e+01] [-1.22616176e-02 7.33067680e-04 9.99924555e-01 -5.56818717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794391418 meters 0.0374788124729851 Centerline is valid? [True, True] Translation: X:311.51, Y:-14.03, Z:-5.57 [[ 9.99900210e-01 -7.20221489e-03 1.21530975e-02 3.11506172e+02] [ 7.21001610e-03 9.99973829e-01 -5.98219038e-04 -1.40299907e+01] [-1.21484709e-02 6.85783370e-04 9.99925969e-01 -5.56914010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824391418 meters 0.02999343216008033 Centerline is valid? [True, True] Translation: X:311.54, Y:-14.02, Z:-5.57 [[ 9.99944256e-01 2.53828812e-05 1.05586566e-02 3.11537383e+02] [-1.98962872e-05 9.99999865e-01 -5.19734656e-04 -1.40170734e+01] [-1.05586683e-02 5.19495605e-04 9.99944121e-01 -5.56975865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854391418 meters 0.028806647070080398 Centerline is valid? [True, True] Translation: X:311.57, Y:-14.01, Z:-5.57 [[ 9.99938426e-01 4.09279251e-03 1.03147093e-02 3.11567632e+02] [-4.08777243e-03 9.99991516e-01 -5.07727371e-04 -1.40149985e+01] [-1.03166998e-02 4.65531924e-04 9.99946673e-01 -5.57046919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884391418 meters 0.02509521978380559 Centerline is valid? [True, True] Translation: X:311.60, Y:-14.01, Z:-5.57 [[ 9.99889210e-01 1.15742263e-02 9.35977766e-03 3.11598195e+02] [-1.15704202e-02 9.99932954e-01 -4.60689327e-04 -1.40075851e+01] [-9.36448225e-03 3.52341727e-04 9.99956090e-01 -5.57188736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914391418 meters 0.023485487778498324 Centerline is valid? [True, True] Translation: X:311.63, Y:-14.01, Z:-5.57 [[ 9.99839323e-01 1.51493089e-02 9.58257148e-03 3.11629430e+02] [-1.51454841e-02 9.99885189e-01 -4.71581505e-04 -1.40051413e+01] [-9.58861543e-03 3.26373049e-04 9.99953975e-01 -5.57242959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944391418 meters 0.021460722370928765 Centerline is valid? [True, True] Translation: X:311.66, Y:-14.00, Z:-5.57 [[ 9.99788543e-01 1.81907400e-02 9.58995213e-03 3.11659920e+02] [-1.81870445e-02 9.99834490e-01 -4.72421498e-04 -1.40017190e+01] [-9.59695860e-03 2.97908715e-04 9.99953904e-01 -5.57245990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974391418 meters 0.018723300941237992 Centerline is valid? [True, True] Translation: X:311.69, Y:-14.00, Z:-5.57 [[ 9.99661740e-01 2.40719539e-02 9.84611747e-03 3.11690597e+02] [-2.40683454e-02 9.99710198e-01 -4.84833206e-04 -1.39955683e+01] [-9.85493492e-03 2.47689450e-04 9.99951408e-01 -5.57216161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004391418 meters 0.01779928740532739 Centerline is valid? [True, True] Translation: X:311.72, Y:-13.99, Z:-5.57 [[ 9.99599774e-01 2.65822049e-02 9.67874368e-03 3.11719513e+02] [-2.65788326e-02 9.99646607e-01 -4.76901662e-04 -1.39938044e+01] [-9.68800037e-03 2.19461085e-04 9.99953046e-01 -5.57257429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034391418 meters 0.01678054362347448 Centerline is valid? [True, True] Translation: X:311.75, Y:-13.99, Z:-5.57 [[ 9.99526914e-01 2.91730889e-02 9.74060798e-03 3.11748110e+02] [-2.91698040e-02 9.99574356e-01 -4.79162032e-04 -1.39920530e+01] [-9.75044058e-03 1.94803722e-04 9.99952444e-01 -5.57290807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064391418 meters 0.015083423670124807 Centerline is valid? [True, True] Translation: X:311.78, Y:-13.99, Z:-5.57 [[ 9.99362766e-01 3.43128841e-02 9.83296166e-03 3.11777228e+02] [-3.43097932e-02 9.99411129e-01 -4.82903655e-04 -1.39882928e+01] [-9.84374113e-03 1.45229052e-04 9.99951539e-01 -5.57336858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094391418 meters 0.014352955416419207 Centerline is valid? [True, True] Translation: X:311.81, Y:-13.99, Z:-5.57 [[ 9.99269960e-01 3.69025657e-02 9.88670742e-03 3.11806237e+02] [-3.68995755e-02 9.99318861e-01 -4.84745931e-04 -1.39869805e+01] [-9.89786156e-03 1.19576740e-04 9.99951008e-01 -5.57389138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124391418 meters 0.015542878518000446 Centerline is valid? [True, True] Translation: X:311.84, Y:-13.99, Z:-5.57 [[ 9.99141837e-01 4.02577993e-02 9.74158384e-03 3.11835065e+02] [-4.02550631e-02 9.99189323e-01 -4.76872348e-04 -1.39858161e+01] [-9.75288439e-03 8.43150424e-05 9.99952436e-01 -5.57491262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154391418 meters 0.012896236928731385 Centerline is valid? [True, True] Translation: X:311.86, Y:-13.98, Z:-5.57 [[ 9.98921045e-01 4.52339733e-02 1.05182385e-02 3.11863386e+02] [-4.52310678e-02 9.98976419e-01 -5.14080041e-04 -1.39823934e+01] [-1.05307261e-02 3.77742138e-05 9.99944550e-01 -5.57431122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184391418 meters 0.012875112858188315 Centerline is valid? [True, True] Translation: X:311.89, Y:-13.98, Z:-5.57 [[ 9.98822555e-01 4.72342973e-02 1.10645888e-02 3.11891726e+02] [-4.72312181e-02 9.98883838e-01 -5.39579412e-04 -1.39817429e+01] [-1.10777256e-02 1.63500815e-05 9.99938640e-01 -5.57451703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214391418 meters 0.012785646286626047 Centerline is valid? [True, True] Translation: X:311.92, Y:-13.98, Z:-5.57 [[ 9.98746740e-01 4.87921712e-02 1.11477845e-02 3.11918472e+02] [-4.87891470e-02 9.98808953e-01 -5.43240203e-04 -1.39815413e+01] [-1.11610128e-02 -1.33151287e-06 9.99937714e-01 -5.57492882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244391418 meters 0.012900740194985046 Centerline is valid? [True, True] Translation: X:311.95, Y:-13.98, Z:-5.58 [[ 9.98705933e-01 4.95652644e-02 1.13905225e-02 3.11946006e+02] [-4.95621899e-02 9.98770887e-01 -5.52211951e-04 -1.39823564e+01] [-1.14038928e-02 -1.30418886e-05 9.99934973e-01 -5.57535130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274391418 meters 0.012766165754221279 Centerline is valid? [True, True] Translation: X:311.97, Y:-13.99, Z:-5.58 [[ 9.98739023e-01 4.88736014e-02 1.14775881e-02 3.11973144e+02] [-4.88704484e-02 9.98804971e-01 -5.55179401e-04 -1.39853625e+01] [-1.14910056e-02 -6.43554381e-06 9.99933976e-01 -5.57691150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.304391418 meters 0.012715612973587203 Centerline is valid? [True, True] Translation: X:312.00, Y:-13.99, Z:-5.58 [[ 9.98821135e-01 4.71932213e-02 1.13639557e-02 3.12000767e+02] [-4.71900404e-02 9.98885779e-01 -5.48042807e-04 -1.39889902e+01] [-1.13771577e-02 1.11312096e-05 9.99935278e-01 -5.57747552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334391418 meters 0.012813747597723803 Centerline is valid? [True, True] Translation: X:312.03, Y:-13.99, Z:-5.58 [[ 9.98941314e-01 4.45555390e-02 1.14479519e-02 3.12028194e+02] [-4.45521550e-02 9.99006908e-01 -5.50575336e-04 -1.39932380e+01] [-1.14611142e-02 3.99615237e-05 9.99934318e-01 -5.57865397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.364391418 meters 0.014129691094037231 Centerline is valid? [True, True] Translation: X:312.06, Y:-14.00, Z:-5.58 [[ 9.99262464e-01 3.68382841e-02 1.08382952e-02 3.12055281e+02] [-3.68348076e-02 9.99321233e-01 -5.20272399e-04 -1.40033094e+01] [-1.08501045e-02 1.20662160e-04 9.99941129e-01 -5.58025667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394391418 meters 0.01562701022683586 Centerline is valid? [True, True] Translation: X:312.08, Y:-14.01, Z:-5.58 [[ 9.99427286e-01 3.19053074e-02 1.12761014e-02 3.12084184e+02] [-3.19012452e-02 9.99490880e-01 -5.39978260e-04 -1.40095480e+01] [-1.12875886e-02 1.79947334e-04 9.99936277e-01 -5.58089928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.424391418 meters 0.019269082926705344 Centerline is valid? [True, True] Translation: X:312.11, Y:-14.02, Z:-5.58 [[ 9.99680951e-01 2.20894708e-02 1.22495517e-02 3.12113464e+02] [-2.20839571e-02 9.99755948e-01 -5.85207674e-04 -1.40212433e+01] [-1.22594891e-02 3.14502390e-04 9.99924800e-01 -5.58093507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454391418 meters 0.021203865015588266 Centerline is valid? [True, True] Translation: X:312.14, Y:-14.03, Z:-5.58 [[ 9.99755991e-01 1.78035322e-02 1.30764487e-02 3.12142805e+02] [-1.77968859e-02 9.99841428e-01 -6.24467215e-04 -1.40277226e+01] [-1.30854929e-02 3.91594774e-04 9.99914305e-01 -5.58065836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters 0.023505972234657512 Centerline is valid? [True, True] Translation: X:312.17, Y:-14.03, Z:-5.58 [[ 9.99799859e-01 1.38736314e-02 1.44140009e-02 3.12173418e+02] [-1.38651600e-02 9.99903638e-01 -6.87485987e-04 -1.40344362e+01] [-1.44221499e-02 4.87495964e-04 9.99895877e-01 -5.58070715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514391418 meters 0.023505972234657512 Centerline is valid? [True, True] Translation: X:312.21, Y:-14.04, Z:-5.58 [[ 9.99796004e-01 1.41487362e-02 1.44140314e-02 3.12205161e+02] [-1.41403025e-02 9.99899785e-01 -6.86851116e-04 -1.40360600e+01] [-1.44223049e-02 4.82892236e-04 9.99895877e-01 -5.58128008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters 0.026193814148961433 Centerline is valid? [True, True] Translation: X:312.24, Y:-14.04, Z:-5.58 [[ 9.99844048e-01 8.80275513e-03 1.53098124e-02 3.12236332e+02] [-8.79253549e-03 9.99961075e-01 -7.34705366e-04 -1.40446367e+01] [-1.53156839e-02 5.99978719e-04 9.99882528e-01 -5.58077889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574391418 meters 0.02773913307879081 Centerline is valid? [True, True] Translation: X:312.27, Y:-14.05, Z:-5.58 [[ 9.99852167e-01 7.49061328e-03 1.54768857e-02 3.12267311e+02] [-7.48001127e-03 9.99971748e-01 -7.42796521e-04 -1.40496447e+01] [-1.54820124e-02 6.26919432e-04 9.99879950e-01 -5.58101862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters 0.027942179944622367 Centerline is valid? [True, True] Translation: X:312.30, Y:-14.05, Z:-5.58 [[ 9.99860986e-01 6.65028308e-03 1.52899154e-02 3.12299508e+02] [-6.63977951e-03 9.99977684e-01 -7.37622337e-04 -1.40526175e+01] [-1.52944795e-02 6.35998130e-04 9.99882830e-01 -5.58150880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634391418 meters 0.029534544073543393 Centerline is valid? [True, True] Translation: X:312.33, Y:-14.06, Z:-5.58 [[ 9.99882093e-01 5.68646307e-03 1.42640846e-02 3.12329992e+02] [-5.67716941e-03 9.99983645e-01 -6.91949997e-04 -1.40580401e+01] [-1.42677861e-02 6.10888787e-04 9.99898023e-01 -5.58284474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters 0.029243571703763495 Centerline is valid? [True, True] Translation: X:312.36, Y:-14.06, Z:-5.58 [[ 9.99887833e-01 5.82770294e-03 1.37970632e-02 3.12363066e+02] [-5.81898772e-03 9.99982844e-01 -6.71732556e-04 -1.40602963e+01] [-1.38007412e-02 5.91372269e-04 9.99904590e-01 -5.58417984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694391418 meters 0.03029781592718821 Centerline is valid? [True, True] Translation: X:312.40, Y:-14.06, Z:-5.59 [[ 9.99895502e-01 6.40155987e-03 1.29616427e-02 3.12395168e+02] [-6.39386682e-03 9.99979357e-01 -6.34877713e-04 -1.40643338e+01] [-1.29654393e-02 5.51936353e-04 9.99915793e-01 -5.58578264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters 0.030133546769942877 Centerline is valid? [True, True] Translation: X:312.43, Y:-14.07, Z:-5.59 [[ 9.99903609e-01 7.09353578e-03 1.19354178e-02 3.12426989e+02] [-7.08702378e-03 9.99974714e-01 -5.87810097e-04 -1.40662830e+01] [-1.19392857e-02 5.03166848e-04 9.99928598e-01 -5.58703606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754391418 meters 0.029587150292496107 Centerline is valid? [True, True] Translation: X:312.46, Y:-14.07, Z:-5.59 [[ 9.99913264e-01 8.65950665e-03 9.92358063e-03 3.12459660e+02] [-8.65505008e-03 9.99962423e-01 -4.91946780e-04 -1.40675575e+01] [-9.92746775e-03 4.06015023e-04 9.99950639e-01 -5.58975475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters 0.026620458271190767 Centerline is valid? [True, True] Translation: X:312.49, Y:-14.06, Z:-5.59 [[ 9.99913620e-01 9.70487196e-03 8.86387073e-03 3.12491759e+02] [-9.70136656e-03 9.99952845e-01 -4.38383361e-04 -1.40644535e+01] [-8.86770721e-03 3.52353835e-04 9.99960619e-01 -5.59055025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814391418 meters 0.0266359795328074 Centerline is valid? [True, True] Translation: X:312.52, Y:-14.07, Z:-5.59 [[ 9.99920656e-01 1.03741774e-02 7.14545411e-03 3.12523089e+02] [-1.03719075e-02 9.99946147e-01 -3.54655316e-04 -1.40657286e+01] [-7.14874856e-03 2.80515187e-04 9.99974408e-01 -5.59176114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters 0.027154650119458383 Centerline is valid? [True, True] Translation: X:312.55, Y:-14.07, Z:-5.59 [[ 9.99929418e-01 1.04779178e-02 5.60110968e-03 3.12553713e+02] [-1.04765058e-02 9.99945080e-01 -2.81384554e-04 -1.40669803e+01] [-5.60375039e-03 2.22684635e-04 9.99984274e-01 -5.59404189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874391418 meters 0.027402844663999754 Centerline is valid? [True, True] Translation: X:312.58, Y:-14.07, Z:-5.60 [[ 9.99934588e-01 1.02501537e-02 5.07479586e-03 3.12583792e+02] [-1.02489875e-02 9.99947445e-01 -2.55766446e-04 -1.40684944e+01] [-5.07715080e-03 2.03738196e-04 9.99987090e-01 -5.59500838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters 0.027605705989312945 Centerline is valid? [True, True] Translation: X:312.61, Y:-14.07, Z:-5.60 [[ 9.99937058e-01 1.00429420e-02 5.00190934e-03 3.12613217e+02] [-1.00418074e-02 9.99949548e-01 -2.51906176e-04 -1.40697380e+01] [-5.00418686e-03 2.01662111e-04 9.99987459e-01 -5.59551420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934391418 meters 0.0286129537220868 Centerline is valid? [True, True] Translation: X:312.64, Y:-14.07, Z:-5.59 [[ 9.99932184e-01 9.99959866e-03 5.96959061e-03 3.12643021e+02] [-9.99798534e-03 9.99949974e-01 -3.00037961e-04 -1.40703484e+01] [-5.97229224e-03 2.40333734e-04 9.99982137e-01 -5.59480636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters 0.027497106737651114 Centerline is valid? [True, True] Translation: X:312.67, Y:-14.07, Z:-5.59 [[ 9.99923654e-01 1.00864075e-02 7.13802910e-03 3.12673560e+02] [-1.00841060e-02 9.99949090e-01 -3.58350692e-04 -1.40687886e+01] [-7.14128018e-03 2.86342691e-04 9.99974460e-01 -5.59391376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994391418 meters 0.028361965138977957 Centerline is valid? [True, True] Translation: X:312.70, Y:-14.07, Z:-5.59 [[ 9.99912769e-01 1.06223463e-02 7.84980555e-03 3.12704058e+02] [-1.06195809e-02 9.99943533e-01 -3.93888423e-04 -1.40701345e+01] [-7.85354631e-03 3.10492419e-04 9.99969112e-01 -5.59385103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024391418 meters 0.027749693955529228 Centerline is valid? [True, True] Translation: X:312.73, Y:-14.07, Z:-5.59 [[ 9.99889005e-01 1.15176620e-02 9.45100682e-03 3.12734845e+02] [-1.15136892e-02 9.99933603e-01 -4.74651261e-04 -1.40681285e+01] [-9.45584617e-03 3.65782621e-04 9.99955226e-01 -5.59212584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.054391418 meters 0.02532171597692741 Centerline is valid? [True, True] Translation: X:312.77, Y:-14.06, Z:-5.59 [[ 9.99878917e-01 1.17165197e-02 1.02407829e-02 3.12766297e+02] [-1.17118689e-02 9.99931282e-01 -5.14005231e-04 -1.40649050e+01] [-1.02461015e-02 3.94004288e-04 9.99947430e-01 -5.59091525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084391418 meters 0.025655530926132077 Centerline is valid? [True, True] Translation: X:312.80, Y:-14.07, Z:-5.59 [[ 9.99873311e-01 1.17011705e-02 1.07909672e-02 3.12797733e+02] [-1.16960005e-02 9.99931453e-01 -5.42092129e-04 -1.40657667e+01] [-1.07965706e-02 4.15812295e-04 9.99941629e-01 -5.59078781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.114391418 meters 0.02673936956968345 Centerline is valid? [True, True] Translation: X:312.83, Y:-14.07, Z:-5.59 [[ 9.99873919e-01 1.14011117e-02 1.10526270e-02 3.12829241e+02] [-1.13956736e-02 9.99934913e-01 -5.54874651e-04 -1.40669139e+01] [-1.10582338e-02 4.28852563e-04 9.99938764e-01 -5.59019775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144391418 meters 0.026923802354383658 Centerline is valid? [True, True] Translation: X:312.86, Y:-14.07, Z:-5.59 [[ 9.99873972e-01 1.10832152e-02 1.13667037e-02 3.12860121e+02] [-1.10774129e-02 9.99938479e-01 -5.73299553e-04 -1.40677902e+01] [-1.13723584e-02 4.47313632e-04 9.99935233e-01 -5.59010550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.174391418 meters 0.027030081964292078 Centerline is valid? [True, True] Translation: X:312.89, Y:-14.07, Z:-5.59 [[ 9.99883236e-01 1.06418648e-02 1.09665025e-02 3.12892846e+02] [-1.06364511e-02 9.99943279e-01 -5.51858520e-04 -1.40685767e+01] [-1.09717532e-02 4.35149415e-04 9.99939714e-01 -5.59054248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204391418 meters 0.028197739039982395 Centerline is valid? [True, True] Translation: X:312.92, Y:-14.07, Z:-5.59 [[ 9.99891792e-01 1.08236618e-02 9.96256787e-03 3.12923786e+02] [-1.08191786e-02 9.99941344e-01 -5.03798136e-04 -1.40705890e+01] [-9.96743644e-03 3.95956820e-04 9.99950245e-01 -5.59230052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234391418 meters 0.0275023688332461 Centerline is valid? [True, True] Translation: X:312.96, Y:-14.07, Z:-5.59 [[ 9.99886755e-01 1.14469755e-02 9.76954137e-03 3.12955296e+02] [-1.14426534e-02 9.99934407e-01 -4.98184518e-04 -1.40705011e+01] [-9.77460326e-03 3.86338626e-04 9.99952153e-01 -5.59298975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264391418 meters 0.027840905372555968 Centerline is valid? [True, True] Translation: X:312.99, Y:-14.07, Z:-5.59 [[ 9.99874729e-01 1.27928018e-02 9.32038712e-03 3.12985601e+02] [-1.27889287e-02 9.99918105e-01 -4.75033662e-04 -1.40714426e+01] [-9.32570084e-03 3.55776388e-04 9.99956451e-01 -5.59418427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294391418 meters 0.022370178127709982 Centerline is valid? [True, True] Translation: X:313.02, Y:-14.06, Z:-5.59 [[ 9.99806856e-01 1.75721672e-02 8.80171205e-03 3.13016602e+02] [-1.75688824e-02 9.99845554e-01 -4.50380413e-04 -1.40617514e+01] [-8.80826682e-03 2.95657181e-04 9.99961163e-01 -5.59342571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324391418 meters 0.02362416375742313 Centerline is valid? [True, True] Translation: X:313.05, Y:-14.06, Z:-5.59 [[ 9.99738910e-01 2.09708478e-02 9.07386137e-03 3.13045647e+02] [-2.09674933e-02 9.99780050e-01 -4.64664310e-04 -1.40632633e+01] [-9.08160998e-03 2.74286863e-04 9.99958724e-01 -5.59496553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354391418 meters 0.019333931164743624 Centerline is valid? [True, True] Translation: X:313.08, Y:-14.06, Z:-5.59 [[ 9.99649088e-01 2.49164570e-02 8.99283033e-03 3.13075171e+02] [-2.49133197e-02 9.99689509e-01 -4.60736669e-04 -1.40559407e+01] [-9.00151806e-03 2.36533735e-04 9.99959458e-01 -5.59414491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384391418 meters 0.01638645868288861 Centerline is valid? [True, True] Translation: X:313.10, Y:-14.05, Z:-5.59 [[ 9.99360742e-01 3.44913531e-02 9.40496219e-03 3.13104690e+02] [-3.44883605e-02 9.99404984e-01 -4.80234655e-04 -1.40484772e+01] [-9.41593003e-03 1.55565935e-04 9.99955657e-01 -5.59480283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414391418 meters 0.014685011361892516 Centerline is valid? [True, True] Translation: X:313.13, Y:-14.04, Z:-5.60 [[ 9.99181828e-01 3.93568250e-02 9.31211356e-03 3.13133902e+02] [-3.93541029e-02 9.99225214e-01 -4.75447837e-04 -1.40444907e+01] [-9.32361079e-03 1.08588964e-04 9.99956528e-01 -5.59515813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444391418 meters 0.01351405205500386 Centerline is valid? [True, True] Translation: X:313.16, Y:-14.04, Z:-5.60 [[ 9.98985476e-01 4.40390215e-02 9.41190251e-03 3.13162608e+02] [-4.40364553e-02 9.99029810e-01 -4.79821806e-04 -1.40403818e+01] [-9.42390206e-03 6.48681908e-05 9.99955592e-01 -5.59527321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474391418 meters 0.01294535922264875 Centerline is valid? [True, True] Translation: X:313.19, Y:-14.03, Z:-5.60 [[ 9.98574302e-01 5.26243941e-02 8.94629850e-03 3.13192240e+02] [-5.26224254e-02 9.98614376e-01 -4.55466913e-04 -1.40330655e+01] [-8.95787096e-03 -1.59583705e-05 9.99959877e-01 -5.59605676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504391418 meters 0.01342668360608795 Centerline is valid? [True, True] Translation: X:313.22, Y:-14.03, Z:-5.60 [[ 9.98388365e-01 5.60881376e-02 8.64831499e-03 3.13221001e+02] [-5.60864333e-02 9.98425820e-01 -4.39661096e-04 -1.40308691e+01] [-8.65936076e-03 -4.61006189e-05 9.99962506e-01 -5.59674049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534391418 meters 0.013950986728701946 Centerline is valid? [True, True] Translation: X:313.25, Y:-14.03, Z:-5.60 [[ 9.98224200e-01 5.89905519e-02 8.28022413e-03 3.13249354e+02] [-5.89890928e-02 9.98258539e-01 -4.20541898e-04 -1.40291788e+01] [-8.29061244e-03 -6.86478098e-05 9.99965630e-01 -5.59757972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564391418 meters 0.014792908658200423 Centerline is valid? [True, True] Translation: X:313.28, Y:-14.03, Z:-5.60 [[ 9.98000823e-01 6.26605385e-02 8.24705262e-03 3.13278348e+02] [-6.26592088e-02 9.98034893e-01 -4.19772376e-04 -1.40266863e+01] [-8.25714945e-03 -9.78206150e-05 9.99965904e-01 -5.59811776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594391418 meters 0.014829783082974338 Centerline is valid? [True, True] Translation: X:313.31, Y:-14.03, Z:-5.60 [[ 9.97978544e-01 6.30597597e-02 7.89251539e-03 3.13306759e+02] [-6.30585693e-02 9.98009748e-01 -3.99831251e-04 -1.40276599e+01] [-7.90202056e-03 -9.86677184e-05 9.99968774e-01 -5.59835674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624391418 meters 0.01512159050279518 Centerline is valid? [True, True] Translation: X:313.33, Y:-14.03, Z:-5.60 [[ 9.98016737e-01 6.24977372e-02 7.52504897e-03 3.13334088e+02] [-6.24966580e-02 9.98045101e-01 -3.78711891e-04 -1.40285989e+01] [-7.53400690e-03 -9.23296066e-05 9.99971615e-01 -5.59965302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654391418 meters 0.014851832528256727 Centerline is valid? [True, True] Translation: X:313.36, Y:-14.03, Z:-5.60 [[ 9.98091901e-01 6.12436391e-02 7.85960532e-03 3.13362443e+02] [-6.12424332e-02 9.98122843e-01 -3.94242462e-04 -1.40308262e+01] [-7.86899645e-03 -8.78511458e-05 9.99969035e-01 -5.60018756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684391418 meters 0.013732416950931517 Centerline is valid? [True, True] Translation: X:313.39, Y:-14.04, Z:-5.60 [[ 9.98343659e-01 5.70198475e-02 7.66000641e-03 3.13390985e+02] [-5.70186079e-02 9.98373043e-01 -3.80296244e-04 -1.40364694e+01] [-7.66922834e-03 -5.70965584e-05 9.99970589e-01 -5.60060867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714391418 meters 0.013141585360640032 Centerline is valid? [True, True] Translation: X:313.42, Y:-14.04, Z:-5.60 [[ 9.98519207e-01 5.38841148e-02 7.47630682e-03 3.13419885e+02] [-5.38828501e-02 9.98547195e-01 -3.70625680e-04 -1.40407079e+01] [-7.48541604e-03 -3.27678595e-05 9.99971983e-01 -5.60141528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744391418 meters 0.012683714034564439 Centerline is valid? [True, True] Translation: X:313.45, Y:-14.05, Z:-5.60 [[ 9.98911462e-01 4.60332289e-02 7.53875502e-03 3.13448756e+02] [-4.60317238e-02 9.98939909e-01 -3.73137116e-04 -1.40496763e+01] [-7.54793996e-03 2.57090538e-05 9.99971514e-01 -5.60144760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774391418 meters 0.013187931741875552 Centerline is valid? [True, True] Translation: X:313.48, Y:-14.06, Z:-5.60 [[ 9.99094176e-01 4.18069897e-02 7.93742991e-03 3.13477360e+02] [-4.18051933e-02 9.99125704e-01 -3.92171326e-04 -1.40555596e+01] [-7.94688574e-03 5.99902956e-05 9.99968421e-01 -5.60195794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.804391418 meters 0.014350817619198432 Centerline is valid? [True, True] Translation: X:313.50, Y:-14.06, Z:-5.60 [[ 9.99274084e-01 3.71941572e-02 8.24010382e-03 3.13504340e+02] [-3.71920670e-02 9.99308053e-01 -4.06802588e-04 -1.40618128e+01] [-8.24953279e-03 1.00040790e-04 9.99965967e-01 -5.60267406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834391418 meters 0.016665929361644145 Centerline is valid? [True, True] Translation: X:313.53, Y:-14.07, Z:-5.60 [[ 9.99563435e-01 2.82345453e-02 8.70349393e-03 3.13533018e+02] [-2.82318881e-02 9.99601309e-01 -4.28035019e-04 -1.40714982e+01] [-8.71210930e-03 1.82132087e-04 9.99962032e-01 -5.60198053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.864391418 meters 0.01983805048203786 Centerline is valid? [True, True] Translation: X:313.56, Y:-14.08, Z:-5.60 [[ 9.99672217e-01 2.39278733e-02 9.10581462e-03 3.13561592e+02] [-2.39247917e-02 9.99713661e-01 -4.47219355e-04 -1.40795646e+01] [-9.11390828e-03 2.29218046e-04 9.99958441e-01 -5.60295650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894391418 meters 0.020044894135326896 Centerline is valid? [True, True] Translation: X:313.59, Y:-14.08, Z:-5.60 [[ 9.99761095e-01 1.97012649e-02 9.46644275e-03 3.13590920e+02] [-1.96977524e-02 9.99805873e-01 -4.64156918e-04 -1.40826953e+01] [-9.47374954e-03 2.77578383e-04 9.99955085e-01 -5.60242391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.924391418 meters 0.023983927077718042 Centerline is valid? [True, True] Translation: X:313.62, Y:-14.09, Z:-5.60 [[ 9.99881309e-01 1.21898577e-02 9.42204311e-03 3.13619494e+02] [-1.21860484e-02 9.99925641e-01 -4.61601488e-04 -1.40926577e+01] [-9.42696935e-03 3.46729226e-04 9.99955505e-01 -5.60336186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954391418 meters 0.02542290445586099 Centerline is valid? [True, True] Translation: X:313.65, Y:-14.10, Z:-5.60 [[ 9.99917281e-01 8.94214397e-03 9.24494590e-03 3.13649906e+02] [-8.93834447e-03 9.99959950e-01 -4.52218874e-04 -1.40976215e+01] [-9.24861945e-03 3.69546956e-04 9.99957162e-01 -5.60402057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters 0.027500989403891618 Centerline is valid? [True, True] Translation: X:313.68, Y:-14.10, Z:-5.60 [[ 9.99940092e-01 5.94143817e-03 9.19299614e-03 3.13680278e+02] [-5.93755785e-03 9.99982272e-01 -4.49331070e-04 -1.41032230e+01] [-9.19550284e-03 3.94720205e-04 9.99957643e-01 -5.60494677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014391418 meters 0.02895495446535554 Centerline is valid? [True, True] Translation: X:313.71, Y:-14.11, Z:-5.61 [[ 9.99954717e-01 3.29983969e-03 8.92612464e-03 3.13712530e+02] [-3.29607669e-03 9.99994473e-01 -4.36249534e-04 -1.41076256e+01] [-8.92751486e-03 4.06808587e-04 9.99960066e-01 -5.60587958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters 0.03063563229460739 Centerline is valid? [True, True] Translation: X:313.74, Y:-14.11, Z:-5.61 [[ 9.99953049e-01 -4.57742217e-04 9.67940154e-03 3.13743657e+02] [ 4.62354677e-04 9.99999781e-01 -4.74290867e-04 -1.41131548e+01] [-9.67918232e-03 4.78743915e-04 9.99953041e-01 -5.60616143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074391418 meters 0.030909813522623116 Centerline is valid? [True, True] Translation: X:313.78, Y:-14.12, Z:-5.61 [[ 9.99948632e-01 -1.19906911e-03 1.00645671e-02 3.13775624e+02] [ 1.20407841e-03 9.99999154e-01 -4.91671840e-04 -1.41155140e+01] [-1.00639691e-02 5.03765112e-04 9.99949230e-01 -5.60646287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters 0.03235144616373112 Centerline is valid? [True, True] Translation: X:313.81, Y:-14.12, Z:-5.61 [[ 9.99943023e-01 -1.72132677e-03 1.05351166e-02 3.13806157e+02] [ 1.72689727e-03 9.99998374e-01 -5.19681296e-04 -1.41190744e+01] [-1.05342049e-02 5.37844750e-04 9.99944369e-01 -5.60689728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134391418 meters 0.03165745391390246 Centerline is valid? [True, True] Translation: X:313.84, Y:-14.12, Z:-5.61 [[ 9.99936598e-01 -1.47554709e-03 1.11634538e-02 3.13838499e+02] [ 1.48178908e-03 9.99998750e-01 -5.50894965e-04 -1.41189788e+01] [-1.11626270e-02 5.67401921e-04 9.99937535e-01 -5.60686262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters 0.030162637495114858 Centerline is valid? [True, True] Translation: X:313.87, Y:-14.12, Z:-5.61 [[ 9.99937034e-01 -5.59409384e-04 1.12078581e-02 3.13870706e+02] [ 5.65653798e-04 9.99999687e-01 -5.53983816e-04 -1.41181090e+01] [-1.12075447e-02 5.60288701e-04 9.99937037e-01 -5.60724058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194391418 meters 0.03051524414760559 Centerline is valid? [True, True] Translation: X:313.90, Y:-14.12, Z:-5.61 [[ 9.99938817e-01 4.32316890e-04 1.10533200e-02 3.13902106e+02] [-4.26292580e-04 9.99999759e-01 -5.47372943e-04 -1.41192754e+01] [-1.10535540e-02 5.42627505e-04 9.99938760e-01 -5.60811353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters 0.029032854990026433 Centerline is valid? [True, True] Translation: X:313.93, Y:-14.12, Z:-5.61 [[ 9.99942525e-01 3.41365535e-03 1.01633199e-02 3.13933923e+02] [-3.40871039e-03 9.99994063e-01 -5.03832381e-04 -1.41168298e+01] [-1.01649795e-02 4.69159610e-04 9.99948225e-01 -5.60996791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254391418 meters 0.02811714438452686 Centerline is valid? [True, True] Translation: X:313.97, Y:-14.12, Z:-5.61 [[ 9.99937091e-01 5.40222515e-03 9.83003434e-03 3.13966084e+02] [-5.39769122e-03 9.99985313e-01 -4.87704744e-04 -1.41160944e+01] [-9.83252466e-03 4.34614574e-04 9.99951565e-01 -5.61125765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters 0.02773933691963735 Centerline is valid? [True, True] Translation: X:314.00, Y:-14.12, Z:-5.61 [[ 9.99925238e-01 7.65865828e-03 9.53217841e-03 3.13997173e+02] [-7.65450471e-03 9.99970592e-01 -4.72149895e-04 -1.41155613e+01] [-9.53551412e-03 3.99150492e-04 9.99954456e-01 -5.61247825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314391418 meters 0.024899475912242203 Centerline is valid? [True, True] Translation: X:314.03, Y:-14.11, Z:-5.61 [[ 9.99864437e-01 1.28187086e-02 1.03338219e-02 3.14028787e+02] [-1.28140520e-02 9.99917763e-01 -5.16711054e-04 -1.41097163e+01] [-1.03395957e-02 3.84222876e-04 9.99946471e-01 -5.61245529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters 0.022772900913008823 Centerline is valid? [True, True] Translation: X:314.06, Y:-14.11, Z:-5.61 [[ 9.99814822e-01 1.56584177e-02 1.11863786e-02 3.14059716e+02] [-1.56531341e-02 9.99877326e-01 -5.59722611e-04 -1.41059449e+01] [-1.11937706e-02 3.84517079e-04 9.99937274e-01 -5.61215786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374391418 meters 0.02116232266925046 Centerline is valid? [True, True] Translation: X:314.09, Y:-14.10, Z:-5.61 [[ 9.99751333e-01 1.89124694e-02 1.18148354e-02 3.14090312e+02] [-1.89068024e-02 9.99821076e-01 -5.91168131e-04 -1.41029589e+01] [-1.18239019e-02 3.67640369e-04 9.99930028e-01 -5.61152314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters 0.01756429460816671 Centerline is valid? [True, True] Translation: X:314.12, Y:-14.09, Z:-5.61 [[ 9.99554150e-01 2.62809077e-02 1.41709473e-02 3.14120850e+02] [-2.62734937e-02 9.99654541e-01 -7.09135633e-04 -1.40941704e+01] [-1.41846885e-02 3.36499170e-04 9.99899336e-01 -5.60954490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434391418 meters 0.016141475981074196 Centerline is valid? [True, True] Translation: X:314.15, Y:-14.09, Z:-5.61 [[ 9.99421143e-01 3.03684497e-02 1.53341258e-02 3.14149314e+02] [-3.03602520e-02 9.99538727e-01 -7.67164078e-04 -1.40910524e+01] [-1.53503501e-02 3.01172078e-04 9.99882131e-01 -5.60895153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters 0.016141475981074196 Centerline is valid? [True, True] Translation: X:314.18, Y:-14.09, Z:-5.61 [[ 9.99423519e-01 3.02901465e-02 1.53341866e-02 3.14177585e+02] [-3.02819582e-02 9.99541103e-01 -7.65947062e-04 -1.40923865e+01] [-1.53503504e-02 3.01156311e-04 9.99882131e-01 -5.60946232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494391418 meters 0.014000190038176144 Centerline is valid? [True, True] Translation: X:314.21, Y:-14.09, Z:-5.61 [[ 9.99266703e-01 3.45319339e-02 1.65408944e-02 3.14206422e+02] [-3.45230101e-02 9.99403563e-01 -8.24816839e-04 -1.40874808e+01] [-1.65595113e-02 2.53170538e-04 9.99862850e-01 -5.60878840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524391418 meters 0.012930508154073862 Centerline is valid? [True, True] Translation: X:314.23, Y:-14.08, Z:-5.61 [[ 9.99101685e-01 3.87007163e-02 1.72649350e-02 3.14234649e+02] [-3.86916416e-02 9.99250828e-01 -8.59460280e-04 -1.40840897e+01] [-1.72852623e-02 1.90679539e-04 9.99850581e-01 -5.60855938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.554391418 meters 0.011585227975715465 Centerline is valid? [True, True] Translation: X:314.26, Y:-14.08, Z:-5.61 [[ 9.98730039e-01 4.64574541e-02 1.94939625e-02 3.14262531e+02] [-4.64474043e-02 9.98920268e-01 -9.68226663e-04 -1.40763561e+01] [-1.95178956e-02 6.15530965e-05 9.99809506e-01 -5.60714921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584391418 meters 0.011465558130515112 Centerline is valid? [True, True] Translation: X:314.29, Y:-14.07, Z:-5.61 [[ 9.98561028e-01 4.94662796e-02 2.07113789e-02 3.14290687e+02] [-4.94556283e-02 9.98775794e-01 -1.02647284e-03 -1.40740343e+01] [-2.07367997e-02 7.01520713e-07 9.99784969e-01 -5.60665501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.614391418 meters 0.011470883818427017 Centerline is valid? [True, True] Translation: X:314.32, Y:-14.07, Z:-5.61 [[ 9.98408084e-01 5.19804654e-02 2.18935769e-02 3.14319671e+02] [-5.19692238e-02 9.98648100e-01 -1.08250514e-03 -1.40727177e+01] [-2.19202481e-02 -5.70103197e-05 9.99759721e-01 -5.60635825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644391418 meters 0.011760586295855392 Centerline is valid? [True, True] Translation: X:314.35, Y:-14.07, Z:-5.61 [[ 9.98216745e-01 5.49824383e-02 2.32435053e-02 3.14348940e+02] [-5.49706270e-02 9.98487313e-01 -1.14727296e-03 -1.40708111e+01] [-2.32714250e-02 -1.32482981e-04 9.99729175e-01 -5.60652230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.674391418 meters 0.011672644101267882 Centerline is valid? [True, True] Translation: X:314.38, Y:-14.07, Z:-5.61 [[ 9.98191462e-01 5.54341994e-02 2.32563043e-02 3.14377455e+02] [-5.54225418e-02 9.98462332e-01 -1.14601444e-03 -1.40717955e+01] [-2.32840722e-02 -1.44981663e-04 9.99728879e-01 -5.60718818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704391418 meters 0.011532110393575002 Centerline is valid? [True, True] Translation: X:314.40, Y:-14.07, Z:-5.61 [[ 9.98255051e-01 5.42910040e-02 2.32236978e-02 3.14404882e+02] [-5.42791164e-02 9.98525149e-01 -1.14239851e-03 -1.40739306e+01] [-2.32514683e-02 -1.20156717e-04 9.99729641e-01 -5.60840355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734391418 meters 0.011385913038092277 Centerline is valid? [True, True] Translation: X:314.43, Y:-14.08, Z:-5.61 [[ 9.98339476e-01 5.27924325e-02 2.30488517e-02 3.14433419e+02] [-5.27803755e-02 9.98605503e-01 -1.13156295e-03 -1.40768871e+01] [-2.30764481e-02 -8.68430905e-05 9.99733700e-01 -5.60973658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764391418 meters 0.011323478806842544 Centerline is valid? [True, True] Translation: X:314.46, Y:-14.08, Z:-5.61 [[ 9.98435625e-01 5.08886199e-02 2.31657159e-02 3.14460141e+02] [-5.08759798e-02 9.98704334e-01 -1.13506421e-03 -1.40796178e+01] [-2.31934627e-02 -4.52899504e-05 9.99730994e-01 -5.61042412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794391418 meters 0.0115357283306131 Centerline is valid? [True, True] Translation: X:314.49, Y:-14.09, Z:-5.61 [[ 9.98613150e-01 4.69603658e-02 2.38012745e-02 3.14486353e+02] [-4.69459893e-02 9.98896752e-01 -1.16273649e-03 -1.40850807e+01] [-2.38296183e-02 4.37495696e-05 9.99716033e-01 -5.61104353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824391418 meters 0.01167175468845845 Centerline is valid? [True, True] Translation: X:314.52, Y:-14.09, Z:-5.61 [[ 9.98702872e-01 4.49145524e-02 2.39845049e-02 3.14515455e+02] [-4.48994366e-02 9.98990828e-01 -1.16865428e-03 -1.40888043e+01] [-2.40127900e-02 9.02476249e-05 9.99711647e-01 -5.61164607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854391418 meters 0.01179822932964484 Centerline is valid? [True, True] Translation: X:314.54, Y:-14.09, Z:-5.61 [[ 9.98764307e-01 4.33792685e-02 2.42507448e-02 3.14543105e+02] [-4.33634135e-02 9.99058668e-01 -1.17953351e-03 -1.40927360e+01] [-2.42790842e-02 1.26480895e-04 9.99705212e-01 -5.61204475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884391418 meters 0.012383842960120165 Centerline is valid? [True, True] Translation: X:314.57, Y:-14.10, Z:-5.61 [[ 9.98886413e-01 4.02880331e-02 2.45521647e-02 3.14571550e+02] [-4.02709054e-02 9.99188087e-01 -1.19185003e-03 -1.40985427e+01] [-2.45802478e-02 2.01784900e-04 9.99697840e-01 -5.61343309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914391418 meters 0.01259834229480882 Centerline is valid? [True, True] Translation: X:314.60, Y:-14.10, Z:-5.61 [[ 9.98950085e-01 3.90274258e-02 2.39913942e-02 3.14600041e+02] [-3.90107533e-02 9.99238114e-01 -1.16275097e-03 -1.41022187e+01] [-2.40184947e-02 2.25607817e-04 9.99711489e-01 -5.61439846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944391418 meters 0.012827780709412897 Centerline is valid? [True, True] Translation: X:314.63, Y:-14.11, Z:-5.62 [[ 9.99005990e-01 3.77477276e-02 2.37095185e-02 3.14629155e+02] [-3.77311285e-02 9.99287269e-01 -1.14722901e-03 -1.41058022e+01] [-2.37359253e-02 2.51501768e-04 9.99718232e-01 -5.61576390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974391418 meters 0.013505367385146247 Centerline is valid? [True, True] Translation: X:314.66, Y:-14.11, Z:-5.62 [[ 9.99120370e-01 3.52453448e-02 2.27211568e-02 3.14658542e+02] [-3.52294894e-02 9.99378646e-01 -1.09785168e-03 -1.41116183e+01] [-2.27457330e-02 2.96431228e-04 9.99741238e-01 -5.61817473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004391418 meters 0.013602256007320014 Centerline is valid? [True, True] Translation: X:314.69, Y:-14.12, Z:-5.62 [[ 9.99174533e-01 3.41717045e-02 2.19669693e-02 3.14687496e+02] [-3.41566472e-02 9.99415929e-01 -1.06039922e-03 -1.41153049e+01] [-2.19903747e-02 3.09205876e-04 9.99758135e-01 -5.61966155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034391418 meters 0.014993115182462649 Centerline is valid? [True, True] Translation: X:314.72, Y:-14.12, Z:-5.62 [[ 9.99285752e-01 3.14252723e-02 2.09866180e-02 3.14715594e+02] [-3.14109565e-02 9.99506042e-01 -1.01151560e-03 -1.41226862e+01] [-2.10080387e-02 3.51583377e-04 9.99779245e-01 -5.62208112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064391418 meters 0.015183216915795052 Centerline is valid? [True, True] Translation: X:314.74, Y:-14.13, Z:-5.62 [[ 9.99338267e-01 3.02029560e-02 2.02684340e-02 3.14744812e+02] [-3.01893750e-02 9.99543721e-01 -9.75772015e-04 -1.41264111e+01] [-2.02886571e-02 3.63234961e-04 9.99794098e-01 -5.62367834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094391418 meters 0.015996462021477333 Centerline is valid? [True, True] Translation: X:314.77, Y:-14.13, Z:-5.62 [[ 9.99381383e-01 2.90297180e-02 1.98526241e-02 3.14773164e+02] [-2.90164729e-02 9.99578477e-01 -9.54961476e-04 -1.41309623e+01] [-1.98719780e-02 3.78317592e-04 9.99802461e-01 -5.62497296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124391418 meters 0.016568098509742845 Centerline is valid? [True, True] Translation: X:314.80, Y:-14.14, Z:-5.63 [[ 9.99418619e-01 2.83281827e-02 1.89720145e-02 3.14801812e+02] [-2.83159771e-02 9.99598607e-01 -9.11724410e-04 -1.41356107e+01] [-1.89902267e-02 3.73983225e-04 9.99819599e-01 -5.62657538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154391418 meters 0.016741331834499582 Centerline is valid? [True, True] Translation: X:314.83, Y:-14.14, Z:-5.63 [[ 9.99494937e-01 2.64425960e-02 1.76255615e-02 3.14831165e+02] [-2.64317854e-02 9.99650261e-01 -8.46059382e-04 -1.41415168e+01] [-1.76417692e-02 3.79757009e-04 9.99844300e-01 -5.62939321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184391418 meters 0.017502081290358715 Centerline is valid? [True, True] Translation: X:314.86, Y:-14.15, Z:-5.63 [[ 9.99532509e-01 2.56178227e-02 1.66880426e-02 3.14860116e+02] [-2.56080276e-02 9.99671740e-01 -8.00410891e-04 -1.41460930e+01] [-1.67030693e-02 3.72688851e-04 9.99860425e-01 -5.63148734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214391418 meters 0.017990256072173555 Centerline is valid? [True, True] Translation: X:314.89, Y:-14.15, Z:-5.63 [[ 9.99578512e-01 2.45781740e-02 1.54502856e-02 3.14889152e+02] [-2.45696575e-02 9.99697846e-01 -7.40817737e-04 -1.41504041e+01] [-1.54638252e-02 3.60897265e-04 9.99880363e-01 -5.63375003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244391418 meters 0.017963995971109228 Centerline is valid? [True, True] Translation: X:314.92, Y:-14.16, Z:-5.64 [[ 9.99651382e-01 2.28077632e-02 1.33011252e-02 3.14918877e+02] [-2.28013003e-02 9.99739813e-01 -6.37356914e-04 -1.41565907e+01] [-1.33122011e-02 3.33851770e-04 9.99911333e-01 -5.63763464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274391418 meters 0.018130305227764085 Centerline is valid? [True, True] Translation: X:314.95, Y:-14.16, Z:-5.64 [[ 9.99688807e-01 2.19211139e-02 1.19060815e-02 3.14948679e+02] [-2.19158776e-02 9.99759656e-01 -5.70108756e-04 -1.41609059e+01] [-1.19157174e-02 3.08999118e-04 9.99928958e-01 -5.63962514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.304391418 meters 0.018290687679111444 Centerline is valid? [True, True] Translation: X:314.98, Y:-14.16, Z:-5.64 [[ 9.99718493e-01 2.11603396e-02 1.07319115e-02 3.14978437e+02] [-2.11560453e-02 9.99776054e-01 -5.13525630e-04 -1.41649041e+01] [-1.07403745e-02 2.86336264e-04 9.99942280e-01 -5.64162788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334391418 meters 0.019404751905533927 Centerline is valid? [True, True] Translation: X:315.01, Y:-14.17, Z:-5.64 [[ 9.99747982e-01 2.06418616e-02 8.82532621e-03 3.15006521e+02] [-2.06389378e-02 9.99786905e-01 -4.22247612e-04 -1.41698985e+01] [-8.83216155e-03 2.39995839e-04 9.99960967e-01 -5.64442007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.364391418 meters 0.019932195227312665 Centerline is valid? [True, True] Translation: X:315.04, Y:-14.18, Z:-5.65 [[ 9.99785116e-01 1.98151776e-02 6.08935321e-03 3.15036176e+02] [-1.98137721e-02 9.99803646e-01 -2.91063955e-04 -1.41763269e+01] [-6.09392502e-03 1.70348354e-04 9.99981417e-01 -5.64821738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394391418 meters 0.020407027058940222 Centerline is valid? [True, True] Translation: X:315.06, Y:-14.18, Z:-5.65 [[ 9.99789475e-01 1.99890963e-02 4.63051386e-03 3.15064102e+02] [-1.99882819e-02 9.99800190e-01 -2.22099126e-04 -1.41801658e+01] [-4.63402820e-03 1.29496352e-04 9.99989254e-01 -5.65066217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.424391418 meters 0.019008592128037384 Centerline is valid? [True, True] Translation: X:315.09, Y:-14.18, Z:-5.65 [[ 9.99778007e-01 2.09869975e-02 1.86601730e-03 3.15092932e+02] [-2.09868659e-02 9.99779747e-01 -9.00940817e-05 -1.41827189e+01] [-1.86749711e-03 5.09122265e-05 9.99998255e-01 -5.65248907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454391418 meters 0.019609679163740956 Centerline is valid? [True, True] Translation: X:315.12, Y:-14.19, Z:-5.65 [[ 9.99766551e-01 2.15460814e-02 1.61571747e-03 3.15120298e+02] [-2.15459828e-02 9.99767855e-01 -7.83895714e-05 -1.41864208e+01] [-1.61703137e-03 4.35590506e-05 9.99998692e-01 -5.65449835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters 0.019024648797392803 Centerline is valid? [True, True] Translation: X:315.15, Y:-14.19, Z:-5.66 [[ 9.99737365e-01 2.29030189e-02 8.07480153e-04 3.15149437e+02] [-2.29029943e-02 9.99737691e-01 -3.96282698e-05 -1.41881888e+01] [-8.08175951e-04 2.11241486e-05 9.99999673e-01 -5.65558503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514391418 meters 0.017098464095183504 Centerline is valid? [True, True] Translation: X:315.18, Y:-14.19, Z:-5.66 [[ 9.99642642e-01 2.67307200e-02 2.36740212e-04 3.15178319e+02] [-2.67307177e-02 9.99642670e-01 -1.26301803e-05 -1.41883024e+01] [-2.36993232e-04 6.29743098e-06 9.99999972e-01 -5.65556148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters 0.01632999072657307 Centerline is valid? [True, True] Translation: X:315.21, Y:-14.19, Z:-5.66 [[ 9.99577649e-01 2.90587179e-02 3.37090478e-04 3.15206893e+02] [-2.90587137e-02 9.99577706e-01 -1.73536173e-05 -1.41885778e+01] [-3.37452401e-04 7.55087233e-06 9.99999943e-01 -5.65560859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574391418 meters 0.014756427960194295 Centerline is valid? [True, True] Translation: X:315.24, Y:-14.19, Z:-5.65 [[ 9.99406722e-01 3.44398703e-02 3.14745311e-04 3.15235736e+02] [-3.44398669e-02 9.99406772e-01 -1.62742753e-05 -1.41882727e+01] [-3.15119079e-04 5.42483351e-06 9.99999950e-01 -5.65494864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters 0.014252679944068824 Centerline is valid? [True, True] Translation: X:315.27, Y:-14.19, Z:-5.65 [[ 9.99322086e-01 3.68111962e-02 5.50908301e-04 3.15265027e+02] [-3.68111869e-02 9.99322238e-01 -2.69997352e-05 -1.41888875e+01] [-5.51528809e-04 6.70184328e-06 9.99999848e-01 -5.65490677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634391418 meters 0.013888802867705299 Centerline is valid? [True, True] Translation: X:315.29, Y:-14.19, Z:-5.65 [[ 9.99253805e-01 3.86091701e-02 1.07960746e-03 3.15293621e+02] [-3.86091363e-02 9.99254388e-01 -5.21497712e-05 -1.41896865e+01] [-1.08081595e-03 1.04281457e-05 9.99999416e-01 -5.65464800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters 0.013788337937829104 Centerline is valid? [True, True] Translation: X:315.32, Y:-14.19, Z:-5.65 [[ 9.99195629e-01 4.00714870e-02 1.53974276e-03 3.15321747e+02] [-4.00714206e-02 9.99196815e-01 -7.39442744e-05 -1.41913325e+01] [-1.54146912e-03 1.21851160e-05 9.99998812e-01 -5.65492242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694391418 meters 0.013485478272222884 Centerline is valid? [True, True] Translation: X:315.35, Y:-14.19, Z:-5.65 [[ 9.99116235e-01 4.19424982e-02 2.75236527e-03 3.15350223e+02] [-4.19422988e-02 9.99120026e-01 -1.30144593e-04 -1.41936263e+01] [-2.75540185e-03 1.45890490e-05 9.99996204e-01 -5.65372150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters 0.013616051513943963 Centerline is valid? [True, True] Translation: X:315.38, Y:-14.20, Z:-5.65 [[ 9.99104912e-01 4.22157674e-02 2.68388469e-03 3.15377848e+02] [-4.22155777e-02 9.99108517e-01 -1.27324167e-04 -1.41958412e+01] [-2.68686714e-03 1.39084584e-05 9.99996390e-01 -5.65395678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754391418 meters 0.013431585015776883 Centerline is valid? [True, True] Translation: X:315.41, Y:-14.20, Z:-5.65 [[ 9.99093167e-01 4.24936786e-02 2.67037652e-03 3.15405256e+02] [-4.24934926e-02 9.99096736e-01 -1.26379458e-04 -1.41980674e+01] [-2.67333480e-03 1.27912276e-05 9.99996427e-01 -5.65394160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters 0.013662576713397052 Centerline is valid? [True, True] Translation: X:315.43, Y:-14.20, Z:-5.66 [[ 9.99092004e-01 4.25475770e-02 2.20712465e-03 3.15432946e+02] [-4.25474489e-02 9.99094442e-01 -1.04988757e-04 -1.42005517e+01] [-2.20959299e-03 1.09859045e-05 9.99997559e-01 -5.65512643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814391418 meters 0.013794899450601547 Centerline is valid? [True, True] Translation: X:315.46, Y:-14.20, Z:-5.66 [[ 9.99103115e-01 4.22915781e-02 2.09482060e-03 3.15459274e+02] [-4.22914628e-02 9.99105311e-01 -9.93148000e-05 -1.42047123e+01] [-2.09714657e-03 1.06326984e-05 9.99997801e-01 -5.65560586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters 0.013799944186151285 Centerline is valid? [True, True] Translation: X:315.49, Y:-14.21, Z:-5.66 [[ 9.99113267e-01 4.20439662e-02 2.23277674e-03 3.15487441e+02] [-4.20438364e-02 9.99115761e-01 -1.05076295e-04 -1.42075067e+01] [-2.23522026e-03 1.11086201e-05 9.99997502e-01 -5.65557469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874391418 meters 0.014011185820592844 Centerline is valid? [True, True] Translation: X:315.52, Y:-14.21, Z:-5.66 [[ 9.99149428e-01 4.11754438e-02 2.23690139e-03 3.15515202e+02] [-4.11753126e-02 9.99151932e-01 -1.04686772e-04 -1.42122211e+01] [-2.23931486e-03 1.24926144e-05 9.99997493e-01 -5.65548434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters 0.013990370969723625 Centerline is valid? [True, True] Translation: X:315.54, Y:-14.22, Z:-5.66 [[ 9.99183121e-01 4.03664956e-02 1.90676913e-03 3.15544283e+02] [-4.03663993e-02 9.99184941e-01 -8.89872618e-05 -1.42157671e+01] [-1.90880710e-03 1.19451662e-05 9.99998178e-01 -5.65594051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934391418 meters 0.013881692199107013 Centerline is valid? [True, True] Translation: X:315.57, Y:-14.22, Z:-5.66 [[ 9.99219036e-01 3.94608526e-02 2.03963981e-03 3.15573453e+02] [-3.94607409e-02 9.99221117e-01 -9.50022596e-05 -1.42189294e+01] [-2.04180004e-03 1.44423680e-05 9.99997915e-01 -5.65534182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters 0.014367584512895777 Centerline is valid? [True, True] Translation: X:315.60, Y:-14.23, Z:-5.66 [[ 9.99315492e-01 3.69205083e-02 2.32904503e-03 3.15601940e+02] [-3.69203566e-02 9.99318205e-01 -1.08099467e-04 -1.42252507e+01] [-2.33144819e-03 2.20362986e-05 9.99997282e-01 -5.65546332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994391418 meters 0.015063154756960444 Centerline is valid? [True, True] Translation: X:315.63, Y:-14.23, Z:-5.66 [[ 9.99371354e-01 3.53681028e-02 2.44845793e-03 3.15629177e+02] [-3.53679289e-02 9.99374353e-01 -1.14305770e-04 -1.42301457e+01] [-2.45096884e-03 2.76370256e-05 9.99996996e-01 -5.65707892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024391418 meters 0.014846390468537314 Centerline is valid? [True, True] Translation: X:315.66, Y:-14.23, Z:-5.66 [[ 9.99426066e-01 3.37283161e-02 3.15258514e-03 3.15657941e+02] [-3.37280262e-02 9.99431038e-01 -1.45108207e-04 -1.42328316e+01] [-3.15568569e-03 3.86944501e-05 9.99995020e-01 -5.65510724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.054391418 meters 0.01505627524644932 Centerline is valid? [True, True] Translation: X:315.69, Y:-14.24, Z:-5.65 [[ 9.99493607e-01 3.15596450e-02 4.06433168e-03 3.15686724e+02] [-3.15591482e-02 9.99501869e-01 -1.86335226e-04 -1.42385787e+01] [-4.06818778e-03 5.79740218e-05 9.99991723e-01 -5.65395933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084391418 meters 0.01532934949087829 Centerline is valid? [True, True] Translation: X:315.72, Y:-14.24, Z:-5.65 [[ 9.99535238e-01 3.02016161e-02 4.14360768e-03 3.15715602e+02] [-3.02010896e-02 9.99543825e-01 -1.89600446e-04 -1.42416402e+01] [-4.14744371e-03 6.43708599e-05 9.99991397e-01 -5.65417942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.114391418 meters 0.015556332430986121 Centerline is valid? [True, True] Translation: X:315.74, Y:-14.24, Z:-5.65 [[ 9.99558685e-01 2.93567858e-02 4.54032883e-03 3.15743840e+02] [-2.93561472e-02 9.99568994e-01 -2.07247849e-04 -1.42443498e+01] [-4.54445606e-03 7.38698260e-05 9.99989671e-01 -5.65421394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144391418 meters 0.015932916208573344 Centerline is valid? [True, True] Translation: X:315.77, Y:-14.25, Z:-5.65 [[ 9.99592116e-01 2.81647870e-02 4.72718023e-03 3.15772186e+02] [-2.81640835e-02 9.99603290e-01 -2.15332105e-04 -1.42471597e+01] [-4.73136969e-03 8.21075757e-05 9.99988804e-01 -5.65427326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.174391418 meters 0.017503997440043023 Centerline is valid? [True, True] Translation: X:315.80, Y:-14.25, Z:-5.66 [[ 9.99649454e-01 2.58962772e-02 5.50930269e-03 3.15799750e+02] [-2.58952889e-02 9.99664629e-01 -2.50649916e-04 -1.42532104e+01] [-5.51394593e-03 1.07897067e-04 9.99984792e-01 -5.65523161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204391418 meters 0.017002179350785764 Centerline is valid? [True, True] Translation: X:315.83, Y:-14.25, Z:-5.65 [[ 9.99683477e-01 2.44692948e-02 5.84805647e-03 3.15828584e+02] [-2.44681635e-02 9.99700575e-01 -2.64922697e-04 -1.42541753e+01] [-5.85278788e-03 1.21747641e-04 9.99982865e-01 -5.65405217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234391418 meters 0.0186069836159245 Centerline is valid? [True, True] Translation: X:315.86, Y:-14.26, Z:-5.65 [[ 9.99745952e-01 2.15609775e-02 6.56932876e-03 3.15855829e+02] [-2.15594905e-02 9.99767523e-01 -2.97099825e-04 -1.42600099e+01] [-6.57420731e-03 1.55392967e-04 9.99978378e-01 -5.65452234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264391418 meters 0.018217428392543443 Centerline is valid? [True, True] Translation: X:315.88, Y:-14.26, Z:-5.65 [[ 9.99767235e-01 2.04318773e-02 6.92922460e-03 3.15884947e+02] [-2.04302044e-02 9.99791233e-01 -3.12126101e-04 -1.42615649e+01] [-6.93415533e-03 1.70487974e-04 9.99975944e-01 -5.65397079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294391418 meters 0.019044517249220717 Centerline is valid? [True, True] Translation: X:315.91, Y:-14.26, Z:-5.65 [[ 9.99787782e-01 1.93960980e-02 6.94137138e-03 3.15913507e+02] [-1.93943984e-02 9.99811862e-01 -3.12087470e-04 -1.42649721e+01] [-6.94611873e-03 1.77397517e-04 9.99975860e-01 -5.65448559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324391418 meters 0.019044517249220717 Centerline is valid? [True, True] Translation: X:315.94, Y:-14.27, Z:-5.65 [[ 9.99789332e-01 1.93160242e-02 6.94136991e-03 3.15941797e+02] [-1.93143224e-02 9.99813412e-01 -3.12121083e-04 -1.42661637e+01] [-6.94610368e-03 1.77987472e-04 9.99975860e-01 -5.65499631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354391418 meters 0.02014288596030166 Centerline is valid? [True, True] Translation: X:315.97, Y:-14.27, Z:-5.66 [[ 9.99810789e-01 1.80210486e-02 7.32306290e-03 3.15969888e+02] [-1.80191263e-02 9.99837588e-01 -3.28396923e-04 -1.42697121e+01] [-7.32779160e-03 1.96379592e-04 9.99973132e-01 -5.65515067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384391418 meters 0.019716309214272247 Centerline is valid? [True, True] Translation: X:316.00, Y:-14.27, Z:-5.66 [[ 9.99812888e-01 1.79046982e-02 7.32187619e-03 3.15999548e+02] [-1.79027781e-02 9.99839679e-01 -3.27697569e-04 -1.42701755e+01] [-7.32656966e-03 1.96554328e-04 9.99973141e-01 -5.65515370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414391418 meters 0.020069726970647926 Centerline is valid? [True, True] Translation: X:316.03, Y:-14.27, Z:-5.66 [[ 9.99798611e-01 1.86966240e-02 7.29204157e-03 3.16028607e+02] [-1.86947428e-02 9.99825185e-01 -3.26069075e-04 -1.42719847e+01] [-7.29686320e-03 1.89680567e-04 9.99973360e-01 -5.65577500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444391418 meters 0.019057132573738964 Centerline is valid? [True, True] Translation: X:316.06, Y:-14.27, Z:-5.66 [[ 9.99775430e-01 1.98163744e-02 7.50999638e-03 3.16057724e+02] [-1.98144098e-02 9.99803619e-01 -3.35913985e-04 -1.42714040e+01] [-7.51517815e-03 1.87032403e-04 9.99971743e-01 -5.65550049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474391418 meters 0.017482272203953125 Centerline is valid? [True, True] Translation: X:316.09, Y:-14.27, Z:-5.66 [[ 9.99672366e-01 2.42736883e-02 8.12085980e-03 3.16086445e+02] [-2.42715459e-02 9.99705337e-01 -3.62271615e-04 -1.42699970e+01] [-8.12726055e-03 1.65047101e-04 9.99966960e-01 -5.65525100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504391418 meters 0.01671732213697939 Centerline is valid? [True, True] Translation: X:316.12, Y:-14.27, Z:-5.66 [[ 9.99613094e-01 2.64898641e-02 8.48225913e-03 3.16115424e+02] [-2.64876097e-02 9.99649070e-01 -3.78028815e-04 -1.42695638e+01] [-8.48929638e-03 1.53207785e-04 9.99963954e-01 -5.65512648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534391418 meters 0.0154260338616678 Centerline is valid? [True, True] Translation: X:316.14, Y:-14.27, Z:-5.65 [[ 9.99546368e-01 2.86437075e-02 9.30573437e-03 3.16144618e+02] [-2.86410952e-02 9.99589674e-01 -4.13885736e-04 -1.42681456e+01] [-9.31377120e-03 1.47171560e-04 9.99956615e-01 -5.65442068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564391418 meters 0.014487111247231177 Centerline is valid? [True, True] Translation: X:316.17, Y:-14.27, Z:-5.65 [[ 9.99406608e-01 3.28280373e-02 1.04283904e-02 3.16172087e+02] [-3.28249936e-02 9.99461007e-01 -4.62940972e-04 -1.42672445e+01] [-1.04379670e-02 1.20354419e-04 9.99945516e-01 -5.65455379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594391418 meters 0.013869175533948648 Centerline is valid? [True, True] Translation: X:316.20, Y:-14.27, Z:-5.65 [[ 9.99354059e-01 3.42620878e-02 1.08431537e-02 3.16200975e+02] [-3.42588956e-02 9.99412876e-01 -4.80051637e-04 -1.42660048e+01] [-1.08532350e-02 1.08267080e-04 9.99941096e-01 -5.65424298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624391418 meters 0.013667244187757395 Centerline is valid? [True, True] Translation: X:316.23, Y:-14.27, Z:-5.65 [[ 9.99322130e-01 3.51742651e-02 1.08651525e-02 3.16229013e+02] [-3.51711220e-02 9.99381189e-01 -4.80281672e-04 -1.42664767e+01] [-1.08753226e-02 9.78164995e-05 9.99940857e-01 -5.65486615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654391418 meters 0.014017855682839019 Centerline is valid? [True, True] Translation: X:316.26, Y:-14.27, Z:-5.66 [[ 9.99322148e-01 3.53533259e-02 1.02657936e-02 3.16257084e+02] [-3.53505391e-02 9.99374872e-01 -4.52849184e-04 -1.42694106e+01] [-1.02753859e-02 8.96408823e-05 9.99947203e-01 -5.65717677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684391418 meters 0.014214343238631473 Centerline is valid? [True, True] Translation: X:316.29, Y:-14.27, Z:-5.66 [[ 9.99359185e-01 3.44976164e-02 9.54642886e-03 3.16285559e+02] [-3.44951773e-02 9.99404776e-01 -4.20087769e-04 -1.42724225e+01] [-9.55523863e-03 9.05128139e-05 9.99954344e-01 -5.65882017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714391418 meters 0.01465187060042835 Centerline is valid? [True, True] Translation: X:316.31, Y:-14.28, Z:-5.66 [[ 9.99415135e-01 3.28405721e-02 9.53339612e-03 3.16313956e+02] [-3.28380710e-02 9.99460597e-01 -4.18805712e-04 -1.42757433e+01] [-9.54200760e-03 1.05502428e-04 9.99954468e-01 -5.65999961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744391418 meters 0.014468170246910323 Centerline is valid? [True, True] Translation: X:316.34, Y:-14.28, Z:-5.66 [[ 9.99481136e-01 3.09366586e-02 8.96557720e-03 3.16342738e+02] [-3.09343748e-02 9.99521340e-01 -3.93325440e-04 -1.42773458e+01] [-8.97345391e-03 1.15776833e-04 9.99959731e-01 -5.65962117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774391418 meters 0.017484715466863525 Centerline is valid? [True, True] Translation: X:316.37, Y:-14.29, Z:-5.66 [[ 9.99606805e-01 2.63420144e-02 9.60902156e-03 3.16370549e+02] [-2.63391929e-02 9.99652975e-01 -4.20091953e-04 -1.42858327e+01] [-9.61675306e-03 1.66832903e-04 9.99953744e-01 -5.66086376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.804391418 meters 0.016632937983735076 Centerline is valid? [True, True] Translation: X:316.40, Y:-14.29, Z:-5.66 [[ 9.99654787e-01 2.40519997e-02 1.05739826e-02 3.16399386e+02] [-2.40484511e-02 9.99710687e-01 -4.62639545e-04 -1.42860977e+01] [-1.05820508e-02 2.08191933e-04 9.99943987e-01 -5.65900467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834391418 meters 0.018179003762967567 Centerline is valid? [True, True] Translation: X:316.43, Y:-14.29, Z:-5.66 [[ 9.99732751e-01 1.97430061e-02 1.20266281e-02 3.16429119e+02] [-1.97381208e-02 9.99805047e-01 -5.24778369e-04 -1.42924334e+01] [-1.20346442e-02 2.87255084e-04 9.99927540e-01 -5.65817445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.864391418 meters 0.018847307301141005 Centerline is valid? [True, True] Translation: X:316.46, Y:-14.30, Z:-5.66 [[ 9.99765318e-01 1.75666632e-02 1.26776029e-02 3.16459594e+02] [-1.75610695e-02 9.99845640e-01 -5.52419420e-04 -1.42959312e+01] [-1.26853501e-02 3.29657512e-04 9.99919483e-01 -5.65829047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894391418 meters 0.020466397010197784 Centerline is valid? [True, True] Translation: X:316.49, Y:-14.30, Z:-5.66 [[ 9.99796175e-01 1.53723278e-02 1.30881248e-02 3.16490149e+02] [-1.53661872e-02 9.99881771e-01 -5.69611566e-04 -1.43006395e+01] [-1.30953336e-02 3.68380889e-04 9.99914185e-01 -5.65904789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.924391418 meters 0.0222349558392617 Centerline is valid? [True, True] Translation: X:316.52, Y:-14.31, Z:-5.66 [[ 9.99840868e-01 1.11806534e-02 1.39007554e-02 3.16522166e+02] [-1.11732888e-02 9.99937392e-01 -6.07351716e-04 -1.43066420e+01] [-1.39066757e-02 4.51937911e-04 9.99903195e-01 -5.65938516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954391418 meters 0.02346085758576685 Centerline is valid? [True, True] Translation: X:316.55, Y:-14.31, Z:-5.66 [[ 9.99857642e-01 9.21015840e-03 1.41375085e-02 3.16553780e+02] [-9.20233732e-03 9.99957467e-01 -6.18169031e-04 -1.43109498e+01] [-1.41426007e-02 4.87982907e-04 9.99899869e-01 -5.65996255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters 0.023361816226826097 Centerline is valid? [True, True] Translation: X:316.59, Y:-14.31, Z:-5.66 [[ 9.99875588e-01 7.21969394e-03 1.40244002e-02 3.16585436e+02] [-7.21174513e-03 9.99973805e-01 -6.17274813e-04 -1.43131352e+01] [-1.40284893e-02 5.16057617e-04 9.99901463e-01 -5.66032723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014391418 meters 0.02414277434847603 Centerline is valid? [True, True] Translation: X:316.62, Y:-14.32, Z:-5.66 [[ 9.99893090e-01 4.89478967e-03 1.37785680e-02 3.16617848e+02] [-4.88686477e-03 9.99987874e-01 -6.08771583e-04 -1.43165525e+01] [-1.37813807e-02 5.41372501e-04 9.99904886e-01 -5.66123942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters 0.026501084746747082 Centerline is valid? [True, True] Translation: X:316.65, Y:-14.32, Z:-5.66 [[ 9.99911660e-01 3.64413886e-04 1.32868042e-02 3.16648360e+02] [-3.56627392e-04 9.99999763e-01 -5.88396738e-04 -1.43234096e+01] [-1.32870155e-02 5.83606320e-04 9.99911553e-01 -5.66245244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074391418 meters 0.03126621236438224 Centerline is valid? [True, True] Translation: X:316.68, Y:-14.33, Z:-5.66 [[ 9.99917393e-01 -1.65404469e-03 1.27463973e-02 3.16679295e+02] [ 1.66136093e-03 9.99998461e-01 -5.63417163e-04 -1.43321557e+01] [-1.27454458e-02 5.84546987e-04 9.99918603e-01 -5.66375729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters 0.029809208669095318 Centerline is valid? [True, True] Translation: X:316.71, Y:-14.33, Z:-5.66 [[ 9.99912796e-01 -5.62903032e-03 1.19463193e-02 3.16710848e+02] [ 5.63579074e-03 9.99983977e-01 -5.32310206e-04 -1.43321100e+01] [-1.19431315e-02 5.99590742e-04 9.99928498e-01 -5.66381957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134391418 meters 0.032523171950411385 Centerline is valid? [True, True] Translation: X:316.74, Y:-14.34, Z:-5.67 [[ 9.99911301e-01 -7.07320827e-03 1.12854145e-02 3.16742103e+02] [ 7.07933630e-03 9.99974815e-01 -5.03148594e-04 -1.43372599e+01] [-1.12815714e-02 5.82997210e-04 9.99936191e-01 -5.66509590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters 0.03189507764261241 Centerline is valid? [True, True] Translation: X:316.77, Y:-14.34, Z:-5.67 [[ 9.99906086e-01 -8.12043215e-03 1.10398600e-02 3.16774405e+02] [ 8.12636574e-03 9.99966859e-01 -4.92716207e-04 -1.43379738e+01] [-1.10354931e-02 5.82383874e-04 9.99938937e-01 -5.66562846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194391418 meters 0.03330154618879392 Centerline is valid? [True, True] Translation: X:316.81, Y:-14.34, Z:-5.67 [[ 9.99893611e-01 -9.60637112e-03 1.09764960e-02 3.16805555e+02] [ 9.61233745e-03 9.99953680e-01 -4.90927073e-04 -1.43416682e+01] [-1.09712715e-02 5.96384627e-04 9.99939636e-01 -5.66669642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters 0.03370175967681526 Centerline is valid? [True, True] Translation: X:316.84, Y:-14.34, Z:-5.67 [[ 9.99890518e-01 -9.92188027e-03 1.09776376e-02 3.16837944e+02] [ 9.92787262e-03 9.99950597e-01 -4.91508198e-04 -1.43439248e+01] [-1.09722186e-02 6.00438974e-04 9.99939623e-01 -5.66735396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254391418 meters 0.033941863653086796 Centerline is valid? [True, True] Translation: X:316.87, Y:-14.35, Z:-5.67 [[ 9.99885945e-01 -1.00191928e-02 1.13010509e-02 3.16870119e+02] [ 1.00255605e-02 9.99949614e-01 -5.06946960e-04 -1.43457283e+01] [-1.12954023e-02 6.20188510e-04 9.99936013e-01 -5.66782398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters 0.035376375892850066 Centerline is valid? [True, True] Translation: X:316.90, Y:-14.35, Z:-5.67 [[ 9.99893730e-01 -1.04613755e-02 1.01532859e-02 3.16901649e+02] [ 1.04665394e-02 9.99945121e-01 -4.55584107e-04 -1.43477087e+01] [-1.01479627e-02 5.61805459e-04 9.99948350e-01 -5.66912275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314391418 meters 0.03429207872156245 Centerline is valid? [True, True] Translation: X:316.93, Y:-14.35, Z:-5.67 [[ 9.99900320e-01 -1.05356441e-02 9.39945088e-03 3.16933793e+02] [ 1.05400899e-02 9.99944362e-01 -4.23575167e-04 -1.43468596e+01] [-9.39446528e-03 5.22604003e-04 9.99955734e-01 -5.66965329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters 0.037165357240267996 Centerline is valid? [True, True] Translation: X:316.96, Y:-14.35, Z:-5.67 [[ 9.99910323e-01 -1.06669633e-02 8.09705751e-03 3.16964921e+02] [ 1.06702721e-02 9.99943004e-01 -3.65541686e-04 -1.43506618e+01] [-8.09269679e-03 4.51906712e-04 9.99967151e-01 -5.67157373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374391418 meters 0.03460129455722317 Centerline is valid? [True, True] Translation: X:317.00, Y:-14.35, Z:-5.67 [[ 9.99912970e-01 -1.11132478e-02 7.10971326e-03 3.16997551e+02] [ 1.11158105e-02 9.99938166e-01 -3.21037618e-04 -1.43460554e+01] [-7.10570587e-03 4.00039904e-04 9.99974674e-01 -5.67179811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters 0.034436746512822594 Centerline is valid? [True, True] Translation: X:317.03, Y:-14.35, Z:-5.67 [[ 9.99910544e-01 -1.12665048e-02 7.20900799e-03 3.17029278e+02] [ 1.12691495e-02 9.99936448e-01 -3.26340356e-04 -1.43459039e+01] [-7.20487313e-03 4.07550552e-04 9.99973962e-01 -5.67212169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434391418 meters 0.037274153470028215 Centerline is valid? [True, True] Translation: X:317.06, Y:-14.35, Z:-5.67 [[ 9.99906616e-01 -1.14536962e-02 7.45465510e-03 3.17060380e+02] [ 1.14565331e-02 9.99934315e-01 -3.37960153e-04 -1.43496034e+01] [-7.45029455e-03 4.23333096e-04 9.99972157e-01 -5.67265744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464391418 meters 0.03561153154387165 Centerline is valid? [True, True] Translation: X:317.09, Y:-14.35, Z:-5.67 [[ 9.99905787e-01 -1.09030030e-02 8.33911324e-03 3.17092538e+02] [ 1.09065376e-02 9.99940450e-01 -3.78504103e-04 -1.43456682e+01] [-8.33448982e-03 4.69419295e-04 9.99965157e-01 -5.67141365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494391418 meters 0.03534157282357604 Centerline is valid? [True, True] Translation: X:317.13, Y:-14.34, Z:-5.67 [[ 9.99909938e-01 -1.00389543e-02 8.90698624e-03 3.17125328e+02] [ 1.00429582e-02 9.99949486e-01 -4.04910994e-04 -1.43449691e+01] [-8.90247143e-03 4.94327018e-04 9.99960250e-01 -5.67139074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524391418 meters 0.033384634337231704 Centerline is valid? [True, True] Translation: X:317.16, Y:-14.34, Z:-5.67 [[ 9.99914179e-01 -8.93236041e-03 9.58369247e-03 3.17158200e+02] [ 8.93695546e-03 9.99959969e-01 -4.36746910e-04 -1.43415220e+01] [-9.57940764e-03 5.22358461e-04 9.99953980e-01 -5.67085837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.554391418 meters 0.03193642110215597 Centerline is valid? [True, True] Translation: X:317.19, Y:-14.34, Z:-5.67 [[ 9.99923985e-01 -6.36850600e-03 1.05577915e-02 3.17190046e+02] [ 6.37395666e-03 9.99979570e-01 -4.82700395e-04 -1.43370097e+01] [-1.05545018e-02 5.49958608e-04 9.99944148e-01 -5.67011788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584391418 meters 0.03183351649778361 Centerline is valid? [True, True] Translation: X:317.22, Y:-14.34, Z:-5.67 [[ 9.99929042e-01 -4.88852285e-03 1.08634334e-02 3.17221759e+02] [ 4.89421262e-03 9.99987900e-01 -4.97231174e-04 -1.43364960e+01] [-1.08608712e-02 5.50363844e-04 9.99940868e-01 -5.67035416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.614391418 meters 0.03118615837049526 Centerline is valid? [True, True] Translation: X:317.25, Y:-14.34, Z:-5.67 [[ 9.99934708e-01 -3.48479895e-03 1.08828424e-02 3.17253980e+02] [ 3.49043574e-03 9.99993784e-01 -4.99000959e-04 -1.43354575e+01] [-1.08810359e-02 5.36954241e-04 9.99940656e-01 -5.67090042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644391418 meters 0.030265786922897442 Centerline is valid? [True, True] Translation: X:317.29, Y:-14.33, Z:-5.67 [[ 9.99940998e-01 -1.46303121e-03 1.07638567e-02 3.17285737e+02] [ 1.46844085e-03 9.99998799e-01 -4.94688755e-04 -1.43320335e+01] [-1.07631201e-02 5.10465654e-04 9.99941946e-01 -5.67129229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.674391418 meters 0.031477686358521946 Centerline is valid? [True, True] Translation: X:317.32, Y:-14.33, Z:-5.67 [[ 9.99942765e-01 -7.89667908e-04 1.06697030e-02 3.17317121e+02] [ 7.94948073e-04 9.99999564e-01 -4.90642654e-04 -1.43332666e+01] [-1.06693109e-02 4.99096432e-04 9.99942957e-01 -5.67193238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704391418 meters 0.03178920523187442 Centerline is valid? [True, True] Translation: X:317.35, Y:-14.33, Z:-5.67 [[ 9.99942579e-01 -5.47088520e-05 1.07161311e-02 3.17348940e+02] [ 5.99985117e-05 9.99999877e-01 -4.93295690e-04 -1.43323392e+01] [-1.07161028e-02 4.93910317e-04 9.99942459e-01 -5.67181676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734391418 meters 0.030101835468689886 Centerline is valid? [True, True] Translation: X:317.38, Y:-14.33, Z:-5.67 [[ 9.99949114e-01 -9.43327840e-08 1.00881172e-02 3.17381721e+02] [ 4.78623479e-06 9.99999892e-01 -4.65067804e-04 -1.43301102e+01] [-1.00881161e-02 4.65092423e-04 9.99949006e-01 -5.67234491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764391418 meters 0.03030581273867892 Centerline is valid? [True, True] Translation: X:317.41, Y:-14.33, Z:-5.67 [[ 9.99949566e-01 2.94415738e-04 1.00389022e-02 3.17413857e+02] [-2.89776329e-04 9.99999851e-01 -4.63594483e-04 -1.43311231e+01] [-1.00390372e-02 4.60662066e-04 9.99949501e-01 -5.67305486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794391418 meters 0.027897389527592045 Centerline is valid? [True, True] Translation: X:317.45, Y:-14.33, Z:-5.67 [[ 9.99953872e-01 3.07769815e-04 9.60000316e-03 3.17446622e+02] [-3.03521452e-04 9.99999855e-01 -4.43991437e-04 -1.43281255e+01] [-9.60013842e-03 4.41057149e-04 9.99953820e-01 -5.67347218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824391418 meters 0.03140417915520428 Centerline is valid? [True, True] Translation: X:317.48, Y:-14.33, Z:-5.68 [[ 9.99957526e-01 4.10359508e-04 9.20746656e-03 3.17478814e+02] [-4.06451013e-04 9.99999827e-01 -4.26359116e-04 -1.43331117e+01] [-9.20763993e-03 4.22598623e-04 9.99957519e-01 -5.67509628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854391418 meters 0.030716137668200003 Centerline is valid? [True, True] Translation: X:317.51, Y:-14.33, Z:-5.68 [[ 9.99961240e-01 1.31660457e-03 8.70544178e-03 3.17511356e+02] [-1.31313604e-03 9.99999056e-01 -4.04135598e-04 -1.43309526e+01] [-8.70596565e-03 3.92688504e-04 9.99962025e-01 -5.67612186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884391418 meters 0.02724417051834847 Centerline is valid? [True, True] Translation: X:317.54, Y:-14.33, Z:-5.68 [[ 9.99961174e-01 2.37589760e-03 8.48560189e-03 3.17543407e+02] [-2.37263516e-03 9.99997107e-01 -3.94513046e-04 -1.43260870e+01] [-8.48651467e-03 3.74364491e-04 9.99963919e-01 -5.67594803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914391418 meters 0.027456280412879824 Centerline is valid? [True, True] Translation: X:317.57, Y:-14.32, Z:-5.68 [[ 9.99946230e-01 6.22700917e-03 8.29227754e-03 3.17574447e+02] [-6.22401717e-03 9.99980556e-01 -3.86574811e-04 -1.43245884e+01] [-8.29452351e-03 3.34942747e-04 9.99965544e-01 -5.67693783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944391418 meters 0.024463323725905255 Centerline is valid? [True, True] Translation: X:317.61, Y:-14.32, Z:-5.68 [[ 9.99928648e-01 8.77828726e-03 8.10183800e-03 3.17607020e+02] [-8.77551538e-03 9.99961423e-01 -3.77616918e-04 -1.43199042e+01] [-8.10484028e-03 3.06492171e-04 9.99967108e-01 -5.67671553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974391418 meters 0.02369266797675804 Centerline is valid? [True, True] Translation: X:317.64, Y:-14.32, Z:-5.68 [[ 9.99897878e-01 1.16348219e-02 8.29840566e-03 3.17637751e+02] [-1.16320015e-02 9.99932271e-01 -3.88067888e-04 -1.43180931e+01] [-8.30235871e-03 2.91501192e-04 9.99965492e-01 -5.67693109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004391418 meters 0.020668975133140033 Centerline is valid? [True, True] Translation: X:317.67, Y:-14.31, Z:-5.68 [[ 9.99805620e-01 1.76356317e-02 8.81517393e-03 3.17668409e+02] [-1.76326785e-02 9.99844447e-01 -4.12625593e-04 -1.43107238e+01] [-8.82107962e-03 2.57110259e-04 9.99961060e-01 -5.67690378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034391418 meters 0.020368311765167343 Centerline is valid? [True, True] Translation: X:317.70, Y:-14.31, Z:-5.68 [[ 9.99750206e-01 2.03974955e-02 9.13606041e-03 3.17697447e+02] [-2.03944338e-02 9.99791920e-01 -4.28175821e-04 -1.43098265e+01] [-9.14289309e-03 2.41744087e-04 9.99958174e-01 -5.67741245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064391418 meters 0.018204993611398653 Centerline is valid? [True, True] Translation: X:317.73, Y:-14.31, Z:-5.68 [[ 9.99683590e-01 2.31863431e-02 9.75259214e-03 3.17726894e+02] [-2.31829932e-02 9.99731134e-01 -4.56419415e-04 -1.43056877e+01] [-9.76055270e-03 2.30180722e-04 9.99952338e-01 -5.67685065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094391418 meters 0.016412466177601736 Centerline is valid? [True, True] Translation: X:317.76, Y:-14.30, Z:-5.68 [[ 9.99536476e-01 2.83714168e-02 1.10406074e-02 3.17755291e+02] [-2.83674471e-02 9.99597430e-01 -5.16021235e-04 -1.43014319e+01] [-1.10508031e-02 2.02588200e-04 9.99938917e-01 -5.67660074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124391418 meters 0.015977096459005694 Centerline is valid? [True, True] Translation: X:317.78, Y:-14.30, Z:-5.68 [[ 9.99459400e-01 3.05962405e-02 1.20323962e-02 3.17782762e+02] [-3.05916984e-02 9.99531807e-01 -5.61407616e-04 -1.43006176e+01] [-1.20439397e-02 1.93012684e-04 9.99927450e-01 -5.67715531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154391418 meters 0.014738776444420787 Centerline is valid? [True, True] Translation: X:317.81, Y:-14.30, Z:-5.68 [[ 9.99371621e-01 3.31580739e-02 1.25261768e-02 3.17811304e+02] [-3.31533701e-02 9.99450106e-01 -5.83037801e-04 -1.42988769e+01] [-1.25386211e-02 1.67386456e-04 9.99921374e-01 -5.67714331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184391418 meters 0.01384484225568114 Centerline is valid? [True, True] Translation: X:317.84, Y:-14.29, Z:-5.68 [[ 9.99221561e-01 3.72451695e-02 1.30026950e-02 3.17839133e+02] [-3.72404596e-02 9.99306151e-01 -6.04245281e-04 -1.42946958e+01] [-1.30161783e-02 1.19548576e-04 9.99915279e-01 -5.67785214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214391418 meters 0.01336889199474121 Centerline is valid? [True, True] Translation: X:317.87, Y:-14.29, Z:-5.68 [[ 9.99151918e-01 3.90620352e-02 1.30231247e-02 3.17867934e+02] [-3.90574824e-02 9.99236783e-01 -6.03844484e-04 -1.42932328e+01] [-1.30367726e-02 9.46819101e-05 9.99915013e-01 -5.67828997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244391418 meters 0.012972263139482914 Centerline is valid? [True, True] Translation: X:317.90, Y:-14.29, Z:-5.68 [[ 9.99078026e-01 4.07798342e-02 1.34202256e-02 3.17897086e+02] [-4.07751690e-02 9.99168154e-01 -6.21167911e-04 -1.42925489e+01] [-1.34343931e-02 7.33832452e-05 9.99909752e-01 -5.67886545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274391418 meters 0.012972263139482914 Centerline is valid? [True, True] Translation: X:317.93, Y:-14.29, Z:-5.68 [[ 9.99081171e-01 4.07027056e-02 1.34202734e-02 3.17925359e+02] [-4.06980474e-02 9.99171299e-01 -6.20131331e-04 -1.42937766e+01] [-1.34343931e-02 7.33826114e-05 9.99909752e-01 -5.67937614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.304391418 meters 0.01286062534639253 Centerline is valid? [True, True] Translation: X:317.95, Y:-14.29, Z:-5.68 [[ 9.98998563e-01 4.26202530e-02 1.36156249e-02 3.17954017e+02] [-4.26156508e-02 9.99091343e-01 -6.28091462e-04 -1.42920977e+01] [-1.36300224e-02 4.72237504e-05 9.99907106e-01 -5.68026498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334391418 meters 0.012904185406514147 Centerline is valid? [True, True] Translation: X:317.98, Y:-14.29, Z:-5.68 [[ 9.98996233e-01 4.28121354e-02 1.31775757e-02 3.17981621e+02] [-4.28078532e-02 9.99083139e-01 -6.06981255e-04 -1.42929548e+01] [-1.31914799e-02 4.22682614e-05 9.99912988e-01 -5.68147988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.364391418 meters 0.01294048460492765 Centerline is valid? [True, True] Translation: X:318.01, Y:-14.29, Z:-5.68 [[ 9.99041326e-01 4.19427462e-02 1.25393352e-02 3.18010361e+02] [-4.19388162e-02 9.99120015e-01 -5.76324320e-04 -1.42944468e+01] [-1.25524734e-02 4.98869389e-05 9.99921213e-01 -5.68304545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394391418 meters 0.012890261998022682 Centerline is valid? [True, True] Translation: X:318.04, Y:-14.30, Z:-5.68 [[ 9.99092625e-01 4.08180399e-02 1.21578940e-02 3.18039571e+02] [-4.08142725e-02 9.99166595e-01 -5.57927138e-04 -1.42960021e+01] [-1.21705351e-02 6.12052882e-05 9.99925934e-01 -5.68385813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.424391418 meters 0.013325864303007081 Centerline is valid? [True, True] Translation: X:318.07, Y:-14.30, Z:-5.69 [[ 9.99154093e-01 3.93141755e-02 1.20620802e-02 3.18067368e+02] [-3.93103677e-02 9.99226896e-01 -5.52697876e-04 -1.42991276e+01] [-1.20744838e-02 7.80655377e-05 9.99927098e-01 -5.68548949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454391418 meters 0.01356379790532943 Centerline is valid? [True, True] Translation: X:318.10, Y:-14.30, Z:-5.69 [[ 9.99235676e-01 3.73134580e-02 1.16520021e-02 3.18096354e+02] [-3.73097829e-02 9.99303606e-01 -5.32696950e-04 -1.43010272e+01] [-1.16637644e-02 9.75561300e-05 9.99931971e-01 -5.68578040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters 0.014439861177406093 Centerline is valid? [True, True] Translation: X:318.12, Y:-14.31, Z:-5.69 [[ 9.99370027e-01 3.37460785e-02 1.09886875e-02 3.18123659e+02] [-3.37426001e-02 9.99430430e-01 -5.01835788e-04 -1.43061619e+01] [-1.09993637e-02 1.30732756e-04 9.99939497e-01 -5.68745780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514391418 meters 0.014978811621368188 Centerline is valid? [True, True] Translation: X:318.15, Y:-14.31, Z:-5.69 [[ 9.99434596e-01 3.18768898e-02 1.06935282e-02 3.18151812e+02] [-3.18735026e-02 9.99491792e-01 -4.87070768e-04 -1.43092057e+01] [-1.07036200e-02 1.45955177e-04 9.99942704e-01 -5.68845318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters 0.015390143934296191 Centerline is valid? [True, True] Translation: X:318.18, Y:-14.31, Z:-5.69 [[ 9.99490634e-01 3.01262133e-02 1.05301425e-02 3.18180820e+02] [-3.01228435e-02 9.99546090e-01 -4.78502884e-04 -1.43119672e+01] [-1.05397783e-02 1.61061315e-04 9.99944442e-01 -5.68941324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574391418 meters 0.01636700960648489 Centerline is valid? [True, True] Translation: X:318.21, Y:-14.32, Z:-5.69 [[ 9.99553016e-01 2.81434766e-02 1.00853271e-02 3.18208879e+02] [-2.81402905e-02 9.99603879e-01 -4.57711441e-04 -1.43153082e+01] [-1.00942136e-02 1.73702818e-04 9.99949037e-01 -5.69050131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters 0.018111338938973237 Centerline is valid? [True, True] Translation: X:318.24, Y:-14.32, Z:-5.69 [[ 9.99650680e-01 2.46584950e-02 9.51193360e-03 3.18237180e+02] [-2.46555142e-02 9.99695914e-01 -4.30533351e-04 -1.43195377e+01] [-9.51965746e-03 1.95861343e-04 9.99954668e-01 -5.69198250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634391418 meters 0.01905914291087903 Centerline is valid? [True, True] Translation: X:318.27, Y:-14.32, Z:-5.69 [[ 9.99697637e-01 2.27889963e-02 9.23558815e-03 3.18265645e+02] [-2.27861095e-02 9.99740276e-01 -4.17692610e-04 -1.43222727e+01] [-9.24270823e-03 2.07123192e-04 9.99957264e-01 -5.69258513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters 0.020267799600386664 Centerline is valid? [True, True] Translation: X:318.29, Y:-14.33, Z:-5.69 [[ 9.99783480e-01 1.88059245e-02 8.90678210e-03 3.18294910e+02] [-1.88030901e-02 9.99823126e-01 -4.01871049e-04 -1.43256255e+01] [-8.91276427e-03 2.34309010e-04 9.99960253e-01 -5.69294839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694391418 meters 0.022460535659920566 Centerline is valid? [True, True] Translation: X:318.32, Y:-14.33, Z:-5.69 [[ 9.99823716e-01 1.64833181e-02 8.99096303e-03 3.18322845e+02] [-1.64803361e-02 9.99864108e-01 -4.05658371e-04 -1.43305078e+01] [-8.99642782e-03 2.57412767e-04 9.99959498e-01 -5.69396524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters 0.022649489955833157 Centerline is valid? [True, True] Translation: X:318.35, Y:-14.33, Z:-5.69 [[ 9.99863259e-01 1.40845229e-02 8.66545227e-03 3.18352303e+02] [-1.40816713e-02 9.99900772e-01 -3.90002337e-04 -1.43323396e+01] [-8.67008541e-03 2.67924957e-04 9.99962378e-01 -5.69419498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754391418 meters 0.02507495502194689 Centerline is valid? [True, True] Translation: X:318.38, Y:-14.34, Z:-5.69 [[ 9.99922758e-01 8.96572917e-03 8.60773647e-03 3.18382417e+02] [-8.96273195e-03 9.99959759e-01 -3.86714400e-04 -1.43380777e+01] [-8.61085726e-03 3.09535694e-04 9.99962878e-01 -5.69460407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters 0.025141598917190797 Centerline is valid? [True, True] Translation: X:318.41, Y:-14.34, Z:-5.69 [[ 9.99940679e-01 6.53179430e-03 8.71634024e-03 3.18413941e+02] [-6.52863186e-03 9.99978612e-01 -3.91221801e-04 -1.43400930e+01] [-8.71870919e-03 3.34292817e-04 9.99961935e-01 -5.69492405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814391418 meters 0.03198795844850091 Centerline is valid? [True, True] Translation: X:318.44, Y:-14.35, Z:-5.70 [[ 9.99946304e-01 4.25172036e-03 9.45054983e-03 3.18444579e+02] [-4.24791452e-03 9.99990888e-01 -4.22747462e-04 -1.43515047e+01] [-9.45226113e-03 3.82579634e-04 9.99955253e-01 -5.69671602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters 0.02983134394545623 Centerline is valid? [True, True] Translation: X:318.48, Y:-14.35, Z:-5.70 [[ 9.99950847e-01 7.16922808e-05 9.91454754e-03 3.18475652e+02] [-6.72516505e-05 9.99999897e-01 -4.48223037e-04 -1.43507570e+01] [-9.91457865e-03 4.47534236e-04 9.99950749e-01 -5.69500659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874391418 meters 0.03096080723475096 Centerline is valid? [True, True] Translation: X:318.51, Y:-14.35, Z:-5.70 [[ 9.99947539e-01 -1.32977439e-03 1.01563197e-02 3.18507204e+02] [ 1.33448978e-03 9.99999005e-01 -4.57518394e-04 -1.43542104e+01] [-1.01557012e-02 4.71047897e-04 9.99948319e-01 -5.69568028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters 0.03201349330208103 Centerline is valid? [True, True] Translation: X:318.54, Y:-14.36, Z:-5.70 [[ 9.99948254e-01 -2.73302501e-03 9.79894824e-03 3.18539289e+02] [ 2.73750346e-03 9.99996155e-01 -4.43650271e-04 -1.43572991e+01] [-9.79769805e-03 4.70451969e-04 9.99951891e-01 -5.69658375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934391418 meters 0.03199672338139974 Centerline is valid? [True, True] Translation: X:318.57, Y:-14.36, Z:-5.70 [[ 9.99943672e-01 -5.23942701e-03 9.23047638e-03 3.18570542e+02] [ 5.24354588e-03 9.99986163e-01 -4.22081025e-04 -1.43591192e+01] [-9.22813720e-03 4.70457677e-04 9.99957309e-01 -5.69714302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964391418 meters 0.03277233481138509 Centerline is valid? [True, True] Translation: X:318.60, Y:-14.36, Z:-5.70 [[ 9.99946821e-01 -5.69824355e-03 8.59562270e-03 3.18602811e+02] [ 5.70183152e-03 9.99983667e-01 -3.92970814e-04 -1.43616880e+01] [-8.59324307e-03 4.41960709e-04 9.99962980e-01 -5.69821397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994391418 meters 0.033166831802598 Centerline is valid? [True, True] Translation: X:318.64, Y:-14.36, Z:-5.70 [[ 9.99950250e-01 -6.01802894e-03 7.95489506e-03 3.18635157e+02] [ 6.02111624e-03 9.99981807e-01 -3.64208871e-04 -1.43637308e+01] [-7.95255852e-03 4.12088099e-04 9.99968293e-01 -5.69915863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024391418 meters 0.033887482671675136 Centerline is valid? [True, True] Translation: X:318.67, Y:-14.37, Z:-5.70 [[ 9.99953761e-01 -5.87342750e-03 7.61431609e-03 3.18666771e+02] [ 5.87625451e-03 9.99982674e-01 -3.48957097e-04 -1.43660433e+01] [-7.61213459e-03 3.93684621e-04 9.99970950e-01 -5.70045173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.054391418 meters 0.032069584690092225 Centerline is valid? [True, True] Translation: X:318.70, Y:-14.36, Z:-5.70 [[ 9.99968788e-01 -4.35916107e-03 6.58941869e-03 3.18699415e+02] [ 4.36124961e-03 9.99990444e-01 -3.02617479e-04 -1.43641069e+01] [-6.58803656e-03 3.31346133e-04 9.99978244e-01 -5.70146443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084391418 meters 0.031449159527350924 Centerline is valid? [True, True] Translation: X:318.73, Y:-14.36, Z:-5.70 [[ 9.99974942e-01 -2.99006168e-03 6.41680721e-03 3.18732123e+02] [ 2.99201570e-03 9.99995480e-01 -2.94937649e-04 -1.43639457e+01] [-6.41589633e-03 3.14129447e-04 9.99979369e-01 -5.70191397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.114391418 meters 0.031217299747797068 Centerline is valid? [True, True] Translation: X:318.76, Y:-14.36, Z:-5.70 [[ 9.99981256e-01 -1.13030467e-04 6.12172700e-03 3.18762734e+02] [ 1.14764109e-04 9.99999953e-01 -2.82844327e-04 -1.43631675e+01] [-6.12169475e-03 2.83541580e-04 9.99981222e-01 -5.70298183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144391418 meters 0.0284429561599983 Centerline is valid? [True, True] Translation: X:318.80, Y:-14.36, Z:-5.70 [[ 9.99979101e-01 1.90065725e-03 6.17935214e-03 3.18795429e+02] [-1.89893280e-03 9.99998156e-01 -2.84922000e-04 -1.43599800e+01] [-6.17988229e-03 2.73181871e-04 9.99980867e-01 -5.70266445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.174391418 meters 0.0264130640329058 Centerline is valid? [True, True] Translation: X:318.83, Y:-14.36, Z:-5.70 [[ 9.99970654e-01 4.40339422e-03 6.26907719e-03 3.18827014e+02] [-4.40166224e-03 9.99990271e-01 -2.90043468e-04 -1.43571877e+01] [-6.27029337e-03 2.62440596e-04 9.99980307e-01 -5.70248320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204391418 meters 0.023923590468777248 Centerline is valid? [True, True] Translation: X:318.86, Y:-14.35, Z:-5.70 [[ 9.99913910e-01 1.11456375e-02 6.92438655e-03 3.18857027e+02] [-1.11436802e-02 9.99937856e-01 -3.21179005e-04 -1.43514999e+01] [-6.92753599e-03 2.43988206e-04 9.99975975e-01 -5.70200515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234391418 meters 0.02170628640305414 Centerline is valid? [True, True] Translation: X:318.89, Y:-14.35, Z:-5.70 [[ 9.99857399e-01 1.53351666e-02 7.07203691e-03 3.18887926e+02] [-1.53332297e-02 9.99882385e-01 -3.28017694e-04 -1.43477176e+01] [-7.07623534e-03 2.19533752e-04 9.99974939e-01 -5.70200872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264391418 meters 0.021387595668885793 Centerline is valid? [True, True] Translation: X:318.92, Y:-14.35, Z:-5.70 [[ 9.99788195e-01 1.92981254e-02 7.15171887e-03 3.18916443e+02] [-1.92962413e-02 9.99813755e-01 -3.32355844e-04 -1.43466661e+01] [-7.15680074e-03 1.94284156e-04 9.99974371e-01 -5.70267325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294391418 meters 0.018260879663584226 Centerline is valid? [True, True] Translation: X:318.95, Y:-14.34, Z:-5.70 [[ 9.99694920e-01 2.34175477e-02 7.85400819e-03 3.18945618e+02] [-2.34154054e-02 9.99725755e-01 -3.64624028e-04 -1.43407587e+01] [-7.86039287e-03 1.80608003e-04 9.99969090e-01 -5.70154553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324391418 meters 0.014987901293011136 Centerline is valid? [True, True] Translation: X:318.98, Y:-14.33, Z:-5.70 [[ 9.99473125e-01 3.11847134e-02 8.99918474e-03 3.18975717e+02] [-3.11822268e-02 9.99513629e-01 -4.16524486e-04 -1.43326002e+01] [-9.00779700e-03 1.35690410e-04 9.99959420e-01 -5.70042373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354391418 meters 0.01415146385794008 Centerline is valid? [True, True] Translation: X:319.00, Y:-14.33, Z:-5.70 [[ 9.99355910e-01 3.46240143e-02 9.43090863e-03 3.19004292e+02] [-3.46214372e-02 9.99400403e-01 -4.36431531e-04 -1.43304697e+01] [-9.44036489e-03 1.09638819e-04 9.99955433e-01 -5.70074866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384391418 meters 0.013337643918484183 Centerline is valid? [True, True] Translation: X:319.03, Y:-14.33, Z:-5.70 [[ 9.99148130e-01 4.00118838e-02 1.01026223e-02 3.19032070e+02] [-4.00092096e-02 9.99199202e-01 -4.66754642e-04 -1.43260238e+01] [-1.01132079e-02 6.21590939e-05 9.99948858e-01 -5.70150465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414391418 meters 0.013084241606794465 Centerline is valid? [True, True] Translation: X:319.06, Y:-14.33, Z:-5.70 [[ 9.99069119e-01 4.20416296e-02 9.66419590e-03 3.19061411e+02] [-4.20392877e-02 9.99115859e-01 -4.45439494e-04 -1.43250947e+01] [-9.67437839e-03 3.87489312e-05 9.99953201e-01 -5.70244560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444391418 meters 0.013022070576431774 Centerline is valid? [True, True] Translation: X:319.09, Y:-14.32, Z:-5.70 [[ 9.99021868e-01 4.32864345e-02 9.03286370e-03 3.19089146e+02] [-4.32844419e-02 9.99062703e-01 -4.16069340e-04 -1.43245971e+01] [-9.04240738e-03 2.46799052e-05 9.99959116e-01 -5.70374566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474391418 meters 0.01308438020766146 Centerline is valid? [True, True] Translation: X:319.12, Y:-14.32, Z:-5.71 [[ 9.98900515e-01 4.62175412e-02 7.85494926e-03 3.19116760e+02] [-4.62161316e-02 9.98931398e-01 -3.60967041e-04 -1.43224612e+01] [-7.86323846e-03 -2.45520553e-06 9.99969084e-01 -5.70550801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504391418 meters 0.013231299073655582 Centerline is valid? [True, True] Translation: X:319.15, Y:-14.32, Z:-5.71 [[ 9.98859702e-01 4.71931499e-02 7.21814610e-03 3.19145149e+02] [-4.71919906e-02 9.98885783e-01 -3.30932723e-04 -1.43221462e+01] [-7.22572127e-03 -1.00833217e-05 9.99973894e-01 -5.70633075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534391418 meters 0.013666431954842522 Centerline is valid? [True, True] Translation: X:319.17, Y:-14.32, Z:-5.71 [[ 9.98744694e-01 4.97045759e-02 6.20417481e-03 3.19173813e+02] [-4.97037696e-02 9.98763963e-01 -2.84164747e-04 -1.43212462e+01] [-6.21063051e-03 -2.45628421e-05 9.99980714e-01 -5.70780582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564391418 meters 0.013953936928397066 Centerline is valid? [True, True] Translation: X:319.20, Y:-14.32, Z:-5.71 [[ 9.98695729e-01 5.06933469e-02 6.08477537e-03 3.19202104e+02] [-5.06925911e-02 9.98714265e-01 -2.78477424e-04 -1.43213526e+01] [-6.09106891e-03 -3.03388152e-05 9.99981449e-01 -5.70862370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594391418 meters 0.013887648731743049 Centerline is valid? [True, True] Translation: X:319.23, Y:-14.32, Z:-5.71 [[ 9.98653403e-01 5.14996943e-02 6.25797966e-03 3.19231319e+02] [-5.14989159e-02 9.98673010e-01 -2.85582668e-04 -1.43223423e+01] [-6.26438280e-03 -3.70810648e-05 9.99980378e-01 -5.70759043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624391418 meters 0.013841120893726194 Centerline is valid? [True, True] Translation: X:319.26, Y:-14.32, Z:-5.71 [[ 9.98592765e-01 5.25835224e-02 6.88937970e-03 3.19259478e+02] [-5.25826062e-02 9.98616528e-01 -3.14185881e-04 -1.43230886e+01] [-6.89636944e-03 -4.85177925e-05 9.99976219e-01 -5.70669426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654391418 meters 0.014056470157816733 Centerline is valid? [True, True] Translation: X:319.29, Y:-14.32, Z:-5.71 [[ 9.98508763e-01 5.39242380e-02 8.51036951e-03 3.19286895e+02] [-5.39229033e-02 9.98545027e-01 -3.86368582e-04 -1.43238267e+01] [-8.51882179e-03 -7.31114176e-05 9.99963712e-01 -5.70610177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684391418 meters 0.014179008203711737 Centerline is valid? [True, True] Translation: X:319.32, Y:-14.33, Z:-5.71 [[ 9.98497757e-01 5.39873044e-02 9.35947746e-03 3.19315208e+02] [-5.39857051e-02 9.98541619e-01 -4.23623226e-04 -1.43253055e+01] [-9.36869804e-03 -8.22911488e-05 9.99956109e-01 -5.70610231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714391418 meters 0.014092334622799756 Centerline is valid? [True, True] Translation: X:319.34, Y:-14.33, Z:-5.71 [[ 9.98508273e-01 5.37293624e-02 9.71518788e-03 3.19343967e+02] [-5.37276350e-02 9.98555531e-01 -4.38894191e-04 -1.43271016e+01] [-9.72473610e-03 -8.37345878e-05 9.99952710e-01 -5.70611770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744391418 meters 0.013901360775469572 Centerline is valid? [True, True] Translation: X:319.37, Y:-14.33, Z:-5.71 [[ 9.98591917e-01 5.20028036e-02 1.04828784e-02 3.19372034e+02] [-5.20007056e-02 9.98646936e-01 -4.72784141e-04 -1.43312436e+01] [-1.04932805e-02 -7.29986502e-05 9.99944941e-01 -5.70663493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774391418 meters 0.013710752983462004 Centerline is valid? [True, True] Translation: X:319.40, Y:-14.33, Z:-5.71 [[ 9.98680165e-01 5.03029379e-02 1.03703118e-02 3.19400531e+02] [-5.03008050e-02 9.98734004e-01 -4.66560520e-04 -1.43349519e+01] [-1.03806524e-02 -5.56902957e-05 9.99946118e-01 -5.70740395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.804391418 meters 0.013336612482971511 Centerline is valid? [True, True] Translation: X:319.43, Y:-14.34, Z:-5.71 [[ 9.98866650e-01 4.65339882e-02 1.00001848e-02 3.19429176e+02] [-4.65318231e-02 9.98916707e-01 -4.49188193e-04 -1.43418818e+01] [-1.00102542e-02 -1.66477230e-05 9.99949896e-01 -5.70892399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834391418 meters 0.01321425056601683 Centerline is valid? [True, True] Translation: X:319.46, Y:-14.35, Z:-5.71 [[ 9.98969643e-01 4.44178586e-02 9.31159450e-03 3.19456727e+02] [-4.44158937e-02 9.99013040e-01 -4.17801767e-04 -1.43462213e+01] [-9.32096219e-03 3.78849029e-06 9.99956559e-01 -5.70997766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.864391418 meters 0.01341191193769691 Centerline is valid? [True, True] Translation: X:319.48, Y:-14.35, Z:-5.71 [[ 9.99077647e-01 4.19703187e-02 9.07460558e-03 3.19484680e+02] [-4.19683592e-02 9.99118858e-01 -4.06343102e-04 -1.43510392e+01] [-9.08366391e-03 2.51220038e-05 9.99958742e-01 -5.71147055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894391418 meters 0.013631710624986531 Centerline is valid? [True, True] Translation: X:319.51, Y:-14.36, Z:-5.71 [[ 9.99174744e-01 3.97584788e-02 8.31228970e-03 3.19513631e+02] [-3.97567649e-02 9.99209318e-01 -3.71381738e-04 -1.43559886e+01] [-8.32048290e-03 4.06055055e-05 9.99965383e-01 -5.71285114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.924391418 meters 0.014124802919706239 Centerline is valid? [True, True] Translation: X:319.54, Y:-14.36, Z:-5.71 [[ 9.99312521e-01 3.61752025e-02 8.11418806e-03 3.19541834e+02] [-3.61734557e-02 9.99345461e-01 -3.61991779e-04 -1.43632559e+01] [-8.12197214e-03 6.82246949e-05 9.99967014e-01 -5.71331224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954391418 meters 0.014191843669901616 Centerline is valid? [True, True] Translation: X:319.57, Y:-14.37, Z:-5.71 [[ 9.99359084e-01 3.48755772e-02 8.06943373e-03 3.19570526e+02] [-3.48738120e-02 9.99391659e-01 -3.59404129e-04 -1.43665647e+01] [-8.07705919e-03 7.77618666e-05 9.99967377e-01 -5.71367229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters 0.01432370477454305 Centerline is valid? [True, True] Translation: X:319.60, Y:-14.37, Z:-5.71 [[ 9.99389556e-01 3.39751588e-02 8.13655363e-03 3.19599545e+02] [-3.39733397e-02 9.99422674e-01 -3.61724817e-04 -1.43704292e+01] [-8.14414584e-03 8.50781041e-05 9.99966832e-01 -5.71409414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014391418 meters 0.014502442058558369 Centerline is valid? [True, True] Translation: X:319.63, Y:-14.37, Z:-5.71 [[ 9.99411680e-01 3.32270403e-02 8.50041762e-03 3.19628124e+02] [-3.32250341e-02 9.99447825e-01 -3.77157460e-04 -1.43748689e+01] [-8.50825573e-03 9.45089060e-05 9.99963800e-01 -5.71393544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters 0.01462892506279122 Centerline is valid? [True, True] Translation: X:319.66, Y:-14.38, Z:-5.71 [[ 9.99393585e-01 3.36308814e-02 9.02365595e-03 3.19655632e+02] [-3.36286429e-02 9.99434317e-01 -3.99727735e-04 -1.43776674e+01] [-9.03199462e-03 9.60320305e-05 9.99959206e-01 -5.71444395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074391418 meters 0.014377169315587928 Centerline is valid? [True, True] Translation: X:319.68, Y:-14.38, Z:-5.71 [[ 9.99340084e-01 3.51262612e-02 9.24891021e-03 3.19683769e+02] [-3.51239828e-02 9.99382879e-01 -4.08711653e-04 -1.43806900e+01] [-9.25755902e-03 8.35833752e-05 9.99957144e-01 -5.71467809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters 0.014142579495259166 Centerline is valid? [True, True] Translation: X:319.71, Y:-14.38, Z:-5.71 [[ 9.99298896e-01 3.62371534e-02 9.41193477e-03 3.19712100e+02] [-3.62348535e-02 9.99343216e-01 -4.14823620e-04 -1.43818791e+01] [-9.42078519e-03 7.34927078e-05 9.99955621e-01 -5.71448325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134391418 meters 0.014142579495259166 Centerline is valid? [True, True] Translation: X:319.74, Y:-14.38, Z:-5.71 [[ 9.99303232e-01 3.61173865e-02 9.41195277e-03 3.19739532e+02] [-3.61150852e-02 9.99347552e-01 -4.14415069e-04 -1.43829701e+01] [-9.42077955e-03 7.42128420e-05 9.99955621e-01 -5.71497867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters 0.014049750191347856 Centerline is valid? [True, True] Translation: X:319.77, Y:-14.38, Z:-5.72 [[ 9.99246609e-01 3.77271007e-02 9.10383765e-03 3.19767466e+02] [-3.77250254e-02 9.99288078e-01 -3.99640199e-04 -1.43847503e+01] [-9.11243369e-03 5.58966072e-05 9.99958479e-01 -5.71618781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194391418 meters 0.0138483726911654 Centerline is valid? [True, True] Translation: X:319.80, Y:-14.39, Z:-5.72 [[ 9.99119685e-01 4.11271734e-02 8.27108664e-03 3.19795072e+02] [-4.11255826e-02 9.99153920e-01 -3.62391697e-04 -1.43861928e+01] [-8.27899279e-03 2.19194210e-05 9.99965728e-01 -5.71745656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters 0.01385112443896012 Centerline is valid? [True, True] Translation: X:319.82, Y:-14.39, Z:-5.72 [[ 9.99050783e-01 4.28080694e-02 8.06237340e-03 3.19823123e+02] [-4.28066166e-02 9.99083314e-01 -3.52747136e-04 -1.43873356e+01] [-8.07008317e-03 7.28937514e-06 9.99967436e-01 -5.71751373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254391418 meters 0.013942802916047457 Centerline is valid? [True, True] Translation: X:319.85, Y:-14.39, Z:-5.72 [[ 9.98993114e-01 4.42723116e-02 7.26082887e-03 3.19851515e+02] [-4.42711798e-02 9.99019501e-01 -3.16607357e-04 -1.43889425e+01] [-7.26772657e-03 -5.15689090e-06 9.99973590e-01 -5.71828682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters 0.014101087566824513 Centerline is valid? [True, True] Translation: X:319.88, Y:-14.39, Z:-5.72 [[ 9.98902262e-01 4.63647707e-02 6.67681394e-03 3.19880533e+02] [-4.63638631e-02 9.98924576e-01 -2.90730819e-04 -1.43921983e+01] [-6.68311320e-03 -1.91512146e-05 9.99977668e-01 -5.71936585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314391418 meters 0.014202277818381834 Centerline is valid? [True, True] Translation: X:319.91, Y:-14.39, Z:-5.72 [[ 9.98874522e-01 4.69963256e-02 6.40578963e-03 3.19908740e+02] [-4.69955045e-02 9.98895062e-01 -2.78725550e-04 -1.43948678e+01] [-6.41181071e-03 -2.26314642e-05 9.99979444e-01 -5.71962440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters 0.014333537249180699 Centerline is valid? [True, True] Translation: X:319.94, Y:-14.40, Z:-5.72 [[ 9.98867986e-01 4.71046814e-02 6.62533660e-03 3.19935855e+02] [-4.71038023e-02 9.98889958e-01 -2.88755787e-04 -1.43974548e+01] [-6.63158395e-03 -2.36496342e-05 9.99978011e-01 -5.72043813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374391418 meters 0.014502409851856307 Centerline is valid? [True, True] Translation: X:319.96, Y:-14.40, Z:-5.72 [[ 9.98869542e-01 4.70896253e-02 6.49660795e-03 3.19962896e+02] [-4.70887882e-02 9.98890668e-01 -2.81846926e-04 -1.43999109e+01] [-6.50267312e-03 -2.43890861e-05 9.99978857e-01 -5.72088114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters 0.014507529323335521 Centerline is valid? [True, True] Translation: X:319.99, Y:-14.41, Z:-5.72 [[ 9.98886234e-01 4.66012187e-02 7.39042303e-03 3.19991986e+02] [-4.66001468e-02 9.98913573e-01 -3.17275927e-04 -1.44051666e+01] [-7.39717931e-03 -2.74722420e-05 9.99972640e-01 -5.72079999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434391418 meters 0.014294692083572817 Centerline is valid? [True, True] Translation: X:320.02, Y:-14.41, Z:-5.72 [[ 9.98914961e-01 4.58844074e-02 7.97007515e-03 3.20020406e+02] [-4.58831438e-02 9.98946756e-01 -3.41418442e-04 -1.44087851e+01] [-7.97734649e-03 -2.46441149e-05 9.99968180e-01 -5.72116954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464391418 meters 0.014146064692737256 Centerline is valid? [True, True] Translation: X:320.05, Y:-14.41, Z:-5.72 [[ 9.98984587e-01 4.43729195e-02 7.79991081e-03 3.20048649e+02] [-4.43716645e-02 9.99015037e-01 -3.33964091e-04 -1.44144908e+01] [-7.80704715e-03 -1.24700468e-05 9.99969524e-01 -5.72101286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494391418 meters 0.014255111819508769 Centerline is valid? [True, True] Translation: X:320.08, Y:-14.42, Z:-5.72 [[ 9.99036511e-01 4.31970253e-02 7.75029270e-03 3.20075703e+02] [-4.31957564e-02 9.99066573e-01 -3.31116339e-04 -1.44173378e+01] [-7.75736161e-03 -3.98244407e-06 9.99969911e-01 -5.72250314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524391418 meters 0.014247551966092781 Centerline is valid? [True, True] Translation: X:320.10, Y:-14.42, Z:-5.72 [[ 9.99082563e-01 4.21308768e-02 7.68257272e-03 3.20103272e+02] [-4.21296081e-02 9.99112100e-01 -3.26974409e-04 -1.44204290e+01] [-7.68952709e-03 3.01065275e-06 9.99970435e-01 -5.72187726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.554391418 meters 0.014360636597079535 Centerline is valid? [True, True] Translation: X:320.13, Y:-14.43, Z:-5.72 [[ 9.99201275e-01 3.90295067e-02 8.57374568e-03 3.20131692e+02] [-3.90278264e-02 9.99238058e-01 -3.63262123e-04 -1.44262041e+01] [-8.58139092e-03 2.83573182e-05 9.99963179e-01 -5.72194540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584391418 meters 0.014575308850793403 Centerline is valid? [True, True] Translation: X:320.16, Y:-14.43, Z:-5.72 [[ 9.99291580e-01 3.65105986e-02 9.12765495e-03 3.20158862e+02] [-3.65085951e-02 9.99333264e-01 -3.86087394e-04 -1.44304450e+01] [-9.13566550e-03 5.25760238e-05 9.99958268e-01 -5.72246072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.614391418 meters 0.015094589173627947 Centerline is valid? [True, True] Translation: X:320.19, Y:-14.43, Z:-5.72 [[ 9.99380810e-01 3.39119502e-02 9.37961047e-03 3.20187194e+02] [-3.39097307e-02 9.99424821e-01 -3.95606807e-04 -1.44348857e+01] [-9.38763132e-03 7.73017855e-05 9.99955932e-01 -5.72274970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644391418 meters 0.015435852693304233 Centerline is valid? [True, True] Translation: X:320.22, Y:-14.44, Z:-5.72 [[ 9.99478587e-01 3.06631766e-02 1.01155012e-02 3.20215481e+02] [-3.06604378e-02 9.99529768e-01 -4.25757930e-04 -1.44394215e+01] [-1.01237997e-02 1.15390238e-04 9.99948746e-01 -5.72282235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.674391418 meters 0.018150994102208433 Centerline is valid? [True, True] Translation: X:320.24, Y:-14.45, Z:-5.72 [[ 9.99684562e-01 2.29177520e-02 1.02739147e-02 3.20243233e+02] [-2.29145264e-02 9.99737335e-01 -4.31583344e-04 -1.44500506e+01] [-1.02811071e-02 1.96025316e-04 9.99947129e-01 -5.72414662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704391418 meters 0.02024018655638372 Centerline is valid? [True, True] Translation: X:320.27, Y:-14.46, Z:-5.73 [[ 9.99778237e-01 1.86053054e-02 9.86507270e-03 3.20272883e+02] [-1.86021335e-02 9.99826880e-01 -4.13203311e-04 -1.44563631e+01] [-9.87105263e-03 2.29600279e-04 9.99951254e-01 -5.72564456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734391418 meters 0.021407261064784973 Centerline is valid? [True, True] Translation: X:320.30, Y:-14.46, Z:-5.73 [[ 9.99850844e-01 1.42752072e-02 9.72155736e-03 3.20302856e+02] [-1.42719241e-02 9.99898068e-01 -4.07016211e-04 -1.44615742e+01] [-9.72637666e-03 2.68210174e-04 9.99952662e-01 -5.72621263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764391418 meters 0.027096623672656955 Centerline is valid? [True, True] Translation: X:320.33, Y:-14.48, Z:-5.73 [[ 9.99936710e-01 5.15218166e-03 1.00015022e-02 3.20332137e+02] [-5.14825610e-03 9.99986660e-01 -4.18203233e-04 -1.44751894e+01] [-1.00035234e-02 3.66686470e-04 9.99949896e-01 -5.72780664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794391418 meters 0.02922265589030245 Centerline is valid? [True, True] Translation: X:320.36, Y:-14.48, Z:-5.73 [[ 9.99949272e-01 5.98760722e-04 1.00545490e-02 3.20363014e+02] [-5.94561234e-04 9.99999735e-01 -4.20654376e-04 -1.44808362e+01] [-1.00547982e-02 4.14654993e-04 9.99949363e-01 -5.72828816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824391418 meters 0.032258009667433585 Centerline is valid? [True, True] Translation: X:320.39, Y:-14.49, Z:-5.73 [[ 9.99939408e-01 -3.71746186e-03 1.03614770e-02 3.20392990e+02] [ 3.72215514e-03 9.99992979e-01 -4.33707038e-04 -1.44877585e+01] [-1.03597919e-02 4.72247784e-04 9.99946224e-01 -5.72846402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854391418 meters 0.03785620177334989 Centerline is valid? [True, True] Translation: X:320.42, Y:-14.50, Z:-5.73 [[ 9.99875429e-01 -1.13876963e-02 1.09292057e-02 3.20423038e+02] [ 1.13933784e-02 9.99934989e-01 -4.57770591e-04 -1.44986642e+01] [-1.09232822e-02 5.82234142e-04 9.99940170e-01 -5.72888631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884391418 meters 0.04037825101184376 Centerline is valid? [True, True] Translation: X:320.45, Y:-14.50, Z:-5.73 [[ 9.99834282e-01 -1.43585843e-02 1.11910144e-02 3.20453663e+02] [ 1.43647278e-02 9.99896712e-01 -4.68773481e-04 -1.45041833e+01] [-1.11831276e-02 6.29451673e-04 9.99937269e-01 -5.72947224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914391418 meters 0.03921049136748051 Centerline is valid? [True, True] Translation: X:320.48, Y:-14.50, Z:-5.73 [[ 9.99753294e-01 -1.94117923e-02 1.07951007e-02 3.20484489e+02] [ 1.94178055e-02 9.99811354e-01 -4.52486836e-04 -1.45041279e+01] [-1.07842806e-02 6.61992370e-04 9.99941629e-01 -5.72984983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944391418 meters 0.03794156172819739 Centerline is valid? [True, True] Translation: X:320.52, Y:-14.50, Z:-5.73 [[ 9.99725541e-01 -2.07540911e-02 1.08678963e-02 3.20516837e+02] [ 2.07602591e-02 9.99784379e-01 -4.55024205e-04 -1.45039146e+01] [-1.08561093e-02 6.80519663e-04 9.99940839e-01 -5.73005066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974391418 meters 0.04642380628827178 Centerline is valid? [True, True] Translation: X:320.55, Y:-14.52, Z:-5.73 [[ 9.99706253e-01 -2.15870209e-02 1.10185400e-02 3.20547337e+02] [ 2.15934232e-02 9.99766728e-01 -4.62399392e-04 -1.45160598e+01] [-1.10059878e-02 7.00191560e-04 9.99939187e-01 -5.73148996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004391418 meters 0.0418525828292001 Centerline is valid? [True, True] Translation: X:320.58, Y:-14.51, Z:-5.73 [[ 9.99705280e-01 -2.15153036e-02 1.12447919e-02 3.20580961e+02] [ 2.15219706e-02 9.99768264e-01 -4.72215452e-04 -1.45098309e+01] [-1.12320262e-02 7.14086360e-04 9.99936664e-01 -5.73065165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034391418 meters 0.037024278257865015 Centerline is valid? [True, True] Translation: X:320.61, Y:-14.50, Z:-5.73 [[ 9.99729571e-01 -2.05107931e-02 1.09586572e-02 3.20613808e+02] [ 2.05170813e-02 9.99789396e-01 -4.61685503e-04 -1.45040255e+01] [-1.09468797e-02 6.86400311e-04 9.99939846e-01 -5.73065046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064391418 meters 0.03930827440389862 Centerline is valid? [True, True] Translation: X:320.65, Y:-14.51, Z:-5.73 [[ 9.99749865e-01 -1.96032160e-02 1.07666854e-02 3.20645004e+02] [ 1.96092444e-02 9.99807617e-01 -4.54618844e-04 -1.45072576e+01] [-1.07557020e-02 6.65631692e-04 9.99941934e-01 -5.73142666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094391418 meters 0.03460281112999599 Centerline is valid? [True, True] Translation: X:320.68, Y:-14.50, Z:-5.73 [[ 9.99779145e-01 -1.80542569e-02 1.07566207e-02 3.20677311e+02] [ 1.80601900e-02 9.99836798e-01 -4.54695157e-04 -1.45012216e+01] [-1.07466560e-02 6.48861349e-04 9.99942043e-01 -5.73136738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124391418 meters 0.03438854503063274 Centerline is valid? [True, True] Translation: X:320.71, Y:-14.50, Z:-5.73 [[ 9.99838764e-01 -1.45720921e-02 1.04928543e-02 3.20707283e+02] [ 1.45775623e-02 9.99893643e-01 -4.45024996e-04 -1.44994729e+01] [-1.04852534e-02 5.97913480e-04 9.99944849e-01 -5.73181444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154391418 meters 0.03411096831873755 Centerline is valid? [True, True] Translation: X:320.74, Y:-14.50, Z:-5.73 [[ 9.99866398e-01 -1.26015748e-02 1.04109241e-02 3.20737598e+02] [ 1.26068518e-02 9.99920433e-01 -4.41396017e-04 -1.44989335e+01] [-1.04045335e-02 5.72586022e-04 9.99945707e-01 -5.73295453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184391418 meters 0.031943249959780366 Centerline is valid? [True, True] Translation: X:320.77, Y:-14.50, Z:-5.73 [[ 9.99890803e-01 -1.06219043e-02 1.02740650e-02 3.20769339e+02] [ 1.06269397e-02 9.99943438e-01 -4.35632965e-04 -1.44958120e+01] [-1.02688566e-02 5.44767265e-04 9.99947126e-01 -5.73316381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214391418 meters 0.02975781035403462 Centerline is valid? [True, True] Translation: X:320.80, Y:-14.49, Z:-5.73 [[ 9.99936270e-01 -5.81844955e-03 9.67482120e-03 3.20800632e+02] [ 5.82269551e-03 9.99982964e-01 -4.10757581e-04 -1.44898957e+01] [-9.67226640e-03 4.67064941e-04 9.99953113e-01 -5.73353190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244391418 meters 0.0289747054467524 Centerline is valid? [True, True] Translation: X:320.83, Y:-14.49, Z:-5.73 [[ 9.99945251e-01 -3.32390443e-03 9.92199679e-03 3.20832678e+02] [ 3.32824644e-03 9.99994373e-01 -4.21134658e-04 -1.44876500e+01] [-9.92054115e-03 4.54134452e-04 9.99950687e-01 -5.73387733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274391418 meters 0.027207007224823446 Centerline is valid? [True, True] Translation: X:320.86, Y:-14.48, Z:-5.73 [[ 9.99950274e-01 -5.32419336e-04 9.95824035e-03 3.20864219e+02] [ 5.36662695e-04 9.99999766e-01 -4.23448091e-04 -1.44844751e+01] [-9.95801257e-03 4.28771251e-04 9.99950326e-01 -5.73388116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.304391418 meters 0.02447728970702499 Centerline is valid? [True, True] Translation: X:320.90, Y:-14.48, Z:-5.73 [[ 9.99932672e-01 4.94022066e-03 1.04997577e-02 3.20895193e+02] [-4.93579782e-03 9.99987719e-01 -4.47103490e-04 -1.44777402e+01] [-1.05018376e-02 3.95248706e-04 9.99944776e-01 -5.73382109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334391418 meters 0.02320431542967812 Centerline is valid? [True, True] Translation: X:320.93, Y:-14.47, Z:-5.73 [[ 9.99911428e-01 7.90799364e-03 1.07051669e-02 3.20926741e+02] [-7.90356510e-03 9.99968662e-01 -4.55925447e-04 -1.44749349e+01] [-1.07084369e-02 3.71276081e-04 9.99942594e-01 -5.73393367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.364391418 meters 0.02182248238414176 Centerline is valid? [True, True] Translation: X:320.96, Y:-14.47, Z:-5.73 [[ 9.99848417e-01 1.39879382e-02 1.03672955e-02 3.20956888e+02] [-1.39841038e-02 9.99902120e-01 -4.42255965e-04 -1.44701596e+01] [-1.03724669e-02 2.97211591e-04 9.99946160e-01 -5.73469638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394391418 meters 0.01929919939062553 Centerline is valid? [True, True] Translation: X:320.99, Y:-14.46, Z:-5.73 [[ 9.99806011e-01 1.67998493e-02 1.02813630e-02 3.20988207e+02] [-1.67962275e-02 9.99858837e-01 -4.38521083e-04 -1.44649234e+01] [-1.02872788e-02 2.65747902e-04 9.99947049e-01 -5.73436400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.424391418 meters 0.01804227296388804 Centerline is valid? [True, True] Translation: X:321.02, Y:-14.46, Z:-5.73 [[ 9.99744470e-01 2.02116425e-02 1.01234897e-02 3.21018438e+02] [-2.02083003e-02 9.99795698e-01 -4.32339859e-04 -1.44619878e+01] [-1.01301597e-02 2.27650865e-04 9.99948663e-01 -5.73482297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454391418 meters 0.01731551693705955 Centerline is valid? [True, True] Translation: X:321.05, Y:-14.46, Z:-5.74 [[ 9.99664756e-01 2.38870248e-02 9.98927419e-03 3.21047461e+02] [-2.38839579e-02 9.99714647e-01 -4.26213799e-04 -1.44596841e+01] [-9.99660470e-03 1.87487508e-04 9.99950015e-01 -5.73549971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters 0.015499444063762219 Centerline is valid? [True, True] Translation: X:321.08, Y:-14.45, Z:-5.74 [[ 9.99472964e-01 3.09327140e-02 9.84685722e-03 3.21076784e+02] [-3.09300800e-02 9.99521463e-01 -4.19700731e-04 -1.44528756e+01] [-9.85512761e-03 1.14915452e-04 9.99951430e-01 -5.73565372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514391418 meters 0.014733893972271577 Centerline is valid? [True, True] Translation: X:321.11, Y:-14.45, Z:-5.74 [[ 9.99358826e-01 3.44152081e-02 9.87576074e-03 3.21105810e+02] [-3.44127364e-02 9.99407618e-01 -4.20153762e-04 -1.44501624e+01] [-9.88437019e-03 8.00324192e-05 9.99951145e-01 -5.73560241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters 0.014356966624693103 Centerline is valid? [True, True] Translation: X:321.13, Y:-14.45, Z:-5.74 [[ 9.99256575e-01 3.71848410e-02 1.01776328e-02 3.21134310e+02] [-3.71823686e-02 9.99308403e-01 -4.32109641e-04 -1.44482517e+01] [-1.01866620e-02 5.33599050e-05 9.99948113e-01 -5.73563070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574391418 meters 0.01422449656717149 Centerline is valid? [True, True] Translation: X:321.16, Y:-14.44, Z:-5.74 [[ 9.99062645e-01 4.18052018e-02 1.12319388e-02 3.21162114e+02] [-4.18024931e-02 9.99125780e-01 -4.75925498e-04 -1.44446366e+01] [-1.12420158e-02 5.95634323e-06 9.99936807e-01 -5.73522337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters 0.014369934151477824 Centerline is valid? [True, True] Translation: X:321.19, Y:-14.44, Z:-5.74 [[ 9.99007672e-01 4.29536192e-02 1.17753017e-02 3.21190131e+02] [-4.29507371e-02 9.99077067e-01 -4.97652478e-04 -1.44444135e+01] [-1.17858099e-02 -8.59924650e-06 9.99930545e-01 -5.73575799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634391418 meters 0.014242331913084978 Centerline is valid? [True, True] Translation: X:321.22, Y:-14.44, Z:-5.74 [[ 9.98969939e-01 4.36016438e-02 1.25680850e-02 3.21217761e+02] [-4.35984278e-02 9.99048996e-01 -5.29889742e-04 -1.44448212e+01] [-1.25792367e-02 -1.86048205e-05 9.99920878e-01 -5.73579610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters 0.014299633249925734 Centerline is valid? [True, True] Translation: X:321.25, Y:-14.45, Z:-5.74 [[ 9.98994405e-01 4.28409550e-02 1.32223566e-02 3.21246621e+02] [-4.28373538e-02 9.99081905e-01 -5.55586618e-04 -1.44468966e+01] [-1.32340190e-02 -1.13828434e-05 9.99912426e-01 -5.73646664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694391418 meters 0.014241207382762012 Centerline is valid? [True, True] Translation: X:321.28, Y:-14.45, Z:-5.74 [[ 9.99035022e-01 4.17770699e-02 1.35536244e-02 3.21275637e+02] [-4.17732033e-02 9.99126957e-01 -5.68381023e-04 -1.44495564e+01] [-1.35655368e-02 1.65423995e-06 9.99907984e-01 -5.73692510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters 0.014300938953500337 Centerline is valid? [True, True] Translation: X:321.30, Y:-14.45, Z:-5.74 [[ 9.99111424e-01 3.97026931e-02 1.41442427e-02 3.21302843e+02] [-3.96982900e-02 9.99211537e-01 -5.92038963e-04 -1.44527929e+01] [-1.41565960e-02 3.00106410e-05 9.99899790e-01 -5.73750050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754391418 meters 0.014787169709189269 Centerline is valid? [True, True] Translation: X:321.33, Y:-14.46, Z:-5.74 [[ 9.99296871e-01 3.44597285e-02 1.47746907e-02 3.21330875e+02] [-3.44543744e-02 9.99406081e-01 -6.16843851e-04 -1.44593279e+01] [-1.47871720e-02 1.07357405e-04 9.99890658e-01 -5.73795130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters 0.015351874591517321 Centerline is valid? [True, True] Translation: X:321.36, Y:-14.46, Z:-5.74 [[ 9.99398104e-01 3.13450495e-02 1.48632720e-02 3.21359324e+02] [-3.13393100e-02 9.99508612e-01 -6.18969323e-04 -1.44639611e+01] [-1.48753700e-02 1.52792080e-04 9.99889344e-01 -5.73855577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814391418 meters 0.016250600090672248 Centerline is valid? [True, True] Translation: X:321.39, Y:-14.47, Z:-5.74 [[ 9.99502802e-01 2.78890745e-02 1.47087659e-02 3.21387644e+02] [-2.78830978e-02 9.99611004e-01 -6.11291146e-04 -1.44700703e+01] [-1.47200926e-02 2.00861256e-04 9.99891633e-01 -5.73932590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters 0.01819117418898949 Centerline is valid? [True, True] Translation: X:321.42, Y:-14.48, Z:-5.74 [[ 9.99675595e-01 2.07670247e-02 1.47456673e-02 3.21417286e+02] [-2.07602594e-02 9.99784295e-01 -6.11733596e-04 -1.44787028e+01] [-1.47551905e-02 3.05411267e-04 9.99891090e-01 -5.74024478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874391418 meters 0.020780966002753223 Centerline is valid? [True, True] Translation: X:321.45, Y:-14.49, Z:-5.74 [[ 9.99741224e-01 1.75473241e-02 1.44767861e-02 3.21447316e+02] [-1.75404666e-02 9.99845974e-01 -6.00535289e-04 -1.44862604e+01] [-1.44850941e-02 3.46450302e-04 9.99895026e-01 -5.74161070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters 0.022183461350826918 Centerline is valid? [True, True] Translation: X:321.48, Y:-14.49, Z:-5.74 [[ 9.99784396e-01 1.49786900e-02 1.43805497e-02 3.21478906e+02] [-1.49716655e-02 9.99887741e-01 -5.96008494e-04 -1.44918308e+01] [-1.43878628e-02 3.80579212e-04 9.99896417e-01 -5.74235030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934391418 meters 0.022946590427357676 Centerline is valid? [True, True] Translation: X:321.51, Y:-14.50, Z:-5.74 [[ 9.99835412e-01 1.05663986e-02 1.47478525e-02 3.21510332e+02] [-1.05584700e-02 9.99944068e-01 -6.15366862e-04 -1.44975850e+01] [-1.47535299e-02 4.59550821e-04 9.99891055e-01 -5.74335211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964391418 meters 0.02317980444494786 Centerline is valid? [True, True] Translation: X:321.54, Y:-14.50, Z:-5.74 [[ 9.99843840e-01 9.59838839e-03 1.48380131e-02 3.21542490e+02] [-9.59023535e-03 9.99953820e-01 -6.20527586e-04 -1.45009566e+01] [-1.48432840e-02 4.78130646e-04 9.99889718e-01 -5.74399246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994391418 meters 0.024148972892210126 Centerline is valid? [True, True] Translation: X:321.57, Y:-14.50, Z:-5.74 [[ 9.99850228e-01 8.84269426e-03 1.48770983e-02 3.21573592e+02] [-8.83435113e-03 9.99960780e-01 -6.26429801e-04 -1.45049130e+01] [-1.48820541e-02 4.94906470e-04 9.99889134e-01 -5.74458020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024391418 meters 0.024239030922141625 Centerline is valid? [True, True] Translation: X:321.61, Y:-14.51, Z:-5.74 [[ 9.99836547e-01 8.82288259e-03 1.57808809e-02 3.21606772e+02] [-8.81342552e-03 9.99960937e-01 -6.68720888e-04 -1.45084108e+01] [-1.57861645e-02 5.29527965e-04 9.99875251e-01 -5.74492066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.054391418 meters 0.024435709621415454 Centerline is valid? [True, True] Translation: X:321.64, Y:-14.51, Z:-5.75 [[ 9.99827251e-01 9.55691135e-03 1.59415854e-02 3.21637806e+02] [-9.54726971e-03 9.99954192e-01 -6.80806742e-04 -1.45103498e+01] [-1.59473616e-02 5.28490518e-04 9.99872693e-01 -5.74525299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084391418 meters 0.024435709621415454 Centerline is valid? [True, True] Translation: X:321.67, Y:-14.51, Z:-5.75 [[ 9.99824188e-01 9.87241421e-03 1.59414152e-02 3.21670388e+02] [-9.86274953e-03 9.99951127e-01 -6.84768388e-04 -1.45118974e+01] [-1.59473964e-02 5.27421813e-04 9.99872693e-01 -5.74583981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.114391418 meters 0.027508054347727268 Centerline is valid? [True, True] Translation: X:321.70, Y:-14.52, Z:-5.75 [[ 9.99820255e-01 1.10273499e-02 1.54225658e-02 3.21701305e+02] [-1.10183666e-02 9.99939073e-01 -6.67331277e-04 -1.45178602e+01] [-1.54289850e-02 4.97279844e-04 9.99880842e-01 -5.74675003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144391418 meters 0.023162059713503533 Centerline is valid? [True, True] Translation: X:321.73, Y:-14.51, Z:-5.75 [[ 9.99808603e-01 1.21165275e-02 1.53605808e-02 3.21733998e+02] [-1.21076859e-02 9.99926476e-01 -6.68467413e-04 -1.45123719e+01] [-1.53675510e-02 4.82358382e-04 9.99881796e-01 -5.74706288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.174391418 meters 0.022718381893385813 Centerline is valid? [True, True] Translation: X:321.77, Y:-14.51, Z:-5.75 [[ 9.99802069e-01 1.32856827e-02 1.48092696e-02 3.21766331e+02] [-1.32775338e-02 9.99911639e-01 -6.48445574e-04 -1.45132069e+01] [-1.48165760e-02 4.51686649e-04 9.99890126e-01 -5.74837850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204391418 meters 0.02293447959267803 Centerline is valid? [True, True] Translation: X:321.80, Y:-14.52, Z:-5.75 [[ 9.99789965e-01 1.50005283e-02 1.39646180e-02 3.21797590e+02] [-1.49933976e-02 9.99887403e-01 -6.15187004e-04 -1.45159654e+01] [-1.39722737e-02 4.05680724e-04 9.99902301e-01 -5.75083250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234391418 meters 0.021057477960153514 Centerline is valid? [True, True] Translation: X:321.83, Y:-14.51, Z:-5.75 [[ 9.99783116e-01 1.57546060e-02 1.36203368e-02 3.21830385e+02] [-1.57478368e-02 9.99875813e-01 -6.04107085e-04 -1.45147715e+01] [-1.36281628e-02 3.89485224e-04 9.99907056e-01 -5.75145476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264391418 meters 0.020878011687955614 Centerline is valid? [True, True] Translation: X:321.86, Y:-14.52, Z:-5.75 [[ 9.99778258e-01 1.67607437e-02 1.27480450e-02 3.21862566e+02] [-1.67548926e-02 9.99859467e-01 -5.65651996e-04 -1.45160913e+01] [-1.27557342e-02 3.51934443e-04 9.99918580e-01 -5.75245064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294391418 meters 0.022839587088413722 Centerline is valid? [True, True] Translation: X:321.89, Y:-14.52, Z:-5.75 [[ 9.99772606e-01 1.73070000e-02 1.24580952e-02 3.21893877e+02] [-1.73014098e-02 9.99850165e-01 -5.56365005e-04 -1.45202163e+01] [-1.24658576e-02 3.40695881e-04 9.99922240e-01 -5.75385472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324391418 meters 0.02080342218617919 Centerline is valid? [True, True] Translation: X:321.93, Y:-14.52, Z:-5.75 [[ 9.99767396e-01 1.77496009e-02 1.22517280e-02 3.21925157e+02] [-1.77441731e-02 9.99842408e-01 -5.51585838e-04 -1.45173633e+01] [-1.22595877e-02 3.34060754e-04 9.99924793e-01 -5.75343239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354391418 meters 0.020315619954419634 Centerline is valid? [True, True] Translation: X:321.96, Y:-14.52, Z:-5.75 [[ 9.99749949e-01 1.91142727e-02 1.16053696e-02 3.21956156e+02] [-1.91094879e-02 9.99817260e-01 -5.23049702e-04 -1.45169424e+01] [-1.16132465e-02 3.01146243e-04 9.99932519e-01 -5.75387519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384391418 meters 0.01994792523998209 Centerline is valid? [True, True] Translation: X:321.99, Y:-14.52, Z:-5.75 [[ 9.99742008e-01 1.97404684e-02 1.12352498e-02 3.21986558e+02] [-1.97360195e-02 9.99805097e-01 -5.06722111e-04 -1.45173160e+01] [-1.12430629e-02 2.84852272e-04 9.99936754e-01 -5.75464095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414391418 meters 0.02005801577925696 Centerline is valid? [True, True] Translation: X:322.02, Y:-14.52, Z:-5.76 [[ 9.99734393e-01 2.03236417e-02 1.08670633e-02 3.22015594e+02] [-2.03195160e-02 9.99793417e-01 -4.89938708e-04 -1.45185503e+01] [-1.08747757e-02 2.68995112e-04 9.99940832e-01 -5.75549315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444391418 meters 0.020001283258632128 Centerline is valid? [True, True] Translation: X:322.05, Y:-14.52, Z:-5.76 [[ 9.99705031e-01 2.16902549e-02 1.09262728e-02 3.22045420e+02] [-2.16861592e-02 9.99764706e-01 -4.93199677e-04 -1.45181216e+01] [-1.09343995e-02 2.56105306e-04 9.99940185e-01 -5.75523923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474391418 meters 0.01927627276935286 Centerline is valid? [True, True] Translation: X:322.08, Y:-14.52, Z:-5.75 [[ 9.99681488e-01 2.25838805e-02 1.12645981e-02 3.22075497e+02] [-2.25795851e-02 9.99744919e-01 -5.08372259e-04 -1.45173230e+01] [-1.12732058e-02 2.53860384e-04 9.99936423e-01 -5.75486891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504391418 meters 0.019468157961974753 Centerline is valid? [True, True] Translation: X:322.10, Y:-14.52, Z:-5.75 [[ 9.99659016e-01 2.32334555e-02 1.19188260e-02 3.22104475e+02] [-2.32286975e-02 9.99730033e-01 -5.37496561e-04 -1.45182868e+01] [-1.19280962e-02 2.60454479e-04 9.99928824e-01 -5.75441400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534391418 meters 0.017890699049543796 Centerline is valid? [True, True] Translation: X:322.13, Y:-14.52, Z:-5.75 [[ 9.99592790e-01 2.50497262e-02 1.36662036e-02 3.22134346e+02] [-2.50436547e-02 9.99686169e-01 -6.15248273e-04 -1.45155107e+01] [-1.36773265e-02 2.72746053e-04 9.99906424e-01 -5.75245165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564391418 meters 0.018149591143790108 Centerline is valid? [True, True] Translation: X:322.16, Y:-14.52, Z:-5.75 [[ 9.99558348e-01 2.62251367e-02 1.39768256e-02 3.22162538e+02] [-2.62189092e-02 9.99656028e-01 -6.28637575e-04 -1.45168532e+01] [-1.39885041e-02 2.61902813e-04 9.99902122e-01 -5.75266810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594391418 meters 0.01780713731408625 Centerline is valid? [True, True] Translation: X:322.19, Y:-14.52, Z:-5.75 [[ 9.99519550e-01 2.73741495e-02 1.45369924e-02 3.22192287e+02] [-2.73675430e-02 9.99625225e-01 -6.53237419e-04 -1.45167114e+01] [-1.45494261e-02 2.55081807e-04 9.99894119e-01 -5.75273491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624391418 meters 0.016831278883130976 Centerline is valid? [True, True] Translation: X:322.22, Y:-14.52, Z:-5.75 [[ 9.99463986e-01 2.90668057e-02 1.50619393e-02 3.22221684e+02] [-2.90599147e-02 9.99577443e-01 -6.76213267e-04 -1.45157253e+01] [-1.50752301e-02 2.38152135e-04 9.99886334e-01 -5.75251200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654391418 meters 0.015943987477099627 Centerline is valid? [True, True] Translation: X:322.25, Y:-14.51, Z:-5.75 [[ 9.99372611e-01 3.19917776e-02 1.51957393e-02 3.22251702e+02] [-3.19851111e-02 9.99488113e-01 -6.81600804e-04 -1.45132955e+01] [-1.52097664e-02 1.95135764e-04 9.99884306e-01 -5.75249946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684391418 meters 0.015821336973558496 Centerline is valid? [True, True] Translation: X:322.28, Y:-14.51, Z:-5.75 [[ 9.99334596e-01 3.33394116e-02 1.47935274e-02 3.22279467e+02] [-3.33332468e-02 9.99444073e-01 -6.63168482e-04 -1.45132695e+01] [-1.48074129e-02 1.69610909e-04 9.99890350e-01 -5.75351761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714391418 meters 0.015921604951547066 Centerline is valid? [True, True] Translation: X:322.31, Y:-14.51, Z:-5.76 [[ 9.99280600e-01 3.53059584e-02 1.38481909e-02 3.22306773e+02] [-3.53007630e-02 9.99376542e-01 -6.19503366e-04 -1.45141668e+01] [-1.38614293e-02 1.30205989e-04 9.99903917e-01 -5.75516081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744391418 meters 0.01531988759421135 Centerline is valid? [True, True] Translation: X:322.34, Y:-14.51, Z:-5.75 [[ 9.99265658e-01 3.56758411e-02 1.39778046e-02 3.22335652e+02] [-3.56706049e-02 9.99363407e-01 -6.23812611e-04 -1.45138939e+01] [-1.39911615e-02 1.24757774e-04 9.99902111e-01 -5.75492860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774391418 meters 0.015350829501620691 Centerline is valid? [True, True] Translation: X:322.36, Y:-14.52, Z:-5.76 [[ 9.99259692e-01 3.58729820e-02 1.38995029e-02 3.22363552e+02] [-3.58678379e-02 9.99356350e-01 -6.19283017e-04 -1.45154607e+01] [-1.39127720e-02 1.20279442e-04 9.99903205e-01 -5.75531557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.804391418 meters 0.015335886729343162 Centerline is valid? [True, True] Translation: X:322.39, Y:-14.52, Z:-5.76 [[ 9.99273657e-01 3.54166737e-02 1.40647900e-02 3.22391988e+02] [-3.54113825e-02 9.99372625e-01 -6.25143327e-04 -1.45184922e+01] [-1.40781066e-02 1.26635601e-04 9.99900891e-01 -5.75549309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834391418 meters 0.015370064774251355 Centerline is valid? [True, True] Translation: X:322.42, Y:-14.52, Z:-5.76 [[ 9.99291876e-01 3.48972268e-02 1.40687804e-02 3.22419796e+02] [-3.48918961e-02 9.99390897e-01 -6.24259727e-04 -1.45212870e+01] [-1.40819960e-02 1.32931252e-04 9.99900835e-01 -5.75614126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.864391418 meters 0.015443466116263514 Centerline is valid? [True, True] Translation: X:322.45, Y:-14.52, Z:-5.76 [[ 9.99309399e-01 3.42863366e-02 1.43238327e-02 3.22448602e+02] [-3.42807700e-02 9.99412041e-01 -6.34043168e-04 -1.45229214e+01] [-1.43371498e-02 1.42573285e-04 9.99897208e-01 -5.75619297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894391418 meters 0.015918487273203975 Centerline is valid? [True, True] Translation: X:322.48, Y:-14.53, Z:-5.76 [[ 9.99357939e-01 3.31021851e-02 1.37096648e-02 3.22476352e+02] [-3.30969878e-02 9.99451961e-01 -6.05871238e-04 -1.45271465e+01] [-1.37222070e-02 1.51733623e-04 9.99905835e-01 -5.75722359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.924391418 meters 0.015834539463828 Centerline is valid? [True, True] Translation: X:322.51, Y:-14.53, Z:-5.76 [[ 9.99379558e-01 3.24357127e-02 1.37267242e-02 3.22505268e+02] [-3.24304601e-02 9.99473811e-01 -6.05130069e-04 -1.45295322e+01] [-1.37391292e-02 1.59590639e-04 9.99905601e-01 -5.75788766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954391418 meters 0.015999223547904035 Centerline is valid? [True, True] Translation: X:322.53, Y:-14.53, Z:-5.76 [[ 9.99417490e-01 3.13578283e-02 1.34672675e-02 3.22533342e+02] [-3.13526878e-02 9.99508208e-01 -5.92712197e-04 -1.45332206e+01] [-1.34792305e-02 1.70131904e-04 9.99909137e-01 -5.75861716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters 0.016350489943896023 Centerline is valid? [True, True] Translation: X:322.56, Y:-14.54, Z:-5.76 [[ 9.99456658e-01 2.99406818e-02 1.37820634e-02 3.22561778e+02] [-2.99351844e-02 9.99551659e-01 -6.05046998e-04 -1.45366843e+01] [-1.37939999e-02 1.92149640e-04 9.99904840e-01 -5.75932927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014391418 meters 0.01758751526152793 Centerline is valid? [True, True] Translation: X:322.59, Y:-14.54, Z:-5.76 [[ 9.99562669e-01 2.60974259e-02 1.39066664e-02 3.22590289e+02] [-2.60914742e-02 9.99659374e-01 -6.09265468e-04 -1.45443143e+01] [-1.39178297e-02 2.46153588e-04 9.99903112e-01 -5.76029409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters 0.018476172495365945 Centerline is valid? [True, True] Translation: X:322.62, Y:-14.55, Z:-5.76 [[ 9.99632192e-01 2.33934230e-02 1.37196651e-02 3.22619861e+02] [-2.33873862e-02 9.99726297e-01 -6.00307102e-04 -1.45492941e+01] [-1.37299533e-02 2.79219197e-04 9.99905701e-01 -5.76099869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074391418 meters 0.019666240428528162 Centerline is valid? [True, True] Translation: X:322.65, Y:-14.55, Z:-5.76 [[ 9.99697338e-01 2.05646688e-02 1.35028399e-02 3.22649944e+02] [-2.05585730e-02 9.99788476e-01 -5.90113009e-04 -1.45544116e+01] [-1.35121192e-02 3.12335285e-04 9.99908658e-01 -5.76163641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters 0.023035275867431503 Centerline is valid? [True, True] Translation: X:322.68, Y:-14.57, Z:-5.76 [[ 9.99806584e-01 1.40796320e-02 1.37316367e-02 3.22679398e+02] [-1.40727166e-02 9.99900794e-01 -6.00112091e-04 -1.45651784e+01] [-1.37387239e-02 4.06754587e-04 9.99905537e-01 -5.76246180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134391418 meters 0.02504489721413513 Centerline is valid? [True, True] Translation: X:322.71, Y:-14.57, Z:-5.76 [[ 9.99850073e-01 1.05258947e-02 1.37490556e-02 3.22711417e+02] [-1.05186306e-02 9.99944497e-01 -6.00542859e-04 -1.45718348e+01] [-1.37546137e-02 4.55831585e-04 9.99905297e-01 -5.76324828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters 0.027028163633872157 Centerline is valid? [True, True] Translation: X:322.74, Y:-14.58, Z:-5.76 [[ 9.99876369e-01 6.96617093e-03 1.40968056e-02 3.22743234e+02] [-6.95816538e-03 9.99975601e-01 -6.16865398e-04 -1.45787038e+01] [-1.41007588e-02 5.18701229e-04 9.99900445e-01 -5.76390935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194391418 meters 0.031381158351377336 Centerline is valid? [True, True] Translation: X:322.77, Y:-14.59, Z:-5.76 [[ 9.99888661e-01 8.86476932e-06 1.49219732e-02 3.22773305e+02] [ 9.00560534e-07 9.99999786e-01 -6.54419332e-04 -1.45899778e+01] [-1.49219758e-02 6.54359908e-04 9.99888447e-01 -5.76408585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters 0.03410050675063329 Centerline is valid? [True, True] Translation: X:322.81, Y:-14.60, Z:-5.77 [[ 9.99894850e-01 -2.61157303e-03 1.42642608e-02 3.22805348e+02] [ 2.62075944e-03 9.99996370e-01 -6.25361257e-04 -1.45958607e+01] [-1.42625758e-02 6.62678697e-04 9.99898065e-01 -5.76690838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254391418 meters 0.031599872231405646 Centerline is valid? [True, True] Translation: X:322.84, Y:-14.60, Z:-5.76 [[ 9.99864106e-01 -5.73119910e-03 1.54571056e-02 3.22836272e+02] [ 5.74238043e-03 9.99983282e-01 -6.79091917e-04 -1.45962177e+01] [-1.54529551e-02 7.67760213e-04 9.99880301e-01 -5.76451770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters 0.032691802771632014 Centerline is valid? [True, True] Translation: X:322.87, Y:-14.60, Z:-5.76 [[ 9.99844024e-01 -8.25865452e-03 1.56116163e-02 3.22868193e+02] [ 8.27037053e-03 9.99965565e-01 -6.86054491e-04 -1.46004993e+01] [-1.56054129e-02 8.15061334e-04 9.99877896e-01 -5.76485470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314391418 meters 0.03634659384012066 Centerline is valid? [True, True] Translation: X:322.90, Y:-14.61, Z:-5.77 [[ 9.99827137e-01 -1.12528381e-02 1.48009860e-02 3.22897981e+02] [ 1.12637118e-02 9.99936350e-01 -6.51505329e-04 -1.46087611e+01] [-1.47927126e-02 8.18106749e-04 9.99890247e-01 -5.76687301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters 0.036475392322429065 Centerline is valid? [True, True] Translation: X:322.93, Y:-14.61, Z:-5.77 [[ 9.99821626e-01 -1.20364257e-02 1.45547752e-02 3.22929926e+02] [ 1.20470442e-02 9.99927226e-01 -6.42095575e-04 -1.46112398e+01] [-1.45459874e-02 8.17323061e-04 9.99893867e-01 -5.76791170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374391418 meters 0.03719779914398545 Centerline is valid? [True, True] Translation: X:322.96, Y:-14.61, Z:-5.77 [[ 9.99830210e-01 -1.25306774e-02 1.35104765e-02 3.22961886e+02] [ 1.25398848e-02 9.99921194e-01 -5.97001767e-04 -1.46147920e+01] [-1.35019310e-02 7.66320222e-04 9.99908551e-01 -5.77005531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters 0.038695828326617485 Centerline is valid? [True, True] Translation: X:322.99, Y:-14.62, Z:-5.77 [[ 9.99832421e-01 -1.22668584e-02 1.35887354e-02 3.22993833e+02] [ 1.22761563e-02 9.99924465e-01 -6.01026760e-04 -1.46187101e+01] [-1.35803363e-02 7.67743479e-04 9.99907488e-01 -5.77072314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434391418 meters 0.03826152267842217 Centerline is valid? [True, True] Translation: X:323.03, Y:-14.62, Z:-5.77 [[ 9.99835814e-01 -1.19355766e-02 1.36340438e-02 3.23025578e+02] [ 1.19449496e-02 9.99928473e-01 -6.06245077e-04 -1.46195666e+01] [-1.36258327e-02 7.69003506e-04 9.99906868e-01 -5.77141846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464391418 meters 0.03644193868075257 Centerline is valid? [True, True] Translation: X:323.06, Y:-14.62, Z:-5.77 [[ 9.99864733e-01 -1.05774665e-02 1.25949713e-02 3.23057645e+02] [ 1.05853687e-02 9.99943816e-01 -5.60909694e-04 -1.46182481e+01] [-1.25883306e-02 6.94156236e-04 9.99920523e-01 -5.77287820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494391418 meters 0.036360554417448454 Centerline is valid? [True, True] Translation: X:323.09, Y:-14.62, Z:-5.77 [[ 9.99888064e-01 -9.42719918e-03 1.16184204e-02 3.23089706e+02] [ 9.43385542e-03 9.99955366e-01 -5.18230991e-04 -1.46196263e+01] [-1.16130164e-02 6.27779481e-04 9.99932370e-01 -5.77461565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524391418 meters 0.03177258097957293 Centerline is valid? [True, True] Translation: X:323.12, Y:-14.62, Z:-5.78 [[ 9.99908301e-01 -8.04229692e-03 1.08954873e-02 3.23122599e+02] [ 8.04807494e-03 9.99967495e-01 -4.86570660e-04 -1.46150395e+01] [-1.08912200e-02 5.74213740e-04 9.99940524e-01 -5.77521085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.554391418 meters 0.032062211932280246 Centerline is valid? [True, True] Translation: X:323.15, Y:-14.62, Z:-5.78 [[ 9.99938468e-01 -4.76576986e-03 1.00173624e-02 3.23153458e+02] [ 4.77050391e-03 9.99988520e-01 -4.48743093e-04 -1.46156824e+01] [-1.00151088e-02 4.96503348e-04 9.99949724e-01 -5.77748355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584391418 meters 0.030095541051968804 Centerline is valid? [True, True] Translation: X:323.19, Y:-14.61, Z:-5.78 [[ 9.99949420e-01 -2.76923348e-03 9.66899602e-03 3.23185520e+02] [ 2.77355121e-03 9.99996060e-01 -4.33172970e-04 -1.46133837e+01] [-9.66775837e-03 4.59968516e-04 9.99953160e-01 -5.77749281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.614391418 meters 0.03046618957872486 Centerline is valid? [True, True] Translation: X:323.22, Y:-14.61, Z:-5.78 [[ 9.99947483e-01 -3.98926771e-04 1.02407522e-02 3.23215659e+02] [ 4.03660589e-04 9.99999813e-01 -4.60190196e-04 -1.46140818e+01] [-1.02405667e-02 4.64299816e-04 9.99947456e-01 -5.77802195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644391418 meters 0.028564954215641623 Centerline is valid? [True, True] Translation: X:323.25, Y:-14.61, Z:-5.78 [[ 9.99943158e-01 1.99442853e-03 1.04739416e-02 3.23247102e+02] [-1.98960701e-03 9.99997910e-01 -4.70735086e-04 -1.46115682e+01] [-1.04748585e-02 4.49869301e-04 9.99945036e-01 -5.77820479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.674391418 meters 0.025458493615930104 Centerline is valid? [True, True] Translation: X:323.28, Y:-14.61, Z:-5.78 [[ 9.99907751e-01 7.53106811e-03 1.13036677e-02 3.23278526e+02] [-7.52579819e-03 9.99971551e-01 -5.08677854e-04 -1.46059593e+01] [-1.13071770e-02 4.23561807e-04 9.99935982e-01 -5.77763362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704391418 meters 0.02430925786993295 Centerline is valid? [True, True] Translation: X:323.31, Y:-14.60, Z:-5.78 [[ 9.99880499e-01 1.07554459e-02 1.11044208e-02 3.23309279e+02] [-1.07505578e-02 9.99942086e-01 -4.99791155e-04 -1.46044552e+01] [-1.11091532e-02 3.80352711e-04 9.99938219e-01 -5.77787476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734391418 meters 0.023541736530208128 Centerline is valid? [True, True] Translation: X:323.34, Y:-14.60, Z:-5.78 [[ 9.99838939e-01 1.39476285e-02 1.12942239e-02 3.23339497e+02] [-1.39427685e-02 9.99902665e-01 -5.08939561e-04 -1.46030135e+01] [-1.13002231e-02 3.51384842e-04 9.99936089e-01 -5.77826443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764391418 meters 0.02115141570640521 Centerline is valid? [True, True] Translation: X:323.37, Y:-14.60, Z:-5.78 [[ 9.99785431e-01 1.73866261e-02 1.12604626e-02 3.23371665e+02] [-1.73820137e-02 9.99848793e-01 -5.07363170e-04 -1.45990331e+01] [-1.12675813e-02 3.11524790e-04 9.99936470e-01 -5.77834389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794391418 meters 0.018291894000194913 Centerline is valid? [True, True] Translation: X:323.40, Y:-14.59, Z:-5.78 [[ 9.99651113e-01 2.38906015e-02 1.12645881e-02 3.23403074e+02] [-2.38863874e-02 9.99714550e-01 -5.08506142e-04 -1.45922174e+01] [-1.12735212e-02 2.39258415e-04 9.99936423e-01 -5.77856218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824391418 meters 0.01781232811582149 Centerline is valid? [True, True] Translation: X:323.43, Y:-14.59, Z:-5.78 [[ 9.99568876e-01 2.69594451e-02 1.16297643e-02 3.23431992e+02] [-2.69551541e-02 9.99636506e-01 -5.25581016e-04 -1.45907944e+01] [-1.16397063e-02 2.11872337e-04 9.99932234e-01 -5.77904616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854391418 meters 0.01620010262648704 Centerline is valid? [True, True] Translation: X:323.46, Y:-14.58, Z:-5.78 [[ 9.99391741e-01 3.27582082e-02 1.19602685e-02 3.23460733e+02] [-3.27540862e-02 9.99463295e-01 -5.40404418e-04 -1.45848566e+01] [-1.19715520e-02 1.48328048e-04 9.99928327e-01 -5.77859805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884391418 meters 0.015720564327576545 Centerline is valid? [True, True] Translation: X:323.49, Y:-14.58, Z:-5.78 [[ 9.99305844e-01 3.52141295e-02 1.21571465e-02 3.23489425e+02] [-3.52100646e-02 9.99379783e-01 -5.48305915e-04 -1.45828961e+01] [-1.21689146e-02 1.19871391e-04 9.99925949e-01 -5.77894614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914391418 meters 0.015283726188243467 Centerline is valid? [True, True] Translation: X:323.52, Y:-14.58, Z:-5.78 [[ 9.99230725e-01 3.72995893e-02 1.21119448e-02 3.23518029e+02] [-3.72957194e-02 9.99304124e-01 -5.45302792e-04 -1.45814835e+01] [-1.21238559e-02 9.31596104e-05 9.99926499e-01 -5.77927859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944391418 meters 0.015283726188243467 Centerline is valid? [True, True] Translation: X:323.55, Y:-14.58, Z:-5.78 [[ 9.99233726e-01 3.72190910e-02 1.21119887e-02 3.23546306e+02] [-3.72152270e-02 9.99307125e-01 -5.44325740e-04 -1.45826783e+01] [-1.21238559e-02 9.31582300e-05 9.99926499e-01 -5.77978929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974391418 meters 0.015081520465297498 Centerline is valid? [True, True] Translation: X:323.57, Y:-14.58, Z:-5.78 [[ 9.99168410e-01 3.89881628e-02 1.19336479e-02 3.23574096e+02] [-3.89845478e-02 9.99239670e-01 -5.35486383e-04 -1.45817352e+01] [-1.19454520e-02 6.98132109e-05 9.99928648e-01 -5.78044879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004391418 meters 0.014631249554555671 Centerline is valid? [True, True] Translation: X:323.60, Y:-14.58, Z:-5.78 [[ 9.99065377e-01 4.14814704e-02 1.21515122e-02 3.23602623e+02] [-4.14779230e-02 9.99139273e-01 -5.43915392e-04 -1.45789624e+01] [-1.21636155e-02 3.93875474e-05 9.99926020e-01 -5.78051751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034391418 meters 0.014728836183543273 Centerline is valid? [True, True] Translation: X:323.63, Y:-14.58, Z:-5.78 [[ 9.99046354e-01 4.18842969e-02 1.23323879e-02 3.23630132e+02] [-4.18806854e-02 9.99122467e-01 -5.51075589e-04 -1.45792347e+01] [-1.23446473e-02 3.40611997e-05 9.99923801e-01 -5.78129006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064391418 meters 0.014746433688137774 Centerline is valid? [True, True] Translation: X:323.66, Y:-14.58, Z:-5.78 [[ 9.99035795e-01 4.18876005e-02 1.31494698e-02 3.23657887e+02] [-4.18835143e-02 9.99122329e-01 -5.86102806e-04 -1.45801155e+01] [-1.31624793e-02 3.47916768e-05 9.99913370e-01 -5.78142757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094391418 meters 0.014623448604968019 Centerline is valid? [True, True] Translation: X:323.69, Y:-14.58, Z:-5.78 [[ 9.99060390e-01 4.11770158e-02 1.35200325e-02 3.23685382e+02] [-4.11726504e-02 9.99151866e-01 -6.01180350e-04 -1.45819006e+01] [-1.35333205e-02 4.39599037e-05 9.99908419e-01 -5.78165413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124391418 meters 0.014686728847404412 Centerline is valid? [True, True] Translation: X:323.71, Y:-14.58, Z:-5.78 [[ 9.99106037e-01 3.99579084e-02 1.38019205e-02 3.23713795e+02] [-3.99532628e-02 9.99201362e-01 -6.12267301e-04 -1.45835297e+01] [-1.38153627e-02 6.02881976e-05 9.99904562e-01 -5.78166133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154391418 meters 0.014806086311335492 Centerline is valid? [True, True] Translation: X:323.74, Y:-14.59, Z:-5.78 [[ 9.99146664e-01 3.87742601e-02 1.42302678e-02 3.23742341e+02] [-3.87692188e-02 9.99247993e-01 -6.30059227e-04 -1.45856679e+01] [-1.42439966e-02 7.78252090e-05 9.99898546e-01 -5.78200655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184391418 meters 0.01539468046835212 Centerline is valid? [True, True] Translation: X:323.77, Y:-14.59, Z:-5.78 [[ 9.99289197e-01 3.49431812e-02 1.41447659e-02 3.23770079e+02] [-3.49378310e-02 9.99389292e-01 -6.25251634e-04 -1.45902608e+01] [-1.41579758e-02 1.30619765e-04 9.99899762e-01 -5.78271859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214391418 meters 0.015630109518008244 Centerline is valid? [True, True] Translation: X:323.80, Y:-14.59, Z:-5.78 [[ 9.99373945e-01 3.24750478e-02 1.40388827e-02 3.23799101e+02] [-3.24695580e-02 9.99472533e-01 -6.18857048e-04 -1.45930606e+01] [-1.40515751e-02 1.62633293e-04 9.99901259e-01 -5.78348459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244391418 meters 0.016386690761072624 Centerline is valid? [True, True] Translation: X:323.83, Y:-14.60, Z:-5.78 [[ 9.99466713e-01 2.96042760e-02 1.37795310e-02 3.23828539e+02] [-2.95987320e-02 9.99561678e-01 -6.06148217e-04 -1.45972300e+01] [-1.37914357e-02 1.97968321e-04 9.99904874e-01 -5.78476631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274391418 meters 0.01838709401699262 Centerline is valid? [True, True] Translation: X:323.86, Y:-14.61, Z:-5.79 [[ 9.99647447e-01 2.31169847e-02 1.30608833e-02 3.23856877e+02] [-2.31114555e-02 9.99732730e-01 -5.74140925e-04 -1.46051373e+01] [-1.30706649e-02 2.72082487e-04 9.99914538e-01 -5.78657127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.304391418 meters 0.02000108075394504 Centerline is valid? [True, True] Translation: X:323.89, Y:-14.61, Z:-5.79 [[ 9.99725767e-01 1.94807849e-02 1.29957662e-02 3.23886064e+02] [-1.94750164e-02 9.99810181e-01 -5.70295015e-04 -1.46101957e+01] [-1.30044091e-02 3.17045862e-04 9.99915389e-01 -5.78764474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334391418 meters 0.021678220053889124 Centerline is valid? [True, True] Translation: X:323.92, Y:-14.62, Z:-5.79 [[ 9.99791607e-01 1.58833858e-02 1.28242277e-02 3.23917201e+02] [-1.58774800e-02 9.99873787e-01 -5.62208987e-04 -1.46154049e+01] [-1.28315389e-02 3.58475408e-04 9.99917608e-01 -5.78871245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.364391418 meters 0.023367545931385555 Centerline is valid? [True, True] Translation: X:323.95, Y:-14.62, Z:-5.79 [[ 9.99833026e-01 1.26931656e-02 1.31454804e-02 3.23948784e+02] [-1.26866915e-02 9.99919355e-01 -5.75777568e-04 -1.46206289e+01] [-1.31517287e-02 4.08908774e-04 9.99913429e-01 -5.78900002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394391418 meters 0.027307478144444033 Centerline is valid? [True, True] Translation: X:323.98, Y:-14.63, Z:-5.79 [[ 9.99893263e-01 6.34555385e-03 1.31604281e-02 3.23978452e+02] [-6.33845499e-03 9.99979743e-01 -5.81050346e-04 -1.46284480e+01] [-1.31638486e-02 4.97571546e-04 9.99913229e-01 -5.79000988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.424391418 meters 0.02889803780492752 Centerline is valid? [True, True] Translation: X:324.01, Y:-14.63, Z:-5.79 [[ 9.99901529e-01 3.94088921e-03 1.34685669e-02 3.24010133e+02] [-3.93324466e-03 9.99992088e-01 -5.94026739e-04 -1.46326380e+01] [-1.34708013e-02 5.40993076e-04 9.99909118e-01 -5.79044144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454391418 meters 0.029946024250308106 Centerline is valid? [True, True] Translation: X:324.04, Y:-14.64, Z:-5.79 [[ 9.99905493e-01 1.75979576e-03 1.36348300e-02 3.24041955e+02] [-1.75172909e-03 9.99998284e-01 -6.03542380e-04 -1.46357993e+01] [-1.36358687e-02 5.79600813e-04 9.99906859e-01 -5.79109640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters 0.03282337044328103 Centerline is valid? [True, True] Translation: X:324.07, Y:-14.64, Z:-5.79 [[ 9.99898303e-01 -2.20578645e-03 1.40896720e-02 3.24071955e+02] [ 2.21481095e-03 9.99997352e-01 -6.24932925e-04 -1.46410828e+01] [-1.40882562e-02 6.56075331e-04 9.99900540e-01 -5.79132615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514391418 meters 0.03434994423054339 Centerline is valid? [True, True] Translation: X:324.10, Y:-14.64, Z:-5.79 [[ 9.99892010e-01 -3.63086458e-03 1.42402663e-02 3.24104358e+02] [ 3.64022584e-03 9.99993175e-01 -6.31514002e-04 -1.46443226e+01] [-1.42378761e-02 6.83283590e-04 9.99898403e-01 -5.79190709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters 0.0359730197122503 Centerline is valid? [True, True] Translation: X:324.14, Y:-14.65, Z:-5.79 [[ 9.99884373e-01 -4.79954451e-03 1.44293408e-02 3.24135617e+02] [ 4.80934354e-03 9.99988227e-01 -6.44481113e-04 -1.46478001e+01] [-1.44260777e-02 7.13802250e-04 9.99895684e-01 -5.79247120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574391418 meters 0.03821480571922741 Centerline is valid? [True, True] Translation: X:324.17, Y:-14.65, Z:-5.79 [[ 9.99865925e-01 -7.35827245e-03 1.46283522e-02 3.24165475e+02] [ 7.36862739e-03 9.99972637e-01 -6.54095183e-04 -1.46505904e+01] [-1.46231389e-02 7.61798362e-04 9.99892786e-01 -5.79214209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters 0.03976477701944673 Centerline is valid? [True, True] Translation: X:324.20, Y:-14.65, Z:-5.79 [[ 9.99857409e-01 -8.49657885e-03 1.45934896e-02 3.24196552e+02] [ 8.50702712e-03 9.99963601e-01 -6.54025596e-04 -1.46530618e+01] [-1.45874014e-02 7.78079549e-04 9.99893295e-01 -5.79274618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634391418 meters 0.04112933110374549 Centerline is valid? [True, True] Translation: X:324.23, Y:-14.66, Z:-5.79 [[ 9.99846609e-01 -9.48855101e-03 1.47216014e-02 3.24227355e+02] [ 9.49930300e-03 9.99954662e-01 -6.60599356e-04 -1.46554452e+01] [-1.47146658e-02 8.00342979e-04 9.99891413e-01 -5.79331116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters 0.04358823194582686 Centerline is valid? [True, True] Translation: X:324.26, Y:-14.66, Z:-5.79 [[ 9.99832909e-01 -1.14019122e-02 1.42881384e-02 3.24258595e+02] [ 1.14122459e-02 9.99934672e-01 -6.41910091e-04 -1.46581677e+01] [-1.42798860e-02 8.04862582e-04 9.99897713e-01 -5.79430372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694391418 meters 0.04463215318460525 Centerline is valid? [True, True] Translation: X:324.29, Y:-14.66, Z:-5.80 [[ 9.99832645e-01 -1.22775764e-02 1.35625375e-02 3.24291047e+02] [ 1.22869757e-02 9.99924326e-01 -6.09925714e-04 -1.46601142e+01] [-1.35540227e-02 7.76466208e-04 9.99907839e-01 -5.79534474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters 0.045698493501713115 Centerline is valid? [True, True] Translation: X:324.32, Y:-14.66, Z:-5.80 [[ 9.99826236e-01 -1.29977624e-02 1.33624978e-02 3.24323561e+02] [ 1.30069632e-02 9.99915225e-01 -6.01876939e-04 -1.46622957e+01] [-1.33535420e-02 7.75577872e-04 9.99910537e-01 -5.79649896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754391418 meters 0.03650328156432087 Centerline is valid? [True, True] Translation: X:324.36, Y:-14.65, Z:-5.80 [[ 9.99824170e-01 -1.43544204e-02 1.20656125e-02 3.24356360e+02] [ 1.43620284e-02 9.99896713e-01 -5.44142818e-04 -1.46494315e+01] [-1.20565554e-02 7.17333811e-04 9.99927060e-01 -5.79666992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters 0.04829835646527207 Centerline is valid? [True, True] Translation: X:324.39, Y:-14.66, Z:-5.80 [[ 9.99828680e-01 -1.46265632e-02 1.13434690e-02 3.24387026e+02] [ 1.46333163e-02 9.99892796e-01 -5.12554561e-04 -1.46646277e+01] [-1.13347561e-02 6.78459321e-04 9.99935529e-01 -5.79943087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814391418 meters 0.039791968145999924 Centerline is valid? [True, True] Translation: X:324.42, Y:-14.65, Z:-5.80 [[ 9.99843868e-01 -1.40207573e-02 1.07544867e-02 3.24419424e+02] [ 1.40267975e-02 9.99901501e-01 -4.86414913e-04 -1.46532933e+01] [-1.07466075e-02 6.37189975e-04 9.99942051e-01 -5.79887527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters 0.039187686419253846 Centerline is valid? [True, True] Translation: X:324.45, Y:-14.65, Z:-5.80 [[ 9.99862683e-01 -1.28249345e-02 1.04945414e-02 3.24451659e+02] [ 1.28306287e-02 9.99917571e-01 -4.75443753e-04 -1.46524731e+01] [-1.04875788e-02 6.10030031e-04 9.99944818e-01 -5.79916583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874391418 meters 0.03690403374964818 Centerline is valid? [True, True] Translation: X:324.48, Y:-14.65, Z:-5.80 [[ 9.99897693e-01 -8.54166151e-03 1.14735866e-02 3.24483118e+02] [ 8.54820293e-03 9.99963328e-01 -5.21207352e-04 -1.46468372e+01] [-1.14687139e-02 6.19232576e-04 9.99934040e-01 -5.79845710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters 0.031731334416563964 Centerline is valid? [True, True] Translation: X:324.51, Y:-14.64, Z:-5.80 [[ 9.99910423e-01 -5.58376711e-03 1.21642276e-02 3.24514882e+02] [ 5.59090309e-03 9.99984218e-01 -5.52708929e-04 -1.46383181e+01] [-1.21609495e-02 6.20668437e-04 9.99925860e-01 -5.79744529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934391418 meters 0.028599079708087283 Centerline is valid? [True, True] Translation: X:324.54, Y:-14.63, Z:-5.80 [[ 9.99902429e-01 1.95043087e-03 1.38321214e-02 3.24544758e+02] [-1.94191007e-03 9.99997916e-01 -6.29420149e-04 -1.46291986e+01] [-1.38333202e-02 6.02498000e-04 9.99904134e-01 -5.79536101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964391418 meters 0.02696795090917176 Centerline is valid? [True, True] Translation: X:324.58, Y:-14.62, Z:-5.80 [[ 9.99880680e-01 5.77677248e-03 1.43267161e-02 3.24576073e+02] [-5.76803099e-03 9.99983153e-01 -6.51398883e-04 -1.46249887e+01] [-1.43302378e-02 5.68684215e-04 9.99897155e-01 -5.79514033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994391418 meters 0.025010569121434425 Centerline is valid? [True, True] Translation: X:324.61, Y:-14.62, Z:-5.79 [[ 9.99838666e-01 1.00882610e-02 1.48616932e-02 3.24608290e+02] [-1.00793228e-02 9.99948974e-01 -6.76209421e-04 -1.46212820e+01] [-1.48677566e-02 5.26304522e-04 9.99889330e-01 -5.79484373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024391418 meters 0.023433502431070504 Centerline is valid? [True, True] Translation: X:324.64, Y:-14.62, Z:-5.80 [[ 9.99791697e-01 1.36304452e-02 1.51912135e-02 3.24639883e+02] [-1.36214926e-02 9.99906983e-01 -6.92640237e-04 -1.46173783e+01] [-1.51992415e-02 4.85568955e-04 9.99884367e-01 -5.79518529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.054391418 meters 0.019607272864032528 Centerline is valid? [True, True] Translation: X:324.67, Y:-14.61, Z:-5.80 [[ 9.99673780e-01 2.06552029e-02 1.50231569e-02 3.24671208e+02] [-2.06472301e-02 9.99786588e-01 -6.85626493e-04 -1.46081967e+01] [-1.50341125e-02 3.75216251e-04 9.99886911e-01 -5.79559567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084391418 meters 0.019438902134970817 Centerline is valid? [True, True] Translation: X:324.70, Y:-14.61, Z:-5.80 [[ 9.99603668e-01 2.37975152e-02 1.50394748e-02 3.24701812e+02] [-2.37898801e-02 9.99716745e-01 -6.86398846e-04 -1.46070749e+01] [-1.50515493e-02 3.28339503e-04 9.99886665e-01 -5.79669653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.114391418 meters 0.018252563627645647 Centerline is valid? [True, True] Translation: X:324.73, Y:-14.60, Z:-5.80 [[ 9.99535975e-01 2.66035576e-02 1.48352724e-02 3.24731790e+02] [-2.65964057e-02 9.99646022e-01 -6.79205663e-04 -1.46041387e+01] [-1.48480904e-02 2.84325570e-04 9.99889721e-01 -5.79711205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144391418 meters 0.01736099317791822 Centerline is valid? [True, True] Translation: X:324.76, Y:-14.60, Z:-5.80 [[ 9.99471865e-01 2.90390369e-02 1.45851179e-02 3.24761159e+02] [-2.90323879e-02 9.99578249e-01 -6.67449099e-04 -1.46017781e+01] [-1.45983487e-02 2.43655795e-04 9.99893409e-01 -5.79756987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.174391418 meters 0.015366171739392103 Centerline is valid? [True, True] Translation: X:324.79, Y:-14.59, Z:-5.80 [[ 9.99334913e-01 3.35344840e-02 1.43237447e-02 3.24790750e+02] [-3.35285572e-02 9.99437546e-01 -6.53776627e-04 -1.45943321e+01] [-1.43376123e-02 1.73087316e-04 9.99897196e-01 -5.79766651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204391418 meters 0.014869860176997134 Centerline is valid? [True, True] Translation: X:324.82, Y:-14.59, Z:-5.80 [[ 9.99256701e-01 3.59673153e-02 1.38707235e-02 3.24819830e+02] [-3.59620020e-02 9.99352958e-01 -6.32368687e-04 -1.45925250e+01] [-1.38844931e-02 1.33079662e-04 9.99903597e-01 -5.79842995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234391418 meters 0.014894787696244529 Centerline is valid? [True, True] Translation: X:324.85, Y:-14.59, Z:-5.80 [[ 9.99193699e-01 3.77694312e-02 1.36169560e-02 3.24847876e+02] [-3.77644916e-02 9.99286475e-01 -6.19796541e-04 -1.45926747e+01] [-1.36306494e-02 1.05059377e-04 9.99907093e-01 -5.80004213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264391418 meters 0.014172026315753707 Centerline is valid? [True, True] Translation: X:324.88, Y:-14.59, Z:-5.80 [[ 9.99040718e-01 4.18914828e-02 1.27572838e-02 3.24877057e+02] [-4.18874997e-02 9.99122166e-01 -5.79379600e-04 -1.45883738e+01] [-1.27703561e-02 4.44530896e-05 9.99918455e-01 -5.80111264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294391418 meters 0.01421256747374247 Centerline is valid? [True, True] Translation: X:324.91, Y:-14.59, Z:-5.80 [[ 9.98985060e-01 4.33432308e-02 1.22562049e-02 3.24905303e+02] [-4.33396722e-02 9.99060240e-01 -5.55921988e-04 -1.45874457e+01] [-1.22687825e-02 2.41778552e-05 9.99924735e-01 -5.80208941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324391418 meters 0.014199681497831787 Centerline is valid? [True, True] Translation: X:324.93, Y:-14.59, Z:-5.80 [[ 9.98850867e-01 4.62885107e-02 1.24225215e-02 3.24933450e+02] [-4.62851019e-02 9.98928112e-01 -5.61918310e-04 -1.45850853e+01] [-1.24352163e-02 -1.37050837e-05 9.99922680e-01 -5.80311302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354391418 meters 0.014127184511617633 Centerline is valid? [True, True] Translation: X:324.96, Y:-14.59, Z:-5.80 [[ 9.98811878e-01 4.71750406e-02 1.22208107e-02 3.24962561e+02] [-4.71718284e-02 9.98886638e-01 -5.51125736e-04 -1.45850099e+01] [-1.22332039e-02 -2.60070526e-05 9.99925171e-01 -5.80347430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384391418 meters 0.014103203437170145 Centerline is valid? [True, True] Translation: X:324.99, Y:-14.58, Z:-5.80 [[ 9.98778790e-01 4.77478723e-02 1.26913061e-02 3.24989818e+02] [-4.77444640e-02 9.98859419e-01 -5.71575425e-04 -1.45848661e+01] [-1.27041221e-02 -3.50621932e-05 9.99919299e-01 -5.80369864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414391418 meters 0.014236112306204791 Centerline is valid? [True, True] Translation: X:325.02, Y:-14.59, Z:-5.80 [[ 9.98794193e-01 4.70821690e-02 1.39078907e-02 3.25018533e+02] [-4.70780453e-02 9.98891019e-01 -6.23930699e-04 -1.45855408e+01] [-1.39218431e-02 -3.15779461e-05 9.99903086e-01 -5.80331587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444391418 meters 0.014162762530455916 Centerline is valid? [True, True] Translation: X:325.05, Y:-14.59, Z:-5.80 [[ 9.98844285e-01 4.59797171e-02 1.39985671e-02 3.25046785e+02] [-4.59754450e-02 9.98942373e-01 -6.27012735e-04 -1.45873048e+01] [-1.40125918e-02 -1.73022670e-05 9.99901819e-01 -5.80341833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474391418 meters 0.014037348115092692 Centerline is valid? [True, True] Translation: X:325.07, Y:-14.59, Z:-5.80 [[ 9.98907839e-01 4.43586886e-02 1.46777499e-02 3.25073426e+02] [-4.43538441e-02 9.99015669e-01 -6.55577386e-04 -1.45894945e+01] [-1.46923827e-02 3.84675871e-06 9.99892061e-01 -5.80388275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504391418 meters 0.01393596864685151 Centerline is valid? [True, True] Translation: X:325.10, Y:-14.59, Z:-5.80 [[ 9.99008012e-01 4.20943422e-02 1.45278241e-02 3.25102307e+02] [-4.20893897e-02 9.99113640e-01 -6.46615210e-04 -1.45924858e+01] [-1.45421660e-02 3.45065273e-05 9.99894257e-01 -5.80438315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534391418 meters 0.014856002117442091 Centerline is valid? [True, True] Translation: X:325.13, Y:-14.60, Z:-5.81 [[ 9.99264877e-01 3.56257517e-02 1.41602350e-02 3.25129335e+02] [-3.56204107e-02 9.99365194e-01 -6.29295697e-04 -1.45995936e+01] [-1.41736651e-02 1.24439700e-04 9.99899541e-01 -5.80606818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564391418 meters 0.015542770834961736 Centerline is valid? [True, True] Translation: X:325.16, Y:-14.60, Z:-5.81 [[ 9.99392285e-01 3.18819050e-02 1.40927246e-02 3.25157711e+02] [-3.18762687e-02 9.99491628e-01 -6.24447356e-04 -1.46045797e+01] [-1.41054688e-02 1.74844395e-04 9.99900498e-01 -5.80703995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594391418 meters 0.016906853979459072 Centerline is valid? [True, True] Translation: X:325.18, Y:-14.61, Z:-5.81 [[ 9.99515149e-01 2.77744682e-02 1.40728525e-02 3.25184999e+02] [-2.77684554e-02 9.99614188e-01 -6.22518720e-04 -1.46105706e+01] [-1.40847132e-02 2.31435514e-04 9.99900779e-01 -5.80791566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624391418 meters 0.01852015081930996 Centerline is valid? [True, True] Translation: X:325.21, Y:-14.62, Z:-5.81 [[ 9.99625910e-01 2.34116518e-02 1.41398474e-02 3.25214557e+02] [-2.34051686e-02 9.99725867e-01 -6.23840536e-04 -1.46164033e+01] [-1.41505764e-02 2.92661651e-04 9.99899833e-01 -5.80876727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654391418 meters 0.022029462676191255 Centerline is valid? [True, True] Translation: X:325.24, Y:-14.63, Z:-5.81 [[ 9.99779986e-01 1.52513050e-02 1.44006332e-02 3.25244012e+02] [-1.52437436e-02 9.99883606e-01 -6.34701426e-04 -1.46270832e+01] [-1.44086371e-02 4.15042222e-04 9.99896104e-01 -5.80948963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684391418 meters 0.023951399686933356 Centerline is valid? [True, True] Translation: X:325.28, Y:-14.63, Z:-5.81 [[ 9.99824989e-01 1.18224496e-02 1.44989987e-02 3.25276278e+02] [-1.18144334e-02 9.99930003e-01 -6.38409671e-04 -1.46330216e+01] [-1.45055314e-02 4.67000488e-04 9.99894680e-01 -5.81005817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714391418 meters 0.02528838197324874 Centerline is valid? [True, True] Translation: X:325.31, Y:-14.64, Z:-5.81 [[ 9.99853754e-01 8.42055999e-03 1.48850564e-02 3.25308579e+02] [-8.41171686e-03 9.99964405e-01 -6.56603454e-04 -1.46377902e+01] [-1.48900556e-02 5.31298548e-04 9.99888996e-01 -5.81041928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744391418 meters 0.02948876260343648 Centerline is valid? [True, True] Translation: X:325.34, Y:-14.65, Z:-5.81 [[ 9.99892889e-01 2.62196196e-03 1.43991634e-02 3.25338065e+02] [-2.61306668e-03 9.99996383e-01 -6.36543199e-04 -1.46477623e+01] [-1.44007803e-02 5.98849044e-04 9.99896124e-01 -5.81171049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774391418 meters 0.031240233320011614 Centerline is valid? [True, True] Translation: X:325.37, Y:-14.65, Z:-5.81 [[ 9.99897287e-01 2.18238017e-04 1.43306747e-02 3.25369820e+02] [-2.09193877e-04 9.99999778e-01 -6.32599554e-04 -1.46531564e+01] [-1.43308096e-02 6.29536688e-04 9.99897110e-01 -5.81289496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.804391418 meters 0.0328547921400484 Centerline is valid? [True, True] Translation: X:325.40, Y:-14.66, Z:-5.81 [[ 9.99902772e-01 -1.98206047e-03 1.38028118e-02 3.25401474e+02] [ 1.99071194e-03 9.99997831e-01 -6.13079227e-04 -1.46581215e+01] [-1.38015667e-02 6.40497041e-04 9.99904549e-01 -5.81418369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834391418 meters 0.030596181764900764 Centerline is valid? [True, True] Translation: X:325.43, Y:-14.66, Z:-5.81 [[ 9.99894638e-01 -5.92066694e-03 1.32536339e-02 3.25432219e+02] [ 5.92901682e-03 9.99982249e-01 -5.90802960e-04 -1.46579678e+01] [-1.32499007e-02 6.69321730e-04 9.99911992e-01 -5.81470201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.864391418 meters 0.03440917490810176 Centerline is valid? [True, True] Translation: X:325.46, Y:-14.67, Z:-5.82 [[ 9.99885482e-01 -7.26390921e-03 1.32762669e-02 3.25463047e+02] [ 7.27240678e-03 9.99973381e-01 -5.91891805e-04 -1.46651640e+01] [-1.32716141e-02 6.88374437e-04 9.99911691e-01 -5.81594972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894391418 meters 0.03440917490810176 Centerline is valid? [True, True] Translation: X:325.50, Y:-14.67, Z:-5.82 [[ 9.99886334e-01 -7.14566385e-03 1.32762426e-02 3.25495590e+02] [ 7.15415826e-03 9.99974233e-01 -5.92437518e-04 -1.46667377e+01] [-1.32716671e-02 6.87350519e-04 9.99911691e-01 -5.81653680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.924391418 meters 0.03452520723649365 Centerline is valid? [True, True] Translation: X:325.53, Y:-14.67, Z:-5.82 [[ 9.99880402e-01 -8.10507445e-03 1.31715143e-02 3.25527171e+02] [ 8.11354246e-03 9.99966911e-01 -5.89593356e-04 -1.46689528e+01] [-1.31662997e-02 6.96390482e-04 9.99913078e-01 -5.81716425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954391418 meters 0.03350661507709854 Centerline is valid? [True, True] Translation: X:325.56, Y:-14.67, Z:-5.82 [[ 9.99876391e-01 -8.91044298e-03 1.29539932e-02 3.25558891e+02] [ 8.91871065e-03 9.99960059e-01 -5.80603085e-04 -1.46692242e+01] [-1.29483024e-02 6.96064234e-04 9.99915925e-01 -5.81791003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters 0.04219198780606349 Centerline is valid? [True, True] Translation: X:325.59, Y:-14.68, Z:-5.82 [[ 9.99873503e-01 -9.80522682e-03 1.25233864e-02 3.25589144e+02] [ 9.81303303e-03 9.99951693e-01 -5.62032805e-04 -1.46828287e+01] [-1.25172706e-02 6.84854114e-04 9.99921421e-01 -5.82055350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014391418 meters 0.03922855300196505 Centerline is valid? [True, True] Translation: X:325.62, Y:-14.68, Z:-5.82 [[ 9.99871163e-01 -1.02604208e-02 1.23442688e-02 3.25621302e+02] [ 1.02680478e-02 9.99947128e-01 -5.54637789e-04 -1.46808376e+01] [-1.23379253e-02 6.81317873e-04 9.99923653e-01 -5.82097248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters 0.03641184705169781 Centerline is valid? [True, True] Translation: X:325.65, Y:-14.68, Z:-5.82 [[ 9.99870560e-01 -1.06033270e-02 1.21009536e-02 3.25653893e+02] [ 1.06106918e-02 9.99943557e-01 -5.44573373e-04 -1.46787504e+01] [-1.20944963e-02 6.72902372e-04 9.99926632e-01 -5.82127491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074391418 meters 0.03464601054277333 Centerline is valid? [True, True] Translation: X:325.69, Y:-14.68, Z:-5.82 [[ 9.99871533e-01 -1.07820383e-02 1.18602125e-02 3.25686531e+02] [ 1.07891362e-02 9.99941653e-01 -5.34633730e-04 -1.46778250e+01] [-1.18537560e-02 6.62526495e-04 9.99929522e-01 -5.82165275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters 0.03544273619032464 Centerline is valid? [True, True] Translation: X:325.72, Y:-14.68, Z:-5.82 [[ 9.99874534e-01 -1.06190793e-02 1.17537775e-02 3.25718656e+02] [ 1.06260487e-02 9.99943401e-01 -5.30652202e-04 -1.46805837e+01] [-1.17474773e-02 6.55481836e-04 9.99930781e-01 -5.82243031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134391418 meters 0.03554076315538939 Centerline is valid? [True, True] Translation: X:325.75, Y:-14.68, Z:-5.82 [[ 9.99881060e-01 -1.02994551e-02 1.14798633e-02 3.25750579e+02] [ 1.03060968e-02 9.99946756e-01 -5.19543836e-04 -1.46823173e+01] [-1.14739011e-02 6.37794624e-04 9.99933969e-01 -5.82356183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters 0.03401417302808626 Centerline is valid? [True, True] Translation: X:325.78, Y:-14.68, Z:-5.82 [[ 9.99886754e-01 -9.71134187e-03 1.14964404e-02 3.25783110e+02] [ 9.71797450e-03 9.99952644e-01 -5.21204801e-04 -1.46806705e+01] [-1.14908344e-02 6.32867891e-04 9.99933778e-01 -5.82433928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194391418 meters 0.03438261640263949 Centerline is valid? [True, True] Translation: X:325.81, Y:-14.68, Z:-5.82 [[ 9.99891731e-01 -9.10036275e-03 1.15632733e-02 3.25814314e+02] [ 9.10704452e-03 9.99958392e-01 -5.25318628e-04 -1.46818700e+01] [-1.15580115e-02 6.30568997e-04 9.99933005e-01 -5.82452730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters 0.035524957394341125 Centerline is valid? [True, True] Translation: X:325.85, Y:-14.68, Z:-5.82 [[ 9.99894358e-01 -8.43195496e-03 1.18395803e-02 3.25845377e+02] [ 8.43891471e-03 9.99964247e-01 -5.38001165e-04 -1.46838993e+01] [-1.18346206e-02 6.37857538e-04 9.99929765e-01 -5.82492892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254391418 meters 0.03437741186652621 Centerline is valid? [True, True] Translation: X:325.88, Y:-14.68, Z:-5.82 [[ 9.99902407e-01 -7.04362165e-03 1.20649915e-02 3.25877998e+02] [ 7.05077786e-03 9.99974991e-01 -5.50705425e-04 -1.46825666e+01] [-1.20608108e-02 6.35719254e-04 9.99927064e-01 -5.82465102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters 0.03485066142690672 Centerline is valid? [True, True] Translation: X:325.91, Y:-14.68, Z:-5.83 [[ 9.99903659e-01 -6.63911657e-03 1.21899107e-02 3.25909052e+02] [ 6.64640515e-03 9.99977757e-01 -5.57505094e-04 -1.46839296e+01] [-1.21859382e-02 6.38470469e-04 9.99925545e-01 -5.82509586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314391418 meters 0.034831612398852664 Centerline is valid? [True, True] Translation: X:325.94, Y:-14.68, Z:-5.83 [[ 9.99898311e-01 -6.19052472e-03 1.28469526e-02 3.25941003e+02] [ 6.19859254e-03 9.99980616e-01 -5.88271071e-04 -1.46838305e+01] [-1.28430619e-02 6.67844275e-04 9.99917301e-01 -5.82504309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters 0.03453567592783412 Centerline is valid? [True, True] Translation: X:325.97, Y:-14.68, Z:-5.83 [[ 9.99899985e-01 -6.04736175e-03 1.27847412e-02 3.25974319e+02] [ 6.05534995e-03 9.99981494e-01 -5.86205478e-04 -1.46844953e+01] [-1.27809596e-02 6.63562931e-04 9.99918100e-01 -5.82575218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374391418 meters 0.03552650062283854 Centerline is valid? [True, True] Translation: X:326.01, Y:-14.69, Z:-5.83 [[ 9.99894014e-01 -6.03982728e-03 1.32469044e-02 3.26006107e+02] [ 6.04842589e-03 9.99981523e-01 -6.09135843e-04 -1.46869431e+01] [-1.32429806e-02 6.89194203e-04 9.99912070e-01 -5.82643508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters 0.03357548232320352 Centerline is valid? [True, True] Translation: X:326.04, Y:-14.69, Z:-5.83 [[ 9.99892487e-01 -5.95842191e-03 1.33982300e-02 3.26039521e+02] [ 5.96722727e-03 9.99982005e-01 -6.17321659e-04 -1.46856215e+01] [-1.33943106e-02 6.97205572e-04 9.99910049e-01 -5.82676331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434391418 meters 0.03700695439590284 Centerline is valid? [True, True] Translation: X:326.07, Y:-14.69, Z:-5.83 [[ 9.99891078e-01 -5.31087953e-03 1.37705302e-02 3.26070099e+02] [ 5.32014697e-03 9.99985645e-01 -6.36445220e-04 -1.46898822e+01] [-1.37669524e-02 7.09637141e-04 9.99904979e-01 -5.82754531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464391418 meters 0.037119898427510824 Centerline is valid? [True, True] Translation: X:326.10, Y:-14.69, Z:-5.83 [[ 9.99891214e-01 -4.36496198e-03 1.40892455e-02 3.26101743e+02] [ 4.37458105e-03 9.99990219e-01 -6.51977544e-04 -1.46902306e+01] [-1.40862618e-02 7.13541164e-04 9.99900529e-01 -5.82779650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494391418 meters 0.03289739551646047 Centerline is valid? [True, True] Translation: X:326.13, Y:-14.68, Z:-5.83 [[ 9.99891354e-01 -3.33944513e-03 1.43571731e-02 3.26134295e+02] [ 3.34934365e-03 9.99994170e-01 -6.65457870e-04 -1.46847445e+01] [-1.43548671e-02 7.13472678e-04 9.99896709e-01 -5.82814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524391418 meters 0.029675649664935116 Centerline is valid? [True, True] Translation: X:326.17, Y:-14.68, Z:-5.83 [[ 9.99899676e-01 -2.27584352e-03 1.39806357e-02 3.26166604e+02] [ 2.28514058e-03 9.99997178e-01 -6.49056491e-04 -1.46810589e+01] [-1.39791191e-02 6.80939093e-04 9.99902055e-01 -5.82819259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.554391418 meters 0.029069640483999435 Centerline is valid? [True, True] Translation: X:326.20, Y:-14.68, Z:-5.83 [[ 9.99894037e-01 -3.52404905e-06 1.45573131e-02 3.26198298e+02] [ 1.33841711e-05 9.99999771e-01 -6.77233816e-04 -1.46796310e+01] [-1.45573073e-02 6.77356892e-04 9.99893807e-01 -5.82950355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584391418 meters 0.035455781975755996 Centerline is valid? [True, True] Translation: X:326.23, Y:-14.69, Z:-5.83 [[ 9.99901349e-01 1.07096595e-03 1.40051910e-02 3.26228867e+02] [-1.06193826e-03 9.99999224e-01 -6.52016426e-04 -1.46890249e+01] [-1.40058784e-02 6.37079455e-04 9.99901710e-01 -5.83127802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.614391418 meters 0.03184220803460054 Centerline is valid? [True, True] Translation: X:326.26, Y:-14.68, Z:-5.83 [[ 9.99899545e-01 2.42221884e-03 1.39654375e-02 3.26261297e+02] [-2.41336288e-03 9.99996876e-01 -6.50951590e-04 -1.46838803e+01] [-1.39669706e-02 6.17182530e-04 9.99902267e-01 -5.83189288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644391418 meters 0.029960046994903306 Centerline is valid? [True, True] Translation: X:326.29, Y:-14.68, Z:-5.83 [[ 9.99896619e-01 3.25062228e-03 1.40065700e-02 3.26294002e+02] [-3.24179125e-03 9.99994532e-01 -6.53150069e-04 -1.46820048e+01] [-1.40086165e-02 6.07676170e-04 9.99901690e-01 -5.83204408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.674391418 meters 0.0315725063063706 Centerline is valid? [True, True] Translation: X:326.32, Y:-14.69, Z:-5.83 [[ 9.99889129e-01 4.25084074e-03 1.42709848e-02 3.26324928e+02] [-4.24171686e-03 9.99990780e-01 -6.69537784e-04 -1.46852132e+01] [-1.42736993e-02 6.08930074e-04 9.99897940e-01 -5.83301445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704391418 meters 0.03134984438923198 Centerline is valid? [True, True] Translation: X:326.36, Y:-14.68, Z:-5.83 [[ 9.99887347e-01 5.61115853e-03 1.39215135e-02 3.26356312e+02] [-5.60255492e-03 9.99984090e-01 -6.56931569e-04 -1.46847868e+01] [-1.39249782e-02 5.78861520e-04 9.99902875e-01 -5.83377762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734391418 meters 0.03139631519955722 Centerline is valid? [True, True] Translation: X:326.39, Y:-14.69, Z:-5.83 [[ 9.99883928e-01 6.52880711e-03 1.37660856e-02 3.26387257e+02] [-6.52045880e-03 9.99978530e-01 -6.51236445e-04 -1.46855245e+01] [-1.37700419e-02 5.61399661e-04 9.99905031e-01 -5.83447823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764391418 meters 0.027961377808728875 Centerline is valid? [True, True] Translation: X:326.42, Y:-14.68, Z:-5.83 [[ 9.99881810e-01 7.07867335e-03 1.36476266e-02 3.26420892e+02] [-7.07047969e-03 9.99974794e-01 -6.48529010e-04 -1.46813456e+01] [-1.36518733e-02 5.51957094e-04 9.99906656e-01 -5.83465448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794391418 meters 0.02696112286682744 Centerline is valid? [True, True] Translation: X:326.45, Y:-14.68, Z:-5.84 [[ 9.99871495e-01 7.52856973e-03 1.41532567e-02 3.26453906e+02] [-7.51973720e-03 9.99971497e-01 -6.77178138e-04 -1.46805504e+01] [-1.41579515e-02 5.70662346e-04 9.99899608e-01 -5.83504421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824391418 meters 0.029305981801658477 Centerline is valid? [True, True] Translation: X:326.49, Y:-14.69, Z:-5.84 [[ 9.99865342e-01 7.30606002e-03 1.46941642e-02 3.26485114e+02] [-7.29643508e-03 9.99973130e-01 -7.08522296e-04 -1.46852976e+01] [-1.46989459e-02 6.01211873e-04 9.99891784e-01 -5.83542984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854391418 meters 0.02676591833266145 Centerline is valid? [True, True] Translation: X:326.52, Y:-14.68, Z:-5.84 [[ 9.99859924e-01 7.00378906e-03 1.52013212e-02 3.26517587e+02] [-6.99342255e-03 9.99975276e-01 -7.34998801e-04 -1.46830897e+01] [-1.52060931e-02 6.28586583e-04 9.99884183e-01 -5.83596023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884391418 meters 0.02764771257539238 Centerline is valid? [True, True] Translation: X:326.55, Y:-14.69, Z:-5.84 [[ 9.99865850e-01 6.22828970e-03 1.51489294e-02 3.26549705e+02] [-6.21784087e-03 9.99980398e-01 -7.36742984e-04 -1.46856374e+01] [-1.51532211e-02 6.42450518e-04 9.99884977e-01 -5.83672225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914391418 meters 0.02904742770865197 Centerline is valid? [True, True] Translation: X:326.58, Y:-14.69, Z:-5.84 [[ 9.99880951e-01 3.94962222e-03 1.49159045e-02 3.26581709e+02] [-3.93916876e-03 9.99991975e-01 -7.30141412e-04 -1.46885469e+01] [-1.49186686e-02 6.71298225e-04 9.99888485e-01 -5.83814964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944391418 meters 0.02844656346624198 Centerline is valid? [True, True] Translation: X:326.61, Y:-14.69, Z:-5.84 [[ 9.99889167e-01 2.78798223e-03 1.46246828e-02 3.26613686e+02] [-2.77780250e-03 9.99995885e-01 -7.16332280e-04 -1.46887530e+01] [-1.46266198e-02 6.75628406e-04 9.99892797e-01 -5.83928607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974391418 meters 0.029838633590178715 Centerline is valid? [True, True] Translation: X:326.64, Y:-14.69, Z:-5.84 [[ 9.99897505e-01 1.80859146e-03 1.42024289e-02 3.26644599e+02] [-1.79882937e-03 9.99998137e-01 -7.00098080e-04 -1.46918201e+01] [-1.42036686e-02 6.74478577e-04 9.99898895e-01 -5.84018180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004391418 meters 0.031055354160879397 Centerline is valid? [True, True] Translation: X:326.68, Y:-14.69, Z:-5.84 [[ 9.99898464e-01 -6.69587318e-05 1.42497911e-02 3.26676510e+02] [ 7.70105149e-05 9.99999749e-01 -7.04851078e-04 -1.46949376e+01] [-1.42497403e-02 7.05876895e-04 9.99898218e-01 -5.84143498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034391418 meters 0.031991727923287805 Centerline is valid? [True, True] Translation: X:326.71, Y:-14.70, Z:-5.84 [[ 9.99903578e-01 -5.62892886e-04 1.38750894e-02 3.26708991e+02] [ 5.72474185e-04 9.99999600e-01 -6.86577518e-04 -1.46975788e+01] [-1.38746974e-02 6.94454447e-04 9.99903501e-01 -5.84299172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064391418 meters 0.032683917164953724 Centerline is valid? [True, True] Translation: X:326.74, Y:-14.70, Z:-5.84 [[ 9.99905079e-01 -9.27322253e-04 1.37467563e-02 3.26740974e+02] [ 9.36825374e-04 9.99999327e-01 -6.84875887e-04 -1.46997076e+01] [-1.37461119e-02 6.97689188e-04 9.99905274e-01 -5.84415106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094391418 meters 0.03316462682939495 Centerline is valid? [True, True] Translation: X:326.77, Y:-14.70, Z:-5.85 [[ 9.99911127e-01 -1.12251663e-03 1.32845279e-02 3.26773275e+02] [ 1.13142197e-03 9.99999140e-01 -6.62858068e-04 -1.46999132e+01] [-1.32837724e-02 6.77829564e-04 9.99911537e-01 -5.84528282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124391418 meters 0.033353197195923896 Centerline is valid? [True, True] Translation: X:326.81, Y:-14.70, Z:-5.85 [[ 9.99911292e-01 -6.75410896e-04 1.33023265e-02 3.26805492e+02] [ 6.84314735e-04 9.99999545e-01 -6.64804230e-04 -1.47009348e+01] [-1.33018714e-02 6.73848235e-04 9.99911299e-01 -5.84571791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154391418 meters 0.03328181416747093 Centerline is valid? [True, True] Translation: X:326.84, Y:-14.70, Z:-5.85 [[ 9.99908835e-01 -1.74632707e-04 1.35015069e-02 3.26837586e+02] [ 1.83774328e-04 9.99999755e-01 -6.75843837e-04 -1.47016866e+01] [-1.35013855e-02 6.78263454e-04 9.99908622e-01 -5.84625367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184391418 meters 0.0336529419118142 Centerline is valid? [True, True] Translation: X:326.87, Y:-14.70, Z:-5.85 [[ 9.99906128e-01 8.18256307e-04 1.36772132e-02 3.26868478e+02] [-8.08951688e-04 9.99999438e-01 -6.85819349e-04 -1.47025757e+01] [-1.36777667e-02 6.74690765e-04 9.99906227e-01 -5.84720691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214391418 meters 0.03377158552463949 Centerline is valid? [True, True] Translation: X:326.90, Y:-14.70, Z:-5.85 [[ 9.99910673e-01 1.22521298e-03 1.33096150e-02 3.26900784e+02] [-1.21642897e-03 9.99999037e-01 -6.68050667e-04 -1.47039527e+01] [-1.33104207e-02 6.51800790e-04 9.99911200e-01 -5.84812810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244391418 meters 0.03414758310557111 Centerline is valid? [True, True] Translation: X:326.93, Y:-14.71, Z:-5.85 [[ 9.99911416e-01 1.75532164e-03 1.31939182e-02 3.26932043e+02] [-1.74673330e-03 9.99998255e-01 -6.62427101e-04 -1.47057533e+01] [-1.31950580e-02 6.39322164e-04 9.99912737e-01 -5.84906264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274391418 meters 0.03375268127913157 Centerline is valid? [True, True] Translation: X:326.96, Y:-14.71, Z:-5.85 [[ 9.99908355e-01 2.55516974e-03 1.32948408e-02 3.26963954e+02] [-2.54646513e-03 9.99996532e-01 -6.71623224e-04 -1.47056786e+01] [-1.32965108e-02 6.37706824e-04 9.99911394e-01 -5.84962200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.304391418 meters 0.03487353310719668 Centerline is valid? [True, True] Translation: X:327.00, Y:-14.71, Z:-5.85 [[ 9.99902445e-01 2.90786733e-03 1.36618079e-02 3.26995258e+02] [-2.89869794e-03 9.99995560e-01 -6.90923042e-04 -1.47081164e+01] [-1.36637564e-02 6.51254184e-04 9.99906434e-01 -5.84994504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334391418 meters 0.030955808203886066 Centerline is valid? [True, True] Translation: X:327.03, Y:-14.70, Z:-5.85 [[ 9.99902510e-01 3.46353248e-03 1.35268223e-02 3.27027652e+02] [-3.45457496e-03 9.99993798e-01 -6.85514421e-04 -1.47039681e+01] [-1.35291127e-02 6.38718168e-04 9.99908273e-01 -5.85006834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.364391418 meters 0.031083720524130828 Centerline is valid? [True, True] Translation: X:327.06, Y:-14.70, Z:-5.85 [[ 9.99901832e-01 4.70599687e-03 1.31977467e-02 3.27058944e+02] [-4.69752981e-03 9.99988740e-01 -6.72479743e-04 -1.47042980e+01] [-1.32007628e-02 6.10416918e-04 9.99912680e-01 -5.85081561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394391418 meters 0.029830618276101603 Centerline is valid? [True, True] Translation: X:327.09, Y:-14.70, Z:-5.85 [[ 9.99902852e-01 5.27616455e-03 1.29015106e-02 3.27091326e+02] [-5.26808109e-03 9.99985905e-01 -6.60455826e-04 -1.47034476e+01] [-1.29048134e-02 5.92425460e-04 9.99916554e-01 -5.85112557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.424391418 meters 0.030373244860374245 Centerline is valid? [True, True] Translation: X:327.12, Y:-14.70, Z:-5.85 [[ 9.99901350e-01 5.60181127e-03 1.28805742e-02 3.27124335e+02] [-5.59373733e-03 9.99984135e-01 -6.62772404e-04 -1.47049425e+01] [-1.28840826e-02 5.90656473e-04 9.99916822e-01 -5.85192034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454391418 meters 0.029301291285913265 Centerline is valid? [True, True] Translation: X:327.16, Y:-14.70, Z:-5.85 [[ 9.99894205e-01 6.15853009e-03 1.31777028e-02 3.27156372e+02] [-6.15006870e-03 9.99980855e-01 -6.82526884e-04 -1.47045429e+01] [-1.31816539e-02 6.01410898e-04 9.99912937e-01 -5.85217359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters 0.03031928194107496 Centerline is valid? [True, True] Translation: X:327.19, Y:-14.71, Z:-5.85 [[ 9.99883867e-01 7.86841997e-03 1.30514824e-02 3.27187399e+02] [-7.86021658e-03 9.99968877e-01 -6.79718528e-04 -1.47074253e+01] [-1.30564245e-02 5.77052112e-04 9.99914595e-01 -5.85316438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514391418 meters 0.027756352299946618 Centerline is valid? [True, True] Translation: X:327.22, Y:-14.71, Z:-5.85 [[ 9.99874298e-01 8.80588683e-03 1.31850279e-02 3.27219914e+02] [-8.79755189e-03 9.99961063e-01 -6.90019557e-04 -1.47056022e+01] [-1.31905907e-02 5.73936853e-04 9.99912836e-01 -5.85318970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters 0.028389632813159562 Centerline is valid? [True, True] Translation: X:327.25, Y:-14.71, Z:-5.85 [[ 9.99859926e-01 9.86897415e-03 1.35178349e-02 3.27251416e+02] [-9.86025528e-03 9.99951133e-01 -7.11488014e-04 -1.47079095e+01] [-1.35241960e-02 5.78099050e-04 9.99908377e-01 -5.85407103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574391418 meters 0.02696798101202968 Centerline is valid? [True, True] Translation: X:327.28, Y:-14.71, Z:-5.85 [[ 9.99843938e-01 1.15209997e-02 1.33927522e-02 3.27283588e+02] [-1.15125445e-02 9.99933478e-01 -7.08249033e-04 -1.47073467e+01] [-1.34000211e-02 5.53953846e-04 9.99910062e-01 -5.85373070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters 0.026528180438720624 Centerline is valid? [True, True] Translation: X:327.32, Y:-14.71, Z:-5.85 [[ 9.99838241e-01 1.20589927e-02 1.33443943e-02 3.27315664e+02] [-1.20505967e-02 9.99927137e-01 -7.09412568e-04 -1.47079173e+01] [-1.33519768e-02 5.48489901e-04 9.99910708e-01 -5.85368824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634391418 meters 0.027099900943169192 Centerline is valid? [True, True] Translation: X:327.35, Y:-14.71, Z:-5.85 [[ 9.99824291e-01 1.28252061e-02 1.36711668e-02 3.27346667e+02] [-1.28164095e-02 9.99917599e-01 -7.30863260e-04 -1.47101690e+01] [-1.36794138e-02 5.55519569e-04 9.99906278e-01 -5.85434023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters 0.028007877488009855 Centerline is valid? [True, True] Translation: X:327.38, Y:-14.71, Z:-5.86 [[ 9.99834962e-01 1.29568331e-02 1.27346060e-02 3.27378532e+02] [-1.29491756e-02 9.99915922e-01 -6.83592491e-04 -1.47136693e+01] [-1.27423925e-02 5.18577023e-04 9.99918678e-01 -5.85616507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694391418 meters 0.02841104915197679 Centerline is valid? [True, True] Translation: X:327.41, Y:-14.72, Z:-5.86 [[ 9.99834548e-01 1.26310249e-02 1.30894739e-02 3.27410847e+02] [-1.26228527e-02 9.99920079e-01 -7.06770470e-04 -1.47164433e+01] [-1.30973550e-02 5.41427033e-04 9.99914079e-01 -5.85714993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters 0.02881114259301194 Centerline is valid? [True, True] Translation: X:327.44, Y:-14.72, Z:-5.86 [[ 9.99844358e-01 1.21267532e-02 1.28141039e-02 3.27443381e+02] [-1.21188363e-02 9.99926322e-01 -6.95293688e-04 -1.47197860e+01] [-1.28215914e-02 5.39893444e-04 9.99917654e-01 -5.85773841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754391418 meters 0.02901219444613669 Centerline is valid? [True, True] Translation: X:327.48, Y:-14.72, Z:-5.86 [[ 9.99846714e-01 1.17030651e-02 1.30225285e-02 3.27475794e+02] [-1.16948054e-02 9.99931361e-01 -7.10232619e-04 -1.47221882e+01] [-1.30299466e-02 5.57827813e-04 9.99914951e-01 -5.85819836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters 0.02901219444613669 Centerline is valid? [True, True] Translation: X:327.51, Y:-14.72, Z:-5.86 [[ 9.99843482e-01 1.19762772e-02 1.30223334e-02 3.27507539e+02] [-1.19679944e-02 9.99928126e-01 -7.13788288e-04 -1.47240422e+01] [-1.30299460e-02 5.57825354e-04 9.99914951e-01 -5.85877001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814391418 meters 0.02994433442304899 Centerline is valid? [True, True] Translation: X:327.54, Y:-14.73, Z:-5.86 [[ 9.99844719e-01 1.20071365e-02 1.28983246e-02 3.27539683e+02] [-1.19989694e-02 9.99927757e-01 -7.10388876e-04 -1.47277310e+01] [-1.29059225e-02 5.55511965e-04 9.99916561e-01 -5.85908755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters 0.030511559451652074 Centerline is valid? [True, True] Translation: X:327.57, Y:-14.73, Z:-5.86 [[ 9.99840802e-01 1.22797343e-02 1.29452053e-02 3.27571623e+02] [-1.22714811e-02 9.99924446e-01 -7.16790997e-04 -1.47306846e+01] [-1.29530292e-02 5.57820044e-04 9.99915950e-01 -5.85960653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874391418 meters 0.030310685481208514 Centerline is valid? [True, True] Translation: X:327.60, Y:-14.73, Z:-5.86 [[ 9.99836008e-01 1.17189450e-02 1.38066105e-02 3.27603817e+02] [-1.17094430e-02 9.99931147e-01 -7.68861076e-04 -1.47329162e+01] [-1.38146701e-02 6.07067270e-04 9.99904389e-01 -5.85887895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters 0.03232082899900346 Centerline is valid? [True, True] Translation: X:327.63, Y:-14.74, Z:-5.86 [[ 9.99839445e-01 1.14334187e-02 1.37971153e-02 3.27634400e+02] [-1.14238499e-02 9.99934448e-01 -7.72153586e-04 -1.47378773e+01] [-1.38050392e-02 6.14413439e-04 9.99904517e-01 -5.85939580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934391418 meters 0.03283461095223943 Centerline is valid? [True, True] Translation: X:327.67, Y:-14.74, Z:-5.86 [[ 9.99836727e-01 1.12550224e-02 1.41366109e-02 3.27666683e+02] [-1.12449083e-02 9.99936458e-01 -7.94742117e-04 -1.47413178e+01] [-1.41446575e-02 6.35647465e-04 9.99899757e-01 -5.85987400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964391418 meters 0.02900479103715764 Centerline is valid? [True, True] Translation: X:327.70, Y:-14.74, Z:-5.86 [[ 9.99830006e-01 1.07483575e-02 1.49810266e-02 3.27699360e+02] [-1.07368800e-02 9.99942000e-01 -8.46357361e-04 -1.47397028e+01] [-1.49892546e-02 6.85364001e-04 9.99887420e-01 -5.85935979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994391418 meters 0.030297353827214244 Centerline is valid? [True, True] Translation: X:327.73, Y:-14.74, Z:-5.86 [[ 9.99836938e-01 1.01558676e-02 1.49317193e-02 3.27730154e+02] [-1.01443358e-02 9.99948185e-01 -8.47843812e-04 -1.47441271e+01] [-1.49395562e-02 6.96233187e-04 9.99888156e-01 -5.85960894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024391418 meters 0.0316539658669742 Centerline is valid? [True, True] Translation: X:327.76, Y:-14.75, Z:-5.86 [[ 9.99865166e-01 8.07939661e-03 1.42958837e-02 3.27762085e+02] [-8.06855443e-03 9.99967116e-01 -8.15927687e-04 -1.47495323e+01] [-1.43020058e-02 7.00470557e-04 9.99897476e-01 -5.86041524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.054391418 meters 0.032765532344161116 Centerline is valid? [True, True] Translation: X:327.79, Y:-14.75, Z:-5.86 [[ 9.99874969e-01 7.42607132e-03 1.39606562e-02 3.27792920e+02] [-7.41565729e-03 9.99972186e-01 -7.97574331e-04 -1.47538995e+01] [-1.39661908e-02 6.93947168e-04 9.99902227e-01 -5.86143692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084391418 meters 0.03189002914119723 Centerline is valid? [True, True] Translation: X:327.83, Y:-14.76, Z:-5.86 [[ 9.99885396e-01 6.80803282e-03 1.35220516e-02 3.27825084e+02] [-6.79818740e-03 9.99976593e-01 -7.73932857e-04 -1.47555170e+01] [-1.35270041e-02 6.81918720e-04 9.99908273e-01 -5.86233928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.114391418 meters 0.03342458039412361 Centerline is valid? [True, True] Translation: X:327.86, Y:-14.76, Z:-5.86 [[ 9.99889223e-01 6.77374153e-03 1.32536355e-02 3.27855638e+02] [-6.76423071e-03 9.99976832e-01 -7.62297246e-04 -1.47610408e+01] [-1.32584920e-02 6.72562152e-04 9.99911876e-01 -5.86279700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144391418 meters 0.031136212987796983 Centerline is valid? [True, True] Translation: X:327.89, Y:-14.76, Z:-5.86 [[ 9.99883277e-01 7.11669878e-03 1.35197790e-02 3.27888525e+02] [-7.10678891e-03 9.99974442e-01 -7.80893534e-04 -1.47608034e+01] [-1.35249909e-02 6.84720170e-04 9.99908299e-01 -5.86311222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.174391418 meters 0.033344005852413476 Centerline is valid? [True, True] Translation: X:327.92, Y:-14.77, Z:-5.86 [[ 9.99880546e-01 7.64314086e-03 1.34341227e-02 3.27919838e+02] [-7.63334129e-03 9.99970561e-01 -7.80578800e-04 -1.47661968e+01] [-1.34396933e-02 6.77938314e-04 9.99909453e-01 -5.86392840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204391418 meters 0.03485648054712906 Centerline is valid? [True, True] Translation: X:327.95, Y:-14.77, Z:-5.86 [[ 9.99879671e-01 8.49672436e-03 1.29787981e-02 3.27950686e+02] [-8.48760691e-03 9.99963693e-01 -7.57409444e-04 -1.47706812e+01] [-1.29847623e-02 6.47159370e-04 9.99915485e-01 -5.86461059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234391418 meters 0.030211133268536673 Centerline is valid? [True, True] Translation: X:327.98, Y:-14.77, Z:-5.86 [[ 9.99870038e-01 1.03627382e-02 1.23499286e-02 3.27983296e+02] [-1.03545911e-02 9.99946128e-01 -7.23446423e-04 -1.47668619e+01] [-1.23567602e-02 5.95473942e-04 9.99923475e-01 -5.86456089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264391418 meters 0.030420378273017225 Centerline is valid? [True, True] Translation: X:328.01, Y:-14.77, Z:-5.87 [[ 9.99854621e-01 1.16574405e-02 1.24435447e-02 3.28014292e+02] [-1.16492236e-02 9.99931877e-01 -7.32617616e-04 -1.47691907e+01] [-1.24512374e-02 5.87553475e-04 9.99922308e-01 -5.86500139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294391418 meters 0.029953266664278087 Centerline is valid? [True, True] Translation: X:328.05, Y:-14.77, Z:-5.87 [[ 9.99833264e-01 1.32470277e-02 1.25681999e-02 3.28046484e+02] [-1.32387300e-02 9.99912088e-01 -7.43179261e-04 -1.47708177e+01] [-1.25769399e-02 5.76668341e-04 9.99920741e-01 -5.86541814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324391418 meters 0.028945686222376702 Centerline is valid? [True, True] Translation: X:328.08, Y:-14.77, Z:-5.87 [[ 9.99782701e-01 1.65022884e-02 1.27367323e-02 3.28077499e+02] [-1.64939684e-02 9.99863678e-01 -7.58002326e-04 -1.47722058e+01] [-1.27475048e-02 5.47758354e-04 9.99918597e-01 -5.86583299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354391418 meters 0.02792063461407249 Centerline is valid? [True, True] Translation: X:328.11, Y:-14.77, Z:-5.87 [[ 9.99742821e-01 1.85551866e-02 1.30382543e-02 3.28108185e+02] [-1.85466328e-02 9.99827695e-01 -7.76676199e-04 -1.47731615e+01] [-1.30504191e-02 5.34660740e-04 9.99914697e-01 -5.86611428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384391418 meters 0.02665263392060615 Centerline is valid? [True, True] Translation: X:328.14, Y:-14.77, Z:-5.87 [[ 9.99699013e-01 2.07200810e-02 1.31362728e-02 3.28138997e+02] [-2.07115846e-02 9.99785186e-01 -7.82515066e-04 -1.47736587e+01] [-1.31496647e-02 5.10206515e-04 9.99913409e-01 -5.86625081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414391418 meters 0.02265704174858498 Centerline is valid? [True, True] Translation: X:328.17, Y:-14.77, Z:-5.87 [[ 9.99585334e-01 2.55605101e-02 1.32597230e-02 3.28168951e+02] [-2.55522760e-02 9.99673175e-01 -7.90060918e-04 -1.47693167e+01] [-1.32755837e-02 4.50917205e-04 9.99911774e-01 -5.86641890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444391418 meters 0.021703188087434842 Centerline is valid? [True, True] Translation: X:328.20, Y:-14.77, Z:-5.87 [[ 9.99518619e-01 2.81880699e-02 1.29600916e-02 3.28198286e+02] [-2.81804296e-02 9.99602555e-01 -7.71797599e-04 -1.47694398e+01] [-1.29766961e-02 4.06205122e-04 9.99915717e-01 -5.86685645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474391418 meters 0.02075963421855451 Centerline is valid? [True, True] Translation: X:328.23, Y:-14.77, Z:-5.87 [[ 9.99449225e-01 3.07866389e-02 1.23866394e-02 3.28225880e+02] [-3.07798652e-02 9.99525916e-01 -7.37170128e-04 -1.47693070e+01] [-1.24034621e-02 3.55505023e-04 9.99923011e-01 -5.86810406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504391418 meters 0.01873553029072583 Centerline is valid? [True, True] Translation: X:328.25, Y:-14.77, Z:-5.87 [[ 9.99309395e-01 3.53371432e-02 1.14899571e-02 3.28254838e+02] [-3.53316284e-02 9.99375410e-01 -6.82661138e-04 -1.47677099e+01] [-1.15069039e-02 2.76230794e-04 9.99933755e-01 -5.86928791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534391418 meters 0.017800700702803447 Centerline is valid? [True, True] Translation: X:328.28, Y:-14.77, Z:-5.87 [[ 9.99225007e-01 3.75410826e-02 1.18344018e-02 3.28283325e+02] [-3.75353984e-02 9.99295052e-01 -7.02140202e-04 -1.47678280e+01] [-1.18524182e-02 2.57387063e-04 9.99929724e-01 -5.86947022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564391418 meters 0.01753728628367475 Centerline is valid? [True, True] Translation: X:328.31, Y:-14.77, Z:-5.87 [[ 9.99162793e-01 3.91757547e-02 1.17886720e-02 3.28311086e+02] [-3.91702376e-02 9.99232308e-01 -6.98614147e-04 -1.47684815e+01] [-1.18069907e-02 2.36264179e-04 9.99930267e-01 -5.87000822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594391418 meters 0.015658203074146563 Centerline is valid? [True, True] Translation: X:328.34, Y:-14.77, Z:-5.87 [[ 9.99027527e-01 4.25564902e-02 1.15301623e-02 3.28340031e+02] [-4.25514514e-02 9.99094044e-01 -6.82087229e-04 -1.47664283e+01] [-1.15487437e-02 1.90798777e-04 9.99933293e-01 -5.86914683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624391418 meters 0.015261195316685761 Centerline is valid? [True, True] Translation: X:328.37, Y:-14.77, Z:-5.87 [[ 9.98961730e-01 4.40022439e-02 1.18010153e-02 3.28369121e+02] [-4.39970782e-02 9.99031417e-01 -6.97117084e-04 -1.47670347e+01] [-1.18202598e-02 1.77183095e-04 9.99930123e-01 -5.86898013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654391418 meters 0.014935912775491524 Centerline is valid? [True, True] Translation: X:328.40, Y:-14.77, Z:-5.87 [[ 9.98904623e-01 4.52478397e-02 1.19242377e-02 3.28398190e+02] [-4.52426660e-02 9.98975779e-01 -7.03416038e-04 -1.47674892e+01] [-1.19438527e-02 1.63161230e-04 9.99928656e-01 -5.86851832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684391418 meters 0.014551383256738297 Centerline is valid? [True, True] Translation: X:328.43, Y:-14.77, Z:-5.87 [[ 9.98853953e-01 4.63254221e-02 1.20305895e-02 3.28427292e+02] [-4.63202456e-02 9.98926390e-01 -7.08709527e-04 -1.47675933e+01] [-1.20505046e-02 1.50637451e-04 9.99927379e-01 -5.86764262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714391418 meters 0.014420490294714289 Centerline is valid? [True, True] Translation: X:328.46, Y:-14.77, Z:-5.87 [[ 9.98757824e-01 4.81191123e-02 1.29367761e-02 3.28455580e+02] [-4.81132907e-02 9.98841595e-01 -7.61034290e-04 -1.47675270e+01] [-1.29584103e-02 1.37658084e-04 9.99916027e-01 -5.86655527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744391418 meters 0.014105207376703077 Centerline is valid? [True, True] Translation: X:328.48, Y:-14.77, Z:-5.87 [[ 9.98736347e-01 4.84801876e-02 1.32431342e-02 3.28484803e+02] [-4.84741380e-02 9.98824135e-01 -7.77599967e-04 -1.47685892e+01] [-1.32652603e-02 1.34667833e-04 9.99912003e-01 -5.86609795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774391418 meters 0.014216875381298526 Centerline is valid? [True, True] Translation: X:328.51, Y:-14.77, Z:-5.87 [[ 9.98764458e-01 4.78899695e-02 1.32706140e-02 3.28512592e+02] [-4.78838560e-02 9.98852607e-01 -7.78220195e-04 -1.47714088e+01] [-1.32926563e-02 1.41810502e-04 9.99911639e-01 -5.86549533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.804391418 meters 0.014749619150992507 Centerline is valid? [True, True] Translation: X:328.54, Y:-14.77, Z:-5.87 [[ 9.98829768e-01 4.64553753e-02 1.34533296e-02 3.28540695e+02] [-4.64489809e-02 9.98920353e-01 -7.87544197e-04 -1.47745626e+01] [-1.34753904e-02 1.61729137e-04 9.99909190e-01 -5.86598829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834391418 meters 0.01485563487906133 Centerline is valid? [True, True] Translation: X:328.57, Y:-14.78, Z:-5.87 [[ 9.98898081e-01 4.50485153e-02 1.31626410e-02 3.28569599e+02] [-4.50422902e-02 9.98984785e-01 -7.69159040e-04 -1.47774808e+01] [-1.31839275e-02 1.75435994e-04 9.99913073e-01 -5.86626808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.864391418 meters 0.015694069153083433 Centerline is valid? [True, True] Translation: X:328.60, Y:-14.78, Z:-5.87 [[ 9.98996310e-01 4.30047114e-02 1.25286554e-02 3.28597551e+02] [-4.29989214e-02 9.99074851e-01 -7.31271123e-04 -1.47817160e+01] [-1.25485126e-02 1.91818486e-04 9.99921246e-01 -5.86719484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894391418 meters 0.017378644820412084 Centerline is valid? [True, True] Translation: X:328.63, Y:-14.79, Z:-5.87 [[ 9.99198871e-01 3.82540091e-02 1.17578406e-02 3.28626023e+02] [-3.82485950e-02 9.99268020e-01 -6.85070718e-04 -1.47887664e+01] [-1.17754408e-02 2.34801003e-04 9.99930640e-01 -5.86920800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.924391418 meters 0.018777647234125373 Centerline is valid? [True, True] Translation: X:328.65, Y:-14.79, Z:-5.87 [[ 9.99310079e-01 3.55215864e-02 1.08435756e-02 3.28653908e+02] [-3.55168274e-02 9.99368879e-01 -6.31195898e-04 -1.47939069e+01] [-1.08591531e-02 2.45631018e-04 9.99941007e-01 -5.87101307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954391418 meters 0.01906445774373613 Centerline is valid? [True, True] Translation: X:328.68, Y:-14.80, Z:-5.87 [[ 9.99457645e-01 3.13885172e-02 9.95880742e-03 3.28683412e+02] [-3.13843108e-02 9.99507224e-01 -5.78415537e-04 -1.47990922e+01] [-9.97205557e-03 2.65551523e-04 9.99950243e-01 -5.87386976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters 0.02095586510379305 Centerline is valid? [True, True] Translation: X:328.71, Y:-14.80, Z:-5.88 [[ 9.99511465e-01 2.97247214e-02 9.65772234e-03 3.28710577e+02] [-2.97206857e-02 9.99558085e-01 -5.61154676e-04 -1.48048751e+01] [-9.67013462e-03 2.73846402e-04 9.99953206e-01 -5.87630036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014391418 meters 0.021636305198898583 Centerline is valid? [True, True] Translation: X:328.74, Y:-14.81, Z:-5.88 [[ 9.99538033e-01 2.89015360e-02 9.40327680e-03 3.28739155e+02] [-2.88976861e-02 9.99582226e-01 -5.45065116e-04 -1.48087777e+01] [-9.41510158e-03 2.73080373e-04 9.99955640e-01 -5.87854482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters 0.020099591402852567 Centerline is valid? [True, True] Translation: X:328.77, Y:-14.81, Z:-5.88 [[ 9.99543294e-01 2.86855393e-02 9.50493252e-03 3.28768370e+02] [-2.86816028e-02 9.99588447e-01 -5.50237069e-04 -1.48094061e+01] [-9.51680459e-03 2.77369072e-04 9.99954676e-01 -5.88014640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074391418 meters 0.020400634004663708 Centerline is valid? [True, True] Translation: X:328.80, Y:-14.81, Z:-5.88 [[ 9.99530203e-01 2.90754017e-02 9.69503604e-03 3.28796525e+02] [-2.90713309e-02 9.99577182e-01 -5.60579857e-04 -1.48111508e+01] [-9.70723589e-03 2.78468898e-04 9.99952845e-01 -5.88136511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters 0.020125871703231952 Centerline is valid? [True, True] Translation: X:328.82, Y:-14.81, Z:-5.88 [[ 9.99494546e-01 3.02613049e-02 9.74199831e-03 3.28824301e+02] [-3.02572607e-02 9.99541986e-01 -5.62281707e-04 -1.48121840e+01] [-9.75455172e-03 2.67231316e-04 9.99952388e-01 -5.88222713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134391418 meters 0.019706891902675258 Centerline is valid? [True, True] Translation: X:328.85, Y:-14.81, Z:-5.88 [[ 9.99451000e-01 3.15540137e-02 1.01016611e-02 3.28851863e+02] [-3.15497424e-02 9.99502014e-01 -5.81955902e-04 -1.48131338e+01] [-1.01149936e-02 2.62931603e-04 9.99948808e-01 -5.88310342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters 0.01873562886474739 Centerline is valid? [True, True] Translation: X:328.88, Y:-14.81, Z:-5.88 [[ 9.99356231e-01 3.40496461e-02 1.13024619e-02 3.28880570e+02] [-3.40444748e-02 9.99420108e-01 -6.49673175e-04 -1.48134039e+01] [-1.13180288e-02 2.64468555e-04 9.99935914e-01 -5.88422672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194391418 meters 0.01817653151801305 Centerline is valid? [True, True] Translation: X:328.91, Y:-14.81, Z:-5.88 [[ 9.99307633e-01 3.52478085e-02 1.19099350e-02 3.28909109e+02] [-3.52421636e-02 9.99378568e-01 -6.83574621e-04 -1.48144312e+01] [-1.19266283e-02 2.63369459e-04 9.99928841e-01 -5.88463804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters 0.017068735003613597 Centerline is valid? [True, True] Translation: X:328.94, Y:-14.81, Z:-5.88 [[ 9.99232804e-01 3.69532603e-02 1.29714791e-02 3.28938474e+02] [-3.69467239e-02 9.99316960e-01 -7.43265030e-04 -1.48138473e+01] [-1.29900851e-02 2.63441145e-04 9.99915591e-01 -5.88458605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254391418 meters 0.016975184456165637 Centerline is valid? [True, True] Translation: X:328.97, Y:-14.82, Z:-5.88 [[ 9.99205861e-01 3.75162975e-02 1.34229094e-02 3.28967058e+02] [-3.75093592e-02 9.99295981e-01 -7.68372769e-04 -1.48150125e+01] [-1.34422859e-02 2.64277844e-04 9.99909613e-01 -5.88482754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters 0.0166487780103436 Centerline is valid? [True, True] Translation: X:329.00, Y:-14.82, Z:-5.88 [[ 9.99183241e-01 3.79492902e-02 1.38817036e-02 3.28996255e+02] [-3.79419272e-02 9.99279631e-01 -7.93479818e-04 -1.48158215e+01] [-1.39018156e-02 2.66133150e-04 9.99903330e-01 -5.88471142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314391418 meters 0.016713569647457103 Centerline is valid? [True, True] Translation: X:329.02, Y:-14.82, Z:-5.88 [[ 9.99173413e-01 3.80652941e-02 1.42662182e-02 3.29023834e+02] [-3.80575453e-02 9.99275217e-01 -8.14343970e-04 -1.48169222e+01] [-1.42868765e-02 2.70733599e-04 9.99897901e-01 -5.88405833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters 0.016912219585341243 Centerline is valid? [True, True] Translation: X:329.05, Y:-14.82, Z:-5.88 [[ 9.99188412e-01 3.77354871e-02 1.40907720e-02 3.29052416e+02] [-3.77279156e-02 9.99287726e-01 -8.02868178e-04 -1.48184034e+01] [-1.41110321e-02 2.70601124e-04 9.99900398e-01 -5.88422203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374391418 meters 0.017389624648227707 Centerline is valid? [True, True] Translation: X:329.08, Y:-14.82, Z:-5.88 [[ 9.99211076e-01 3.70079344e-02 1.44096677e-02 3.29079856e+02] [-3.69999566e-02 9.99314931e-01 -8.19932899e-04 -1.48207324e+01] [-1.44301401e-02 2.86128955e-04 9.99895839e-01 -5.88389915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters 0.017547966743720108 Centerline is valid? [True, True] Translation: X:329.11, Y:-14.82, Z:-5.88 [[ 9.99231996e-01 3.64937257e-02 1.42697317e-02 3.29108336e+02] [-3.64858706e-02 9.99333840e-01 -8.10511271e-04 -1.48226760e+01] [-1.42898043e-02 2.89245212e-04 9.99897854e-01 -5.88394706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434391418 meters 0.018720711680347373 Centerline is valid? [True, True] Translation: X:329.14, Y:-14.83, Z:-5.88 [[ 9.99294321e-01 3.48148209e-02 1.40992205e-02 3.29136169e+02] [-3.48069995e-02 9.99393733e-01 -7.99820722e-04 -1.48253586e+01] [-1.41185183e-02 3.08504743e-04 9.99900281e-01 -5.88347927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464391418 meters 0.018093697399283085 Centerline is valid? [True, True] Translation: X:329.17, Y:-14.83, Z:-5.88 [[ 9.99335504e-01 3.38991741e-02 1.33938638e-02 3.29165150e+02] [-3.38920507e-02 9.99425212e-01 -7.58530551e-04 -1.48255449e+01] [-1.34118787e-02 3.04081000e-04 9.99910010e-01 -5.88328587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494391418 meters 0.018177859253150314 Centerline is valid? [True, True] Translation: X:329.19, Y:-14.83, Z:-5.88 [[ 9.99383312e-01 3.26826312e-02 1.28390779e-02 3.29193517e+02] [-3.26759977e-02 9.99465733e-01 -7.26156646e-04 -1.48265069e+01] [-1.28559511e-02 3.06179154e-04 9.99917312e-01 -5.88357009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524391418 meters 0.01945111901960742 Centerline is valid? [True, True] Translation: X:329.22, Y:-14.83, Z:-5.88 [[ 9.99431573e-01 3.13648929e-02 1.23602148e-02 3.29221049e+02] [-3.13586542e-02 9.99507953e-01 -6.98273875e-04 -1.48297687e+01] [-1.23760343e-02 3.10277255e-04 9.99923366e-01 -5.88418039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.554391418 meters 0.019977417090802363 Centerline is valid? [True, True] Translation: X:329.25, Y:-14.83, Z:-5.89 [[ 9.99535556e-01 2.84627198e-02 1.08878540e-02 3.29250087e+02] [-2.84577194e-02 9.99594809e-01 -6.13946933e-04 -1.48320125e+01] [-1.09009170e-02 3.03818294e-04 9.99940537e-01 -5.88523757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584391418 meters 0.019886550041559578 Centerline is valid? [True, True] Translation: X:329.28, Y:-14.83, Z:-5.89 [[ 9.99574931e-01 2.73302461e-02 1.01496699e-02 3.29279186e+02] [-2.73258496e-02 9.99626416e-01 -5.71613478e-04 -1.48334865e+01] [-1.01615005e-02 2.94022148e-04 9.99948327e-01 -5.88598994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.614391418 meters 0.02126128532508102 Centerline is valid? [True, True] Translation: X:329.31, Y:-14.84, Z:-5.89 [[ 9.99616270e-01 2.59611827e-02 9.66069743e-03 3.29306656e+02] [-2.59571412e-02 9.99662909e-01 -5.43517524e-04 -1.48366358e+01] [-9.67155125e-03 2.92544873e-04 9.99953187e-01 -5.88728183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644391418 meters 0.021966350355468768 Centerline is valid? [True, True] Translation: X:329.34, Y:-14.84, Z:-5.89 [[ 9.99671339e-01 2.41826811e-02 8.50948473e-03 3.29335452e+02] [-2.41794883e-02 9.99707519e-01 -4.77900255e-04 -1.48378864e+01] [-8.51855277e-03 2.71988202e-04 9.99963679e-01 -5.88875661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.674391418 meters 0.022455476168763318 Centerline is valid? [True, True] Translation: X:329.36, Y:-14.84, Z:-5.89 [[ 9.99693103e-01 2.35593379e-02 7.65877531e-03 3.29364512e+02] [-2.35567369e-02 9.99722409e-01 -4.29647278e-04 -1.48393221e+01] [-7.66677151e-03 2.49099665e-04 9.99970579e-01 -5.88996447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704391418 meters 0.022455476168763318 Centerline is valid? [True, True] Translation: X:329.39, Y:-14.84, Z:-5.89 [[ 9.99694971e-01 2.34799428e-02 7.65880943e-03 3.29392787e+02] [-2.34773442e-02 9.99724277e-01 -4.29037697e-04 -1.48408256e+01] [-7.66677150e-03 2.49098323e-04 9.99970579e-01 -5.89047544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734391418 meters 0.0239529624321733 Centerline is valid? [True, True] Translation: X:329.42, Y:-14.84, Z:-5.89 [[ 9.99712872e-01 2.28504117e-02 7.21334863e-03 3.29420331e+02] [-2.28480922e-02 9.99738867e-01 -4.03797900e-04 -1.48434716e+01] [-7.22069193e-03 2.38870703e-04 9.99973902e-01 -5.89178905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764391418 meters 0.023521751030041647 Centerline is valid? [True, True] Translation: X:329.45, Y:-14.84, Z:-5.89 [[ 9.99728865e-01 2.22926867e-02 6.72545103e-03 3.29449187e+02] [-2.22906631e-02 9.99751462e-01 -3.75712081e-04 -1.48423665e+01] [-6.73215513e-03 2.25695449e-04 9.99977313e-01 -5.89222304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794391418 meters 0.022358748164937246 Centerline is valid? [True, True] Translation: X:329.48, Y:-14.84, Z:-5.89 [[ 9.99728631e-01 2.23173904e-02 6.67821325e-03 3.29478276e+02] [-2.23153989e-02 9.99750911e-01 -3.72583894e-04 -1.48417708e+01] [-6.68486488e-03 2.23455794e-04 9.99977631e-01 -5.89242980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824391418 meters 0.022258401642627997 Centerline is valid? [True, True] Translation: X:329.51, Y:-14.84, Z:-5.89 [[ 9.99737290e-01 2.18344138e-02 6.97206327e-03 3.29507209e+02] [-2.18322358e-02 9.99761573e-01 -3.88361004e-04 -1.48417145e+01] [-6.97888058e-03 2.36043248e-04 9.99975619e-01 -5.89310999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854391418 meters 0.02233903663000217 Centerline is valid? [True, True] Translation: X:329.54, Y:-14.84, Z:-5.89 [[ 9.99736237e-01 2.18058344e-02 7.20845499e-03 3.29535788e+02] [-2.18035101e-02 9.99762195e-01 -4.00888598e-04 -1.48428842e+01] [-7.21548249e-03 2.43613238e-04 9.99973938e-01 -5.89344853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884391418 meters 0.022876936969589354 Centerline is valid? [True, True] Translation: X:329.56, Y:-14.84, Z:-5.89 [[ 9.99739211e-01 2.14368936e-02 7.87203079e-03 3.29563626e+02] [-2.14341147e-02 9.99770167e-01 -4.37218897e-04 -1.48441503e+01] [-7.87959415e-03 2.68374865e-04 9.99968920e-01 -5.89371562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914391418 meters 0.022577019423138923 Centerline is valid? [True, True] Translation: X:329.59, Y:-14.84, Z:-5.89 [[ 9.99733967e-01 2.14867997e-02 8.38524840e-03 3.29592929e+02] [-2.14836580e-02 9.99769092e-01 -4.64577535e-04 -1.48444546e+01] [-8.39329446e-03 2.84308133e-04 9.99964735e-01 -5.89371911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944391418 meters 0.02168317430334109 Centerline is valid? [True, True] Translation: X:329.62, Y:-14.84, Z:-5.89 [[ 9.99705603e-01 2.25586676e-02 8.93382686e-03 3.29622375e+02] [-2.25551529e-02 9.99745478e-01 -4.93985182e-04 -1.48426176e+01] [-8.94269665e-03 2.92335923e-04 9.99959971e-01 -5.89310380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974391418 meters 0.022301245331783053 Centerline is valid? [True, True] Translation: X:329.65, Y:-14.84, Z:-5.89 [[ 9.99679981e-01 2.34504293e-02 9.48749894e-03 3.29649888e+02] [-2.34465084e-02 9.99724955e-01 -5.24293013e-04 -1.48436366e+01] [-9.49718435e-03 3.01676505e-04 9.99954855e-01 -5.89307312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004391418 meters 0.02187266423870986 Centerline is valid? [True, True] Translation: X:329.68, Y:-14.84, Z:-5.89 [[ 9.99643751e-01 2.47220551e-02 1.00593555e-02 3.29679318e+02] [-2.47177219e-02 9.99694316e-01 -5.54880652e-04 -1.48430340e+01] [-1.00699983e-02 3.06038625e-04 9.99949249e-01 -5.89279912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034391418 meters 0.02018163622539102 Centerline is valid? [True, True] Translation: X:329.71, Y:-14.84, Z:-5.89 [[ 9.99594673e-01 2.65019723e-02 1.03988155e-02 3.29708569e+02] [-2.64974535e-02 9.99648717e-01 -5.72103111e-04 -1.48405749e+01] [-1.04103245e-02 2.96329091e-04 9.99945767e-01 -5.89242977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064391418 meters 0.018384230227903926 Centerline is valid? [True, True] Translation: X:329.74, Y:-14.84, Z:-5.89 [[ 9.99478704e-01 3.04326114e-02 1.07785322e-02 3.29738133e+02] [-3.04279963e-02 9.99536786e-01 -5.91941556e-04 -1.48366176e+01] [-1.07915538e-02 2.63663841e-04 9.99941735e-01 -5.89225539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094391418 meters 0.017065178442194788 Centerline is valid? [True, True] Translation: X:329.77, Y:-14.83, Z:-5.89 [[ 9.99399033e-01 3.27468008e-02 1.13674910e-02 3.29766947e+02] [-3.27418240e-02 9.99463648e-01 -6.23688048e-04 -1.48349698e+01] [-1.13818178e-02 2.51120842e-04 9.99935193e-01 -5.89229697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124391418 meters 0.01534140301763094 Centerline is valid? [True, True] Translation: X:329.80, Y:-14.83, Z:-5.89 [[ 9.99247059e-01 3.70544858e-02 1.15013210e-02 3.29796295e+02] [-3.70496871e-02 9.99313226e-01 -6.30090320e-04 -1.48314022e+01] [-1.15167699e-02 2.03495553e-04 9.99933659e-01 -5.89323296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154391418 meters 0.015070955855330255 Centerline is valid? [True, True] Translation: X:329.82, Y:-14.83, Z:-5.89 [[ 9.99191721e-01 3.86273325e-02 1.11280262e-02 3.29823706e+02] [-3.86229448e-02 9.99253670e-01 -6.09010041e-04 -1.48312317e+01] [-1.11432455e-02 1.78720650e-04 9.99937896e-01 -5.89465580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184391418 meters 0.014645346789862885 Centerline is valid? [True, True] Translation: X:329.85, Y:-14.83, Z:-5.90 [[ 9.99138880e-01 4.01618572e-02 1.04174410e-02 3.29851336e+02] [-4.01581076e-02 9.99193176e-01 -5.68947982e-04 -1.48309293e+01] [-1.04318859e-02 1.50113334e-04 9.99945575e-01 -5.89600790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214391418 meters 0.013919659767379512 Centerline is valid? [True, True] Translation: X:329.88, Y:-14.83, Z:-5.90 [[ 9.99062691e-01 4.21952651e-02 9.65919524e-03 3.29880525e+02] [-4.21921459e-02 9.99109376e-01 -5.26563613e-04 -1.48294772e+01] [-9.67281102e-03 1.18527885e-04 9.99953210e-01 -5.89858840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244391418 meters 0.013599432244348317 Centerline is valid? [True, True] Translation: X:329.91, Y:-14.83, Z:-5.90 [[ 9.99038913e-01 4.28590120e-02 9.18447868e-03 3.29909326e+02] [-4.28562260e-02 9.99081125e-01 -5.00024454e-04 -1.48302122e+01] [-9.19746984e-03 1.05931793e-04 9.99957697e-01 -5.90001226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274391418 meters 0.01384448791095354 Centerline is valid? [True, True] Translation: X:329.94, Y:-14.83, Z:-5.90 [[ 9.99042583e-01 4.29317847e-02 8.41309116e-03 3.29936472e+02] [-4.29294455e-02 9.99078001e-01 -4.58513652e-04 -1.48317487e+01] [-8.42501911e-03 9.69053246e-05 9.99964504e-01 -5.90189546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.304391418 meters 0.013800796807327697 Centerline is valid? [True, True] Translation: X:329.96, Y:-14.83, Z:-5.90 [[ 9.99055167e-01 4.26233852e-02 8.48653773e-03 3.29964607e+02] [-4.26210137e-02 9.99091206e-01 -4.60186065e-04 -1.48337243e+01] [-8.49843990e-03 9.80464252e-05 9.99963883e-01 -5.90356592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334391418 meters 0.013837548485393876 Centerline is valid? [True, True] Translation: X:329.99, Y:-14.84, Z:-5.90 [[ 9.99074972e-01 4.21234744e-02 8.64940849e-03 3.29993150e+02] [-4.21210046e-02 9.99112407e-01 -4.67589905e-04 -1.48353590e+01] [-8.66142785e-03 1.02835597e-04 9.99962484e-01 -5.90386174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.364391418 meters 0.013908022717664685 Centerline is valid? [True, True] Translation: X:330.02, Y:-14.84, Z:-5.90 [[ 9.99080178e-01 4.19235299e-02 9.01196422e-03 3.30019754e+02] [-4.19208428e-02 9.99120816e-01 -4.86936575e-04 -1.48370397e+01] [-9.02445515e-03 1.08699544e-04 9.99959273e-01 -5.90417265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394391418 meters 0.013760300718635782 Centerline is valid? [True, True] Translation: X:330.05, Y:-14.84, Z:-5.90 [[ 9.99051733e-01 4.25194405e-02 9.36658035e-03 3.30047637e+02] [-4.25165805e-02 9.99095634e-01 -5.04334077e-04 -1.48381395e+01] [-9.37955354e-03 1.05620866e-04 9.99956005e-01 -5.90393075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.424391418 meters 0.013726783350771044 Centerline is valid? [True, True] Translation: X:330.08, Y:-14.84, Z:-5.90 [[ 9.99039815e-01 4.27959305e-02 9.37848094e-03 3.30076616e+02] [-4.27930857e-02 9.99083829e-01 -5.03882028e-04 -1.48392760e+01] [-9.39145276e-03 1.02064069e-04 9.99955894e-01 -5.90423628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454391418 meters 0.013608412251552685 Centerline is valid? [True, True] Translation: X:330.10, Y:-14.84, Z:-5.90 [[ 9.99037073e-01 4.28447047e-02 9.44769647e-03 3.30104075e+02] [-4.28418240e-02 9.99081739e-01 -5.07179192e-04 -1.48410211e+01] [-9.46075096e-03 1.01934266e-04 9.99955241e-01 -5.90461859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters 0.013670522399239056 Centerline is valid? [True, True] Translation: X:330.13, Y:-14.84, Z:-5.90 [[ 9.99069705e-01 4.20054133e-02 9.76064918e-03 3.30132904e+02] [-4.20023133e-02 9.99117377e-01 -5.22466471e-04 -1.48433619e+01] [-9.77398063e-03 1.12010578e-04 9.99952227e-01 -5.90462997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514391418 meters 0.014183969350529154 Centerline is valid? [True, True] Translation: X:330.16, Y:-14.85, Z:-5.91 [[ 9.99092617e-01 4.14419536e-02 9.82382264e-03 3.30160435e+02] [-4.14387924e-02 9.99140906e-01 -5.25208375e-04 -1.48464728e+01] [-9.83714872e-03 1.17644463e-04 9.99951607e-01 -5.90553978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters 0.014081364494212543 Centerline is valid? [True, True] Translation: X:330.19, Y:-14.85, Z:-5.90 [[ 9.99125359e-01 4.05586965e-02 1.01739055e-02 3.30188737e+02] [-4.05552726e-02 9.99177149e-01 -5.42704987e-04 -1.48480750e+01] [-1.01875453e-02 1.29624803e-04 9.99948097e-01 -5.90477439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574391418 meters 0.014028893143160512 Centerline is valid? [True, True] Translation: X:330.22, Y:-14.85, Z:-5.91 [[ 9.99122139e-01 4.07792591e-02 9.59179261e-03 3.30215312e+02] [-4.07762279e-02 9.99168173e-01 -5.11461355e-04 -1.48496823e+01] [-9.60467091e-03 1.19895242e-04 9.99953867e-01 -5.90511862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters 0.013867528932791888 Centerline is valid? [True, True] Translation: X:330.24, Y:-14.85, Z:-5.91 [[ 9.99097536e-01 4.14004684e-02 9.49285579e-03 3.30244629e+02] [-4.13975462e-02 9.99142627e-01 -5.04205925e-04 -1.48504693e+01] [-9.50559123e-03 1.10769961e-04 9.99954815e-01 -5.90513942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634391418 meters 0.013801615737306656 Centerline is valid? [True, True] Translation: X:330.27, Y:-14.85, Z:-5.91 [[ 9.99059729e-01 4.23204142e-02 9.41485811e-03 3.30271953e+02] [-4.23175828e-02 9.99104085e-01 -4.99841715e-04 -1.48511457e+01] [-9.42757671e-03 1.00957691e-04 9.99955554e-01 -5.90516036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters 0.013217245865087343 Centerline is valid? [True, True] Translation: X:330.30, Y:-14.85, Z:-5.90 [[ 9.98925401e-01 4.53353776e-02 9.63048395e-03 3.30300675e+02] [-4.53325663e-02 9.98971821e-01 -5.10120484e-04 -1.48499202e+01] [-9.64370859e-03 7.29977577e-05 9.99953496e-01 -5.90376294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694391418 meters 0.012913992193850981 Centerline is valid? [True, True] Translation: X:330.33, Y:-14.85, Z:-5.90 [[ 9.98848198e-01 4.69434349e-02 9.92928284e-03 3.30329504e+02] [-4.69405342e-02 9.98897548e-01 -5.25108780e-04 -1.48500662e+01] [-9.94298668e-03 5.84181177e-05 9.99950566e-01 -5.90378845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters 0.012880041050555435 Centerline is valid? [True, True] Translation: X:330.36, Y:-14.85, Z:-5.90 [[ 9.98777633e-01 4.84416068e-02 9.83109437e-03 3.30358181e+02] [-4.84388433e-02 9.98826015e-01 -5.19148157e-04 -1.48504781e+01] [-9.84470119e-03 4.23067278e-05 9.99951539e-01 -5.90425306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754391418 meters 0.012750597954931185 Centerline is valid? [True, True] Translation: X:330.39, Y:-14.85, Z:-5.91 [[ 9.98663307e-01 5.09159231e-02 8.89759370e-03 3.30385841e+02] [-5.09137596e-02 9.98702943e-01 -4.69646507e-04 -1.48506088e+01] [-8.90996550e-03 1.60087879e-05 9.99960305e-01 -5.90551688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters 0.012654729592744695 Centerline is valid? [True, True] Translation: X:330.41, Y:-14.85, Z:-5.91 [[ 9.98631925e-01 5.16546788e-02 8.12855269e-03 3.30413883e+02] [-5.16529015e-02 9.98665006e-01 -4.28576366e-04 -1.48521930e+01] [-8.13983909e-03 8.12671013e-06 9.99966871e-01 -5.90704653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814391418 meters 0.012796118123512279 Centerline is valid? [True, True] Translation: X:330.44, Y:-14.85, Z:-5.91 [[ 9.98621207e-01 5.19535240e-02 7.51767408e-03 3.30442340e+02] [-5.19520246e-02 9.98649504e-01 -3.94727436e-04 -1.48538608e+01] [-7.52802897e-03 3.62480065e-06 9.99971664e-01 -5.90841796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters 0.0129264562162583 Centerline is valid? [True, True] Translation: X:330.47, Y:-14.86, Z:-5.91 [[ 9.98621851e-01 5.21426784e-02 5.96147664e-03 3.30471060e+02] [-5.21417399e-02 9.98639645e-01 -3.12850503e-04 -1.48562477e+01] [-5.96967978e-03 1.57758390e-06 9.99982181e-01 -5.91064916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874391418 meters 0.013057692960333541 Centerline is valid? [True, True] Translation: X:330.50, Y:-14.86, Z:-5.91 [[ 9.98650844e-01 5.16119239e-02 5.71843839e-03 3.30499637e+02] [-5.16110539e-02 9.98667216e-01 -2.99704310e-04 -1.48581974e+01] [-5.72628527e-03 4.16533043e-06 9.99983605e-01 -5.91150550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters 0.012946399851325952 Centerline is valid? [True, True] Translation: X:330.53, Y:-14.86, Z:-5.91 [[ 9.98670960e-01 5.12723462e-02 5.24030613e-03 3.30528511e+02] [-5.12716124e-02 9.98684708e-01 -2.74354772e-04 -1.48602189e+01] [-5.24748041e-03 5.31119856e-06 9.99986232e-01 -5.91216598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934391418 meters 0.012996129573215118 Centerline is valid? [True, True] Translation: X:330.56, Y:-14.86, Z:-5.91 [[ 9.98717801e-01 5.03542931e-02 5.21523557e-03 3.30555430e+02] [-5.03535469e-02 9.98731418e-01 -2.74363190e-04 -1.48620856e+01] [-5.22243498e-03 1.14057933e-05 9.99986363e-01 -5.91244619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964391418 meters 0.012821112823581761 Centerline is valid? [True, True] Translation: X:330.58, Y:-14.86, Z:-5.91 [[ 9.98761156e-01 4.94859225e-02 5.22470562e-03 3.30583075e+02] [-4.94851738e-02 9.98774821e-01 -2.72568572e-04 -1.48642330e+01] [-5.23179273e-03 1.36854360e-05 9.99986314e-01 -5.91180593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994391418 meters 0.013117897052298778 Centerline is valid? [True, True] Translation: X:330.61, Y:-14.87, Z:-5.91 [[ 9.98810956e-01 4.84426233e-02 5.47605089e-03 3.30610122e+02] [-4.84417880e-02 9.98825967e-01 -2.85153097e-04 -1.48668277e+01] [-5.48343539e-03 1.95443411e-05 9.99984966e-01 -5.91285226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024391418 meters 0.012987019154504391 Centerline is valid? [True, True] Translation: X:330.64, Y:-14.87, Z:-5.91 [[ 9.98868330e-01 4.72561907e-02 5.37705775e-03 3.30638805e+02] [-4.72553759e-02 9.98882802e-01 -2.78540813e-04 -1.48692796e+01] [-5.38421329e-03 2.41307110e-05 9.99985505e-01 -5.91185779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.054391418 meters 0.013368227626197942 Centerline is valid? [True, True] Translation: X:330.67, Y:-14.87, Z:-5.91 [[ 9.98970431e-01 4.50400047e-02 5.42920366e-03 3.30666917e+02] [-4.50391425e-02 9.98985183e-01 -2.81035421e-04 -1.48729906e+01] [-5.43635185e-03 3.62193980e-05 9.99985222e-01 -5.91181502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084391418 meters 0.013462768242548665 Centerline is valid? [True, True] Translation: X:330.70, Y:-14.88, Z:-5.91 [[ 9.99016971e-01 4.39666327e-02 5.65915968e-03 3.30695704e+02] [-4.39656836e-02 9.99032999e-01 -2.92065720e-04 -1.48751055e+01] [-5.66652841e-03 4.29697871e-05 9.99983944e-01 -5.91144459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.114391418 meters 0.013658238871961626 Centerline is valid? [True, True] Translation: X:330.72, Y:-14.88, Z:-5.91 [[ 9.99068990e-01 4.28097926e-02 5.33627369e-03 3.30723355e+02] [-4.28089328e-02 9.99083240e-01 -2.75299209e-04 -1.48774336e+01] [-5.34316710e-03 4.66027214e-05 9.99985724e-01 -5.91078304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144391418 meters 0.013716805004395129 Centerline is valid? [True, True] Translation: X:330.75, Y:-14.88, Z:-5.91 [[ 9.99089346e-01 4.23895005e-02 4.85889171e-03 3.30751051e+02] [-4.23887843e-02 9.99101160e-01 -2.50337378e-04 -1.48794560e+01] [-4.86513602e-03 4.41468946e-05 9.99988164e-01 -5.91130529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.174391418 meters 0.013810321493680697 Centerline is valid? [True, True] Translation: X:330.78, Y:-14.88, Z:-5.91 [[ 9.99096420e-01 4.22134680e-02 4.93621330e-03 3.30778653e+02] [-4.22127280e-02 9.99108613e-01 -2.54049572e-04 -1.48812735e+01] [-4.94253754e-03 4.54489890e-05 9.99987785e-01 -5.91185143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204391418 meters 0.013712744118616857 Centerline is valid? [True, True] Translation: X:330.81, Y:-14.88, Z:-5.91 [[ 9.99075003e-01 4.26765561e-02 5.27735650e-03 3.30807214e+02] [-4.26757232e-02 9.99088940e-01 -2.70383660e-04 -1.48822360e+01] [-5.28408755e-03 4.49185511e-05 9.99986038e-01 -5.91092562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234391418 meters 0.0134642465024389 Centerline is valid? [True, True] Translation: X:330.83, Y:-14.88, Z:-5.91 [[ 9.99020967e-01 4.38403743e-02 5.92693724e-03 3.30834557e+02] [-4.38393467e-02 9.99038548e-01 -3.03245325e-04 -1.48830297e+01] [-5.93453316e-03 4.31153811e-05 9.99982390e-01 -5.91061772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264391418 meters 0.01292290136567939 Centerline is valid? [True, True] Translation: X:330.86, Y:-14.88, Z:-5.91 [[ 9.98802827e-01 4.83182537e-02 7.63272249e-03 3.30862877e+02] [-4.83166899e-02 9.98831991e-01 -3.89242788e-04 -1.48816975e+01] [-7.64261493e-03 1.99889114e-05 9.99970795e-01 -5.90933949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294391418 meters 0.012906473322300405 Centerline is valid? [True, True] Translation: X:330.89, Y:-14.88, Z:-5.91 [[ 9.98670143e-01 5.08624466e-02 8.42358900e-03 3.30891659e+02] [-5.08606425e-02 9.98705668e-01 -4.28386789e-04 -1.48807673e+01] [-8.43447488e-03 -6.12053012e-07 9.99964429e-01 -5.90788127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324391418 meters 0.013030787910263585 Centerline is valid? [True, True] Translation: X:330.92, Y:-14.88, Z:-5.91 [[ 9.98536804e-01 5.33665693e-02 8.73268150e-03 3.30918677e+02] [-5.33647280e-02 9.98574989e-01 -4.43899655e-04 -1.48797931e+01] [-8.74392673e-03 -2.27670296e-05 9.99961771e-01 -5.90726538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354391418 meters 0.013642464392690687 Centerline is valid? [True, True] Translation: X:330.95, Y:-14.88, Z:-5.91 [[ 9.98309709e-01 5.73379104e-02 9.49156544e-03 3.30947043e+02] [-5.73359322e-02 9.98354827e-01 -4.80622119e-04 -1.48780869e+01] [-9.50350803e-03 -6.43980247e-05 9.99954839e-01 -5.90634738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384391418 meters 0.013550317084062728 Centerline is valid? [True, True] Translation: X:330.98, Y:-14.88, Z:-5.91 [[ 9.98258285e-01 5.82692978e-02 9.22414521e-03 3.30976058e+02] [-5.82674782e-02 9.98300898e-01 -4.66112009e-04 -1.48804338e+01] [-9.23563247e-03 -7.21675048e-05 9.99957348e-01 -5.90633133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414391418 meters 0.013763997457550914 Centerline is valid? [True, True] Translation: X:331.00, Y:-14.89, Z:-5.91 [[ 9.98302806e-01 5.76876562e-02 7.97753045e-03 3.31003264e+02] [-5.76862745e-02 9.98334679e-01 -4.03376799e-04 -1.48857699e+01] [-7.98751516e-03 -5.75018208e-05 9.99968098e-01 -5.90891714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444391418 meters 0.013529926373104812 Centerline is valid? [True, True] Translation: X:331.03, Y:-14.89, Z:-5.91 [[ 9.98399616e-01 5.61293411e-02 6.90682728e-03 3.31031368e+02] [-5.61282752e-02 9.98423505e-01 -3.48212128e-04 -1.48902146e+01] [-6.91548362e-03 -4.00134479e-05 9.99976087e-01 -5.91019790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474391418 meters 0.013556355256788406 Centerline is valid? [True, True] Translation: X:331.06, Y:-14.89, Z:-5.91 [[ 9.98523625e-01 5.40166580e-02 5.72460707e-03 3.31059290e+02] [-5.40158944e-02 9.98540034e-01 -2.88031813e-04 -1.48947170e+01] [-5.73180786e-03 -2.16132009e-05 9.99983573e-01 -5.91221584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504391418 meters 0.013374751152354345 Centerline is valid? [True, True] Translation: X:331.09, Y:-14.90, Z:-5.91 [[ 9.98785346e-01 4.91216111e-02 3.86005729e-03 3.31087794e+02] [-4.91212277e-02 9.98792805e-01 -1.94142465e-04 -1.49027235e+01] [-3.86493404e-03 4.29589670e-06 9.99992531e-01 -5.91241723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534391418 meters 0.013693950375076529 Centerline is valid? [True, True] Translation: X:331.12, Y:-14.91, Z:-5.91 [[ 9.98909133e-01 4.66093104e-02 2.84896406e-03 3.31115728e+02] [-4.66090901e-02 9.98913195e-01 -1.43731197e-04 -1.49067948e+01] [-2.85256701e-03 1.07867825e-05 9.99995931e-01 -5.91350576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564391418 meters 0.014069303180679544 Centerline is valid? [True, True] Translation: X:331.14, Y:-14.91, Z:-5.91 [[ 9.99026132e-01 4.40747643e-02 2.05001911e-03 3.31144790e+02] [-4.40746449e-02 9.99028235e-01 -1.03367347e-04 -1.49109681e+01] [-2.05258287e-03 1.29128165e-05 9.99997893e-01 -5.91414230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594391418 meters 0.014069303180679544 Centerline is valid? [True, True] Translation: X:331.17, Y:-14.91, Z:-5.91 [[ 9.99031228e-01 4.39591073e-02 2.04999650e-03 3.31172216e+02] [-4.39589868e-02 9.99033331e-01 -1.03824181e-04 -1.49122147e+01] [-2.05257885e-03 1.36078298e-05 9.99997893e-01 -5.91463776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624391418 meters 0.014545182130400057 Centerline is valid? [True, True] Translation: X:331.20, Y:-14.92, Z:-5.91 [[ 9.99193856e-01 4.01446596e-02 2.12978602e-04 3.31201013e+02] [-4.01446580e-02 9.99193878e-01 -1.20035260e-05 -1.49185301e+01] [-2.13288793e-04 3.44389627e-06 9.99999977e-01 -5.91391631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654391418 meters 0.014985048432642345 Centerline is valid? [True, True] Translation: X:331.23, Y:-14.92, Z:-5.91 [[ 9.99260514e-01 3.84502772e-02 -4.18920607e-05 3.31229087e+02] [-3.84502773e-02 9.99260515e-01 2.72721413e-07 -1.49227952e+01] [ 4.18715681e-05 1.33824161e-06 9.99999999e-01 -5.91488359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684391418 meters 0.015510122599125641 Centerline is valid? [True, True] Translation: X:331.26, Y:-14.93, Z:-5.92 [[ 9.99337225e-01 3.63965112e-02 -6.36189240e-04 3.31258108e+02] [-3.63964995e-02 9.99337427e-01 2.99787805e-05 -1.49267220e+01] [ 6.36858842e-04 -6.80384999e-06 9.99999797e-01 -5.91508184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714391418 meters 0.015663650266277022 Centerline is valid? [True, True] Translation: X:331.29, Y:-14.93, Z:-5.91 [[ 9.99443629e-01 3.33483752e-02 5.64294609e-04 3.31286851e+02] [-3.33483640e-02 9.99443788e-01 -2.92868760e-05 -1.49322914e+01] [-5.64957411e-04 1.04522797e-05 9.99999840e-01 -5.91265033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744391418 meters 0.016565983020921198 Centerline is valid? [True, True] Translation: X:331.31, Y:-14.94, Z:-5.91 [[ 9.99486964e-01 3.19905063e-02 1.55446303e-03 3.31314509e+02] [-3.19904232e-02 9.99488172e-01 -7.82838398e-05 -1.49366248e+01] [-1.55617176e-03 2.85157470e-05 9.99998789e-01 -5.91315314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774391418 meters 0.016643868278552253 Centerline is valid? [True, True] Translation: X:331.34, Y:-14.94, Z:-5.91 [[ 9.99526995e-01 3.06632447e-02 2.35610988e-03 3.31343192e+02] [-3.06630538e-02 9.99529771e-01 -1.17136340e-04 -1.49403721e+01] [-2.35859375e-03 4.48354101e-05 9.99997218e-01 -5.91203181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.804391418 meters 0.016256512871915752 Centerline is valid? [True, True] Translation: X:331.37, Y:-14.94, Z:-5.91 [[ 9.99534594e-01 3.04149322e-02 2.35113499e-03 3.31370789e+02] [-3.04147402e-02 9.99537358e-01 -1.17370385e-04 -1.49421616e+01] [-2.35361707e-03 4.58066007e-05 9.99997229e-01 -5.91170674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834391418 meters 0.016614374789108155 Centerline is valid? [True, True] Translation: X:331.40, Y:-14.95, Z:-5.91 [[ 9.99541110e-01 3.01887256e-02 2.49200162e-03 3.31397508e+02] [-3.01885081e-02 9.99544215e-01 -1.24876399e-04 -1.49450057e+01] [-2.49463566e-03 4.95892836e-05 9.99996887e-01 -5.91266970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.864391418 meters 0.01660935086625458 Centerline is valid? [True, True] Translation: X:331.43, Y:-14.95, Z:-5.91 [[ 9.99549347e-01 2.99310331e-02 2.28830928e-03 3.31426484e+02] [-2.99308529e-02 9.99551965e-01 -1.12938311e-04 -1.49471776e+01] [-2.29066440e-03 4.43963661e-05 9.99997375e-01 -5.91301497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894391418 meters 0.017145619652657106 Centerline is valid? [True, True] Translation: X:331.45, Y:-14.95, Z:-5.91 [[ 9.99573739e-01 2.91225010e-02 2.05439520e-03 3.31453858e+02] [-2.91223529e-02 9.99575849e-01 -1.01959572e-04 -1.49516013e+01] [-2.05649314e-03 4.20872886e-05 9.99997885e-01 -5.91431297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.924391418 meters 0.017756498604947005 Centerline is valid? [True, True] Translation: X:331.48, Y:-14.96, Z:-5.91 [[ 9.99634218e-01 2.69578395e-02 2.16894499e-03 3.31482604e+02] [-2.69576714e-02 9.99636570e-01 -1.06683018e-04 -1.49566820e+01] [-2.17103268e-03 4.81742893e-05 9.99997642e-01 -5.91422872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954391418 meters 0.018510715591959975 Centerline is valid? [True, True] Translation: X:331.51, Y:-14.96, Z:-5.91 [[ 9.99672453e-01 2.54885102e-02 2.30694254e-03 3.31510527e+02] [-2.54883154e-02 9.99675114e-01 -1.13783050e-04 -1.49606662e+01] [-2.30909321e-03 5.49457019e-05 9.99997333e-01 -5.91460820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters 0.019242992690531736 Centerline is valid? [True, True] Translation: X:331.54, Y:-14.96, Z:-5.92 [[ 9.99710938e-01 2.39500916e-02 2.10542832e-03 3.31539604e+02] [-2.39499274e-02 9.99713154e-01 -1.03160771e-04 -1.49643265e+01] [-2.10729510e-03 5.27060955e-05 9.99997778e-01 -5.91505369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014391418 meters 0.019914336122528166 Centerline is valid? [True, True] Translation: X:331.57, Y:-14.97, Z:-5.92 [[ 9.99748451e-01 2.23837467e-02 1.41528195e-03 3.31568118e+02] [-2.23836705e-02 9.99749452e-01 -6.96952430e-05 -1.49677474e+01] [-1.41648739e-03 3.79985064e-05 9.99998996e-01 -5.91569843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters 0.021419025459756956 Centerline is valid? [True, True] Translation: X:331.60, Y:-14.97, Z:-5.92 [[ 9.99812980e-01 1.93391902e-02 1.32037558e-05 3.31597188e+02] [-1.93391902e-02 9.99812980e-01 -1.69487613e-06 -1.49732277e+01] [-1.32340642e-05 1.43920921e-06 1.00000000e+00 -5.91735077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074391418 meters 0.020970483470737922 Centerline is valid? [True, True] Translation: X:331.63, Y:-14.97, Z:-5.92 [[ 9.99840430e-01 1.78553541e-02 -5.48113875e-04 3.31626071e+02] [-1.78553432e-02 9.99840580e-01 2.48996047e-05 -1.49747276e+01] [ 5.48471086e-04 -1.51088701e-05 9.99999849e-01 -5.91757450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters 0.021630188471832148 Centerline is valid? [True, True] Translation: X:331.66, Y:-14.98, Z:-5.92 [[ 9.99865378e-01 1.63669611e-02 -1.16156668e-03 3.31655023e+02] [-1.63669090e-02 9.99866052e-01 5.43192050e-05 -1.49777843e+01] [ 1.16230013e-03 -3.53006361e-05 9.99999324e-01 -5.91867704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134391418 meters 0.022999694026533422 Centerline is valid? [True, True] Translation: X:331.68, Y:-14.98, Z:-5.92 [[ 9.99897647e-01 1.40958602e-02 -2.44983664e-03 3.31684523e+02] [-1.40956163e-02 9.99900645e-01 1.16823349e-04 -1.49817658e+01] [ 2.45123996e-03 -8.22794347e-05 9.99996992e-01 -5.92037477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters 0.02409542023665132 Centerline is valid? [True, True] Translation: X:331.71, Y:-14.98, Z:-5.92 [[ 9.99909225e-01 1.29751732e-02 -3.63138060e-03 3.31712510e+02] [-1.29746347e-02 9.99915811e-01 1.71807042e-04 -1.49849048e+01] [ 3.63330411e-03 -1.24675610e-04 9.99993392e-01 -5.92193782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194391418 meters 0.023567847164125178 Centerline is valid? [True, True] Translation: X:331.74, Y:-14.99, Z:-5.92 [[ 9.99912242e-01 1.25653953e-02 -4.19758603e-03 3.31741165e+02] [-1.25646699e-02 9.99921042e-01 1.99143180e-04 -1.49850943e+01] [ 4.19975691e-03 -1.46384421e-04 9.99991170e-01 -5.92187300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters 0.02432045382322476 Centerline is valid? [True, True] Translation: X:331.77, Y:-14.99, Z:-5.92 [[ 9.99916260e-01 1.22274933e-02 -4.23813777e-03 3.31769297e+02] [-1.22267548e-02 9.99925230e-01 2.00099685e-04 -1.49869067e+01] [ 4.24026761e-03 -1.48264257e-04 9.99990999e-01 -5.92289019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254391418 meters 0.0245406549786147 Centerline is valid? [True, True] Translation: X:331.80, Y:-14.99, Z:-5.92 [[ 9.99921174e-01 1.19004829e-02 -4.00296006e-03 3.31798353e+02] [-1.18998210e-02 9.99929177e-01 1.89111203e-04 -1.49880540e+01] [ 4.00492707e-03 -1.41461788e-04 9.99991970e-01 -5.92312707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters 0.025034212261309165 Centerline is valid? [True, True] Translation: X:331.83, Y:-14.99, Z:-5.92 [[ 9.99937187e-01 1.08951336e-02 -2.63027013e-03 3.31827492e+02] [-1.08948462e-02 9.99940642e-01 1.23563092e-04 -1.49900395e+01] [ 2.63146024e-03 -9.48989420e-05 9.99996533e-01 -5.92266413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314391418 meters 0.026507873116630318 Centerline is valid? [True, True] Translation: X:331.85, Y:-14.99, Z:-5.92 [[ 9.99948159e-01 9.99372700e-03 -1.95044448e-03 3.31854834e+02] [-9.99356903e-03 9.99950059e-01 9.07221059e-05 -1.49930110e+01] [ 1.95125373e-03 -7.12255012e-05 9.99998094e-01 -5.92313100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters 0.02698911527622037 Centerline is valid? [True, True] Translation: X:331.88, Y:-14.99, Z:-5.92 [[ 9.99958052e-01 9.10648361e-03 -9.83077548e-04 3.31883158e+02] [-9.10644362e-03 9.99958534e-01 4.51545019e-05 -1.49948392e+01] [ 9.83447983e-04 -3.62002675e-05 9.99999516e-01 -5.92257637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374391418 meters 0.02692192190091165 Centerline is valid? [True, True] Translation: X:331.91, Y:-15.00, Z:-5.92 [[ 9.99965313e-01 8.32847447e-03 -9.35957508e-05 3.31912361e+02] [-8.32847423e-03 9.99965318e-01 3.02292391e-06 -1.49958435e+01] [ 9.36176809e-05 -2.24330926e-06 9.99999996e-01 -5.92165641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404391418 meters 0.028210188738944087 Centerline is valid? [True, True] Translation: X:331.94, Y:-15.00, Z:-5.92 [[ 9.99972075e-01 7.24935512e-03 1.81540521e-03 3.31940454e+02] [-7.24920843e-03 9.99973720e-01 -8.73709041e-05 -1.49980342e+01] [-1.81599089e-03 7.42082135e-05 9.99998348e-01 -5.92090636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434391418 meters 0.028848147847784937 Centerline is valid? [True, True] Translation: X:331.97, Y:-15.00, Z:-5.92 [[ 9.99972901e-01 7.07643015e-03 2.03021097e-03 3.31968744e+02] [-7.07624843e-03 9.99974958e-01 -9.66777452e-05 -1.49991568e+01] [-2.03084426e-03 8.23088482e-05 9.99997934e-01 -5.92121820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464391418 meters 0.028739936171281573 Centerline is valid? [True, True] Translation: X:332.00, Y:-15.00, Z:-5.92 [[ 9.99968008e-01 7.68229468e-03 2.22819610e-03 3.31998579e+02] [-7.68207847e-03 9.99970487e-01 -1.05574651e-04 -1.49973099e+01] [-2.22894140e-03 8.84540959e-05 9.99997512e-01 -5.92140616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494391418 meters 0.026532366115507456 Centerline is valid? [True, True] Translation: X:332.03, Y:-14.99, Z:-5.92 [[ 9.99964079e-01 8.26388296e-03 1.88387559e-03 3.32027961e+02] [-8.26372934e-03 9.99965851e-01 -8.93173680e-05 -1.49940780e+01] [-1.88454936e-03 7.37463217e-05 9.99998222e-01 -5.92055459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524391418 meters 0.028917884268690346 Centerline is valid? [True, True] Translation: X:332.06, Y:-15.00, Z:-5.92 [[ 9.99960361e-01 8.75957462e-03 1.59580661e-03 3.32056207e+02] [-8.75946445e-03 9.99961632e-01 -7.60186615e-05 -1.49973706e+01] [-1.59641127e-03 6.20372369e-05 9.99998724e-01 -5.92305691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.554391418 meters 0.02650228185726328 Centerline is valid? [True, True] Translation: X:332.09, Y:-14.99, Z:-5.92 [[ 9.99953137e-01 9.65750219e-03 6.75140777e-04 3.32085813e+02] [-9.65748229e-03 9.99953365e-01 -3.27202619e-05 -1.49925593e+01] [-6.75425288e-04 2.61985684e-05 9.99999772e-01 -5.92293505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584391418 meters 0.026652993321423776 Centerline is valid? [True, True] Translation: X:332.11, Y:-14.99, Z:-5.92 [[ 9.99953231e-01 9.65302851e-03 5.95499001e-04 3.32114371e+02] [-9.65301279e-03 9.99953408e-01 -2.92785848e-05 -1.49926339e+01] [-5.95753883e-04 2.35288560e-05 9.99999822e-01 -5.92338477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.614391418 meters 0.029088010778915856 Centerline is valid? [True, True] Translation: X:332.14, Y:-14.99, Z:-5.93 [[ 9.99950708e-01 9.92795111e-03 1.31080286e-04 3.32141789e+02] [-9.92795015e-03 9.99950717e-01 -7.96476387e-06 -1.49945882e+01] [-1.31152900e-04 6.66301273e-06 9.99999991e-01 -5.92629247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644391418 meters 0.026735674304068296 Centerline is valid? [True, True] Translation: X:332.17, Y:-14.99, Z:-5.93 [[ 9.99946681e-01 1.03260091e-02 -9.68728971e-05 3.32171020e+02] [-1.03260088e-02 9.99946685e-01 3.15541203e-06 -1.49915629e+01] [ 9.69003150e-05 -2.15493339e-06 9.99999995e-01 -5.92535343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.674391418 meters 0.02657977174848324 Centerline is valid? [True, True] Translation: X:332.20, Y:-14.99, Z:-5.93 [[ 9.99937186e-01 1.12055857e-02 -2.44493527e-04 3.32200386e+02] [-1.12055835e-02 9.99937215e-01 1.03787735e-05 -1.49913734e+01] [ 2.44594477e-04 -7.63842891e-06 9.99999970e-01 -5.92636670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704391418 meters 0.026098664934852432 Centerline is valid? [True, True] Translation: X:332.23, Y:-14.99, Z:-5.93 [[ 9.99927025e-01 1.20707039e-02 -4.93332025e-04 3.32228964e+02] [-1.20706947e-02 9.99927146e-01 2.16034108e-05 -1.49906254e+01] [ 4.93556852e-04 -1.56469740e-05 9.99999878e-01 -5.92699557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734391418 meters 0.023004429219325294 Centerline is valid? [True, True] Translation: X:332.26, Y:-14.98, Z:-5.93 [[ 9.99893478e-01 1.45773203e-02 -7.31645829e-04 3.32258181e+02] [-1.45773004e-02 9.99893745e-01 3.25754158e-05 -1.49844923e+01] [ 7.32042950e-04 -2.19065247e-05 9.99999732e-01 -5.92614194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764391418 meters 0.0244091345334055 Centerline is valid? [True, True] Translation: X:332.29, Y:-14.99, Z:-5.93 [[ 9.99867679e-01 1.62612624e-02 -4.43642555e-04 3.32286113e+02] [-1.62612556e-02 9.99867777e-01 1.88144581e-05 -1.49862891e+01] [ 4.43889842e-04 -1.15977835e-05 9.99999901e-01 -5.92816781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794391418 meters 0.022765267029364288 Centerline is valid? [True, True] Translation: X:332.32, Y:-14.98, Z:-5.93 [[ 9.99804175e-01 1.97750953e-02 7.46213893e-04 3.32315633e+02] [-1.97750745e-02 9.99804453e-01 -3.52228864e-05 -1.49819847e+01] [-7.46764510e-04 2.04595536e-05 9.99999721e-01 -5.92749869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824391418 meters 0.022233763469519968 Centerline is valid? [True, True] Translation: X:332.34, Y:-14.98, Z:-5.93 [[ 9.99778676e-01 2.09995392e-02 1.27225121e-03 3.32344819e+02] [-2.09994796e-02 9.99779485e-01 -6.01405878e-05 -1.49811718e+01] [-1.27323359e-03 3.34106638e-05 9.99999189e-01 -5.92732805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854391418 meters 0.021853881162828676 Centerline is valid? [True, True] Translation: X:332.37, Y:-14.98, Z:-5.93 [[ 9.99758238e-01 2.19259519e-02 1.64855060e-03 3.32373474e+02] [-2.19258540e-02 9.99759597e-01 -7.74183343e-05 -1.49806589e+01] [-1.64985175e-03 4.12537377e-05 9.99998638e-01 -5.92764202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884391418 meters 0.01821735223193954 Centerline is valid? [True, True] Translation: X:332.40, Y:-14.97, Z:-5.92 [[ 9.99735179e-01 2.28960101e-02 2.31182645e-03 3.32402417e+02] [-2.28958215e-02 9.99737850e-01 -1.08024495e-04 -1.49748187e+01] [-2.31369374e-03 5.50647217e-05 9.99997322e-01 -5.92447239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914391418 meters 0.02169752517114467 Centerline is valid? [True, True] Translation: X:332.43, Y:-14.98, Z:-5.93 [[ 9.99736003e-01 2.28358855e-02 2.53891634e-03 3.32430139e+02] [-2.28356579e-02 9.99739225e-01 -1.18585831e-04 -1.49807650e+01] [-2.54096227e-03 6.05766997e-05 9.99996770e-01 -5.92882573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944391418 meters 0.018554576248894443 Centerline is valid? [True, True] Translation: X:332.46, Y:-14.98, Z:-5.93 [[ 9.99730574e-01 2.30263738e-02 2.92684986e-03 3.32459447e+02] [-2.30260747e-02 9.99734856e-01 -1.35821794e-04 -1.49756976e+01] [-2.92920131e-03 6.83913362e-05 9.99995708e-01 -5.92694783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974391418 meters 0.0186315571526388 Centerline is valid? [True, True] Translation: X:332.49, Y:-14.98, Z:-5.93 [[ 9.99711787e-01 2.38365448e-02 2.85679943e-03 3.32487616e+02] [-2.38362630e-02 9.99715867e-01 -1.32648053e-04 -1.49763026e+01] [-2.85914959e-03 6.45143998e-05 9.99995911e-01 -5.92819586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004391418 meters 0.017922875636362415 Centerline is valid? [True, True] Translation: X:332.52, Y:-14.98, Z:-5.93 [[ 9.99684370e-01 2.49516847e-02 2.92814359e-03 3.32516204e+02] [-2.49513952e-02 9.99688656e-01 -1.35350206e-04 -1.49755156e+01] [-2.93060914e-03 6.22462175e-05 9.99995704e-01 -5.92868513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034391418 meters 0.01735613132240535 Centerline is valid? [True, True] Translation: X:332.54, Y:-14.97, Z:-5.93 [[ 9.99646403e-01 2.64230807e-02 2.98141733e-03 3.32544612e+02] [-2.64227880e-02 9.99650848e-01 -1.37549966e-04 -1.49746990e+01] [-2.98401085e-03 5.87239711e-05 9.99995546e-01 -5.92929273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064391418 meters 0.01582188074186442 Centerline is valid? [True, True] Translation: X:332.57, Y:-14.97, Z:-5.93 [[ 9.99546061e-01 2.99709157e-02 3.06861189e-03 3.32574109e+02] [-2.99706240e-02 9.99550770e-01 -1.41010216e-04 -1.49708561e+01] [-3.07145958e-03 4.89779927e-05 9.99995282e-01 -5.92926933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094391418 meters 0.01545811423917879 Centerline is valid? [True, True] Translation: X:332.60, Y:-14.97, Z:-5.93 [[ 9.99496411e-01 3.15708500e-02 3.19481252e-03 3.32602640e+02] [-3.15705418e-02 9.99501515e-01 -1.46861460e-04 -1.49699760e+01] [-3.19785649e-03 4.59255399e-05 9.99994886e-01 -5.93017866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124391418 meters 0.01455937476208551 Centerline is valid? [True, True] Translation: X:332.63, Y:-14.97, Z:-5.93 [[ 9.99409394e-01 3.41582937e-02 3.75165384e-03 3.32631268e+02] [-3.41578890e-02 9.99416434e-01 -1.71921730e-04 -1.49678568e+01] [-3.75533706e-03 4.36716164e-05 9.99992948e-01 -5.93057416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154391418 meters 0.014248735288122783 Centerline is valid? [True, True] Translation: X:332.66, Y:-14.97, Z:-5.93 [[ 9.99374727e-01 3.51213202e-02 4.08018810e-03 3.32660043e+02] [-3.51208513e-02 9.99383055e-01 -1.86533010e-04 -1.49677038e+01] [-4.08422214e-03 4.31166963e-05 9.99991659e-01 -5.93088153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184391418 meters 0.013783267589002463 Centerline is valid? [True, True] Translation: X:332.69, Y:-14.97, Z:-5.93 [[ 9.99295901e-01 3.71555561e-02 5.21220022e-03 3.32687480e+02] [-3.71548216e-02 9.99309493e-01 -2.37719620e-04 -1.49666283e+01] [-5.21743376e-03 4.38938728e-05 9.99986388e-01 -5.93147828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214391418 meters 0.01371852620120611 Centerline is valid? [True, True] Translation: X:332.72, Y:-14.97, Z:-5.93 [[ 9.99260933e-01 3.80711140e-02 5.30827050e-03 3.32715039e+02] [-3.80703681e-02 9.99275032e-01 -2.41519797e-04 -1.49664978e+01] [-5.31361710e-03 3.92534861e-05 9.99985882e-01 -5.93225222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244391418 meters 0.013220295682972593 Centerline is valid? [True, True] Translation: X:332.74, Y:-14.97, Z:-5.93 [[ 9.99229415e-01 3.89036404e-02 5.20420777e-03 3.32744004e+02] [-3.89029382e-02 9.99242966e-01 -2.36132505e-04 -1.49655060e+01] [-5.20945442e-03 3.34915711e-05 9.99986430e-01 -5.93122349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274391418 meters 0.013111350639950363 Centerline is valid? [True, True] Translation: X:332.77, Y:-14.97, Z:-5.93 [[ 9.99214280e-01 3.92990595e-02 5.13863777e-03 3.32771709e+02] [-3.92983795e-02 9.99227493e-01 -2.33276384e-04 -1.49660609e+01] [-5.14383568e-03 3.11529570e-05 9.99986770e-01 -5.93218808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.304391418 meters 0.01315634484068303 Centerline is valid? [True, True] Translation: X:332.80, Y:-14.97, Z:-5.93 [[ 9.99203092e-01 3.96774825e-02 4.34496717e-03 3.32800440e+02] [-3.96770031e-02 9.99212538e-01 -1.96501852e-04 -1.49667397e+01] [-4.34934237e-03 2.39499827e-05 9.99990541e-01 -5.93386792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334391418 meters 0.01314883984681115 Centerline is valid? [True, True] Translation: X:332.83, Y:-14.97, Z:-5.93 [[ 9.99215298e-01 3.94281346e-02 3.76956172e-03 3.32828957e+02] [-3.94277724e-02 9.99222409e-01 -1.70364690e-04 -1.49679146e+01] [-3.77334770e-03 2.16055828e-05 9.99992881e-01 -5.93484381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.364391418 meters 0.013436565722586917 Centerline is valid? [True, True] Translation: X:332.86, Y:-14.97, Z:-5.94 [[ 9.99227310e-01 3.91563755e-02 3.40008873e-03 3.32857435e+02] [-3.91560798e-02 9.99233095e-01 -1.53525270e-04 -1.49692742e+01] [-3.40349268e-03 2.02724975e-05 9.99994208e-01 -5.93607336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394391418 meters 0.013684806782674317 Centerline is valid? [True, True] Translation: X:332.89, Y:-14.97, Z:-5.94 [[ 9.99250869e-01 3.86424499e-02 2.11212979e-03 3.32885005e+02] [-3.86423332e-02 9.99253102e-01 -9.60474613e-05 -1.49710039e+01] [-2.11426376e-03 1.43578860e-05 9.99997765e-01 -5.93814360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.424391418 meters 0.01346257311160384 Centerline is valid? [True, True] Translation: X:332.91, Y:-14.97, Z:-5.94 [[ 9.99265998e-01 3.82557962e-02 1.98997369e-03 3.32913785e+02] [-3.82556926e-02 9.99267979e-01 -9.01049601e-05 -1.49716768e+01] [-1.99196402e-03 1.39110012e-05 9.99998016e-01 -5.93820590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454391418 meters 0.013771868706487521 Centerline is valid? [True, True] Translation: X:332.94, Y:-14.97, Z:-5.94 [[ 9.99278414e-01 3.79577935e-02 1.36292113e-03 3.32941910e+02] [-3.79577426e-02 9.99279343e-01 -6.31608276e-05 -1.49726580e+01] [-1.36433637e-03 1.13818423e-05 9.99999069e-01 -5.93940297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters 0.013771868706487521 Centerline is valid? [True, True] Translation: X:332.97, Y:-14.97, Z:-5.94 [[ 9.99282861e-01 3.78405300e-02 1.36295143e-03 3.32969340e+02] [-3.78404800e-02 9.99283791e-01 -6.24809723e-05 -1.49737606e+01] [-1.36433959e-03 1.08614284e-05 9.99999069e-01 -5.93989887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514391418 meters 0.014018049490362375 Centerline is valid? [True, True] Translation: X:333.00, Y:-14.97, Z:-5.94 [[ 9.99314834e-01 3.69648547e-02 1.86044606e-03 3.32996734e+02] [-3.69647613e-02 9.99316566e-01 -8.45937576e-05 -1.49747003e+01] [-1.86230157e-03 1.57648523e-05 9.99998266e-01 -5.94079748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters 0.013656308780909418 Centerline is valid? [True, True] Translation: X:333.03, Y:-14.98, Z:-5.94 [[ 9.99314406e-01 3.69479885e-02 2.35890376e-03 3.33025348e+02] [-3.69478426e-02 9.99317190e-01 -1.05413341e-04 -1.49753760e+01] [-2.36118789e-03 1.81846651e-05 9.99997212e-01 -5.93976264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574391418 meters 0.013553894321740246 Centerline is valid? [True, True] Translation: X:333.05, Y:-14.98, Z:-5.94 [[ 9.99258994e-01 3.83601200e-02 3.15674351e-03 3.33052845e+02] [-3.83598672e-02 9.99263980e-01 -1.40606799e-04 -1.49750424e+01] [-3.15981377e-03 1.94103472e-05 9.99995008e-01 -5.93968748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters 0.013511028345919959 Centerline is valid? [True, True] Translation: X:333.08, Y:-14.97, Z:-5.94 [[ 9.99208506e-01 3.96277433e-02 3.46466448e-03 3.33081764e+02] [-3.96274493e-02 9.99214512e-01 -1.53512056e-04 -1.49745905e+01] [-3.46802637e-03 1.60947366e-05 9.99993986e-01 -5.93878658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634391418 meters 0.013321251103821518 Centerline is valid? [True, True] Translation: X:333.11, Y:-14.97, Z:-5.94 [[ 9.99137138e-01 4.12986674e-02 4.40441697e-03 3.33110459e+02] [-4.12982116e-02 9.99146846e-01 -1.94403015e-04 -1.49737778e+01] [-4.40868791e-03 1.23407279e-05 9.99990282e-01 -5.93808245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters 0.01308149221334205 Centerline is valid? [True, True] Translation: X:333.14, Y:-14.97, Z:-5.94 [[ 9.98982442e-01 4.47629774e-02 5.50960063e-03 3.33139533e+02] [-4.47623214e-02 9.98997636e-01 -2.42392097e-04 -1.49715349e+01] [-5.51492820e-03 -4.47706563e-06 9.99984793e-01 -5.93582056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694391418 meters 0.013087566019324037 Centerline is valid? [True, True] Translation: X:333.17, Y:-14.97, Z:-5.94 [[ 9.98933571e-01 4.57356033e-02 6.32262469e-03 3.33168574e+02] [-4.57347634e-02 9.98953580e-01 -2.77443315e-04 -1.49719101e+01] [-6.32869760e-03 -1.20163029e-05 9.99979974e-01 -5.93547231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters 0.013116597341452723 Centerline is valid? [True, True] Translation: X:333.20, Y:-14.97, Z:-5.94 [[ 9.98904471e-01 4.63331485e-02 6.56477305e-03 3.33196272e+02] [-4.63322567e-02 9.98926043e-01 -2.87936934e-04 -1.49727944e+01] [-6.57106379e-03 -1.65392590e-05 9.99978410e-01 -5.93511300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754391418 meters 0.012948150564678325 Centerline is valid? [True, True] Translation: X:333.22, Y:-14.97, Z:-5.94 [[ 9.98892501e-01 4.65256660e-02 7.00953175e-03 3.33224967e+02] [-4.65246639e-02 9.98917095e-01 -3.06036883e-04 -1.49741174e+01] [-7.01617966e-03 -2.04181616e-05 9.99975386e-01 -5.93518430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters 0.01297734959188639 Centerline is valid? [True, True] Translation: X:333.25, Y:-14.98, Z:-5.94 [[ 9.98957343e-01 4.52683850e-02 5.91616601e-03 3.33252469e+02] [-4.52676459e-02 9.98974861e-01 -2.58836451e-04 -1.49774468e+01] [-5.92181823e-03 -9.24433495e-06 9.99982466e-01 -5.93709960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814391418 meters 0.012938006914088213 Centerline is valid? [True, True] Translation: X:333.28, Y:-14.98, Z:-5.94 [[ 9.99022720e-01 4.39242294e-02 4.92612494e-03 3.33281550e+02] [-4.39237063e-02 9.99034865e-01 -2.14376472e-04 -1.49805695e+01] [-4.93078689e-03 -2.20669862e-06 9.99987844e-01 -5.93894121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters 0.012976859422338713 Centerline is valid? [True, True] Translation: X:333.31, Y:-14.98, Z:-5.94 [[ 9.99111655e-01 4.19425062e-02 4.08989427e-03 3.33310026e+02] [-4.19421291e-02 9.99120026e-01 -1.77958576e-04 -1.49841715e+01] [-4.09375930e-03 6.26161383e-06 9.99991621e-01 -5.93967007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874391418 meters 0.01326639265301114 Centerline is valid? [True, True] Translation: X:333.34, Y:-14.99, Z:-5.94 [[ 9.99284703e-01 3.77210046e-02 2.68492517e-03 3.33337164e+02] [-3.77208253e-02 9.99288310e-01 -1.17407909e-04 -1.49911496e+01] [-2.68744307e-03 1.60463344e-05 9.99996389e-01 -5.94296056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904391418 meters 0.013518202707402886 Centerline is valid? [True, True] Translation: X:333.37, Y:-15.00, Z:-5.94 [[ 9.99370660e-01 3.54106906e-02 2.08992372e-03 3.33365542e+02] [-3.54105771e-02 9.99372845e-01 -9.12690497e-05 -1.49951730e+01] [-2.09184491e-03 1.72062053e-05 9.99997812e-01 -5.94367437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934391418 meters 0.014295457189765123 Centerline is valid? [True, True] Translation: X:333.39, Y:-15.00, Z:-5.95 [[ 9.99507873e-01 3.13508939e-02 1.06438550e-03 3.33392509e+02] [-3.13508607e-02 9.99508440e-01 -4.77818036e-05 -1.50018639e+01] [-1.06536029e-03 1.43888873e-05 9.99999432e-01 -5.94561876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964391418 meters 0.014651753074074998 Centerline is valid? [True, True] Translation: X:333.42, Y:-15.01, Z:-5.95 [[ 9.99549810e-01 2.99859252e-02 1.01042613e-03 3.33420798e+02] [-2.99858954e-02 9.99550321e-01 -4.46574912e-05 -1.50050600e+01] [-1.01131086e-03 1.43388545e-05 9.99999489e-01 -5.94628142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994391418 meters 0.014993228680936022 Centerline is valid? [True, True] Translation: X:333.45, Y:-15.01, Z:-5.95 [[ 9.99587075e-01 2.87180021e-02 9.77968757e-04 3.33449082e+02] [-2.87179736e-02 9.99587553e-01 -4.31828561e-05 -1.50078777e+01] [-9.78805522e-04 1.50797439e-05 9.99999521e-01 -5.94672505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024391418 meters 0.01523143989082569 Centerline is valid? [True, True] Translation: X:333.48, Y:-15.01, Z:-5.95 [[ 9.99613992e-01 2.77382536e-02 1.56734438e-03 3.33478307e+02] [-2.77381807e-02 9.99615220e-01 -6.82291291e-05 -1.50100618e+01] [-1.56863385e-03 2.47275105e-05 9.99998769e-01 -5.94683024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.054391418 meters 0.015608023284522989 Centerline is valid? [True, True] Translation: X:333.51, Y:-15.01, Z:-5.95 [[ 9.99645922e-01 2.64920280e-02 2.49050358e-03 3.33507265e+02] [-2.64918427e-02 9.99649024e-01 -1.07359874e-04 -1.50132538e+01] [-2.49247365e-03 4.13438318e-05 9.99996893e-01 -5.94628844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084391418 meters 0.015773852232586347 Centerline is valid? [True, True] Translation: X:333.54, Y:-15.02, Z:-5.95 [[ 9.99654803e-01 2.60661822e-02 3.29087384e-03 3.33536471e+02] [-2.60658588e-02 9.99660218e-01 -1.41136465e-04 -1.50156943e+01] [-3.29343455e-03 5.53082923e-05 9.99994575e-01 -5.94611157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.114391418 meters 0.015817692036891894 Centerline is valid? [True, True] Translation: X:333.57, Y:-15.02, Z:-5.94 [[ 9.99650109e-01 2.58833928e-02 5.45060733e-03 3.33565124e+02] [-2.58825103e-02 9.99664965e-01 -2.32400073e-04 -1.50187769e+01] [-5.45479648e-03 9.12433585e-05 9.99985118e-01 -5.94464838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144391418 meters 0.01594850921079317 Centerline is valid? [True, True] Translation: X:333.59, Y:-15.02, Z:-5.94 [[ 9.99645264e-01 2.59824246e-02 5.85312105e-03 3.33593142e+02] [-2.59814105e-02 9.99662395e-01 -2.49230166e-04 -1.50207071e+01] [-5.85762061e-03 9.70694144e-05 9.99982839e-01 -5.94493493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.174391418 meters 0.015854298361198227 Centerline is valid? [True, True] Translation: X:333.62, Y:-15.02, Z:-5.95 [[ 9.99636261e-01 2.62199063e-02 6.31358616e-03 3.33621782e+02] [-2.62187374e-02 9.99656194e-01 -2.67848193e-04 -1.50223296e+01] [-6.31843847e-03 1.02216508e-04 9.99980033e-01 -5.94514526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204391418 meters 0.015998728781829823 Centerline is valid? [True, True] Translation: X:333.65, Y:-15.02, Z:-5.95 [[ 9.99639264e-01 2.62034123e-02 5.89265397e-03 3.33649530e+02] [-2.62023946e-02 9.99656627e-01 -2.49853524e-04 -1.50239014e+01] [-5.89717761e-03 9.53617486e-05 9.99982607e-01 -5.94537932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234391418 meters 0.01556695419886603 Centerline is valid? [True, True] Translation: X:333.68, Y:-15.02, Z:-5.94 [[ 9.99647824e-01 2.59043123e-02 5.76149302e-03 3.33678372e+02] [-2.59033386e-02 9.99664423e-01 -2.43580230e-04 -1.50243697e+01] [-5.76586937e-03 9.42525424e-05 9.99983373e-01 -5.94495004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264391418 meters 0.01610866241933247 Centerline is valid? [True, True] Translation: X:333.71, Y:-15.03, Z:-5.95 [[ 9.99691186e-01 2.41562796e-02 5.83161082e-03 3.33706863e+02] [-2.41552550e-02 9.99708189e-01 -2.46074360e-04 -1.50280426e+01] [-5.83585333e-03 1.05134323e-04 9.99982966e-01 -5.94561935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294391418 meters 0.016562917117900772 Centerline is valid? [True, True] Translation: X:333.73, Y:-15.03, Z:-5.95 [[ 9.99716036e-01 2.31205517e-02 5.76953598e-03 3.33734049e+02] [-2.31195328e-02 9.99732678e-01 -2.43243828e-04 -1.50318191e+01] [-5.77361759e-03 1.09785780e-04 9.99983327e-01 -5.94694258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324391418 meters 0.018220066767219135 Centerline is valid? [True, True] Translation: X:333.76, Y:-15.04, Z:-5.95 [[ 9.99752617e-01 2.15020629e-02 5.68916700e-03 3.33761796e+02] [-2.15010491e-02 9.99768797e-01 -2.39301074e-04 -1.50372158e+01] [-5.69299711e-03 1.16918816e-04 9.99983788e-01 -5.94885784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354391418 meters 0.01780841853658028 Centerline is valid? [True, True] Translation: X:333.79, Y:-15.04, Z:-5.95 [[ 9.99787814e-01 1.98048344e-02 5.66525684e-03 3.33790729e+02] [-1.98038063e-02 9.99803857e-01 -2.37516990e-04 -1.50394842e+01] [-5.66884962e-03 1.25272944e-04 9.99983924e-01 -5.94836387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384391418 meters 0.019493966381822856 Centerline is valid? [True, True] Translation: X:333.82, Y:-15.05, Z:-5.95 [[ 9.99845947e-01 1.65254501e-02 5.91535174e-03 3.33819629e+02] [-1.65242750e-02 9.99863434e-01 -2.47467201e-04 -1.50457004e+01] [-5.91863341e-03 1.49682179e-04 9.99982474e-01 -5.94886353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414391418 meters 0.019070447079207114 Centerline is valid? [True, True] Translation: X:333.85, Y:-15.05, Z:-5.95 [[ 9.99876660e-01 1.46323864e-02 5.70595125e-03 3.33848208e+02] [-1.46312643e-02 9.99892929e-01 -2.38354688e-04 -1.50474784e+01] [-5.70882801e-03 1.54840008e-04 9.99983693e-01 -5.94852410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444391418 meters 0.021868033047664336 Centerline is valid? [True, True] Translation: X:333.88, Y:-15.06, Z:-5.95 [[ 9.99912399e-01 1.20253472e-02 5.53046241e-03 3.33876720e+02] [-1.20242569e-02 9.99927679e-01 -2.30359110e-04 -1.50552996e+01] [-5.53283259e-03 1.63839230e-04 9.99984680e-01 -5.95067220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474391418 meters 0.022314478281706764 Centerline is valid? [True, True] Translation: X:333.91, Y:-15.06, Z:-5.95 [[ 9.99922684e-01 1.13990869e-02 4.96861558e-03 3.33906260e+02] [-1.13982015e-02 9.99935017e-01 -2.06478540e-04 -1.50583906e+01] [-4.97064637e-03 1.49829295e-04 9.99987635e-01 -5.95175156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504391418 meters 0.020989661884729 Centerline is valid? [True, True] Translation: X:333.94, Y:-15.06, Z:-5.95 [[ 9.99926872e-01 1.12097388e-02 4.53795807e-03 3.33935587e+02] [-1.12089987e-02 9.99937159e-01 -1.88491353e-04 -1.50586391e+01] [-4.53978584e-03 1.37611603e-04 9.99989686e-01 -5.95198623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534391418 meters 0.021570932007545028 Centerline is valid? [True, True] Translation: X:333.96, Y:-15.06, Z:-5.95 [[ 9.99928025e-01 1.13528252e-02 3.88037461e-03 3.33964455e+02] [-1.13522843e-02 9.99935548e-01 -1.61403585e-04 -1.50623586e+01] [-3.88195689e-03 1.17340852e-04 9.99992458e-01 -5.95345525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564391418 meters 0.020079591296387624 Centerline is valid? [True, True] Translation: X:333.99, Y:-15.06, Z:-5.95 [[ 9.99925647e-01 1.16066113e-02 3.74002346e-03 3.33993132e+02] [-1.16061101e-02 9.99932635e-01 -1.55698676e-04 -1.50617965e+01] [-3.74157864e-03 1.12279975e-04 9.99992994e-01 -5.95263844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594391418 meters 0.019973808204958705 Centerline is valid? [True, True] Translation: X:334.02, Y:-15.06, Z:-5.95 [[ 9.99918966e-01 1.20279149e-02 4.17014469e-03 3.34021540e+02] [-1.20272975e-02 9.99927654e-01 -1.73092382e-04 -1.50631296e+01] [-4.17192494e-03 1.22922785e-04 9.99991290e-01 -5.95293153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624391418 meters 0.020778596685285082 Centerline is valid? [True, True] Translation: X:334.05, Y:-15.07, Z:-5.95 [[ 9.99912781e-01 1.22900813e-02 4.83583278e-03 3.34050394e+02] [-1.22892586e-02 9.99924464e-01 -1.99813324e-04 -1.50660836e+01] [-4.83792322e-03 1.40367097e-04 9.99988287e-01 -5.95359153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654391418 meters 0.02005098615568842 Centerline is valid? [True, True] Translation: X:334.08, Y:-15.07, Z:-5.95 [[ 9.99892954e-01 1.32380998e-02 6.23160349e-03 3.34079641e+02] [-1.32367564e-02 9.99912357e-01 -2.56776347e-04 -1.50673824e+01] [-6.23445657e-03 1.74262643e-04 9.99980550e-01 -5.95312329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684391418 meters 0.019750107115663305 Centerline is valid? [True, True] Translation: X:334.11, Y:-15.07, Z:-5.95 [[ 9.99881037e-01 1.38353141e-02 6.81878685e-03 3.34109010e+02] [-1.38337244e-02 9.99904270e-01 -2.80237140e-04 -1.50691544e+01] [-6.82201126e-03 1.85874584e-04 9.99976713e-01 -5.95365562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714391418 meters 0.01930644049324219 Centerline is valid? [True, True] Translation: X:334.14, Y:-15.07, Z:-5.95 [[ 9.99846580e-01 1.57635058e-02 7.63729968e-03 3.34138133e+02] [-1.57615709e-02 9.99875730e-01 -3.13479762e-04 -1.50705832e+01] [-7.64129213e-03 1.93055828e-04 9.99970786e-01 -5.95375261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744391418 meters 0.01823467643640307 Centerline is valid? [True, True] Translation: X:334.17, Y:-15.07, Z:-5.95 [[ 9.99820512e-01 1.71729133e-02 8.00218202e-03 3.34166593e+02] [-1.71708337e-02 9.99852516e-01 -3.28514361e-04 -1.50701098e+01] [-8.00664338e-03 1.91051260e-04 9.99967928e-01 -5.95322141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774391418 meters 0.01760497487072421 Centerline is valid? [True, True] Translation: X:334.20, Y:-15.07, Z:-5.95 [[ 9.99784510e-01 1.89218289e-02 8.53804468e-03 3.34195937e+02] [-1.89195335e-02 9.99820949e-01 -3.49538711e-04 -1.50699282e+01] [-8.54312984e-03 1.87927566e-04 9.99963489e-01 -5.95302745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.804391418 meters 0.016268445468318096 Centerline is valid? [True, True] Translation: X:334.23, Y:-15.07, Z:-5.95 [[ 9.99703571e-01 2.25843238e-02 9.09495277e-03 3.34225306e+02] [-2.25818763e-02 9.99744928e-01 -3.71718799e-04 -1.50693137e+01] [-9.10102792e-03 1.66227512e-04 9.99958571e-01 -5.95251182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834391418 meters 0.016009444966148884 Centerline is valid? [True, True] Translation: X:334.25, Y:-15.07, Z:-5.95 [[ 9.99665844e-01 2.41973795e-02 9.09320034e-03 3.34253324e+02] [-2.41950014e-02 9.99707189e-01 -3.71446648e-04 -1.50710329e+01] [-9.09952578e-03 1.51312532e-04 9.99958587e-01 -5.95346145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.864391418 meters 0.015323065027068941 Centerline is valid? [True, True] Translation: X:334.28, Y:-15.07, Z:-5.95 [[ 9.99639617e-01 2.52700505e-02 9.05871949e-03 3.34282063e+02] [-2.52677442e-02 9.99680651e-01 -3.68975078e-04 -1.50714310e+01] [-9.06515062e-03 1.39948699e-04 9.99958901e-01 -5.95368393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894391418 meters 0.015289423051102162 Centerline is valid? [True, True] Translation: X:334.31, Y:-15.07, Z:-5.96 [[ 9.99602563e-01 2.68997361e-02 8.43325124e-03 3.34309907e+02] [-2.68977987e-02 9.99638130e-01 -3.43092695e-04 -1.50742120e+01] [-8.43942860e-03 1.16120443e-04 9.99964381e-01 -5.95506078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters 0.015194103823355553 Centerline is valid? [True, True] Translation: X:334.34, Y:-15.08, Z:-5.96 [[ 9.99611106e-01 2.68582349e-02 7.50149311e-03 3.34338353e+02] [-2.68567068e-02 9.99639247e-01 -3.04381357e-04 -1.50757435e+01] [-7.50696207e-03 1.02797584e-04 9.99971817e-01 -5.95596833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954391418 meters 0.015095549489852944 Centerline is valid? [True, True] Translation: X:334.37, Y:-15.08, Z:-5.96 [[ 9.99620402e-01 2.66187264e-02 7.10599785e-03 3.34366662e+02] [-2.66173525e-02 9.99645654e-01 -2.87873727e-04 -1.50773575e+01] [-7.11114270e-03 9.86216013e-05 9.99974711e-01 -5.95654093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters 0.015282821859582161 Centerline is valid? [True, True] Translation: X:334.40, Y:-15.08, Z:-5.96 [[ 9.99649127e-01 2.56638269e-02 6.55675517e-03 3.34395679e+02] [-2.56626394e-02 9.99670625e-01 -2.65194030e-04 -1.50820813e+01] [-6.56140144e-03 9.68373374e-05 9.99978469e-01 -5.95825943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014391418 meters 0.015853148280373278 Centerline is valid? [True, True] Translation: X:334.42, Y:-15.09, Z:-5.96 [[ 9.99674059e-01 2.47886545e-02 6.10732040e-03 3.34423370e+02] [-2.47876082e-02 9.99692710e-01 -2.46973534e-04 -1.50860250e+01] [-6.11156582e-03 9.55071698e-05 9.99981320e-01 -5.96011097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters 0.01590794706607815 Centerline is valid? [True, True] Translation: X:334.45, Y:-15.09, Z:-5.96 [[ 9.99696013e-01 2.39235948e-02 5.96187305e-03 3.34452142e+02] [-2.39225882e-02 9.99713785e-01 -2.40115550e-04 -1.50886659e+01] [-5.96591110e-03 9.74191243e-05 9.99982199e-01 -5.96056413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074391418 meters 0.016167654943095452 Centerline is valid? [True, True] Translation: X:334.48, Y:-15.09, Z:-5.96 [[ 9.99717606e-01 2.29924558e-02 6.00453245e-03 3.34481029e+02] [-2.29914209e-02 9.99735633e-01 -2.41337770e-04 -1.50927367e+01] [-6.00849400e-03 1.03216885e-04 9.99981944e-01 -5.96099736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters 0.0163867607351886 Centerline is valid? [True, True] Translation: X:334.51, Y:-15.09, Z:-5.96 [[ 9.99722203e-01 2.27491737e-02 6.16378023e-03 3.34509877e+02] [-2.27480818e-02 9.99741198e-01 -2.47195238e-04 -1.50947676e+01] [-6.16780853e-03 1.06912390e-04 9.99980973e-01 -5.96146247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134391418 meters 0.01674166551371557 Centerline is valid? [True, True] Translation: X:334.54, Y:-15.10, Z:-5.96 [[ 9.99739056e-01 2.19814322e-02 6.21580908e-03 3.34537256e+02] [-2.19803088e-02 9.99758373e-01 -2.48997392e-04 -1.50979819e+01] [-6.21978049e-03 1.12307015e-04 9.99980651e-01 -5.96125662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters 0.01694398788510977 Centerline is valid? [True, True] Translation: X:334.57, Y:-15.10, Z:-5.96 [[ 9.99745951e-01 2.15865011e-02 6.48506632e-03 3.34565533e+02] [-2.15852761e-02 9.99766977e-01 -2.58829347e-04 -1.50999884e+01] [-6.48914237e-03 1.18781645e-04 9.99978938e-01 -5.96177514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194391418 meters 0.016690019822091246 Centerline is valid? [True, True] Translation: X:334.59, Y:-15.10, Z:-5.96 [[ 9.99752520e-01 2.11952364e-02 6.75731322e-03 3.34594433e+02] [-2.11939014e-02 9.99775348e-01 -2.69118727e-04 -1.51015236e+01] [-6.76149921e-03 1.25838295e-04 9.99977133e-01 -5.96182872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters 0.017464369246797055 Centerline is valid? [True, True] Translation: X:334.62, Y:-15.10, Z:-5.96 [[ 9.99757273e-01 2.08291267e-02 7.17931477e-03 3.34622445e+02] [-2.08276136e-02 9.99783041e-01 -2.85469105e-04 -1.51044833e+01] [-7.18370323e-03 1.35871820e-04 9.99974188e-01 -5.96273853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254391418 meters 0.01719000857026261 Centerline is valid? [True, True] Translation: X:334.65, Y:-15.11, Z:-5.96 [[ 9.99768601e-01 1.96962861e-02 8.64874959e-03 3.34651493e+02] [-1.96940599e-02 9.99805995e-01 -3.42498893e-04 -1.51065040e+01] [-8.65381764e-03 1.72090647e-04 9.99962540e-01 -5.96136773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters 0.017868651561943213 Centerline is valid? [True, True] Translation: X:334.68, Y:-15.11, Z:-5.96 [[ 9.99777631e-01 1.88489465e-02 9.45545238e-03 3.34678782e+02] [-1.88462546e-02 9.99822324e-01 -3.73720533e-04 -1.51094461e+01] [-9.46081661e-03 1.95437566e-04 9.99955226e-01 -5.96184148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314391418 meters 0.018410592787991176 Centerline is valid? [True, True] Translation: X:334.71, Y:-15.11, Z:-5.96 [[ 9.99793751e-01 1.77585014e-02 9.85350772e-03 3.34707944e+02] [-1.77555403e-02 9.99842283e-01 -3.87917440e-04 -1.51117679e+01] [-9.85884249e-03 2.12883079e-04 9.99951378e-01 -5.96257029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters 0.01965993570147631 Centerline is valid? [True, True] Translation: X:334.74, Y:-15.12, Z:-5.96 [[ 9.99838215e-01 1.52178944e-02 9.58955880e-03 3.34736772e+02] [-1.52149765e-02 9.99884174e-01 -3.77167745e-04 -1.51165818e+01] [-9.59418778e-03 2.31201813e-04 9.99953948e-01 -5.96434693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374391418 meters 0.02051848884221858 Centerline is valid? [True, True] Translation: X:334.77, Y:-15.12, Z:-5.97 [[ 9.99860921e-01 1.37838379e-02 9.38857746e-03 3.34766289e+02] [-1.37809850e-02 9.99904970e-01 -3.68494967e-04 -1.51199060e+01] [-9.39276453e-03 2.39059872e-04 9.99955858e-01 -5.96556742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404391418 meters 0.02051848884221858 Centerline is valid? [True, True] Translation: X:334.80, Y:-15.12, Z:-5.97 [[ 9.99860921e-01 1.37838410e-02 9.38857061e-03 3.34796272e+02] [-1.37809865e-02 9.99904970e-01 -3.68669368e-04 -1.51210833e+01] [-9.39276009e-03 2.39234329e-04 9.99955858e-01 -5.96610835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434391418 meters 0.022534460680449207 Centerline is valid? [True, True] Translation: X:334.83, Y:-15.13, Z:-5.97 [[ 9.99903391e-01 1.03829496e-02 9.24139323e-03 3.34826412e+02] [-1.03800387e-02 9.99946060e-01 -3.62890023e-04 -1.51267212e+01] [-9.24466262e-03 2.66928944e-04 9.99957232e-01 -5.96776694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464391418 meters 0.023472231249206662 Centerline is valid? [True, True] Translation: X:334.86, Y:-15.13, Z:-5.97 [[ 9.99919129e-01 9.02717799e-03 8.95803838e-03 3.34857993e+02] [-9.02440854e-03 9.99959218e-01 -3.49531779e-04 -1.51302159e+01] [-8.96082834e-03 2.68662514e-04 9.99959815e-01 -5.96856970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494391418 meters 0.024329344786697998 Centerline is valid? [True, True] Translation: X:334.89, Y:-15.13, Z:-5.97 [[ 9.99931655e-01 7.45759162e-03 9.00384301e-03 3.34889020e+02] [-7.45469310e-03 9.99972150e-01 -3.55439475e-04 -1.51332533e+01] [-9.00624297e-03 2.88294296e-04 9.99959401e-01 -5.96927439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524391418 meters 0.025535214342033485 Centerline is valid? [True, True] Translation: X:334.92, Y:-15.14, Z:-5.97 [[ 9.99943071e-01 6.00661439e-03 8.81908371e-03 3.34920819e+02] [-6.00379273e-03 9.99981917e-01 -3.46389794e-04 -1.51370536e+01] [-8.82100487e-03 2.93422123e-04 9.99961051e-01 -5.97048072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.554391418 meters 0.023691183626917564 Centerline is valid? [True, True] Translation: X:334.95, Y:-15.14, Z:-5.97 [[ 9.99956046e-01 2.84693031e-03 8.93317888e-03 3.34952485e+02] [-2.84388794e-03 9.99995894e-01 -3.53254193e-04 -1.51372533e+01] [-8.93414789e-03 3.27833706e-04 9.99960036e-01 -5.97029594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584391418 meters 0.024763661916145867 Centerline is valid? [True, True] Translation: X:334.98, Y:-15.14, Z:-5.97 [[ 9.99961459e-01 1.52229897e-03 8.64654133e-03 3.34984985e+02] [-1.51938211e-03 9.99998787e-01 -3.43902399e-04 -1.51406407e+01] [-8.64705436e-03 3.30751744e-04 9.99962559e-01 -5.97105366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.614391418 meters 0.026039233836576848 Centerline is valid? [True, True] Translation: X:335.02, Y:-15.14, Z:-5.97 [[ 9.99961706e-01 -9.34843229e-05 8.75089250e-03 3.35016052e+02] [ 9.65581066e-05 9.99999934e-01 -3.50831917e-04 -1.51448570e+01] [-8.75085912e-03 3.51663452e-04 9.99961649e-01 -5.97143019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644391418 meters 0.02601454630757178 Centerline is valid? [True, True] Translation: X:335.05, Y:-15.15, Z:-5.97 [[ 9.99960286e-01 -2.27659380e-04 8.90927737e-03 3.35047924e+02] [ 2.30887283e-04 9.99999908e-01 -3.61281217e-04 -1.51465835e+01] [-8.90919430e-03 3.63323908e-04 9.99960246e-01 -5.97174362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67439141799997 meters 0.026430657539463505 Centerline is valid? [True, True] Translation: X:335.08, Y:-15.15, Z:-5.97 [[ 9.99964174e-01 -9.40291714e-05 8.46415204e-03 3.35080921e+02] [ 9.69397560e-05 9.99999936e-01 -3.43462356e-04 -1.51487248e+01] [-8.46411920e-03 3.44270564e-04 9.99964119e-01 -5.97261561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704391418 meters 0.025566654495740592 Centerline is valid? [True, True] Translation: X:335.11, Y:-15.15, Z:-5.97 [[ 9.99970657e-01 8.11519292e-04 7.61750398e-03 3.35113283e+02] [-8.09179509e-04 9.99999624e-01 -3.10235759e-04 -1.51486520e+01] [-7.61775288e-03 3.04062728e-04 9.99970938e-01 -5.97335503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734391418 meters 0.02543614424060489 Centerline is valid? [True, True] Translation: X:335.15, Y:-15.15, Z:-5.97 [[ 9.99975305e-01 1.77920891e-03 6.79876015e-03 3.35145772e+02] [-1.77736465e-03 9.99998382e-01 -2.77296353e-04 -1.51496206e+01] [-6.79924252e-03 2.65205630e-04 9.99976850e-01 -5.97411380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764391418 meters 0.02537869765473967 Centerline is valid? [True, True] Translation: X:335.18, Y:-15.15, Z:-5.97 [[ 9.99967196e-01 3.11871065e-03 7.47538615e-03 3.35177432e+02] [-3.11651270e-03 9.99995097e-01 -3.05656390e-04 -1.51504990e+01] [-7.47630275e-03 2.82349227e-04 9.99972012e-01 -5.97412225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794391418 meters 0.02474029668454453 Centerline is valid? [True, True] Translation: X:335.21, Y:-15.15, Z:-5.97 [[ 9.99959414e-01 4.19919020e-03 7.97096499e-03 3.35209878e+02] [-4.19673564e-03 9.99991141e-01 -3.24637960e-04 -1.51510804e+01] [-7.97225759e-03 2.91172752e-04 9.99968179e-01 -5.97368310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824391418 meters 0.024778273752183614 Centerline is valid? [True, True] Translation: X:335.24, Y:-15.15, Z:-5.97 [[ 9.99945533e-01 5.16062225e-03 9.07188095e-03 3.35240669e+02] [-5.15744294e-03 9.99986630e-01 -3.73816537e-04 -1.51525424e+01] [-9.07368879e-03 3.27008468e-04 9.99958780e-01 -5.97342261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854391418 meters 0.02468945701638361 Centerline is valid? [True, True] Translation: X:335.27, Y:-15.15, Z:-5.97 [[ 9.99919773e-01 6.86064222e-03 1.06479678e-02 3.35271540e+02] [-6.85633475e-03 9.99976398e-01 -4.40985690e-04 -1.51539387e+01] [-1.06507419e-02 3.67944280e-04 9.99943212e-01 -5.97252339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884391418 meters 0.024754406091388667 Centerline is valid? [True, True] Translation: X:335.30, Y:-15.16, Z:-5.97 [[ 9.99913364e-01 7.53119157e-03 1.07956619e-02 3.35303536e+02] [-7.52679279e-03 9.99971573e-01 -4.48030115e-04 -1.51552886e+01] [-1.07987292e-02 3.66734590e-04 9.99941625e-01 -5.97277694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914391418 meters 0.02391105679738645 Centerline is valid? [True, True] Translation: X:335.34, Y:-15.16, Z:-5.97 [[ 9.99900463e-01 9.21090346e-03 1.06875574e-02 3.35335806e+02] [-9.20665764e-03 9.99957518e-01 -4.46401263e-04 -1.51559140e+01] [-1.06912151e-02 3.47960148e-04 9.99942787e-01 -5.97358954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944391418 meters 0.02187255921989584 Centerline is valid? [True, True] Translation: X:335.37, Y:-15.15, Z:-5.97 [[ 9.99894456e-01 9.86077446e-03 1.06696420e-02 3.35367729e+02] [-9.85654978e-03 9.99951322e-01 -4.48465923e-04 -1.51548340e+01] [-1.06735448e-02 3.43252732e-04 9.99942977e-01 -5.97360140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974391418 meters 0.02350065175247945 Centerline is valid? [True, True] Translation: X:335.40, Y:-15.16, Z:-5.97 [[ 9.99894246e-01 1.03168332e-02 1.02498505e-02 3.35399465e+02] [-1.03129318e-02 9.99946726e-01 -4.33416005e-04 -1.51590573e+01] [-1.02537759e-02 3.27664161e-04 9.99947375e-01 -5.97481643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004391418 meters 0.024245265979885865 Centerline is valid? [True, True] Translation: X:335.43, Y:-15.16, Z:-5.98 [[ 9.99894940e-01 1.03217689e-02 1.01769397e-02 3.35430342e+02] [-1.03178877e-02 9.99946675e-01 -4.33812769e-04 -1.51619734e+01] [-1.01808748e-02 3.28762672e-04 9.99948120e-01 -5.97584314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034391418 meters 0.024616290560328023 Centerline is valid? [True, True] Translation: X:335.46, Y:-15.16, Z:-5.98 [[ 9.99916414e-01 9.17946682e-03 9.10512647e-03 3.35462862e+02] [-9.17629774e-03 9.99957821e-01 -3.89771274e-04 -1.51645203e+01] [-9.10832031e-03 3.06187343e-04 9.99958472e-01 -5.97798603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064391418 meters 0.02544073607059375 Centerline is valid? [True, True] Translation: X:335.50, Y:-15.17, Z:-5.98 [[ 9.99932125e-01 8.41034423e-03 8.06296979e-03 3.35495362e+02] [-8.40782080e-03 9.99964594e-01 -3.46811967e-04 -1.51672033e+01] [-8.06560112e-03 2.78996422e-04 9.99967434e-01 -5.97985598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094391418 meters 0.02652851581922714 Centerline is valid? [True, True] Translation: X:335.53, Y:-15.17, Z:-5.98 [[ 9.99944441e-01 7.57867038e-03 7.32659872e-03 3.35526128e+02] [-7.57655160e-03 9.99971247e-01 -3.16902313e-04 -1.51704007e+01] [-7.32878976e-03 2.61374353e-04 9.99973110e-01 -5.98143536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124391418 meters 0.025414597292661493 Centerline is valid? [True, True] Translation: X:335.56, Y:-15.17, Z:-5.98 [[ 9.99960376e-01 5.44656818e-03 7.04141356e-03 3.35557969e+02] [-5.44454818e-03 9.99985132e-01 -3.06011522e-04 -1.51704135e+01] [-7.04297558e-03 2.67662081e-04 9.99975162e-01 -5.98137101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154391418 meters 0.024759955510044798 Centerline is valid? [True, True] Translation: X:335.59, Y:-15.17, Z:-5.98 [[ 9.99964850e-01 4.26616291e-03 7.21787969e-03 3.35590185e+02] [-4.26399744e-03 9.99990859e-01 -3.15376471e-04 -1.51712915e+01] [-7.21915916e-03 2.84588366e-04 9.99973901e-01 -5.98148823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184391418 meters 0.028490442284559422 Centerline is valid? [True, True] Translation: X:335.62, Y:-15.18, Z:-5.98 [[ 9.99973216e-01 1.88614998e-03 7.07168953e-03 3.35621355e+02] [-1.88399633e-03 9.99998177e-01 -3.11194264e-04 -1.51782306e+01] [-7.07226359e-03 2.97862892e-04 9.99974947e-01 -5.98322630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214391418 meters 0.02718693018511681 Centerline is valid? [True, True] Translation: X:335.65, Y:-15.18, Z:-5.98 [[ 9.99973656e-01 9.68657313e-04 7.19367863e-03 3.35653716e+02] [-9.66392074e-04 9.99999482e-01 -3.18362361e-04 -1.51774327e+01] [-7.19398329e-03 3.11402060e-04 9.99974074e-01 -5.98259897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244391418 meters 0.030748778765167944 Centerline is valid? [True, True] Translation: X:335.68, Y:-15.18, Z:-5.98 [[ 9.99973544e-01 -7.85180253e-05 7.27358471e-03 3.35684411e+02] [ 8.08789409e-05 9.99999944e-01 -3.24294066e-04 -1.51831227e+01] [-7.27355884e-03 3.24873766e-04 9.99973495e-01 -5.98340069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274391418 meters 0.028316675950235463 Centerline is valid? [True, True] Translation: X:335.72, Y:-15.18, Z:-5.98 [[ 9.99967063e-01 -7.16414481e-04 8.08451901e-03 3.35717060e+02] [ 7.19371804e-04 9.99999675e-01 -3.62898746e-04 -1.51806367e+01] [-8.08425640e-03 3.68702568e-04 9.99967254e-01 -5.98247666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.304391418 meters 0.029575191184245096 Centerline is valid? [True, True] Translation: X:335.75, Y:-15.18, Z:-5.98 [[ 9.99957737e-01 -2.90503481e-03 8.72271893e-03 3.35748892e+02] [ 2.90860256e-03 9.99995691e-01 -3.96359978e-04 -1.51831473e+01] [-8.72152990e-03 4.21714149e-04 9.99961878e-01 -5.98212435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334391418 meters 0.030235274977707914 Centerline is valid? [True, True] Translation: X:335.78, Y:-15.19, Z:-5.98 [[ 9.99950975e-01 -4.03809251e-03 9.04112834e-03 3.35780668e+02] [ 4.04197889e-03 9.99991746e-01 -4.11624463e-04 -1.51852705e+01] [-9.03939154e-03 4.48148332e-04 9.99959043e-01 -5.98226881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.364391418 meters 0.031815918603190795 Centerline is valid? [True, True] Translation: X:335.81, Y:-15.19, Z:-5.98 [[ 9.99942254e-01 -6.44014255e-03 8.60310995e-03 3.35812854e+02] [ 6.44375566e-03 9.99979162e-01 -3.92324743e-04 -1.51877452e+01] [-8.60040405e-03 4.47738426e-04 9.99962916e-01 -5.98244591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394391418 meters 0.03279700586108927 Centerline is valid? [True, True] Translation: X:335.84, Y:-15.19, Z:-5.98 [[ 9.99933658e-01 -7.97180711e-03 8.31448184e-03 3.35844594e+02] [ 7.97524146e-03 9.99968125e-01 -3.79982929e-04 -1.51894777e+01] [-8.31118767e-03 4.46267720e-04 9.99965362e-01 -5.98289994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters 0.03221781388087753 Centerline is valid? [True, True] Translation: X:335.88, Y:-15.19, Z:-5.98 [[ 9.99925594e-01 -9.52813210e-03 7.61719586e-03 3.35876661e+02] [ 9.53106068e-03 9.99954518e-01 -3.48261013e-04 -1.51895713e+01] [-7.61353113e-03 4.20835056e-04 9.99970928e-01 -5.98355619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454391418 meters 0.03356458281234398 Centerline is valid? [True, True] Translation: X:335.91, Y:-15.19, Z:-5.99 [[ 9.99898950e-01 -1.25967844e-02 6.58875523e-03 3.35908016e+02] [ 1.25990473e-02 9.99920583e-01 -3.02062742e-04 -1.51924081e+01] [-6.58442695e-03 3.85044257e-04 9.99978248e-01 -5.98541215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters 0.036036388543769136 Centerline is valid? [True, True] Translation: X:335.94, Y:-15.20, Z:-5.99 [[ 9.99885064e-01 -1.38708905e-02 6.12018954e-03 3.35938885e+02] [ 1.38728666e-02 9.99903728e-01 -2.80537855e-04 -1.51968398e+01] [-6.11570903e-03 3.65410184e-04 9.99981232e-01 -5.98711559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514391418 meters 0.040175160648798225 Centerline is valid? [True, True] Translation: X:335.97, Y:-15.20, Z:-5.99 [[ 9.99854540e-01 -1.60334399e-02 5.81619224e-03 3.35968523e+02] [ 1.60352672e-02 9.99871391e-01 -2.67669063e-04 -1.52024381e+01] [-5.81115257e-03 3.60894324e-04 9.99983050e-01 -5.98871678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters 0.041161067997203676 Centerline is valid? [True, True] Translation: X:336.00, Y:-15.20, Z:-5.99 [[ 9.99836381e-01 -1.69920300e-02 6.20347471e-03 3.36000258e+02] [ 1.69941228e-02 9.99855549e-01 -2.84797508e-04 -1.52044185e+01] [-6.19773932e-03 3.90173520e-04 9.99980718e-01 -5.98921776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574391418 meters 0.04110472077499995 Centerline is valid? [True, True] Translation: X:336.03, Y:-15.21, Z:-5.99 [[ 9.99825187e-01 -1.75584388e-02 6.42622778e-03 3.36032448e+02] [ 1.75606975e-02 9.99845755e-01 -2.95210018e-04 -1.52050127e+01] [-6.42005314e-03 4.08007454e-04 9.99979308e-01 -5.98922095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters 0.03842459645838452 Centerline is valid? [True, True] Translation: X:336.07, Y:-15.20, Z:-5.99 [[ 9.99819275e-01 -1.79070142e-02 6.38403176e-03 3.36065063e+02] [ 1.79092533e-02 9.99839573e-01 -2.93731802e-04 -1.52019223e+01] [-6.37774773e-03 4.08011959e-04 9.99979579e-01 -5.98882503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634391418 meters 0.03667310998887708 Centerline is valid? [True, True] Translation: X:336.10, Y:-15.20, Z:-5.99 [[ 9.99807895e-01 -1.84676501e-02 6.56649427e-03 3.36097722e+02] [ 1.84700347e-02 9.99829369e-01 -3.02678668e-04 -1.51986500e+01] [-6.55978405e-03 4.23903899e-04 9.99978395e-01 -5.98878394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters 0.036876205629132915 Centerline is valid? [True, True] Translation: X:336.13, Y:-15.20, Z:-5.99 [[ 9.99807458e-01 -1.84948126e-02 6.55652495e-03 3.36130385e+02] [ 1.84971942e-02 9.99828866e-01 -3.02769576e-04 -1.51991887e+01] [-6.54980324e-03 4.23988596e-04 9.99978460e-01 -5.98937219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694391418 meters 0.039258591299473115 Centerline is valid? [True, True] Translation: X:336.16, Y:-15.20, Z:-5.99 [[ 9.99816609e-01 -1.80427860e-02 6.41928116e-03 3.36161471e+02] [ 1.80450644e-02 9.99837130e-01 -2.97185868e-04 -1.52017555e+01] [-6.41287359e-03 4.12967709e-04 9.99979352e-01 -5.99077670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters 0.038690871349880876 Centerline is valid? [True, True] Translation: X:336.19, Y:-15.20, Z:-5.99 [[ 9.99828681e-01 -1.74000025e-02 6.31251014e-03 3.36193539e+02] [ 1.74021939e-02 9.99848528e-01 -2.92394806e-04 -1.52013022e+01] [-6.30646630e-03 4.02196239e-04 9.99980033e-01 -5.99112429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754391418 meters 0.03846409300519148 Centerline is valid? [True, True] Translation: X:336.23, Y:-15.20, Z:-5.99 [[ 9.99840762e-01 -1.67064384e-02 6.27260951e-03 3.36226158e+02] [ 1.67085918e-02 9.99860359e-01 -2.91050432e-04 -1.52009338e+01] [-6.26687118e-03 3.95810557e-04 9.99980285e-01 -5.99105776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters 0.036503116179002634 Centerline is valid? [True, True] Translation: X:336.26, Y:-15.20, Z:-5.99 [[ 9.99872609e-01 -1.47505117e-02 6.09828441e-03 3.36258089e+02] [ 1.47525150e-02 9.99891136e-01 -2.83648437e-04 -1.51962365e+01] [-6.09343656e-03 3.73577335e-04 9.99981365e-01 -5.99108366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814391418 meters 0.03504604218308 Centerline is valid? [True, True] Translation: X:336.29, Y:-15.19, Z:-5.99 [[ 9.99886108e-01 -1.38078532e-02 6.09216179e-03 3.36290133e+02] [ 1.38098358e-02 9.99904599e-01 -2.83479243e-04 -1.51940397e+01] [-6.08766636e-03 3.67578711e-04 9.99981402e-01 -5.99148320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters 0.036167160563814166 Centerline is valid? [True, True] Translation: X:336.32, Y:-15.20, Z:-5.99 [[ 9.99904070e-01 -1.24011274e-02 6.16947209e-03 3.36321179e+02] [ 1.24031388e-02 9.99923037e-01 -2.87859554e-04 -1.51957100e+01] [-6.16542748e-03 3.64352758e-04 9.99980927e-01 -5.99269035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874391418 meters 0.036418685016034257 Centerline is valid? [True, True] Translation: X:336.35, Y:-15.19, Z:-5.99 [[ 9.99924206e-01 -1.05277598e-02 6.38347214e-03 3.36351723e+02] [ 1.05298810e-02 9.99944515e-01 -2.98763863e-04 -1.51948176e+01] [-6.37997264e-03 3.65958420e-04 9.99979581e-01 -5.99387742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904391418 meters 0.035046761374886486 Centerline is valid? [True, True] Translation: X:336.38, Y:-15.19, Z:-5.99 [[ 9.99933412e-01 -9.88966385e-03 5.94696069e-03 3.36384350e+02] [ 9.89148980e-03 9.99951039e-01 -2.77703842e-04 -1.51934453e+01] [-5.94392313e-03 3.36509651e-04 9.99982278e-01 -5.99432227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934391418 meters 0.0356111498316162 Centerline is valid? [True, True] Translation: X:336.42, Y:-15.19, Z:-5.99 [[ 9.99936210e-01 -9.58716667e-03 5.97183367e-03 3.36415552e+02] [ 9.58900692e-03 9.99953985e-01 -2.79599211e-04 -1.51931410e+01] [-5.96887831e-03 3.36845329e-04 9.99982129e-01 -5.99492797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964391418 meters 0.03392695627630367 Centerline is valid? [True, True] Translation: X:336.45, Y:-15.19, Z:-5.99 [[ 9.99936471e-01 -9.64837414e-03 5.82780936e-03 3.36447472e+02] [ 9.65012808e-03 9.99953399e-01 -2.72915365e-04 -1.51911296e+01] [-5.82490459e-03 3.29137134e-04 9.99982981e-01 -5.99483599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994391418 meters 0.03454079611726857 Centerline is valid? [True, True] Translation: X:336.48, Y:-15.19, Z:-6.00 [[ 9.99932430e-01 -9.92314483e-03 6.05533210e-03 3.36479741e+02] [ 9.92504679e-03 9.99950705e-01 -2.84127138e-04 -1.51922270e+01] [-6.05221417e-03 3.44207394e-04 9.99981626e-01 -5.99525668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024391418 meters 0.03478794398854192 Centerline is valid? [True, True] Translation: X:336.51, Y:-15.19, Z:-6.00 [[ 9.99929572e-01 -1.02986621e-02 5.89821410e-03 3.36511901e+02] [ 1.03004757e-02 9.99946910e-01 -2.77195311e-04 -1.51928028e+01] [-5.89504622e-03 3.37930200e-04 9.99982567e-01 -5.99517161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.054391418 meters 0.03552478448256816 Centerline is valid? [True, True] Translation: X:336.54, Y:-15.19, Z:-5.99 [[ 9.99920445e-01 -1.06492248e-02 6.75995792e-03 3.36544107e+02] [ 1.06516203e-02 9.99943219e-01 -3.18463061e-04 -1.51931584e+01] [-6.75618270e-03 3.90442230e-04 9.99977101e-01 -5.99469355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084391418 meters 0.03712536692660298 Centerline is valid? [True, True] Translation: X:336.58, Y:-15.20, Z:-6.00 [[ 9.99916257e-01 -1.08000603e-02 7.13000853e-03 3.36575281e+02] [ 1.08027281e-02 9.99941592e-01 -3.35752803e-04 -1.51955824e+01] [-7.12596593e-03 4.12748229e-04 9.99974525e-01 -5.99505767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.114391418 meters 0.03405840583453158 Centerline is valid? [True, True] Translation: X:336.61, Y:-15.19, Z:-5.99 [[ 9.99914702e-01 -1.05246168e-02 7.73435856e-03 3.36608005e+02] [ 1.05277645e-02 9.99944514e-01 -3.66370478e-04 -1.51908873e+01] [-7.73007351e-03 4.47764733e-04 9.99970022e-01 -5.99348698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144391418 meters 0.0384147304397574 Centerline is valid? [True, True] Translation: X:336.64, Y:-15.20, Z:-5.99 [[ 9.99914821e-01 -1.05117042e-02 7.73659729e-03 3.36639713e+02] [ 1.05148567e-02 9.99944650e-01 -3.66906086e-04 -1.51965137e+01] [-7.73231226e-03 4.48224045e-04 9.99970005e-01 -5.99456875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17439141799997 meters 0.03420634540990923 Centerline is valid? [True, True] Translation: X:336.67, Y:-15.19, Z:-5.99 [[ 9.99917962e-01 -1.06249681e-02 7.15400275e-03 3.36672454e+02] [ 1.06276723e-02 9.99943467e-01 -3.40087906e-04 -1.51898847e+01] [-7.14998489e-03 4.16090403e-04 9.99974352e-01 -5.99406689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204391418 meters 0.034869097389598 Centerline is valid? [True, True] Translation: X:336.70, Y:-15.19, Z:-5.99 [[ 9.99907858e-01 -1.12034830e-02 7.66537500e-03 3.36704756e+02] [ 1.12066103e-02 9.99937137e-01 -3.65139050e-04 -1.51918221e+01] [-7.66080231e-03 4.51008276e-04 9.99970554e-01 -5.99481608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234391418 meters 0.034693239090678285 Centerline is valid? [True, True] Translation: X:336.74, Y:-15.19, Z:-6.00 [[ 9.99903010e-01 -1.15621762e-02 7.76451080e-03 3.36737185e+02] [ 1.15654007e-02 9.99933050e-01 -3.70512457e-04 -1.51928320e+01] [-7.75970703e-03 4.60276199e-04 9.99969787e-01 -5.99522507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264391418 meters 0.038878691449468934 Centerline is valid? [True, True] Translation: X:336.77, Y:-15.20, Z:-6.00 [[ 9.99900454e-01 -1.18548807e-02 7.65136011e-03 3.36768370e+02] [ 1.18580268e-02 9.99929624e-01 -3.65940194e-04 -1.51995484e+01] [-7.64648346e-03 4.56633800e-04 9.99970661e-01 -5.99670369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294391418 meters 0.038878691449468934 Centerline is valid? [True, True] Translation: X:336.80, Y:-15.20, Z:-6.00 [[ 9.99901840e-01 -1.17374555e-02 7.65136567e-03 3.36800924e+02] [ 1.17405972e-02 9.99931010e-01 -3.65825868e-04 -1.52012318e+01] [-7.64654393e-03 4.55621561e-04 9.99970661e-01 -5.99729106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324391418 meters 0.03982227797770825 Centerline is valid? [True, True] Translation: X:336.83, Y:-15.20, Z:-6.00 [[ 9.99885495e-01 -1.26344100e-02 8.32872741e-03 3.36832737e+02] [ 1.26381766e-02 9.99920055e-01 -3.99765795e-04 -1.52030505e+01] [-8.32301077e-03 5.04979948e-04 9.99965236e-01 -5.99712397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354391418 meters 0.04032434007876926 Centerline is valid? [True, True] Translation: X:336.86, Y:-15.20, Z:-6.00 [[ 9.99879068e-01 -1.31424232e-02 8.31426502e-03 3.36864576e+02] [ 1.31461996e-02 9.99913505e-01 -3.99717061e-04 -1.52044608e+01] [-8.30829263e-03 5.08969709e-04 9.99965356e-01 -5.99727131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384391418 meters 0.038235538377018555 Centerline is valid? [True, True] Translation: X:336.90, Y:-15.20, Z:-6.00 [[ 9.99883026e-01 -1.31136646e-02 7.87180608e-03 3.36896512e+02] [ 1.31170529e-02 9.99913896e-01 -3.78960713e-04 -1.52017586e+01] [-7.86615872e-03 4.82171281e-04 9.99968945e-01 -5.99724559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414391418 meters 0.037271560193985025 Centerline is valid? [True, True] Translation: X:336.93, Y:-15.20, Z:-6.00 [[ 9.99896143e-01 -1.26151675e-02 6.96858427e-03 3.36928393e+02] [ 1.26178134e-02 9.99920336e-01 -3.35863054e-04 -1.52016306e+01] [-6.96379216e-03 4.23756468e-04 9.99975663e-01 -5.99815247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444391418 meters 0.04002851781209487 Centerline is valid? [True, True] Translation: X:336.96, Y:-15.21, Z:-6.00 [[ 9.99907242e-01 -1.21976965e-02 6.05995412e-03 3.36959071e+02] [ 1.21996930e-02 9.99925538e-01 -2.92615659e-04 -1.52062089e+01] [-6.05593365e-03 3.66518096e-04 9.99981595e-01 -6.00016161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474391418 meters 0.03658228432269757 Centerline is valid? [True, True] Translation: X:336.99, Y:-15.20, Z:-6.00 [[ 9.99935700e-01 -1.04987319e-02 4.28642573e-03 3.36991989e+02] [ 1.04997126e-02 9.99944855e-01 -2.06367232e-04 -1.52022254e+01] [-4.28402277e-03 2.51360201e-04 9.99990792e-01 -6.00110236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504391418 meters 0.03743342311236971 Centerline is valid? [True, True] Translation: X:337.02, Y:-15.20, Z:-6.00 [[ 9.99949377e-01 -9.26779679e-03 3.91814871e-03 3.37023304e+02] [ 9.26861000e-03 9.99957028e-01 -1.89443818e-04 -1.52037415e+01] [-3.91622461e-03 2.25750020e-04 9.99992306e-01 -6.00210279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534391418 meters 0.03593219390100134 Centerline is valid? [True, True] Translation: X:337.06, Y:-15.20, Z:-6.00 [[ 9.99963752e-01 -7.53951404e-03 3.95599597e-03 3.37055307e+02] [ 7.54033057e-03 9.99971553e-01 -1.91528548e-04 -1.52026341e+01] [-3.95443940e-03 2.21351122e-04 9.99992157e-01 -6.00210820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564391418 meters 0.03262785971682615 Centerline is valid? [True, True] Translation: X:337.09, Y:-15.20, Z:-6.00 [[ 9.99984228e-01 -3.70889783e-03 4.21748871e-03 3.37086883e+02] [ 3.70979554e-03 9.99993098e-01 -2.05050415e-04 -1.51973606e+01] [-4.21669909e-03 2.20693201e-04 9.99991085e-01 -6.00123363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594391418 meters 0.03327813361615778 Centerline is valid? [True, True] Translation: X:337.12, Y:-15.20, Z:-6.00 [[ 9.99989385e-01 -1.11217060e-03 4.47126691e-03 3.37117782e+02] [ 1.11315300e-03 9.99999357e-01 -2.17230681e-04 -1.51987765e+01] [-4.47102244e-03 2.22205579e-04 9.99989980e-01 -6.00218079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624391418 meters 0.03190353653994535 Centerline is valid? [True, True] Translation: X:337.15, Y:-15.20, Z:-6.00 [[ 9.99987672e-01 1.54495237e-03 4.71908365e-03 3.37149107e+02] [-1.54388643e-03 9.99998782e-01 -2.29512817e-04 -1.51974344e+01] [-4.71943249e-03 2.22224258e-04 9.99988839e-01 -6.00249072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654391418 meters 0.030703607826628163 Centerline is valid? [True, True] Translation: X:337.18, Y:-15.20, Z:-6.00 [[ 9.99976840e-01 4.32159164e-03 5.25763666e-03 3.37181043e+02] [-4.32030662e-03 9.99990635e-01 -2.55741952e-04 -1.51963491e+01] [-5.25869264e-03 2.33021427e-04 9.99986146e-01 -6.00253592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684391418 meters 0.027796474153092846 Centerline is valid? [True, True] Translation: X:337.21, Y:-15.19, Z:-6.00 [[ 9.99938338e-01 9.71075420e-03 5.38723138e-03 3.37212049e+02] [-9.70947823e-03 9.99952827e-01 -2.62955537e-04 -1.51908855e+01] [-5.38953075e-03 2.10632117e-04 9.99985454e-01 -6.00122192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714391418 meters 0.024557857123410028 Centerline is valid? [True, True] Translation: X:337.24, Y:-15.19, Z:-6.00 [[ 9.99911409e-01 1.19719917e-02 5.81765830e-03 3.37242251e+02] [-1.19705377e-02 9.99928310e-01 -2.84700171e-04 -1.51863887e+01] [-5.82064966e-03 2.15034451e-04 9.99983037e-01 -5.99971930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744391418 meters 0.02262565411470304 Centerline is valid? [True, True] Translation: X:337.27, Y:-15.18, Z:-6.00 [[ 9.99865497e-01 1.52838329e-02 5.94918059e-03 3.37272317e+02] [-1.52823723e-02 9.99883175e-01 -2.90888076e-04 -1.51836778e+01] [-5.95293146e-03 1.99931357e-04 9.99982261e-01 -5.99945556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774391418 meters 0.02497790873233127 Centerline is valid? [True, True] Translation: X:337.30, Y:-15.19, Z:-6.00 [[ 9.99848154e-01 1.64387408e-02 5.78243739e-03 3.37299758e+02] [-1.64373773e-02 9.99864857e-01 -2.83246377e-04 -1.51880641e+01] [-5.78631215e-03 1.88155262e-04 9.99983241e-01 -6.00182571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.804391418 meters 0.02145369125470636 Centerline is valid? [True, True] Translation: X:337.33, Y:-15.18, Z:-6.00 [[ 9.99829898e-01 1.75740450e-02 5.59721058e-03 3.37328690e+02] [-1.75727894e-02 9.99845549e-01 -2.73437554e-04 -1.51839668e+01] [-5.60115149e-03 1.75032439e-04 9.99984298e-01 -6.00056261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834391418 meters 0.023364941740049532 Centerline is valid? [True, True] Translation: X:337.36, Y:-15.19, Z:-6.00 [[ 9.99778969e-01 2.03432611e-02 5.30705371e-03 3.37356163e+02] [-2.03421718e-02 9.99793043e-01 -2.59155536e-04 -1.51871582e+01] [-5.31122745e-03 1.51141256e-04 9.99985884e-01 -6.00296164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.864391418 meters 0.018593652500632576 Centerline is valid? [True, True] Translation: X:337.38, Y:-15.18, Z:-6.00 [[ 9.99746318e-01 2.20364228e-02 4.65786092e-03 3.37384989e+02] [-2.20356042e-02 9.99757161e-01 -2.26986122e-04 -1.51804711e+01] [-4.66173177e-03 1.24289760e-04 9.99989126e-01 -6.00060111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894391418 meters 0.01826655397192332 Centerline is valid? [True, True] Translation: X:337.41, Y:-15.18, Z:-6.00 [[ 9.99710832e-01 2.35678763e-02 4.77576323e-03 3.37413314e+02] [-2.35670354e-02 9.99722232e-01 -2.32290246e-04 -1.51802809e+01] [-4.77991126e-03 1.19672494e-04 9.99988569e-01 -6.00121997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters 0.016740216376070125 Centerline is valid? [True, True] Translation: X:337.44, Y:-15.18, Z:-6.00 [[ 9.99619207e-01 2.72949844e-02 4.05263906e-03 3.37442820e+02] [-2.72944069e-02 9.99627419e-01 -1.97755253e-04 -1.51783125e+01] [-4.05652685e-03 8.70655700e-05 9.99991768e-01 -6.00138347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954391418 meters 0.015967315881221907 Centerline is valid? [True, True] Translation: X:337.47, Y:-15.18, Z:-6.00 [[ 9.99566327e-01 2.91845342e-02 3.92707073e-03 3.37471771e+02] [-2.91840112e-02 9.99574038e-01 -1.90429470e-04 -1.51784150e+01] [-3.93095554e-03 7.57392096e-05 9.99992271e-01 -6.00197572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters 0.015034371815477168 Centerline is valid? [True, True] Translation: X:337.50, Y:-15.18, Z:-6.00 [[ 9.99457783e-01 3.26916423e-02 3.92383415e-03 3.37500727e+02] [-3.26911485e-02 9.99465484e-01 -1.89951326e-04 -1.51777612e+01] [-3.92794661e-03 6.15736869e-05 9.99992284e-01 -6.00261709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014391418 meters 0.014802866677994698 Centerline is valid? [True, True] Translation: X:337.53, Y:-15.18, Z:-6.00 [[ 9.99416447e-01 3.39562081e-02 3.70705213e-03 3.37528314e+02] [-3.39557758e-02 9.99423320e-01 -1.79513160e-04 -1.51783852e+01] [-3.71100993e-03 5.35325734e-05 9.99993113e-01 -6.00331729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters 0.014490929689995836 Centerline is valid? [True, True] Translation: X:337.56, Y:-15.18, Z:-6.00 [[ 9.99373290e-01 3.52004027e-02 3.73603409e-03 3.37557047e+02] [-3.51999749e-02 9.99380273e-01 -1.80221362e-04 -1.51788582e+01] [-3.74006263e-03 4.86001092e-05 9.99993005e-01 -6.00377554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074391418 meters 0.014235801976622631 Centerline is valid? [True, True] Translation: X:337.59, Y:-15.18, Z:-6.00 [[ 9.99324900e-01 3.65553671e-02 3.66742648e-03 3.37586141e+02] [-3.65549649e-02 9.99331628e-01 -1.76646233e-04 -1.51800590e+01] [-3.67143264e-03 4.24643328e-05 9.99993259e-01 -6.00432046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters 0.014252219107369356 Centerline is valid? [True, True] Translation: X:337.61, Y:-15.18, Z:-6.00 [[ 9.99326118e-01 3.65140058e-02 3.74672679e-03 3.37613646e+02] [-3.65135849e-02 9.99333140e-01 -1.80702707e-04 -1.51820671e+01] [-3.75082642e-03 4.37745084e-05 9.99992965e-01 -6.00481728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134391418 meters 0.014419729483316726 Centerline is valid? [True, True] Translation: X:337.64, Y:-15.18, Z:-6.01 [[ 9.99353615e-01 3.57753562e-02 3.53224093e-03 3.37642383e+02] [-3.57749806e-02 9.99359856e-01 -1.69485404e-04 -1.51848145e+01] [-3.53604319e-03 4.30100003e-05 9.99993747e-01 -6.00515743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters 0.015172077252938891 Centerline is valid? [True, True] Translation: X:337.67, Y:-15.19, Z:-6.01 [[ 9.99439920e-01 3.32404160e-02 3.86269983e-03 3.37670238e+02] [-3.32399486e-02 9.99447383e-01 -1.85170229e-04 -1.51907735e+01] [-3.86672037e-03 5.66705754e-05 9.99992523e-01 -6.00585763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194391418 meters 0.015536339913618618 Centerline is valid? [True, True] Translation: X:337.70, Y:-15.19, Z:-6.01 [[ 9.99498831e-01 3.14202469e-02 3.85421189e-03 3.37699195e+02] [-3.14197704e-02 9.99506260e-01 -1.84120812e-04 -1.51943594e+01] [-3.85809404e-03 6.29300832e-05 9.99992556e-01 -6.00572227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters 0.015803603200776943 Centerline is valid? [True, True] Translation: X:337.73, Y:-15.20, Z:-6.01 [[ 9.99564794e-01 2.91826406e-02 4.31236809e-03 3.37727538e+02] [-2.91820254e-02 9.99574093e-01 -2.05530930e-04 -1.51974359e+01] [-4.31652935e-03 7.95978465e-05 9.99990681e-01 -6.00526845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254391418 meters 0.01747983059328668 Centerline is valid? [True, True] Translation: X:337.76, Y:-15.20, Z:-6.01 [[ 9.99684776e-01 2.47035633e-02 4.48128770e-03 3.37755333e+02] [-2.47028547e-02 9.99694815e-01 -2.13421611e-04 -1.52046465e+01] [-4.48519235e-03 1.02653737e-04 9.99989936e-01 -6.00543113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters 0.018718877458788943 Centerline is valid? [True, True] Translation: X:337.78, Y:-15.21, Z:-6.01 [[ 9.99741967e-01 2.23246428e-02 4.19640928e-03 3.37782716e+02] [-2.23240018e-02 9.99750769e-01 -1.99529790e-04 -1.52095174e+01] [-4.19981784e-03 1.05797656e-04 9.99991175e-01 -6.00632694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314391418 meters 0.02064771298830948 Centerline is valid? [True, True] Translation: X:337.81, Y:-15.22, Z:-6.01 [[ 9.99829313e-01 1.78432010e-02 4.79229079e-03 3.37811826e+02] [-1.78423210e-02 9.99840788e-01 -2.26324290e-04 -1.52169333e+01] [-4.79556615e-03 1.40780069e-04 9.99988491e-01 -6.00641745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters 0.02112510874378692 Centerline is valid? [True, True] Translation: X:337.84, Y:-15.22, Z:-6.01 [[ 9.99861807e-01 1.57201622e-02 5.40771431e-03 3.37840430e+02] [-1.57190095e-02 9.99876416e-01 -2.55599685e-04 -1.52202919e+01] [-5.41106407e-03 1.70560451e-04 9.99985346e-01 -6.00626665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374391418 meters 0.022087777576932966 Centerline is valid? [True, True] Translation: X:337.87, Y:-15.22, Z:-6.01 [[ 9.99889886e-01 1.38553835e-02 5.31448899e-03 3.37869112e+02] [-1.38542461e-02 9.99903994e-01 -2.50777813e-04 -1.52248479e+01] [-5.31745339e-03 1.77121961e-04 9.99985847e-01 -6.00665061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404391418 meters 0.02438143051026923 Centerline is valid? [True, True] Translation: X:337.90, Y:-15.23, Z:-6.01 [[ 9.99938146e-01 9.61140898e-03 5.59692765e-03 3.37898405e+02] [-9.61008684e-03 9.99953787e-01 -2.63073260e-04 -1.52327607e+01] [-5.59919751e-03 2.09270027e-04 9.99984302e-01 -6.00785610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434391418 meters 0.02605076220700973 Centerline is valid? [True, True] Translation: X:337.93, Y:-15.24, Z:-6.01 [[ 9.99960105e-01 7.40048403e-03 5.00208207e-03 3.37927168e+02] [-7.39940100e-03 9.99972596e-01 -2.34986553e-04 -1.52382247e+01] [-5.00368401e-03 1.97964767e-04 9.99987462e-01 -6.00953665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464391418 meters 0.02908608490858108 Centerline is valid? [True, True] Translation: X:337.96, Y:-15.25, Z:-6.01 [[ 9.99989853e-01 2.57437422e-03 3.69675735e-03 3.37957340e+02] [-2.57375189e-03 9.99996673e-01 -1.73092208e-04 -1.52466074e+01] [-3.69719066e-03 1.63575916e-04 9.99993152e-01 -6.01152462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494391418 meters 0.029870534058825924 Centerline is valid? [True, True] Translation: X:337.99, Y:-15.25, Z:-6.01 [[ 9.99994149e-01 1.98071621e-04 3.41500097e-03 3.37988703e+02] [-1.97528520e-04 9.99999968e-01 -1.59370568e-04 -1.52508669e+01] [-3.41503243e-03 1.58695075e-04 9.99994156e-01 -6.01263667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524391418 meters 0.03353485010890237 Centerline is valid? [True, True] Translation: X:338.02, Y:-15.26, Z:-6.01 [[ 9.99988394e-01 -4.28036888e-03 2.21121688e-03 3.38018106e+02] [ 4.28060852e-03 9.99990833e-01 -1.03654898e-04 -1.52599556e+01] [-2.21075292e-03 1.13119048e-04 9.99997550e-01 -6.01489497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.554391418 meters 0.03493736131437181 Centerline is valid? [True, True] Translation: X:338.05, Y:-15.27, Z:-6.02 [[ 9.99972206e-01 -7.36905126e-03 1.13302474e-03 3.38048933e+02] [ 7.36911523e-03 9.99972846e-01 -5.22941181e-05 -1.52650208e+01] [-1.13260862e-03 6.06420545e-05 9.99999357e-01 -6.01572967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584391418 meters 0.03655497073483639 Centerline is valid? [True, True] Translation: X:338.08, Y:-15.27, Z:-6.02 [[ 9.99963867e-01 -8.46899857e-03 7.35587737e-04 3.38079993e+02] [ 8.46902550e-03 9.99964137e-01 -3.35045510e-05 -1.52687866e+01] [-7.35277606e-04 3.97330516e-05 9.99999729e-01 -6.01655495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.614391418 meters 0.03211041308255934 Centerline is valid? [True, True] Translation: X:338.11, Y:-15.27, Z:-6.01 [[ 9.99957979e-01 -9.13256806e-03 7.97841649e-04 3.38112427e+02] [ 9.13259972e-03 9.99958296e-01 -3.60477212e-05 -1.52651837e+01] [-7.97479167e-04 4.33325748e-05 9.99999681e-01 -6.01459164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644391418 meters 0.037548581561882406 Centerline is valid? [True, True] Translation: X:338.14, Y:-15.27, Z:-6.02 [[ 9.99954223e-01 -9.50238858e-03 1.12090344e-03 3.38143254e+02] [ 9.50245115e-03 9.99954849e-01 -5.05128262e-05 -1.52744122e+01] [-1.12037283e-03 6.11618440e-05 9.99999371e-01 -6.01727161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67439141799997 meters 0.03910714324566915 Centerline is valid? [True, True] Translation: X:338.17, Y:-15.28, Z:-6.02 [[ 9.99952197e-01 -9.63805364e-03 1.64691647e-03 3.38174251e+02] [ 9.63819314e-03 9.99953549e-01 -7.67894297e-05 -1.52783653e+01] [-1.64609986e-03 9.26590579e-05 9.99998641e-01 -6.01834339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704391418 meters 0.03902927938033316 Centerline is valid? [True, True] Translation: X:338.21, Y:-15.28, Z:-6.02 [[ 9.99961328e-01 -8.54461848e-03 2.08139752e-03 3.38206366e+02] [ 8.54483917e-03 9.99963487e-01 -9.71611054e-05 -1.52800104e+01] [-2.08049132e-03 1.14942555e-04 9.99997829e-01 -6.01847905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734391418 meters 0.03558630497548892 Centerline is valid? [True, True] Translation: X:338.24, Y:-15.28, Z:-6.02 [[ 9.99969322e-01 -7.42034645e-03 2.50853802e-03 3.38238872e+02] [ 7.42066454e-03 9.99972460e-01 -1.17519827e-04 -1.52766849e+01] [-2.50759689e-03 1.36131241e-04 9.99996847e-01 -6.01757790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764391418 meters 0.03214671450577897 Centerline is valid? [True, True] Translation: X:338.27, Y:-15.27, Z:-6.02 [[ 9.99976660e-01 -6.20431643e-03 2.86100978e-03 3.38271425e+02] [ 6.20472630e-03 9.99980741e-01 -1.34406147e-04 -1.52731689e+01] [-2.86012078e-03 1.52154792e-04 9.99995898e-01 -6.01650373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794391418 meters 0.033868921829695246 Centerline is valid? [True, True] Translation: X:338.30, Y:-15.28, Z:-6.02 [[ 9.99983038e-01 -3.71393838e-03 4.48670000e-03 3.38302307e+02] [ 3.71492930e-03 9.99993077e-01 -2.12543560e-04 -1.52757385e+01] [-4.48587956e-03 2.29207728e-04 9.99989912e-01 -6.01614440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824391418 meters 0.029943394039270394 Centerline is valid? [True, True] Translation: X:338.33, Y:-15.27, Z:-6.01 [[ 9.99982895e-01 -2.42016606e-03 5.32479310e-03 3.38334830e+02] [ 2.42154254e-03 9.99997036e-01 -2.52072718e-04 -1.52717083e+01] [-5.32416727e-03 2.64962619e-04 9.99985791e-01 -6.01483232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854391418 meters 0.02954193983019227 Centerline is valid? [True, True] Translation: X:338.37, Y:-15.27, Z:-6.01 [[ 9.99980780e-01 -1.44920750e-03 6.02816366e-03 3.38367225e+02] [ 1.45095823e-03 9.99998906e-01 -2.86062451e-04 -1.52727144e+01] [-6.02774250e-03 2.94803567e-04 9.99981790e-01 -6.01464241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884391418 meters 0.028843332755714275 Centerline is valid? [True, True] Translation: X:338.40, Y:-15.27, Z:-6.01 [[ 9.99978298e-01 -4.06583418e-04 6.57561255e-03 3.38399317e+02] [ 4.08648514e-04 9.99999868e-01 -3.12713194e-04 -1.52733726e+01] [-6.57548454e-03 3.15393521e-04 9.99978332e-01 -6.01453619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914391418 meters 0.028609614392655528 Centerline is valid? [True, True] Translation: X:338.43, Y:-15.27, Z:-6.02 [[ 9.99978855e-01 1.82028211e-03 6.24308371e-03 3.38429659e+02] [-1.81845658e-03 9.99998302e-01 -2.98071417e-04 -1.52743247e+01] [-6.24361568e-03 2.86712337e-04 9.99980467e-01 -6.01517647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944391418 meters 0.02802671515302042 Centerline is valid? [True, True] Translation: X:338.46, Y:-15.27, Z:-6.02 [[ 9.99979855e-01 3.13039763e-03 5.52184623e-03 3.38462212e+02] [-3.12899326e-03 9.99995070e-01 -2.62950067e-04 -1.52746317e+01] [-5.52264215e-03 2.45666950e-04 9.99984720e-01 -6.01572731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974391418 meters 0.02678969828763275 Centerline is valid? [True, True] Translation: X:338.49, Y:-15.27, Z:-6.02 [[ 9.99972902e-01 6.37011279e-03 3.69020635e-03 3.38493734e+02] [-6.36950614e-03 9.99979699e-01 -1.76122980e-04 -1.52729115e+01] [-3.69125336e-03 1.52613416e-04 9.99993176e-01 -6.01693223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004391418 meters 0.026782718806102418 Centerline is valid? [True, True] Translation: X:338.52, Y:-15.27, Z:-6.02 [[ 9.99961423e-01 8.34422465e-03 2.74341345e-03 3.38523114e+02] [-8.34389446e-03 9.99965180e-01 -1.31779686e-04 -1.52738404e+01] [-2.74441752e-03 1.08883851e-04 9.99996228e-01 -6.01872586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034391418 meters 0.023587223900459368 Centerline is valid? [True, True] Translation: X:338.55, Y:-15.27, Z:-6.02 [[ 9.99942942e-01 1.04654639e-02 2.14188417e-03 3.38553246e+02] [-1.04652667e-02 9.99945232e-01 -1.03260851e-04 -1.52699548e+01] [-2.14284753e-03 8.08395696e-05 9.99997701e-01 -6.01850491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064391418 meters 0.02164550138873043 Centerline is valid? [True, True] Translation: X:338.58, Y:-15.27, Z:-6.02 [[ 9.99876157e-01 1.56240954e-02 1.88639264e-03 3.38582859e+02] [-1.56239516e-02 9.99877934e-01 -9.09470578e-05 -1.52673329e+01] [-1.88758334e-03 6.14628873e-05 9.99998217e-01 -6.01959104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094391418 meters 0.02063731868637608 Centerline is valid? [True, True] Translation: X:338.61, Y:-15.27, Z:-6.02 [[ 9.99834827e-01 1.81010422e-02 1.63445253e-03 3.38611850e+02] [-1.81009364e-02 9.99836161e-01 -7.94964414e-05 -1.52666793e+01] [-1.63562371e-03 4.98981893e-05 9.99998661e-01 -6.02020085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124391418 meters 0.01918506967399905 Centerline is valid? [True, True] Translation: X:338.64, Y:-15.27, Z:-6.02 [[ 9.99742027e-01 2.26209205e-02 2.04313551e-03 3.38640250e+02] [-2.26207658e-02 9.99744113e-01 -9.88141149e-05 -1.52650307e+01] [-2.04484797e-03 5.25713335e-05 9.99997908e-01 -6.02031912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154391418 meters 0.018531612748355644 Centerline is valid? [True, True] Translation: X:338.67, Y:-15.27, Z:-6.02 [[ 9.99684463e-01 2.49545716e-02 2.87112565e-03 3.38668065e+02] [-2.49542772e-02 9.99688584e-01 -1.38340741e-04 -1.52652316e+01] [-2.87368377e-03 6.66502236e-05 9.99995869e-01 -6.02036786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184391418 meters 0.01821597629249638 Centerline is valid? [True, True] Translation: X:338.70, Y:-15.27, Z:-6.02 [[ 9.99621218e-01 2.73615131e-02 2.96122018e-03 3.38695591e+02] [-2.73612108e-02 9.99625602e-01 -1.42570241e-04 -1.52654935e+01] [-2.96401244e-03 6.14936688e-05 9.99995605e-01 -6.02100692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214391418 meters 0.01821597629249638 Centerline is valid? [True, True] Translation: X:338.72, Y:-15.27, Z:-6.02 [[ 9.99624323e-01 2.72478367e-02 2.96123705e-03 3.38723027e+02] [-2.72475349e-02 9.99628707e-01 -1.42216637e-04 -1.52666748e+01] [-2.96401266e-03 6.14767994e-05 9.99995605e-01 -6.02150271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244391418 meters 0.016501901103101384 Centerline is valid? [True, True] Translation: X:338.75, Y:-15.27, Z:-6.02 [[ 9.99549775e-01 2.97670159e-02 3.76449933e-03 3.38752389e+02] [-2.97665484e-02 9.99556862e-01 -1.80180862e-04 -1.52651425e+01] [-3.76819458e-03 6.80435887e-05 9.99992898e-01 -6.02050407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274391418 meters 0.015254299197728373 Centerline is valid? [True, True] Translation: X:338.78, Y:-15.26, Z:-6.02 [[ 9.99370024e-01 3.51804395e-02 4.67889921e-03 3.38780660e+02] [-3.51797863e-02 9.99380975e-01 -2.21858119e-04 -1.52649129e+01] [-4.68380792e-03 5.71156794e-05 9.99989029e-01 -6.02074946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.304391418 meters 0.014554366171530388 Centerline is valid? [True, True] Translation: X:338.81, Y:-15.26, Z:-6.02 [[ 9.99275254e-01 3.77921306e-02 4.55216405e-03 3.38809869e+02] [-3.77915408e-02 9.99285621e-01 -2.15557072e-04 -1.52646121e+01] [-4.55705844e-03 4.33675549e-05 9.99989616e-01 -6.02037204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334391418 meters 0.013945842621491188 Centerline is valid? [True, True] Translation: X:338.84, Y:-15.26, Z:-6.02 [[ 9.99089356e-01 4.25417888e-02 3.26418532e-03 3.38838879e+02] [-4.25415103e-02 9.99094688e-01 -1.54728373e-04 -1.52644996e+01] [-3.26781264e-03 1.57240972e-05 9.99994661e-01 -6.02142741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.364391418 meters 0.014143578727083293 Centerline is valid? [True, True] Translation: X:338.87, Y:-15.27, Z:-6.02 [[ 9.98997089e-01 4.46996731e-02 2.59913478e-03 3.38865837e+02] [-4.46995012e-02 9.99000470e-01 -1.24207689e-04 -1.52653709e+01] [-2.60208891e-03 7.90309203e-06 9.99996615e-01 -6.02379942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394391418 meters 0.013869893918566885 Centerline is valid? [True, True] Translation: X:338.89, Y:-15.27, Z:-6.02 [[ 9.98825842e-01 4.84173582e-02 1.64242787e-03 3.38894663e+02] [-4.84172951e-02 9.98827192e-01 -7.82321765e-05 -1.52667310e+01] [-1.64428941e-03 -1.38159531e-06 9.99998648e-01 -6.02358851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters 0.014196248083177886 Centerline is valid? [True, True] Translation: X:338.92, Y:-15.27, Z:-6.02 [[ 9.98744946e-01 5.00575798e-02 1.66507428e-03 3.38922154e+02] [-5.00575168e-02 9.98746334e-01 -7.94739995e-05 -1.52682836e+01] [-1.66696511e-03 -3.97522873e-06 9.99998611e-01 -6.02478468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454391418 meters 0.01455840598503953 Centerline is valid? [True, True] Translation: X:338.95, Y:-15.27, Z:-6.03 [[ 9.98665047e-01 5.16376021e-02 1.29657022e-03 3.38951241e+02] [-5.16375654e-02 9.98665889e-01 -6.17976292e-05 -1.52700375e+01] [-1.29803153e-03 -5.23659702e-06 9.99999158e-01 -6.02514670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters 0.014677300027928504 Centerline is valid? [True, True] Translation: X:338.98, Y:-15.27, Z:-6.02 [[ 9.98504666e-01 5.46539589e-02 1.17372487e-03 3.38980417e+02] [-5.46539308e-02 9.98505355e-01 -5.60347985e-05 -1.52728846e+01] [-1.17503309e-03 -8.19766995e-06 9.99999310e-01 -6.02400665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514391418 meters 0.014867707793374237 Centerline is valid? [True, True] Translation: X:339.01, Y:-15.27, Z:-6.02 [[ 9.98438884e-01 5.58307759e-02 1.64911118e-03 3.39008574e+02] [-5.58307227e-02 9.98440246e-01 -7.83136208e-05 -1.52747810e+01] [-1.65091129e-03 -1.38797051e-05 9.99998637e-01 -6.02443970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters 0.014986998733638516 Centerline is valid? [True, True] Translation: X:339.04, Y:-15.28, Z:-6.02 [[ 9.98397469e-01 5.65587952e-02 1.89663232e-03 3.39037752e+02] [-5.65587277e-02 9.98399270e-01 -8.92450816e-05 -1.52771943e+01] [-1.89864392e-03 -1.81690474e-05 9.99998197e-01 -6.02432184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574391418 meters 0.015458924692769594 Centerline is valid? [True, True] Translation: X:339.06, Y:-15.28, Z:-6.02 [[ 9.98319507e-01 5.78609224e-02 3.20560626e-03 3.39064532e+02] [-5.78607337e-02 9.98324653e-01 -1.51639382e-04 -1.52811493e+01] [-3.20900975e-03 -3.40941772e-05 9.99994851e-01 -6.02431674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters 0.015277362940140177 Centerline is valid? [True, True] Translation: X:339.09, Y:-15.28, Z:-6.02 [[ 9.98302944e-01 5.81189712e-02 3.66296443e-03 3.39092809e+02] [-5.81187370e-02 9.98309663e-01 -1.70444303e-04 -1.52848274e+01] [-3.66667884e-03 -4.27318172e-05 9.99993277e-01 -6.02373989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634391418 meters 0.015270023068384018 Centerline is valid? [True, True] Translation: X:339.12, Y:-15.29, Z:-6.02 [[ 9.98324444e-01 5.76844127e-02 4.56210614e-03 3.39121126e+02] [-5.76840523e-02 9.98334867e-01 -2.10651284e-04 -1.52904842e+01] [-4.56666092e-03 -5.28624433e-05 9.99989571e-01 -6.02313229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters 0.014910231209162817 Centerline is valid? [True, True] Translation: X:339.15, Y:-15.29, Z:-6.02 [[ 9.98375507e-01 5.67316039e-02 5.27937177e-03 3.39150006e+02] [-5.67311114e-02 9.98389464e-01 -2.43112944e-04 -1.52944926e+01] [-5.28466134e-03 -5.67866194e-05 9.99986034e-01 -6.02289488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694391418 meters 0.01475433350497015 Centerline is valid? [True, True] Translation: X:339.18, Y:-15.30, Z:-6.02 [[ 9.98535766e-01 5.37952967e-02 5.69128865e-03 3.39177434e+02] [-5.37946786e-02 9.98551984e-01 -2.61740091e-04 -1.53024051e+01] [-5.69712795e-03 -4.48042009e-05 9.99983770e-01 -6.02369153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters 0.014238316629163793 Centerline is valid? [True, True] Translation: X:339.21, Y:-15.31, Z:-6.02 [[ 9.98637828e-01 5.19182681e-02 5.19434349e-03 3.39206201e+02] [-5.19177310e-02 9.98651337e-01 -2.38267216e-04 -1.53078890e+01] [-5.19970849e-03 -3.17358733e-05 9.99986481e-01 -6.02400531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754391418 meters 0.01439837725001411 Centerline is valid? [True, True] Translation: X:339.23, Y:-15.31, Z:-6.02 [[ 9.98752022e-01 4.97398437e-02 4.51062384e-03 3.39233770e+02] [-4.97394149e-02 9.98762208e-01 -2.07271884e-04 -1.53133844e+01] [-4.51535029e-03 -1.73425772e-05 9.99989806e-01 -6.02498115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters 0.014260426207991287 Centerline is valid? [True, True] Translation: X:339.26, Y:-15.32, Z:-6.03 [[ 9.98971232e-01 4.52446693e-02 3.06566787e-03 3.39260625e+02] [-4.52444491e-02 9.98975936e-01 -1.41186727e-04 -1.53230145e+01] [-3.06891638e-03 2.33702484e-06 9.99995291e-01 -6.02719681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814391418 meters 0.014558341183562615 Centerline is valid? [True, True] Translation: X:339.29, Y:-15.33, Z:-6.03 [[ 9.99068166e-01 4.31205666e-02 1.84816122e-03 3.39289034e+02] [-4.31204830e-02 9.99069876e-01 -8.50929578e-05 -1.53282060e+01] [-1.85011145e-03 5.32006095e-06 9.99998289e-01 -6.02857624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters 0.014702145639110827 Centerline is valid? [True, True] Translation: X:339.32, Y:-15.33, Z:-6.03 [[ 9.99156030e-01 4.10597477e-02 1.15125915e-03 3.39317665e+02] [-4.10597134e-02 9.99156693e-01 -5.34498685e-05 -1.53329161e+01] [-1.15248292e-03 6.13438786e-06 9.99999336e-01 -6.02952045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874391418 meters 0.014851910097136817 Centerline is valid? [True, True] Translation: X:339.34, Y:-15.34, Z:-6.03 [[ 9.99225834e-01 3.93084114e-02 1.60668245e-03 3.39344556e+02] [-3.93083418e-02 9.99227126e-01 -7.48572576e-05 -1.53376829e+01] [-1.60838320e-03 1.16432829e-05 9.99998706e-01 -6.03000975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904391418 meters 0.01536044364939432 Centerline is valid? [True, True] Translation: X:339.37, Y:-15.35, Z:-6.03 [[ 9.99328579e-01 3.65261573e-02 2.86907383e-03 3.39370673e+02] [-3.65259308e-02 9.99332697e-01 -1.31314797e-04 -1.53460099e+01] [-2.87195571e-03 2.64310374e-05 9.99995876e-01 -6.03014503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934391418 meters 0.015569746337847534 Centerline is valid? [True, True] Translation: X:339.40, Y:-15.35, Z:-6.03 [[ 9.99372460e-01 3.53045799e-02 2.87632741e-03 3.39398860e+02] [-3.53043509e-02 9.99376599e-01 -1.30361105e-04 -1.53506171e+01] [-2.87913665e-03 2.87324261e-05 9.99995855e-01 -6.03057645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964391418 meters 0.01606371318265455 Centerline is valid? [True, True] Translation: X:339.43, Y:-15.36, Z:-6.03 [[ 9.99432083e-01 3.35223353e-02 3.42992450e-03 3.39427254e+02] [-3.35220010e-02 9.99437968e-01 -1.54915780e-04 -1.53575244e+01] [-3.43318991e-03 3.98498682e-05 9.99994106e-01 -6.03033226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994391418 meters 0.015724402126701034 Centerline is valid? [True, True] Translation: X:339.46, Y:-15.36, Z:-6.03 [[ 9.99468698e-01 3.23592951e-02 3.89846350e-03 3.39456154e+02] [-3.23588560e-02 9.99476300e-01 -1.75662104e-04 -1.53598161e+01] [-3.90210618e-03 4.94189548e-05 9.99992386e-01 -6.02836972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024391418 meters 0.016668072434373533 Centerline is valid? [True, True] Translation: X:339.48, Y:-15.36, Z:-6.03 [[ 9.99501051e-01 3.12310388e-02 4.71922210e-03 3.39483508e+02] [-3.12303838e-02 9.99512190e-01 -2.12434834e-04 -1.53649046e+01] [-4.72355457e-03 6.49457228e-05 9.99988842e-01 -6.02935949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.054391418 meters 0.01689332038600174 Centerline is valid? [True, True] Translation: X:339.51, Y:-15.37, Z:-6.03 [[ 9.99598524e-01 2.79029830e-02 4.92086166e-03 3.39511833e+02] [-2.79022362e-02 9.99610633e-01 -2.20353555e-04 -1.53705543e+01] [-4.92509415e-03 8.29620440e-05 9.99987868e-01 -6.02751378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084391418 meters 0.018178835555552126 Centerline is valid? [True, True] Translation: X:339.54, Y:-15.38, Z:-6.03 [[ 9.99654664e-01 2.59147102e-02 4.35677704e-03 3.39539530e+02] [-2.59141056e-02 9.99664154e-01 -1.95176444e-04 -1.53765102e+01] [-4.36037177e-03 8.22070620e-05 9.99990490e-01 -6.02917379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.114391418 meters 0.018530376730614202 Centerline is valid? [True, True] Translation: X:339.57, Y:-15.38, Z:-6.03 [[ 9.99765538e-01 2.13556707e-02 3.57844229e-03 3.39568618e+02] [-2.13552357e-02 9.99771938e-01 -1.59725573e-04 -1.53820520e+01] [-3.58103723e-03 8.32696449e-05 9.99993585e-01 -6.02858464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144391418 meters 0.02001892413645902 Centerline is valid? [True, True] Translation: X:339.60, Y:-15.39, Z:-6.03 [[ 9.99823953e-01 1.84662406e-02 3.32572229e-03 3.39597270e+02] [-1.84658494e-02 9.99829481e-01 -1.48297284e-04 -1.53873714e+01] [-3.32789368e-03 8.68588895e-05 9.99994459e-01 -6.02973172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17439141799997 meters 0.021459848275214292 Centerline is valid? [True, True] Translation: X:339.63, Y:-15.39, Z:-6.03 [[ 9.99879420e-01 1.51598009e-02 3.36531490e-03 3.39626569e+02] [-1.51593834e-02 9.99885079e-01 -1.49538180e-04 -1.53926340e+01] [-3.36719512e-03 9.85040496e-05 9.99994326e-01 -6.03058951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204391418 meters 0.023617837226214987 Centerline is valid? [True, True] Translation: X:339.66, Y:-15.40, Z:-6.03 [[ 9.99953978e-01 8.92601939e-03 3.51685134e-03 3.39656359e+02] [-8.92552656e-03 9.99960155e-01 -1.55804759e-04 -1.54012335e+01] [-3.51810192e-03 1.24407838e-04 9.99993804e-01 -6.03097090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234391418 meters 0.024476940785663457 Centerline is valid? [True, True] Translation: X:339.69, Y:-15.41, Z:-6.03 [[ 9.99977088e-01 5.66954123e-03 3.69855426e-03 3.39686841e+02] [-5.66897535e-03 9.99983918e-01 -1.63466334e-04 -1.54052471e+01] [-3.69942156e-03 1.42495575e-04 9.99993147e-01 -6.03078171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264391418 meters 0.029031199336068313 Centerline is valid? [True, True] Translation: X:339.72, Y:-15.41, Z:-6.03 [[ 9.99992162e-01 1.64209452e-04 3.95597949e-03 3.39716341e+02] [-1.63523838e-04 9.99999972e-01 -1.73633663e-04 -1.54147201e+01] [-3.95600789e-03 1.72985405e-04 9.99992160e-01 -6.03171219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294391418 meters 0.03257206182608201 Centerline is valid? [True, True] Translation: X:339.75, Y:-15.42, Z:-6.03 [[ 9.99987686e-01 -2.05597339e-03 4.51678828e-03 3.39747295e+02] [ 2.05688914e-03 9.99997865e-01 -1.98106909e-04 -1.54216161e+01] [-4.51637134e-03 2.07395003e-04 9.99989780e-01 -6.03224655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324391418 meters 0.029880142264606422 Centerline is valid? [True, True] Translation: X:339.78, Y:-15.42, Z:-6.03 [[ 9.99980951e-01 -3.84547461e-03 4.82810917e-03 3.39779078e+02] [ 3.84654515e-03 9.99992579e-01 -2.12463893e-04 -1.54194590e+01] [-4.82725632e-03 2.31031385e-04 9.99988322e-01 -6.03052357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354391418 meters 0.03126579260475029 Centerline is valid? [True, True] Translation: X:339.81, Y:-15.42, Z:-6.03 [[ 9.99964354e-01 -5.85024850e-03 6.08815863e-03 3.39810090e+02] [ 5.85199837e-03 9.99982841e-01 -2.69648089e-04 -1.54238398e+01] [-6.08647665e-03 3.05266371e-04 9.99981431e-01 -6.02987877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384391418 meters 0.03272787151818984 Centerline is valid? [True, True] Translation: X:339.84, Y:-15.43, Z:-6.03 [[ 9.99936738e-01 -9.13171290e-03 6.56741563e-03 3.39840931e+02] [ 9.13383695e-03 9.99958243e-01 -2.93501661e-04 -1.54285575e+01] [-6.56446122e-03 3.53468797e-04 9.99978391e-01 -6.02865773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414391418 meters 0.032266841920213216 Centerline is valid? [True, True] Translation: X:339.87, Y:-15.43, Z:-6.03 [[ 9.99920462e-01 -1.11586932e-02 5.87827345e-03 3.39872486e+02] [ 1.11604272e-02 9.99937686e-01 -2.62267405e-04 -1.54304005e+01] [-5.87498059e-03 3.27850588e-04 9.99982688e-01 -6.02846590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444391418 meters 0.03362048994199946 Centerline is valid? [True, True] Translation: X:339.90, Y:-15.43, Z:-6.03 [[ 9.99912974e-01 -1.20658497e-02 5.33479011e-03 3.39903944e+02] [ 1.20672920e-02 9.99927159e-01 -2.38258268e-04 -1.54338751e+01] [-5.33152673e-03 3.02614003e-04 9.99985742e-01 -6.02950614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474391418 meters 0.03361276424765112 Centerline is valid? [True, True] Translation: X:339.94, Y:-15.44, Z:-6.03 [[ 9.99906794e-01 -1.26912571e-02 5.03332478e-03 3.39936488e+02] [ 1.26925488e-02 9.99919421e-01 -2.24776275e-04 -1.54356121e+01] [-5.03006651e-03 2.88641045e-04 9.99987307e-01 -6.03034944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504391418 meters 0.03417527328456107 Centerline is valid? [True, True] Translation: X:339.97, Y:-15.44, Z:-6.03 [[ 9.99901170e-01 -1.33126119e-02 4.51937954e-03 3.39968749e+02] [ 1.33136606e-02 9.99911349e-01 -2.02050195e-04 -1.54375328e+01] [-4.51628907e-03 2.62199712e-04 9.99989767e-01 -6.03167076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534391418 meters 0.03589677465988552 Centerline is valid? [True, True] Translation: X:340.00, Y:-15.44, Z:-6.03 [[ 9.99890397e-01 -1.42212040e-02 4.11721843e-03 3.39999461e+02] [ 1.42220841e-02 9.99898844e-01 -1.84575246e-04 -1.54406544e+01] [-4.11417707e-03 2.43110443e-04 9.99991507e-01 -6.03360739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564391418 meters 0.0360628481242085 Centerline is valid? [True, True] Translation: X:340.03, Y:-15.44, Z:-6.03 [[ 9.99891093e-01 -1.41187583e-02 4.29682484e-03 3.40031951e+02] [ 1.41197162e-02 9.99900293e-01 -1.92671763e-04 -1.54425397e+01] [-4.29367613e-03 2.53320727e-04 9.99990750e-01 -6.03453534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594391418 meters 0.03631422485954435 Centerline is valid? [True, True] Translation: X:340.06, Y:-15.44, Z:-6.03 [[ 9.99886870e-01 -1.41225055e-02 5.17701724e-03 3.40064528e+02] [ 1.41238998e-02 9.99900226e-01 -2.32866137e-04 -1.54443133e+01] [-5.17321206e-03 3.05959466e-04 9.99986572e-01 -6.03412010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624391418 meters 0.03637433186531872 Centerline is valid? [True, True] Translation: X:340.10, Y:-15.45, Z:-6.03 [[ 9.99886984e-01 -1.38168392e-02 5.92566448e-03 3.40096260e+02] [ 1.38186647e-02 9.99904482e-01 -2.67239177e-04 -1.54455019e+01] [-5.92140607e-03 3.49093746e-04 9.99982407e-01 -6.03438029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654391418 meters 0.035122730145582794 Centerline is valid? [True, True] Translation: X:340.13, Y:-15.44, Z:-6.03 [[ 9.99885888e-01 -1.36708575e-02 6.42799136e-03 3.40128191e+02] [ 1.36730067e-02 9.99906478e-01 -2.90526053e-04 -1.54445619e+01] [-6.42341846e-03 3.78382869e-04 9.99979298e-01 -6.03411187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684391418 meters 0.03367943701133817 Centerline is valid? [True, True] Translation: X:340.16, Y:-15.44, Z:-6.03 [[ 9.99893801e-01 -1.29800343e-02 6.62610444e-03 3.40161004e+02] [ 1.29823052e-02 9.99915681e-01 -2.99821646e-04 -1.54418456e+01] [-6.62165404e-03 3.85811916e-04 9.99978002e-01 -6.03328546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714391418 meters 0.03512432362451486 Centerline is valid? [True, True] Translation: X:340.19, Y:-15.44, Z:-6.03 [[ 9.99903728e-01 -1.22069665e-02 6.59728496e-03 3.40192665e+02] [ 1.22092070e-02 9.99925420e-01 -2.99447314e-04 -1.54439094e+01] [-6.59313759e-03 3.79966103e-04 9.99978193e-01 -6.03399920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744391418 meters 0.03754710163759883 Centerline is valid? [True, True] Translation: X:340.22, Y:-15.45, Z:-6.04 [[ 9.99916432e-01 -1.14732265e-02 5.95761618e-03 3.40224122e+02] [ 1.14750443e-02 9.99934123e-01 -2.71029935e-04 -1.54476073e+01] [-5.95411413e-03 3.39371195e-04 9.99982217e-01 -6.03536548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774391418 meters 0.032693035046865195 Centerline is valid? [True, True] Translation: X:340.26, Y:-15.44, Z:-6.04 [[ 9.99935121e-01 -1.03498221e-02 4.75755758e-03 3.40257103e+02] [ 1.03509663e-02 9.99946404e-01 -2.15925771e-04 -1.54409136e+01] [-4.75506780e-03 2.65157081e-04 9.99988659e-01 -6.03615490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.804391418 meters 0.03668422844459026 Centerline is valid? [True, True] Translation: X:340.29, Y:-15.45, Z:-6.04 [[ 9.99947510e-01 -9.46649701e-03 3.91941726e-03 3.40287681e+02] [ 9.46726940e-03 9.99955168e-01 -1.78559664e-04 -1.54471648e+01] [-3.91755121e-03 2.15656470e-04 9.99992303e-01 -6.03865709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834391418 meters 0.032937038614417866 Centerline is valid? [True, True] Translation: X:340.32, Y:-15.44, Z:-6.04 [[ 9.99967738e-01 -7.17515021e-03 3.61109119e-03 3.40319428e+02] [ 7.17579257e-03 9.99974240e-01 -1.64959524e-04 -1.54407724e+01] [-3.60981456e-03 1.90866644e-04 9.99993466e-01 -6.03817281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.864391418 meters 0.030831059635343838 Centerline is valid? [True, True] Translation: X:340.35, Y:-15.44, Z:-6.04 [[ 9.99976460e-01 -5.48346425e-03 4.12439681e-03 3.40350923e+02] [ 5.48428893e-03 9.99984943e-01 -1.88669251e-04 -1.54376771e+01] [-4.12330015e-03 2.11284194e-04 9.99991477e-01 -6.03734923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894391418 meters 0.02994002854988861 Centerline is valid? [True, True] Translation: X:340.38, Y:-15.44, Z:-6.04 [[ 9.99982999e-01 -3.60441142e-03 4.58375343e-03 3.40382464e+02] [ 3.60541161e-03 9.99993478e-01 -2.09957625e-04 -1.54361090e+01] [-4.58296676e-03 2.26480373e-04 9.99989473e-01 -6.03722437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters 0.02859901551724536 Centerline is valid? [True, True] Translation: X:340.41, Y:-15.43, Z:-6.04 [[ 9.99985111e-01 4.64796837e-04 5.43707055e-03 3.40412771e+02] [-4.63444771e-04 9.99999861e-01 -2.49932801e-04 -1.54320612e+01] [-5.43718597e-03 2.47409298e-04 9.99985188e-01 -6.03642795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954391418 meters 0.02720397654464987 Centerline is valid? [True, True] Translation: X:340.44, Y:-15.43, Z:-6.04 [[ 9.99982171e-01 2.53896886e-03 5.40483564e-03 3.40443898e+02] [-2.53766585e-03 9.99996749e-01 -2.47926960e-04 -1.54301200e+01] [-5.40544755e-03 2.34206873e-04 9.99985363e-01 -6.03631438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters 0.024640828777665186 Centerline is valid? [True, True] Translation: X:340.47, Y:-15.43, Z:-6.04 [[ 9.99959537e-01 6.65556815e-03 6.05210303e-03 3.40474851e+02] [-6.65400606e-03 9.99977823e-01 -2.78206291e-04 -1.54260668e+01] [-6.05382043e-03 2.37924304e-04 9.99981647e-01 -6.03558414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014391418 meters 0.024254712122845218 Centerline is valid? [True, True] Translation: X:340.51, Y:-15.43, Z:-6.04 [[ 9.99945328e-01 8.74177512e-03 5.73779095e-03 3.40505207e+02] [-8.74041154e-03 9.99961767e-01 -2.62681153e-04 -1.54254262e+01] [-5.73986788e-03 2.12516137e-04 9.99983504e-01 -6.03557156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters 0.02405471127904919 Centerline is valid? [True, True] Translation: X:340.54, Y:-15.43, Z:-6.04 [[ 9.99923642e-01 1.09408057e-02 5.74535993e-03 3.40535175e+02] [-1.09394626e-02 9.99940127e-01 -2.65135079e-04 -1.54252288e+01] [-5.74791673e-03 2.02263684e-04 9.99983460e-01 -6.03590857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074391418 meters 0.022010502421139395 Centerline is valid? [True, True] Translation: X:340.57, Y:-15.42, Z:-6.04 [[ 9.99876893e-01 1.47923832e-02 5.23306070e-03 3.40565658e+02] [-1.47913217e-02 9.99890573e-01 -2.41493654e-04 -1.54203361e+01] [-5.23606033e-03 1.64060040e-04 9.99986278e-01 -6.03567757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters 0.022010502421139395 Centerline is valid? [True, True] Translation: X:340.59, Y:-15.42, Z:-6.04 [[ 9.99878101e-01 1.47105174e-02 5.23301247e-03 3.40593951e+02] [-1.47094493e-02 9.99891781e-01 -2.42539748e-04 -1.54215657e+01] [-5.23601404e-03 1.65535451e-04 9.99986278e-01 -6.03618816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134391418 meters 0.021971720769141178 Centerline is valid? [True, True] Translation: X:340.62, Y:-15.42, Z:-6.04 [[ 9.99847507e-01 1.65717053e-02 5.50824967e-03 3.40622652e+02] [-1.65705545e-02 9.99862667e-01 -2.54503448e-04 -1.54220109e+01] [-5.51171076e-03 1.63189886e-04 9.99984797e-01 -6.03672954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters 0.0209174382350005 Centerline is valid? [True, True] Translation: X:340.65, Y:-15.42, Z:-6.04 [[ 9.99820912e-01 1.83112736e-02 4.77914978e-03 3.40651331e+02] [-1.83104265e-02 9.99832326e-01 -2.20938201e-04 -1.54200251e+01] [-4.78239410e-03 1.33390363e-04 9.99988555e-01 -6.03697909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194391418 meters 0.020180704552750964 Centerline is valid? [True, True] Translation: X:340.68, Y:-15.42, Z:-6.04 [[ 9.99757252e-01 2.16400225e-02 4.14075450e-03 3.40680364e+02] [-2.16394156e-02 9.99765822e-01 -1.91305115e-04 -1.54165247e+01] [-4.14392468e-03 1.01655168e-04 9.99991409e-01 -6.03775573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters 0.019786970503243354 Centerline is valid? [True, True] Translation: X:340.71, Y:-15.42, Z:-6.04 [[ 9.99740269e-01 2.23325542e-02 4.54444162e-03 3.40707865e+02] [-2.23318316e-02 9.99750592e-01 -2.09696938e-04 -1.54179395e+01] [-4.54799127e-03 1.08156768e-04 9.99989652e-01 -6.03801632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254391418 meters 0.019312450154058195 Centerline is valid? [True, True] Translation: X:340.74, Y:-15.42, Z:-6.04 [[ 9.99694613e-01 2.41218916e-02 5.36792655e-03 3.40737238e+02] [-2.41209168e-02 9.99709018e-01 -2.46270964e-04 -1.54181702e+01] [-5.37230510e-03 1.16716446e-04 9.99985562e-01 -6.03828020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters 0.01872222433011322 Centerline is valid? [True, True] Translation: X:340.77, Y:-15.42, Z:-6.04 [[ 9.99686849e-01 2.43836449e-02 5.62506066e-03 3.40765878e+02] [-2.43825793e-02 9.99702667e-01 -2.57951400e-04 -1.54182054e+01] [-5.62967795e-03 1.20717134e-04 9.99984146e-01 -6.03774104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314391418 meters 0.018604616616649455 Centerline is valid? [True, True] Translation: X:340.80, Y:-15.42, Z:-6.04 [[ 9.99681481e-01 2.45612853e-02 5.80334957e-03 3.40795161e+02] [-2.45601570e-02 9.99698319e-01 -2.65624321e-04 -1.54185971e+01] [-5.80812288e-03 1.23008538e-04 9.99983125e-01 -6.03777223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters 0.0184290121757066 Centerline is valid? [True, True] Translation: X:340.82, Y:-15.42, Z:-6.04 [[ 9.99687543e-01 2.42809856e-02 5.93711721e-03 3.40824325e+02] [-2.42798029e-02 9.99705165e-01 -2.71222037e-04 -1.54200594e+01] [-5.94195228e-03 1.26985256e-04 9.99982338e-01 -6.03794034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374391418 meters 0.019137501236053102 Centerline is valid? [True, True] Translation: X:340.85, Y:-15.42, Z:-6.04 [[ 9.99721933e-01 2.29261992e-02 5.51774721e-03 3.40851882e+02] [-2.29251567e-02 9.99737152e-01 -2.52113153e-04 -1.54237009e+01] [-5.52207688e-03 1.25547829e-04 9.99984745e-01 -6.03988070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404391418 meters 0.018952151066561677 Centerline is valid? [True, True] Translation: X:340.88, Y:-15.43, Z:-6.04 [[ 9.99745015e-01 2.19558659e-02 5.27687437e-03 3.40880694e+02] [-2.19549037e-02 9.99758933e-01 -2.40199981e-04 -1.54255722e+01] [-5.28087609e-03 1.24285464e-04 9.99986048e-01 -6.04047035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434391418 meters 0.019977474348747176 Centerline is valid? [True, True] Translation: X:340.91, Y:-15.43, Z:-6.04 [[ 9.99791353e-01 1.95875726e-02 5.79469133e-03 3.40907953e+02] [-1.95863749e-02 9.99808134e-01 -2.63382874e-04 -1.54307826e+01] [-5.79873856e-03 1.49830923e-04 9.99983176e-01 -6.04142779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464391418 meters 0.02081876762785337 Centerline is valid? [True, True] Translation: X:340.94, Y:-15.43, Z:-6.04 [[ 9.99821638e-01 1.79075829e-02 6.00085402e-03 3.40936951e+02] [-1.79062738e-02 9.99839633e-01 -2.71807496e-04 -1.54341279e+01] [-6.00475909e-03 1.64306081e-04 9.99981958e-01 -6.04161331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494391418 meters 0.021091716860645007 Centerline is valid? [True, True] Translation: X:340.97, Y:-15.44, Z:-6.04 [[ 9.99848175e-01 1.61745549e-02 6.48157722e-03 3.40966154e+02] [-1.61729985e-02 9.99869166e-01 -2.92470580e-04 -1.54368542e+01] [-6.48545979e-03 1.87599637e-04 9.99978952e-01 -6.04118461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524391418 meters 0.02257140868447965 Centerline is valid? [True, True] Translation: X:341.00, Y:-15.44, Z:-6.04 [[ 9.99900165e-01 1.22271351e-02 7.08216471e-03 3.40995664e+02] [-1.22251805e-02 9.99925219e-01 -3.19209271e-04 -1.54428973e+01] [-7.08553811e-03 2.32596660e-04 9.99974870e-01 -6.04107320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.554391418 meters 0.023063203788057002 Centerline is valid? [True, True] Translation: X:341.03, Y:-15.45, Z:-6.04 [[ 9.99920864e-01 1.00846783e-02 7.52100631e-03 3.41026323e+02] [-1.00824194e-02 9.99949114e-01 -3.38198131e-04 -1.54464565e+01] [-7.52403421e-03 2.62341428e-04 9.99971660e-01 -6.04133147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584391418 meters 0.025614713124993457 Centerline is valid? [True, True] Translation: X:341.06, Y:-15.45, Z:-6.04 [[ 9.99957821e-01 5.31391750e-03 7.49128149e-03 3.41055740e+02] [-5.31154275e-03 9.99985837e-01 -3.36861492e-04 -1.54546796e+01] [-7.49296545e-03 2.97057021e-04 9.99971883e-01 -6.04202224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.614391418 meters 0.028107740753074727 Centerline is valid? [True, True] Translation: X:341.09, Y:-15.46, Z:-6.04 [[ 9.99968201e-01 3.28781023e-03 7.26548138e-03 3.41086424e+02] [-3.28554399e-03 9.99994550e-01 -3.23833361e-04 -1.54609301e+01] [-7.26650649e-03 2.99952005e-04 9.99973554e-01 -6.04318201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644391418 meters 0.027909449997378627 Centerline is valid? [True, True] Translation: X:341.12, Y:-15.46, Z:-6.04 [[ 9.99972943e-01 1.58424835e-03 7.18354748e-03 3.41118299e+02] [-1.58197701e-03 9.99998697e-01 -3.21858124e-04 -1.54632398e+01] [-7.18404802e-03 3.10485209e-04 9.99974146e-01 -6.04351232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67439141799997 meters 0.029985689284935564 Centerline is valid? [True, True] Translation: X:341.15, Y:-15.47, Z:-6.05 [[ 9.99978218e-01 -2.08377613e-03 6.26262140e-03 3.41148883e+02] [ 2.08559836e-03 9.99997785e-01 -2.84453167e-04 -1.54698103e+01] [-6.26201479e-03 2.97508284e-04 9.99980349e-01 -6.04530754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704391418 meters 0.03147434502761675 Centerline is valid? [True, True] Translation: X:341.18, Y:-15.47, Z:-6.05 [[ 9.99973792e-01 -3.64905904e-03 6.25299937e-03 3.41179819e+02] [ 3.65090154e-03 9.99993295e-01 -2.83268940e-04 -1.54742790e+01] [-6.25192378e-03 3.06090601e-04 9.99980410e-01 -6.04675773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734391418 meters 0.033769128323551056 Centerline is valid? [True, True] Translation: X:341.21, Y:-15.48, Z:-6.05 [[ 9.99957796e-01 -7.33378315e-03 5.53375550e-03 3.41210757e+02] [ 7.33529239e-03 9.99973065e-01 -2.52487399e-04 -1.54810513e+01] [-5.53175476e-03 2.93068458e-04 9.99984657e-01 -6.04885817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764391418 meters 0.03457556339789103 Centerline is valid? [True, True] Translation: X:341.24, Y:-15.49, Z:-6.05 [[ 9.99943510e-01 -8.83630681e-03 5.90731821e-03 3.41243064e+02] [ 8.83805164e-03 9.99960907e-01 -2.69325968e-04 -1.54852467e+01] [-5.90470743e-03 3.21519937e-04 9.99982515e-01 -6.04920509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794391418 meters 0.037639838767071575 Centerline is valid? [True, True] Translation: X:341.27, Y:-15.49, Z:-6.05 [[ 9.99927891e-01 -9.94511645e-03 6.73109485e-03 3.41274007e+02] [ 9.94741349e-03 9.99950476e-01 -3.07864701e-04 -1.54917535e+01] [-6.72769975e-03 3.74799485e-04 9.99977299e-01 -6.04974921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824391418 meters 0.03683915222310416 Centerline is valid? [True, True] Translation: X:341.31, Y:-15.49, Z:-6.05 [[ 9.99904884e-01 -1.11494931e-02 8.11859308e-03 3.41306202e+02] [ 1.11528785e-02 9.99937736e-01 -3.71846630e-04 -1.54927783e+01] [-8.11394168e-03 4.62356944e-04 9.99966975e-01 -6.04882231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854391418 meters 0.03969328121027102 Centerline is valid? [True, True] Translation: X:341.34, Y:-15.50, Z:-6.05 [[ 9.99863739e-01 -1.36333507e-02 9.30777246e-03 3.41335946e+02] [ 1.36379232e-02 9.99906908e-01 -4.27961609e-04 -1.54990508e+01] [-9.30107143e-03 5.54841981e-04 9.99956590e-01 -6.04796365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884391418 meters 0.04080763874436831 Centerline is valid? [True, True] Translation: X:341.37, Y:-15.50, Z:-6.05 [[ 9.99844001e-01 -1.47504153e-02 9.71588746e-03 3.41368165e+02] [ 1.47554438e-02 9.99891033e-01 -4.46079456e-04 -1.55026333e+01] [-9.70824889e-03 5.89372100e-04 9.99952700e-01 -6.04811214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914391418 meters 0.04296059034092604 Centerline is valid? [True, True] Translation: X:341.40, Y:-15.51, Z:-6.05 [[ 9.99820713e-01 -1.62616869e-02 9.70047153e-03 3.41399318e+02] [ 1.62667793e-02 9.99867588e-01 -4.46291849e-04 -1.55078121e+01] [-9.69192961e-03 6.04007264e-04 9.99952850e-01 -6.04835305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944391418 meters 0.04379985642158289 Centerline is valid? [True, True] Translation: X:341.43, Y:-15.51, Z:-6.05 [[ 9.99807149e-01 -1.69380990e-02 9.93804307e-03 3.41431080e+02] [ 1.69434817e-02 9.99856344e-01 -4.57674340e-04 -1.55104863e+01] [-9.92886328e-03 6.25971128e-04 9.99950512e-01 -6.04884198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974391418 meters 0.044736149584109305 Centerline is valid? [True, True] Translation: X:341.46, Y:-15.51, Z:-6.05 [[ 9.99799316e-01 -1.75395772e-02 9.67945633e-03 3.41462725e+02] [ 1.75447199e-02 9.99845980e-01 -4.46633851e-04 -1.55131709e+01] [-9.67013173e-03 6.16367568e-04 9.99953053e-01 -6.04959520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004391418 meters 0.04542446793154298 Centerline is valid? [True, True] Translation: X:341.49, Y:-15.52, Z:-6.05 [[ 9.99795090e-01 -1.80432631e-02 9.17706806e-03 3.41494487e+02] [ 1.80479098e-02 9.99837033e-01 -4.23761002e-04 -1.55157742e+01] [-9.16792647e-03 5.89301066e-04 9.99957800e-01 -6.05090549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034391418 meters 0.047812866944816845 Centerline is valid? [True, True] Translation: X:341.53, Y:-15.52, Z:-6.05 [[ 9.99778377e-01 -1.93442301e-02 8.30649654e-03 3.41525631e+02] [ 1.93480819e-02 9.99812735e-01 -3.83594941e-04 -1.55203982e+01] [-8.29752068e-03 5.44224703e-04 9.99965427e-01 -6.05256431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064391418 meters 0.04877105139397548 Centerline is valid? [True, True] Translation: X:341.56, Y:-15.52, Z:-6.05 [[ 9.99766576e-01 -2.00225874e-02 8.11724004e-03 3.41557894e+02] [ 2.00262997e-02 9.99799383e-01 -3.76305670e-04 -1.55225453e+01] [-8.10807697e-03 5.38776113e-04 9.99966984e-01 -6.05351372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094391418 meters 0.04013118512776733 Centerline is valid? [True, True] Translation: X:341.59, Y:-15.51, Z:-6.05 [[ 9.99725592e-01 -2.14970581e-02 9.30688456e-03 3.41590712e+02] [ 2.15020094e-02 9.99768712e-01 -4.32265382e-04 -1.55120548e+01] [-9.29543955e-03 6.32263484e-04 9.99956597e-01 -6.05166604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124391418 meters 0.05189122155909072 Centerline is valid? [True, True] Translation: X:341.62, Y:-15.53, Z:-6.05 [[ 9.99703439e-01 -2.21460783e-02 1.01284583e-02 3.41620767e+02] [ 2.21519872e-02 9.99754503e-01 -4.71564796e-04 -1.55288891e+01] [-1.01155285e-02 6.95790427e-04 9.99948595e-01 -6.05309727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154391418 meters 0.05439549502825975 Centerline is valid? [True, True] Translation: X:341.65, Y:-15.53, Z:-6.05 [[ 9.99667997e-01 -2.33553750e-02 1.08822385e-02 3.41651966e+02] [ 2.33622763e-02 9.99726936e-01 -5.07471163e-04 -1.55332268e+01] [-1.08674148e-02 7.61536544e-04 9.99940658e-01 -6.05228823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184391418 meters 0.04260192899394384 Centerline is valid? [True, True] Translation: X:341.69, Y:-15.52, Z:-6.05 [[ 9.99654457e-01 -2.38168230e-02 1.11232393e-02 3.41685192e+02] [ 2.38240666e-02 9.99716032e-01 -5.19146497e-04 -1.55187233e+01] [-1.11077162e-02 7.83967903e-04 9.99938000e-01 -6.05128729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214391418 meters 0.04334061715741046 Centerline is valid? [True, True] Translation: X:341.72, Y:-15.52, Z:-6.05 [[ 9.99657691e-01 -2.40365255e-02 1.03318552e-02 3.41716933e+02] [ 2.40427944e-02 9.99710814e-01 -4.82959080e-04 -1.55206750e+01] [-1.03172587e-02 7.31200429e-04 9.99946508e-01 -6.05201764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244391418 meters 0.044807808570678245 Centerline is valid? [True, True] Translation: X:341.75, Y:-15.52, Z:-6.05 [[ 9.99672549e-01 -2.37946744e-02 9.41320918e-03 3.41748352e+02] [ 2.37998750e-02 9.99716646e-01 -4.40832205e-04 -1.55224931e+01] [-9.40005245e-03 6.64721056e-04 9.99955598e-01 -6.05384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274391418 meters 0.03953433607827614 Centerline is valid? [True, True] Translation: X:341.78, Y:-15.52, Z:-6.05 [[ 9.99698535e-01 -2.29449592e-02 8.73887264e-03 3.41780901e+02] [ 2.29494111e-02 9.99736544e-01 -4.09483224e-04 -1.55162181e+01] [-8.72717475e-03 6.09911760e-04 9.99961731e-01 -6.05377357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.304391418 meters 0.039368968722138215 Centerline is valid? [True, True] Translation: X:341.81, Y:-15.51, Z:-6.05 [[ 9.99772012e-01 -1.98202690e-02 7.94241130e-03 3.41811245e+02] [ 1.98238591e-02 9.99803418e-01 -3.73548160e-04 -1.55141943e+01] [-7.93344614e-03 5.30912238e-04 9.99968389e-01 -6.05486716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334391418 meters 0.03805949261820824 Centerline is valid? [True, True] Translation: X:341.84, Y:-15.51, Z:-6.06 [[ 9.99816352e-01 -1.75516148e-02 7.69430556e-03 3.41842890e+02] [ 1.75549140e-02 9.99845835e-01 -3.61448314e-04 -1.55123488e+01] [-7.68677537e-03 4.96454807e-04 9.99970333e-01 -6.05528394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.364391418 meters 0.037954465474984336 Centerline is valid? [True, True] Translation: X:341.87, Y:-15.51, Z:-6.06 [[ 9.99852330e-01 -1.52663574e-02 7.89034119e-03 3.41873129e+02] [ 1.52697604e-02 9.99883342e-01 -3.71217962e-04 -1.55122818e+01] [-7.88375357e-03 4.91646764e-04 9.99968802e-01 -6.05576976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394391418 meters 0.03693955833501727 Centerline is valid? [True, True] Translation: X:341.91, Y:-15.51, Z:-6.06 [[ 9.99879647e-01 -1.31731693e-02 8.19508364e-03 3.41905108e+02] [ 1.31767685e-02 9.99913108e-01 -3.85342965e-04 -1.55110832e+01] [-8.18929537e-03 4.93281307e-04 9.99966345e-01 -6.05543897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters 0.03560787147627011 Centerline is valid? [True, True] Translation: X:341.93, Y:-15.51, Z:-6.05 [[ 9.99923144e-01 -8.11972727e-03 9.36889630e-03 3.41934568e+02] [ 8.12422341e-03 9.99966900e-01 -4.41942427e-04 -1.55077826e+01] [-9.36499774e-03 5.18023468e-04 9.99956013e-01 -6.05445907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454391418 meters 0.034338254950217 Centerline is valid? [True, True] Translation: X:341.97, Y:-15.51, Z:-6.05 [[ 9.99932975e-01 -5.72372995e-03 1.00639854e-02 3.41966460e+02] [ 5.72878745e-03 9.99983478e-01 -4.73778105e-04 -1.55062808e+01] [-1.00611074e-02 5.31400784e-04 9.99949245e-01 -6.05359174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters 0.0323224468271376 Centerline is valid? [True, True] Translation: X:342.00, Y:-15.50, Z:-6.05 [[ 9.99934230e-01 -8.43373293e-04 1.14378793e-02 3.41996136e+02] [ 8.49607759e-04 9.99999493e-01 -5.40223840e-04 -1.55024313e+01] [-1.14374179e-02 5.49906021e-04 9.99934439e-01 -6.05243221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514391418 meters 0.03159804084157373 Centerline is valid? [True, True] Translation: X:342.03, Y:-15.50, Z:-6.05 [[ 9.99927027e-01 1.87446274e-03 1.19342712e-02 3.42026474e+02] [-1.86787437e-03 9.99998097e-01 -5.63177193e-04 -1.55015450e+01] [-1.19353042e-02 5.40844377e-04 9.99928625e-01 -6.05263129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters 0.029063649072933545 Centerline is valid? [True, True] Translation: X:342.06, Y:-15.50, Z:-6.05 [[ 9.99907897e-01 6.90801700e-03 1.16823485e-02 3.42057154e+02] [-6.90204267e-03 9.99976028e-01 -5.51638834e-04 -1.54964019e+01] [-1.16858792e-02 4.70955959e-04 9.99931607e-01 -6.05373071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574391418 meters 0.02785011188036042 Centerline is valid? [True, True] Translation: X:342.09, Y:-15.50, Z:-6.06 [[ 9.99895810e-01 9.44229880e-03 1.09184702e-02 3.42089553e+02] [-9.43725198e-03 9.99955336e-01 -5.13658641e-04 -1.54952582e+01] [-1.09228327e-02 4.10564768e-04 9.99940260e-01 -6.05531644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters 0.02522206523788638 Centerline is valid? [True, True] Translation: X:342.12, Y:-15.49, Z:-6.06 [[ 9.99876960e-01 1.17541892e-02 1.03876773e-02 3.42121624e+02] [-1.17497026e-02 9.99930848e-01 -4.92845392e-04 -1.54920555e+01] [-1.03927520e-02 3.70732633e-04 9.99945925e-01 -6.05644153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634391418 meters 0.024034148045068815 Centerline is valid? [True, True] Translation: X:342.15, Y:-15.49, Z:-6.06 [[ 9.99850207e-01 1.39683117e-02 1.02200277e-02 3.42152763e+02] [-1.39640765e-02 9.99902380e-01 -4.85645254e-04 -1.54916275e+01] [-1.02258136e-02 3.42859259e-04 9.99947656e-01 -6.05803122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters 0.02218969345631521 Centerline is valid? [True, True] Translation: X:342.18, Y:-15.49, Z:-6.06 [[ 9.99799645e-01 1.68846802e-02 1.07506618e-02 3.42183160e+02] [-1.68801540e-02 9.99857389e-01 -5.11620731e-04 -1.54891009e+01] [-1.07577672e-02 3.30045399e-04 9.99942079e-01 -6.05873592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694391418 meters 0.02237865233268198 Centerline is valid? [True, True] Translation: X:342.21, Y:-15.49, Z:-6.06 [[ 9.99765526e-01 1.82969222e-02 1.15808581e-02 3.42213044e+02] [-1.82917631e-02 9.99832540e-01 -5.51260207e-04 -1.54899545e+01] [-1.15890051e-02 3.39296639e-04 9.99932788e-01 -6.05914786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters 0.021596718321044168 Centerline is valid? [True, True] Translation: X:342.24, Y:-15.49, Z:-6.06 [[ 9.99721531e-01 2.01204711e-02 1.23299527e-02 3.42243345e+02] [-2.01147663e-02 9.99797506e-01 -5.86527893e-04 -1.54878066e+01] [-1.23392572e-02 3.38350447e-04 9.99923811e-01 -6.05899262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754391418 meters 0.021226971831515958 Centerline is valid? [True, True] Translation: X:342.27, Y:-15.49, Z:-6.06 [[ 9.99705419e-01 2.08517604e-02 1.24209250e-02 3.42273135e+02] [-2.08460247e-02 9.99782523e-01 -5.91081141e-04 -1.54880790e+01] [-1.24305488e-02 3.31980112e-04 9.99922683e-01 -6.05984956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters 0.020762155487930197 Centerline is valid? [True, True] Translation: X:342.30, Y:-15.49, Z:-6.06 [[ 9.99690966e-01 2.14833165e-02 1.25075869e-02 3.42302495e+02] [-2.14775562e-02 9.99769154e-01 -5.94698673e-04 -1.54885134e+01] [-1.25174757e-02 3.25882490e-04 9.99921600e-01 -6.06075808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814391418 meters 0.02028610636305198 Centerline is valid? [True, True] Translation: X:342.33, Y:-15.49, Z:-6.06 [[ 9.99668225e-01 2.27061179e-02 1.21602568e-02 3.42332636e+02] [-2.27007682e-02 9.99742137e-01 -5.77799237e-04 -1.54893485e+01] [-1.21702407e-02 3.01560368e-04 9.99925894e-01 -6.06177386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters 0.020316615417796318 Centerline is valid? [True, True] Translation: X:342.36, Y:-15.49, Z:-6.06 [[ 9.99650330e-01 2.34048753e-02 1.23056913e-02 3.42361901e+02] [-2.33994598e-02 9.99726025e-01 -5.83893847e-04 -1.54904419e+01] [-1.23159858e-02 2.95743148e-04 9.99924112e-01 -6.06245628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874391418 meters 0.02016031554527874 Centerline is valid? [True, True] Translation: X:342.39, Y:-15.49, Z:-6.06 [[ 9.99633507e-01 2.38798632e-02 1.27515943e-02 3.42390382e+02] [-2.38740923e-02 9.99714790e-01 -6.04611872e-04 -1.54913151e+01] [-1.27623955e-02 2.99957546e-04 9.99918512e-01 -6.06259784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904391418 meters 0.020380240309989684 Centerline is valid? [True, True] Translation: X:342.42, Y:-15.49, Z:-6.06 [[ 9.99594957e-01 2.51092774e-02 1.33957410e-02 3.42419541e+02] [-2.51030320e-02 9.99684668e-01 -6.34189576e-04 -1.54925286e+01] [-1.34074409e-02 2.97658987e-04 9.99910072e-01 -6.06304771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934391418 meters 0.019864872801834223 Centerline is valid? [True, True] Translation: X:342.45, Y:-15.49, Z:-6.06 [[ 9.99593973e-01 2.53133699e-02 1.30813477e-02 3.42449365e+02] [-2.53074384e-02 9.99679524e-01 -6.18799059e-04 -1.54927247e+01] [-1.30928193e-02 2.87492409e-04 9.99914244e-01 -6.06348209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964391418 meters 0.02005253811862449 Centerline is valid? [True, True] Translation: X:342.48, Y:-15.50, Z:-6.07 [[ 9.99600575e-01 2.55806938e-02 1.20132358e-02 3.42477993e+02] [-2.55757157e-02 9.99672727e-01 -5.67853876e-04 -1.54950367e+01] [-1.20238302e-02 2.60379959e-04 9.99927677e-01 -6.06565752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994391418 meters 0.01989292322932241 Centerline is valid? [True, True] Translation: X:342.51, Y:-15.50, Z:-6.07 [[ 9.99615429e-01 2.53348883e-02 1.12755638e-02 3.42507653e+02] [-2.53304917e-02 9.99678990e-01 -5.32581274e-04 -1.54963411e+01] [-1.12854371e-02 2.46760882e-04 9.99936287e-01 -6.06689148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024391418 meters 0.01989292322932241 Centerline is valid? [True, True] Translation: X:342.54, Y:-15.50, Z:-6.07 [[ 9.99617420e-01 2.52561976e-02 1.12755722e-02 3.42535936e+02] [-2.52517981e-02 9.99680981e-01 -5.32403776e-04 -1.54975966e+01] [-1.12854216e-02 2.47471616e-04 9.99936287e-01 -6.06740210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.054391418 meters 0.019850774479772095 Centerline is valid? [True, True] Translation: X:342.56, Y:-15.50, Z:-6.07 [[ 9.99639196e-01 2.47956629e-02 1.03273209e-02 3.42564716e+02] [-2.47919549e-02 9.99692514e-01 -4.86936906e-04 -1.54986929e+01] [-1.03362193e-02 2.30726743e-04 9.99946553e-01 -6.06781480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084391418 meters 0.02023253293620914 Centerline is valid? [True, True] Translation: X:342.59, Y:-15.50, Z:-6.07 [[ 9.99647123e-01 2.46877507e-02 9.80535499e-03 3.42593338e+02] [-2.46844114e-02 9.99695187e-01 -4.61453664e-04 -1.55002978e+01] [-9.81375845e-03 2.19251410e-04 9.99951820e-01 -6.06881957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.114391418 meters 0.019090705254689394 Centerline is valid? [True, True] Translation: X:342.62, Y:-15.50, Z:-6.07 [[ 9.99656317e-01 2.45197916e-02 9.27507127e-03 3.42622384e+02] [-2.45167991e-02 9.99699323e-01 -4.36213980e-04 -1.54991453e+01] [-9.28297834e-03 2.08669001e-04 9.99956890e-01 -6.06879821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144391418 meters 0.01993206928323887 Centerline is valid? [True, True] Translation: X:342.65, Y:-15.50, Z:-6.07 [[ 9.99664931e-01 2.43236403e-02 8.85362518e-03 3.42650281e+02] [-2.43209102e-02 9.99704116e-01 -4.15912912e-04 -1.55015570e+01] [-8.86112206e-03 2.00445329e-04 9.99960719e-01 -6.07014527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17439141799997 meters 0.021001752058523667 Centerline is valid? [True, True] Translation: X:342.68, Y:-15.50, Z:-6.07 [[ 9.99665307e-01 2.44855713e-02 8.35047560e-03 3.42678441e+02] [-2.44831543e-02 9.99700166e-01 -3.91562242e-04 -1.55040672e+01] [-8.35755947e-03 1.86985207e-04 9.99965058e-01 -6.07168282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204391418 meters 0.019377496048488225 Centerline is valid? [True, True] Translation: X:342.71, Y:-15.50, Z:-6.07 [[ 9.99661129e-01 2.46245788e-02 8.44142436e-03 3.42707338e+02] [-2.46221236e-02 9.99696752e-01 -3.94674160e-04 -1.55025506e+01] [-8.44858320e-03 1.86694622e-04 9.99964293e-01 -6.07070141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234391418 meters 0.019327437996613957 Centerline is valid? [True, True] Translation: X:342.74, Y:-15.50, Z:-6.07 [[ 9.99658696e-01 2.45591691e-02 8.90727699e-03 3.42735835e+02] [-2.45564398e-02 9.99698359e-01 -4.15673055e-04 -1.55035838e+01] [-8.91479878e-03 1.96800173e-04 9.99960243e-01 -6.07022230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264391418 meters 0.019628254696520568 Centerline is valid? [True, True] Translation: X:342.76, Y:-15.51, Z:-6.07 [[ 9.99669234e-01 2.42021025e-02 8.69951754e-03 3.42764025e+02] [-2.41994890e-02 9.99707067e-01 -4.05572455e-04 -1.55058470e+01] [-8.70678487e-03 1.94914426e-04 9.99962076e-01 -6.07041672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294391418 meters 0.019619515088083846 Centerline is valid? [True, True] Translation: X:342.79, Y:-15.51, Z:-6.07 [[ 9.99696020e-01 2.31373065e-02 8.51657659e-03 3.42793204e+02] [-2.31347729e-02 9.99732277e-01 -3.95891651e-04 -1.55068985e+01] [-8.52345637e-03 1.98742243e-04 9.99963655e-01 -6.07024889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324391418 meters 0.020066812766123036 Centerline is valid? [True, True] Translation: X:342.82, Y:-15.51, Z:-6.07 [[ 9.99754319e-01 2.06565491e-02 8.03798006e-03 3.42823176e+02] [-2.06542200e-02 9.99786609e-01 -3.72679985e-04 -1.55089881e+01] [-8.04396312e-03 2.06570216e-04 9.99967625e-01 -6.06938519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354391418 meters 0.021435143729171654 Centerline is valid? [True, True] Translation: X:342.85, Y:-15.51, Z:-6.07 [[ 9.99789591e-01 1.90149081e-02 7.69460554e-03 3.42852054e+02] [-1.90127257e-02 9.99819178e-01 -3.56680646e-04 -1.55131970e+01] [-7.69999644e-03 2.10310173e-04 9.99970332e-01 -6.07039460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384391418 meters 0.021379737503027414 Centerline is valid? [True, True] Translation: X:342.88, Y:-15.52, Z:-6.07 [[ 9.99831460e-01 1.69819967e-02 6.97586167e-03 3.42881728e+02] [-1.69801574e-02 9.99855775e-01 -3.22815188e-04 -1.55153501e+01] [-6.98033762e-03 2.04309552e-04 9.99975616e-01 -6.07068508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414391418 meters 0.023494853286776037 Centerline is valid? [True, True] Translation: X:342.91, Y:-15.52, Z:-6.07 [[ 9.99915680e-01 1.19679908e-02 5.03976650e-03 3.42911992e+02] [-1.19669699e-02 9.99928366e-01 -2.32686889e-04 -1.55222822e+01] [-5.04219028e-03 1.72356535e-04 9.99987273e-01 -6.07296784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444391418 meters 0.02511343509732641 Centerline is valid? [True, True] Translation: X:342.94, Y:-15.53, Z:-6.07 [[ 9.99945144e-01 9.42951697e-03 4.56005086e-03 3.42940853e+02] [-9.42865801e-03 9.99955527e-01 -2.09826459e-04 -1.55269620e+01] [-4.56182663e-03 1.66819789e-04 9.99989581e-01 -6.07378959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474391418 meters 0.03177683239668299 Centerline is valid? [True, True] Translation: X:342.97, Y:-15.54, Z:-6.08 [[ 9.99983479e-01 4.48794303e-03 3.59161653e-03 3.42969807e+02] [-4.48737461e-03 9.99989918e-01 -1.66306310e-04 -1.55385597e+01] [-3.59232669e-03 1.50186633e-04 9.99993536e-01 -6.07566306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504391418 meters 0.030312220971964496 Centerline is valid? [True, True] Translation: X:343.00, Y:-15.54, Z:-6.07 [[ 9.99991495e-01 2.32783359e-03 3.40457494e-03 3.43000349e+02] [-2.32731151e-03 9.99997279e-01 -1.57301429e-04 -1.55381153e+01] [-3.40493185e-03 1.49376585e-04 9.99994192e-01 -6.07436265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534391418 meters 0.02889177737893724 Centerline is valid? [True, True] Translation: X:343.03, Y:-15.54, Z:-6.07 [[ 9.99994658e-01 2.94870388e-04 3.25537561e-03 3.43031978e+02] [-2.94384283e-04 9.99999945e-01 -1.49802007e-04 -1.55380772e+01] [-3.25541960e-03 1.48842875e-04 9.99994690e-01 -6.07357365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564391418 meters 0.030843520965127092 Centerline is valid? [True, True] Translation: X:343.06, Y:-15.54, Z:-6.07 [[ 9.99994001e-01 -1.60952914e-03 3.06712177e-03 3.43062834e+02] [ 1.60995960e-03 9.99998695e-01 -1.37883454e-04 -1.55432072e+01] [-3.06689583e-03 1.42820569e-04 9.99995287e-01 -6.07449423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594391418 meters 0.03379313353348085 Centerline is valid? [True, True] Translation: X:343.09, Y:-15.55, Z:-6.08 [[ 9.99980051e-01 -5.72791556e-03 2.66252607e-03 3.43092545e+02] [ 5.72826552e-03 9.99983586e-01 -1.23830482e-04 -1.55498189e+01] [-2.66177307e-03 1.39079668e-04 9.99996448e-01 -6.07553380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624391418 meters 0.03573449823136608 Centerline is valid? [True, True] Translation: X:343.12, Y:-15.55, Z:-6.08 [[ 9.99966035e-01 -7.71586608e-03 2.89738084e-03 3.43123100e+02] [ 7.71628708e-03 9.99970220e-01 -1.34151400e-04 -1.55543350e+01] [-2.89625947e-03 1.56503866e-04 9.99995794e-01 -6.07590763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654391418 meters 0.037287085744105955 Centerline is valid? [True, True] Translation: X:343.16, Y:-15.56, Z:-6.08 [[ 9.99949127e-01 -9.55459341e-03 3.23308760e-03 3.43155245e+02] [ 9.55512604e-03 9.99954338e-01 -1.49336399e-04 -1.55584711e+01] [-3.23151312e-03 1.80221362e-04 9.99994762e-01 -6.07609029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684391418 meters 0.03870550543024764 Centerline is valid? [True, True] Translation: X:343.19, Y:-15.56, Z:-6.08 [[ 9.99909479e-01 -1.30038252e-02 3.45448462e-03 3.43185919e+02] [ 1.30044580e-02 9.99915426e-01 -1.60785218e-04 -1.55622265e+01] [-3.45210163e-03 2.05694364e-04 9.99994020e-01 -6.07541470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714391418 meters 0.041710272221158404 Centerline is valid? [True, True] Translation: X:343.22, Y:-15.57, Z:-6.08 [[ 9.99888683e-01 -1.45102908e-02 3.47462200e-03 3.43216653e+02] [ 1.45109383e-02 9.99894698e-01 -1.61223150e-04 -1.55676527e+01] [-3.47191672e-03 2.11625228e-04 9.99993950e-01 -6.07606750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744391418 meters 0.04212895830306957 Centerline is valid? [True, True] Translation: X:343.25, Y:-15.57, Z:-6.08 [[ 9.99847667e-01 -1.71283436e-02 3.35585905e-03 3.43247849e+02] [ 1.71289639e-02 9.99853276e-01 -1.56165674e-04 -1.55694516e+01] [-3.35269181e-03 2.13624273e-04 9.99994357e-01 -6.07545931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774391418 meters 0.037884795019542894 Centerline is valid? [True, True] Translation: X:343.28, Y:-15.57, Z:-6.07 [[ 9.99832691e-01 -1.79718025e-02 3.40641745e-03 3.43280477e+02] [ 1.79724447e-02 9.99838470e-01 -1.58017500e-04 -1.55659530e+01] [-3.40302736e-03 2.19212711e-04 9.99994186e-01 -6.07434130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.804391418 meters 0.03906862360070209 Centerline is valid? [True, True] Translation: X:343.31, Y:-15.57, Z:-6.08 [[ 9.99818028e-01 -1.88468203e-02 2.95096892e-03 3.43312341e+02] [ 1.88473062e-02 9.99822364e-01 -1.36945583e-04 -1.55690204e+01] [-2.94786373e-03 1.92538478e-04 9.99995637e-01 -6.07553350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834391418 meters 0.04687256072587737 Centerline is valid? [True, True] Translation: X:343.34, Y:-15.58, Z:-6.08 [[ 9.99799280e-01 -1.99175539e-02 2.16604192e-03 3.43342460e+02] [ 1.99178192e-02 9.99801615e-01 -1.00958559e-04 -1.55800400e+01] [-2.16360136e-03 1.44081126e-04 9.99997649e-01 -6.07810859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.864391418 meters 0.041723674683112555 Centerline is valid? [True, True] Translation: X:343.38, Y:-15.57, Z:-6.08 [[ 9.99789478e-01 -2.04506061e-02 1.66513733e-03 3.43375144e+02] [ 2.04507624e-02 9.99790858e-01 -7.68598481e-05 -1.55741018e+01] [-1.66321725e-03 1.10896995e-04 9.99998611e-01 -6.07675024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894391418 meters 0.04902053180876486 Centerline is valid? [True, True] Translation: X:343.41, Y:-15.58, Z:-6.08 [[ 9.99784638e-01 -2.07028387e-02 1.43879595e-03 3.43405791e+02] [ 2.07029560e-02 9.99785669e-01 -6.66726772e-05 -1.55847245e+01] [-1.43710725e-03 9.64456476e-05 9.99998963e-01 -6.07974263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters 0.042169270005578144 Centerline is valid? [True, True] Translation: X:343.44, Y:-15.58, Z:-6.08 [[ 9.99790938e-01 -2.04370910e-02 6.36281566e-04 3.43437948e+02] [ 2.04371133e-02 9.99791140e-01 -2.85673426e-05 -1.55762046e+01] [-6.35564839e-04 4.15651287e-05 9.99999797e-01 -6.07872096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954391418 meters 0.043336807750072856 Centerline is valid? [True, True] Translation: X:343.47, Y:-15.58, Z:-6.08 [[ 9.99788697e-01 -2.05528330e-02 3.76201175e-04 3.43469390e+02] [ 2.05528407e-02 9.99788768e-01 -1.66917646e-05 -1.55783770e+01] [-3.75778646e-04 2.44202404e-05 9.99999929e-01 -6.07958904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters 0.04375206284902152 Centerline is valid? [True, True] Translation: X:343.50, Y:-15.58, Z:-6.08 [[ 9.99786793e-01 -2.06470259e-02 2.61801839e-04 3.43501668e+02] [ 2.06470295e-02 9.99786827e-01 -1.09617974e-05 -1.55797905e+01] [-2.61519702e-04 1.63648906e-05 9.99999966e-01 -6.07989545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014391418 meters 0.04320887754038388 Centerline is valid? [True, True] Translation: X:343.53, Y:-15.58, Z:-6.08 [[ 9.99803946e-01 -1.97970498e-02 3.82590341e-04 3.43534326e+02] [ 1.97970576e-02 9.99804019e-01 -1.67002773e-05 -1.55785115e+01] [-3.82184745e-04 2.42711662e-05 9.99999927e-01 -6.08022852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters 0.05305315186700176 Centerline is valid? [True, True] Translation: X:343.57, Y:-15.59, Z:-6.08 [[ 9.99794760e-01 -2.02371807e-02 9.45632063e-04 3.43565009e+02] [ 2.02372311e-02 9.99795205e-01 -4.38049257e-05 -1.55917666e+01] [-9.44551914e-04 6.29329098e-05 9.99999552e-01 -6.08271754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074391418 meters 0.03988384118270912 Centerline is valid? [True, True] Translation: X:343.60, Y:-15.57, Z:-6.08 [[ 9.99782231e-01 -2.08441078e-02 1.00650345e-03 3.43597877e+02] [ 2.08441650e-02 9.99782736e-01 -4.63453017e-05 -1.55743825e+01] [-1.00531875e-03 6.73149331e-05 9.99999492e-01 -6.07811199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters 0.043359327464531194 Centerline is valid? [True, True] Translation: X:343.63, Y:-15.58, Z:-6.08 [[ 9.99769108e-01 -2.14461831e-02 1.33899213e-03 3.43629082e+02] [ 2.14462861e-02 9.99770000e-01 -6.26161846e-05 -1.55800540e+01] [-1.33734129e-03 9.13181354e-05 9.99999102e-01 -6.07929691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134391418 meters 0.044211438771232764 Centerline is valid? [True, True] Translation: X:343.66, Y:-15.58, Z:-6.08 [[ 9.99766734e-01 -2.15798963e-02 8.86349986e-04 3.43661096e+02] [ 2.15799409e-02 9.99767125e-01 -4.08124284e-05 -1.55806984e+01] [-8.85262849e-04 5.99302886e-05 9.99999606e-01 -6.08093487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters 0.044211438771232764 Centerline is valid? [True, True] Translation: X:343.69, Y:-15.58, Z:-6.08 [[ 9.99768458e-01 -2.14998805e-02 8.86346618e-04 3.43692822e+02] [ 2.14999251e-02 9.99768849e-01 -4.08842159e-05 -1.55822909e+01] [-8.85262733e-04 5.99311354e-05 9.99999606e-01 -6.08150723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194391418 meters 0.042372422123343544 Centerline is valid? [True, True] Translation: X:343.73, Y:-15.58, Z:-6.08 [[ 9.99750042e-01 -2.22908645e-02 1.72371118e-03 3.43725447e+02] [ 2.22910372e-02 9.99751521e-01 -8.09912119e-05 -1.55793011e+01] [-1.72147751e-03 1.19394277e-04 9.99998511e-01 -6.07824411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters 0.04209208056313438 Centerline is valid? [True, True] Translation: X:343.76, Y:-15.58, Z:-6.08 [[ 9.99759318e-01 -2.18903463e-02 1.45547800e-03 3.43757394e+02] [ 2.18904688e-02 9.99760373e-01 -6.82775549e-05 -1.55794475e+01] [-1.45363461e-03 1.00122217e-04 9.99998938e-01 -6.07833506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254391418 meters 0.045833406414574306 Centerline is valid? [True, True] Translation: X:343.79, Y:-15.58, Z:-6.08 [[ 9.99781160e-01 -2.08886775e-02 1.13772182e-03 3.43788938e+02] [ 2.08887515e-02 9.99781805e-01 -5.31570755e-05 -1.55843394e+01] [-1.13636319e-03 7.69110309e-05 9.99999351e-01 -6.08010658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters 0.04169658935456488 Centerline is valid? [True, True] Translation: X:343.82, Y:-15.58, Z:-6.08 [[ 9.99795538e-01 -2.01754387e-02 1.35423910e-03 3.43821277e+02] [ 2.01755434e-02 9.99796451e-01 -6.36543635e-05 -1.55795579e+01] [-1.35267919e-03 9.09638583e-05 9.99999081e-01 -6.07927189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314391418 meters 0.04234596417556007 Centerline is valid? [True, True] Translation: X:343.85, Y:-15.58, Z:-6.08 [[ 9.99807444e-01 -1.96060721e-02 8.23088748e-04 3.43852836e+02] [ 1.96061104e-02 9.99807781e-01 -3.85383199e-05 -1.55806188e+01] [-8.22174950e-04 5.46684680e-05 9.99999661e-01 -6.07995128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters 0.04187332575112141 Centerline is valid? [True, True] Translation: X:343.88, Y:-15.58, Z:-6.08 [[ 9.99849341e-01 -1.73421744e-02 7.38418234e-04 3.43883929e+02] [ 1.73422049e-02 9.99849612e-01 -3.48592321e-05 -1.55788450e+01] [-7.37702650e-04 4.76597805e-05 9.99999727e-01 -6.07971563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374391418 meters 0.039600355434184595 Centerline is valid? [True, True] Translation: X:343.92, Y:-15.58, Z:-6.08 [[ 9.99875394e-01 -1.57771815e-02 5.27178557e-04 3.43916531e+02] [ 1.57771964e-02 9.99875532e-01 -2.40029912e-05 -1.55766281e+01] [-5.26734241e-04 3.23173999e-05 9.99999861e-01 -6.07974151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404391418 meters 0.037345788628758064 Centerline is valid? [True, True] Translation: X:343.95, Y:-15.57, Z:-6.08 [[ 9.99901701e-01 -1.40149761e-02 4.11898928e-04 3.43947980e+02] [ 1.40149851e-02 9.99901785e-01 -1.91529840e-05 -1.55745343e+01] [-4.11590045e-04 2.49238586e-05 9.99999915e-01 -6.07976262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434391418 meters 0.03591519262308027 Centerline is valid? [True, True] Translation: X:343.98, Y:-15.57, Z:-6.08 [[ 9.99926606e-01 -1.21043315e-02 5.16567553e-04 3.43979250e+02] [ 1.21043456e-02 9.99926739e-01 -2.42273864e-05 -1.55734433e+01] [-5.16236453e-04 3.04783204e-05 9.99999866e-01 -6.07974679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464391418 meters 0.0350314946154571 Centerline is valid? [True, True] Translation: X:344.01, Y:-15.57, Z:-6.08 [[ 9.99968592e-01 -7.86818171e-03 9.52202641e-04 3.44008870e+02] [ 7.86822943e-03 9.99969044e-01 -4.63795031e-05 -1.55709926e+01] [-9.51808242e-04 5.38701953e-05 9.99999546e-01 -6.07956887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494391418 meters 0.0339212875705383 Centerline is valid? [True, True] Translation: X:344.04, Y:-15.57, Z:-6.08 [[ 9.99986420e-01 -5.04053953e-03 1.32419106e-03 3.44040607e+02] [ 5.04062715e-03 9.99987294e-01 -6.28419285e-05 -1.55701858e+01] [-1.32385748e-03 6.95158285e-05 9.99999121e-01 -6.07955691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524391418 meters 0.02852813606122392 Centerline is valid? [True, True] Translation: X:344.07, Y:-15.56, Z:-6.08 [[ 9.99996996e-01 1.12115742e-03 2.17948585e-03 3.44071233e+02] [-1.12093044e-03 9.99999366e-01 -1.05363023e-04 -1.55611585e+01] [-2.17960260e-03 1.02919654e-04 9.99997619e-01 -6.07737926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.554391418 meters 0.02760567168259683 Centerline is valid? [True, True] Translation: X:344.10, Y:-15.56, Z:-6.08 [[ 9.99987800e-01 4.38665252e-03 2.27092420e-03 3.44101627e+02] [-4.38641496e-03 9.99990374e-01 -1.09580269e-04 -1.55597269e+01] [-2.27138303e-03 9.96177165e-05 9.99997415e-01 -6.07758630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584391418 meters 0.026087635346570295 Centerline is valid? [True, True] Translation: X:344.13, Y:-15.56, Z:-6.08 [[ 9.99965316e-01 7.94092618e-03 2.51182935e-03 3.44132277e+02] [-7.94064569e-03 9.99968465e-01 -1.21621991e-04 -1.55574896e+01] [-2.51271593e-03 1.01672226e-04 9.99996838e-01 -6.07775666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.614391418 meters 0.02289119467739724 Centerline is valid? [True, True] Translation: X:344.16, Y:-15.55, Z:-6.08 [[ 9.99889784e-01 1.46285785e-02 2.53479003e-03 3.44162475e+02] [-1.46283135e-02 9.99892993e-01 -1.23050897e-04 -1.55517769e+01] [-2.53631885e-03 8.59576320e-05 9.99996780e-01 -6.07710116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644391418 meters 0.021922491219399584 Centerline is valid? [True, True] Translation: X:344.19, Y:-15.55, Z:-6.08 [[ 9.99841885e-01 1.75614747e-02 2.79273853e-03 3.44191306e+02] [-1.75611621e-02 9.99845782e-01 -1.36405690e-04 -1.55500068e+01] [-2.79470333e-03 8.73403883e-05 9.99996091e-01 -6.07684479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67439141799997 meters 0.019843775150213686 Centerline is valid? [True, True] Translation: X:344.22, Y:-15.55, Z:-6.08 [[ 9.99723222e-01 2.30790977e-02 4.56448656e-03 3.44220656e+02] [-2.30783287e-02 9.99733635e-01 -2.21087949e-04 -1.55453632e+01] [-4.56837325e-03 1.15686036e-04 9.99989558e-01 -6.07521063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704391418 meters 0.01912498944908245 Centerline is valid? [True, True] Translation: X:344.25, Y:-15.54, Z:-6.08 [[ 9.99676371e-01 2.49455516e-02 4.98721448e-03 3.44249390e+02] [-2.49446554e-02 9.99688804e-01 -2.41818783e-04 -1.55440760e+01] [-4.99169479e-03 1.17336177e-04 9.99987535e-01 -6.07510525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734391418 meters 0.018864960081949943 Centerline is valid? [True, True] Translation: X:344.28, Y:-15.54, Z:-6.08 [[ 9.99645842e-01 2.60968418e-02 5.21020319e-03 3.44277557e+02] [-2.60958799e-02 9.99659413e-01 -2.52511978e-04 -1.55440384e+01] [-5.21501842e-03 1.16457712e-04 9.99986395e-01 -6.07589327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764391418 meters 0.01812863174886007 Centerline is valid? [True, True] Translation: X:344.31, Y:-15.54, Z:-6.08 [[ 9.99615372e-01 2.74182531e-02 4.16494702e-03 3.44306733e+02] [-2.74176519e-02 9.99624045e-01 -2.01399763e-04 -1.55438297e+01] [-4.16890322e-03 8.71292314e-05 9.99991306e-01 -6.07818065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794391418 meters 0.018712766936751273 Centerline is valid? [True, True] Translation: X:344.33, Y:-15.55, Z:-6.08 [[ 9.99623734e-01 2.71396298e-02 3.97876706e-03 3.44334563e+02] [-2.71390788e-02 9.99631649e-01 -1.92412179e-04 -1.55464081e+01] [-3.98252347e-03 8.43597080e-05 9.99992066e-01 -6.08044110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824391418 meters 0.019153432918723574 Centerline is valid? [True, True] Translation: X:344.36, Y:-15.55, Z:-6.08 [[ 9.99657850e-01 2.58471217e-02 4.01364204e-03 3.44362957e+02] [-2.58465535e-02 9.99665903e-01 -1.93376789e-04 -1.55487542e+01] [-4.01729933e-03 8.95718111e-05 9.99991927e-01 -6.08147139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854391418 meters 0.019106597037526943 Centerline is valid? [True, True] Translation: X:344.39, Y:-15.55, Z:-6.08 [[ 9.99678803e-01 2.49608550e-02 4.38710632e-03 3.44391554e+02] [-2.49601697e-02 9.99688424e-01 -2.10902326e-04 -1.55505765e+01] [-4.39100371e-03 1.01331667e-04 9.99990354e-01 -6.08196155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884391418 meters 0.01960898945456626 Centerline is valid? [True, True] Translation: X:344.42, Y:-15.55, Z:-6.08 [[ 9.99709833e-01 2.36489803e-02 4.57996600e-03 3.44420607e+02] [-2.36482216e-02 9.99720318e-01 -2.19745461e-04 -1.55532572e+01] [-4.58388182e-03 1.11373647e-04 9.99989488e-01 -6.08256383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914391418 meters 0.01960898945456626 Centerline is valid? [True, True] Translation: X:344.45, Y:-15.55, Z:-6.08 [[ 9.99711687e-01 2.35704645e-02 4.57998312e-03 3.44448891e+02] [-2.35697067e-02 9.99722172e-01 -2.19387066e-04 -1.55545273e+01] [-4.58388173e-03 1.11374955e-04 9.99989488e-01 -6.08307470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944391418 meters 0.020225457531327734 Centerline is valid? [True, True] Translation: X:344.48, Y:-15.56, Z:-6.08 [[ 9.99745112e-01 2.20968026e-02 4.63069745e-03 3.44477121e+02] [-2.20960126e-02 9.99755829e-01 -2.21692786e-04 -1.55575806e+01] [-4.63446547e-03 1.19316330e-04 9.99989254e-01 -6.08392977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974391418 meters 0.021912726055974538 Centerline is valid? [True, True] Translation: X:344.51, Y:-15.56, Z:-6.08 [[ 9.99825537e-01 1.79819129e-02 5.05440298e-03 3.44505989e+02] [-1.79809251e-02 9.99838301e-01 -2.40818776e-04 -1.55628462e+01] [-5.05791607e-03 1.49893921e-04 9.99987197e-01 -6.08435307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004391418 meters 0.023807572115859772 Centerline is valid? [True, True] Translation: X:344.53, Y:-15.57, Z:-6.09 [[ 9.99864541e-01 1.56796372e-02 5.00486317e-03 3.44533819e+02] [-1.56786400e-02 9.99877054e-01 -2.38421582e-04 -1.55677846e+01] [-5.00798621e-03 1.59919838e-04 9.99987447e-01 -6.08558303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034391418 meters 0.025847096836252637 Centerline is valid? [True, True] Translation: X:344.56, Y:-15.57, Z:-6.09 [[ 9.99924543e-01 1.10830300e-02 5.29851116e-03 3.44563120e+02] [-1.10818532e-02 9.99938563e-01 -2.51410614e-04 -1.55739960e+01] [-5.30097203e-03 1.92674321e-04 9.99985931e-01 -6.08646711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064391418 meters 0.02801136004965634 Centerline is valid? [True, True] Translation: X:344.59, Y:-15.58, Z:-6.09 [[ 9.99948122e-01 8.93860387e-03 4.88417756e-03 3.44592046e+02] [-8.93758476e-03 9.99960032e-01 -2.30442176e-04 -1.55788971e+01] [-4.88604219e-03 1.86777470e-04 9.99988046e-01 -6.08771104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094391418 meters 0.02845003948868796 Centerline is valid? [True, True] Translation: X:344.62, Y:-15.58, Z:-6.09 [[ 9.99965184e-01 6.75683989e-03 4.89653574e-03 3.44621903e+02] [-6.75578505e-03 9.99977153e-01 -2.31933850e-04 -1.55810328e+01] [-4.89799100e-03 1.98845832e-04 9.99987985e-01 -6.08778436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124391418 meters 0.03189395825615589 Centerline is valid? [True, True] Translation: X:344.65, Y:-15.59, Z:-6.09 [[ 9.99983989e-01 2.63872659e-03 5.00589556e-03 3.44651618e+02] [-2.63757254e-03 9.99996493e-01 -2.37127215e-04 -1.55876128e+01] [-5.00650372e-03 2.23920006e-04 9.99987442e-01 -6.08906387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154391418 meters 0.03357874114352596 Centerline is valid? [True, True] Translation: X:344.68, Y:-15.59, Z:-6.09 [[ 9.99988462e-01 6.10261867e-04 4.76483864e-03 3.44682861e+02] [-6.09195675e-04 9.99999789e-01 -2.25210734e-04 -1.55920569e+01] [-4.76497507e-03 2.22305416e-04 9.99988623e-01 -6.09001802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184391418 meters 0.03277099676278729 Centerline is valid? [True, True] Translation: X:344.71, Y:-15.59, Z:-6.09 [[ 9.99986275e-01 -1.25464779e-03 5.08686907e-03 3.44714497e+02] [ 1.25587408e-03 9.99999183e-01 -2.37882098e-04 -1.55930998e+01] [-5.08656646e-03 2.44267300e-04 9.99987034e-01 -6.09013198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214391418 meters 0.03504912665388988 Centerline is valid? [True, True] Translation: X:344.75, Y:-15.60, Z:-6.09 [[ 9.99970890e-01 -4.53081488e-03 6.13933954e-03 3.44745588e+02] [ 4.53269367e-03 9.99989685e-01 -2.92144862e-04 -1.55983316e+01] [-6.13795256e-03 3.19964103e-04 9.99981111e-01 -6.09041520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244391418 meters 0.040114772735927284 Centerline is valid? [True, True] Translation: X:344.78, Y:-15.61, Z:-6.09 [[ 9.99960397e-01 -6.04632635e-03 6.53047161e-03 3.44775928e+02] [ 6.04847914e-03 9.99981660e-01 -3.09952867e-04 -1.56065225e+01] [-6.52847776e-03 3.49440013e-04 9.99978628e-01 -6.09244961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274391418 meters 0.03254373264889854 Centerline is valid? [True, True] Translation: X:344.81, Y:-15.60, Z:-6.09 [[ 9.99940478e-01 -8.30189695e-03 7.07944754e-03 3.44808286e+02] [ 8.30449699e-03 9.99965460e-01 -3.37949932e-04 -1.55977805e+01] [-7.07639739e-03 3.96721067e-04 9.99974883e-01 -6.08948499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.304391418 meters 0.03754564320835401 Centerline is valid? [True, True] Translation: X:344.84, Y:-15.61, Z:-6.09 [[ 9.99905073e-01 -1.20209453e-02 6.73367584e-03 3.44837726e+02] [ 1.20233827e-02 9.99927665e-01 -3.21606226e-04 -1.56062069e+01] [-6.72932274e-03 4.02537259e-04 9.99977277e-01 -6.09131823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334391418 meters 0.03655863202970104 Centerline is valid? [True, True] Translation: X:344.87, Y:-15.61, Z:-6.09 [[ 9.99882059e-01 -1.40214500e-02 6.26636687e-03 3.44869422e+02] [ 1.40236039e-02 9.99901619e-01 -2.99922753e-04 -1.56070530e+01] [-6.26154503e-03 3.87764427e-04 9.99980321e-01 -6.09156454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.364391418 meters 0.0372884630348919 Centerline is valid? [True, True] Translation: X:344.90, Y:-15.61, Z:-6.09 [[ 9.99846686e-01 -1.63127100e-02 6.36398506e-03 3.44900487e+02] [ 1.63149820e-02 9.99866855e-01 -3.05241230e-04 -1.56102161e+01] [-6.35815842e-03 4.09022734e-04 9.99979703e-01 -6.09249577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394391418 meters 0.04045848847012954 Centerline is valid? [True, True] Translation: X:344.93, Y:-15.62, Z:-6.09 [[ 9.99771087e-01 -2.07389510e-02 5.26020377e-03 3.44931234e+02] [ 2.07405669e-02 9.99784859e-01 -2.52826696e-04 -1.56166674e+01] [-5.25382873e-03 3.61868428e-04 9.99986133e-01 -6.09405975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters 0.039423984346702697 Centerline is valid? [True, True] Translation: X:344.96, Y:-15.62, Z:-6.09 [[ 9.99734267e-01 -2.24649339e-02 5.16927901e-03 3.44962834e+02] [ 2.24665139e-02 9.99747565e-01 -2.47765298e-04 -1.56168918e+01] [-5.16240808e-03 3.63835138e-04 9.99986608e-01 -6.09413808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454391418 meters 0.04619800265445795 Centerline is valid? [True, True] Translation: X:344.99, Y:-15.63, Z:-6.10 [[ 9.99659771e-01 -2.56796480e-02 4.57141091e-03 3.44992621e+02] [ 2.56809170e-02 9.99670167e-01 -2.19102603e-04 -1.56265299e+01] [-4.56427663e-03 3.36426082e-04 9.99989527e-01 -6.09574802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters 0.0427348811093499 Centerline is valid? [True, True] Translation: X:345.02, Y:-15.62, Z:-6.10 [[ 9.99623426e-01 -2.69545289e-02 5.14395972e-03 3.45024596e+02] [ 2.69561512e-02 9.99636587e-01 -2.46296857e-04 -1.56236639e+01] [-5.13545153e-03 3.84865464e-04 9.99986739e-01 -6.09569660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514391418 meters 0.04617068725083923 Centerline is valid? [True, True] Translation: X:345.06, Y:-15.63, Z:-6.10 [[ 9.99594731e-01 -2.79331229e-02 5.48772978e-03 3.45055870e+02] [ 2.79349943e-02 9.99609707e-01 -2.64639237e-04 -1.56306379e+01] [-5.47819576e-03 4.17831687e-04 9.99984907e-01 -6.09666498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters 0.04730495785578424 Centerline is valid? [True, True] Translation: X:345.09, Y:-15.63, Z:-6.10 [[ 9.99551076e-01 -2.93970430e-02 5.78446993e-03 3.45088267e+02] [ 2.93991477e-02 9.99567713e-01 -2.79140064e-04 -1.56337541e+01] [-5.77376348e-03 4.49073237e-04 9.99983231e-01 -6.09677653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574391418 meters 0.04926285005480865 Centerline is valid? [True, True] Translation: X:345.12, Y:-15.64, Z:-6.10 [[ 9.99552502e-01 -2.92201894e-02 6.40132534e-03 3.45120308e+02] [ 2.92227587e-02 9.99572876e-01 -3.08184344e-04 -1.56374512e+01] [-6.38958598e-03 4.95110818e-04 9.99979464e-01 -6.09638345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters 0.049520959292905654 Centerline is valid? [True, True] Translation: X:345.15, Y:-15.64, Z:-6.09 [[ 9.99564208e-01 -2.85999720e-02 7.30992303e-03 3.45152807e+02] [ 2.86033300e-02 9.99590778e-01 -3.55227342e-04 -1.56375667e+01] [-7.29677216e-03 5.64160678e-04 9.99973219e-01 -6.09461892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634391418 meters 0.04941904863111161 Centerline is valid? [True, True] Translation: X:345.19, Y:-15.64, Z:-6.09 [[ 9.99581986e-01 -2.79153482e-02 7.52234444e-03 3.45185527e+02] [ 2.79188882e-02 9.99610125e-01 -3.65983721e-04 -1.56388491e+01] [-7.50919510e-03 5.75846228e-04 9.99971640e-01 -6.09417542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters 0.04923680028556229 Centerline is valid? [True, True] Translation: X:345.22, Y:-15.64, Z:-6.10 [[ 9.99605363e-01 -2.71168495e-02 7.33455834e-03 3.45217902e+02] [ 2.71202001e-02 9.99632116e-01 -3.57737063e-04 -1.56402818e+01] [-7.32215937e-03 5.56510577e-04 9.99973038e-01 -6.09511486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694391418 meters 0.04998262851687801 Centerline is valid? [True, True] Translation: X:345.25, Y:-15.64, Z:-6.10 [[ 9.99618922e-01 -2.66945697e-02 7.02932782e-03 3.45248907e+02] [ 2.66976419e-02 9.99643495e-01 -3.43564791e-04 -1.56431323e+01] [-7.01765052e-03 5.31100342e-04 9.99975235e-01 -6.09648147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters 0.05046036042302403 Centerline is valid? [True, True] Translation: X:345.28, Y:-15.65, Z:-6.10 [[ 9.99653345e-01 -2.55877983e-02 6.20123820e-03 3.45279870e+02] [ 2.55901626e-02 9.99672472e-01 -3.02199180e-04 -1.56459798e+01] [-6.19147451e-03 4.60785115e-04 9.99980726e-01 -6.09844662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754391418 meters 0.04124803627379863 Centerline is valid? [True, True] Translation: X:345.31, Y:-15.64, Z:-6.10 [[ 9.99676224e-01 -2.46995033e-02 6.11402046e-03 3.45312556e+02] [ 2.47017956e-02 9.99694819e-01 -2.99684308e-04 -1.56355727e+01] [-6.10475253e-03 4.50614561e-04 9.99981264e-01 -6.09700815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters 0.04010798652842552 Centerline is valid? [True, True] Translation: X:345.34, Y:-15.63, Z:-6.10 [[ 9.99731131e-01 -2.24013102e-02 5.98730379e-03 3.45344292e+02] [ 2.24034719e-02 9.99748967e-01 -2.94202388e-04 -1.56344919e+01] [-5.97921027e-03 4.28259678e-04 9.99982033e-01 -6.09659515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814391418 meters 0.04467723982218638 Centerline is valid? [True, True] Translation: X:345.37, Y:-15.64, Z:-6.10 [[ 9.99769179e-01 -2.07399821e-02 5.60729775e-03 3.45374367e+02] [ 2.07418495e-02 9.99784827e-01 -2.75079722e-04 -1.56414308e+01] [-5.60038606e-03 3.91321954e-04 9.99984241e-01 -6.09842025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters 0.03984918686252279 Centerline is valid? [True, True] Translation: X:345.41, Y:-15.64, Z:-6.10 [[ 9.99794221e-01 -1.95981319e-02 5.23731446e-03 3.45407370e+02] [ 1.95997471e-02 9.99807873e-01 -2.57242494e-04 -1.56366143e+01] [-5.23126676e-03 3.59839598e-04 9.99986252e-01 -6.09814726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874391418 meters 0.041350778049633566 Centerline is valid? [True, True] Translation: X:345.44, Y:-15.64, Z:-6.10 [[ 9.99820140e-01 -1.78953455e-02 6.28043411e-03 3.45437475e+02] [ 1.78976517e-02 9.99839776e-01 -3.11187763e-04 -1.56406356e+01] [-6.27385902e-03 4.23536815e-04 9.99980229e-01 -6.09756556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904391418 meters 0.039283235565350925 Centerline is valid? [True, True] Translation: X:345.47, Y:-15.64, Z:-6.10 [[ 9.99833919e-01 -1.68165001e-02 7.02424280e-03 3.45469459e+02] [ 1.68193550e-02 9.99858484e-01 -3.47560108e-04 -1.56398363e+01] [-7.01740402e-03 4.65645618e-04 9.99975269e-01 -6.09653585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934391418 meters 0.03742228833688834 Centerline is valid? [True, True] Translation: X:345.50, Y:-15.64, Z:-6.10 [[ 9.99847308e-01 -1.56420902e-02 7.79006261e-03 3.45501658e+02] [ 1.56455723e-02 9.99877526e-01 -3.86241507e-04 -1.56392208e+01] [-7.78306691e-03 5.08062519e-04 9.99969582e-01 -6.09615646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964391418 meters 0.03899787345939064 Centerline is valid? [True, True] Translation: X:345.53, Y:-15.64, Z:-6.10 [[ 9.99869037e-01 -1.38419540e-02 8.38501446e-03 3.45532044e+02] [ 1.38459371e-02 9.99904053e-01 -4.17165429e-04 -1.56438668e+01] [-8.37843556e-03 5.33209179e-04 9.99964758e-01 -6.09653858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994391418 meters 0.03624130554814521 Centerline is valid? [True, True] Translation: X:345.56, Y:-15.64, Z:-6.10 [[ 9.99881785e-01 -1.31193969e-02 8.01861895e-03 3.45564405e+02] [ 1.31230125e-02 9.99913810e-01 -3.98456186e-04 -1.56421968e+01] [-8.01270032e-03 5.03637520e-04 9.99967771e-01 -6.09680461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024391418 meters 0.0345801374687393 Centerline is valid? [True, True] Translation: X:345.60, Y:-15.64, Z:-6.10 [[ 9.99906736e-01 -1.14064213e-02 7.51085449e-03 3.45596675e+02] [ 1.14095494e-02 9.99934839e-01 -3.73752607e-04 -1.56423025e+01] [-7.50610189e-03 4.59413214e-04 9.99971723e-01 -6.09783233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.054391418 meters 0.03620259933728218 Centerline is valid? [True, True] Translation: X:345.63, Y:-15.65, Z:-6.10 [[ 9.99918494e-01 -1.01306544e-02 7.77015062e-03 3.45627894e+02] [ 1.01339710e-02 9.99948575e-01 -3.87581918e-04 -1.56468204e+01] [-7.76582458e-03 4.66292808e-04 9.99969737e-01 -6.09915329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084391418 meters 0.03571187506289513 Centerline is valid? [True, True] Translation: X:345.66, Y:-15.65, Z:-6.10 [[ 9.99931388e-01 -8.50646207e-03 8.05357491e-03 3.45659258e+02] [ 8.50997871e-03 9.99963708e-01 -4.02487743e-04 -1.56491365e+01] [-8.04985888e-03 4.70995879e-04 9.99967488e-01 -6.09958269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.114391418 meters 0.03165359992683806 Centerline is valid? [True, True] Translation: X:345.69, Y:-15.65, Z:-6.10 [[ 9.99944739e-01 -4.74616769e-03 9.38044813e-03 3.45690497e+02] [ 4.75078004e-03 9.99988605e-01 -4.69476533e-04 -1.56473098e+01] [-9.37811303e-03 5.14015035e-04 9.99955892e-01 -6.09870079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144391418 meters 0.03416939374498569 Centerline is valid? [True, True] Translation: X:345.72, Y:-15.65, Z:-6.10 [[ 9.99948800e-01 -2.67329724e-03 9.75969969e-03 3.45721105e+02] [ 2.67819212e-03 9.99996294e-01 -4.88505247e-04 -1.56528371e+01] [-9.75835761e-03 5.14618587e-04 9.99952254e-01 -6.09943750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17439141799997 meters 0.029913973728673455 Centerline is valid? [True, True] Translation: X:345.75, Y:-15.65, Z:-6.10 [[ 9.99950502e-01 1.42869163e-04 9.94852424e-03 3.45752632e+02] [-1.37917770e-04 9.99999866e-01 -4.98385600e-04 -1.56491785e+01] [-9.94859412e-03 4.96988853e-04 9.99950388e-01 -6.09883412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204391418 meters 0.029452375975230097 Centerline is valid? [True, True] Translation: X:345.78, Y:-15.65, Z:-6.10 [[ 9.99911521e-01 7.73203082e-03 1.08243578e-02 3.45781794e+02] [-7.72660244e-03 9.99970002e-01 -5.43226575e-04 -1.56502765e+01] [-1.08282333e-02 4.59543001e-04 9.99941267e-01 -6.09811721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234391418 meters 0.024378380091468574 Centerline is valid? [True, True] Translation: X:345.81, Y:-15.65, Z:-6.10 [[ 9.99855488e-01 1.22864036e-02 1.17493175e-02 3.45813206e+02] [-1.22803293e-02 9.99924420e-01 -5.88998128e-04 -1.56450901e+01] [-1.17556661e-02 4.44627523e-04 9.99930801e-01 -6.09674137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264391418 meters 0.020188456609151344 Centerline is valid? [True, True] Translation: X:345.84, Y:-15.64, Z:-6.10 [[ 9.99682634e-01 2.19984397e-02 1.22759726e-02 3.45844076e+02] [-2.19925307e-02 9.99757945e-01 -6.16145899e-04 -1.56412642e+01] [-1.22865554e-02 3.45970651e-04 9.99924458e-01 -6.09700913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294391418 meters 0.019035488511848785 Centerline is valid? [True, True] Translation: X:345.87, Y:-15.64, Z:-6.10 [[ 9.99571595e-01 2.67274311e-02 1.19277182e-02 3.45873383e+02] [-2.67221854e-02 9.99642719e-01 -5.98972184e-04 -1.56412948e+01] [-1.19394657e-02 2.79980884e-04 9.99928683e-01 -6.09779209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324391418 meters 0.017262663815881624 Centerline is valid? [True, True] Translation: X:345.90, Y:-15.64, Z:-6.10 [[ 9.99439100e-01 3.14298452e-02 1.15607000e-02 3.45902395e+02] [-3.14252340e-02 9.99505937e-01 -5.80351817e-04 -1.56395806e+01] [-1.15732286e-02 2.16728596e-04 9.99933004e-01 -6.09848515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354391418 meters 0.01632652368076903 Centerline is valid? [True, True] Translation: X:345.93, Y:-15.64, Z:-6.10 [[ 9.99303590e-01 3.55545702e-02 1.13228819e-02 3.45930650e+02] [-3.55504217e-02 9.99367723e-01 -5.67512712e-04 -1.56385792e+01] [-1.13359004e-02 1.64584263e-04 9.99935733e-01 -6.09923896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384391418 meters 0.014574348463214768 Centerline is valid? [True, True] Translation: X:345.96, Y:-15.64, Z:-6.10 [[ 9.99035240e-01 4.23652099e-02 1.15662301e-02 3.45959619e+02] [-4.23613484e-02 9.99102188e-01 -5.78756443e-04 -1.56360217e+01] [-1.15803649e-02 8.82369796e-05 9.99932941e-01 -6.09944558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414391418 meters 0.01443765821304315 Centerline is valid? [True, True] Translation: X:345.99, Y:-15.64, Z:-6.10 [[ 9.98932362e-01 4.45317696e-02 1.22905849e-02 3.45988395e+02] [-4.45275869e-02 9.99007967e-01 -6.13888059e-04 -1.56374861e+01] [-1.23057297e-02 6.59625628e-05 9.99924279e-01 -6.10048019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444391418 meters 0.014425338228594708 Centerline is valid? [True, True] Translation: X:346.02, Y:-15.64, Z:-6.10 [[ 9.98831621e-01 4.65555832e-02 1.29603739e-02 3.46015828e+02] [-4.65511142e-02 9.98915700e-01 -6.46441596e-04 -1.56409726e+01] [-1.29764164e-02 4.23664623e-05 9.99915802e-01 -6.10143532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474391418 meters 0.014263038608097574 Centerline is valid? [True, True] Translation: X:346.04, Y:-15.64, Z:-6.10 [[ 9.98814046e-01 4.67926757e-02 1.34516216e-02 3.46043591e+02] [-4.67879092e-02 9.98904622e-01 -6.68999526e-04 -1.56433733e+01] [-1.34681913e-02 3.88328723e-05 9.99909299e-01 -6.10166111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504391418 meters 0.014349942880253088 Centerline is valid? [True, True] Translation: X:346.07, Y:-15.65, Z:-6.10 [[ 9.98831876e-01 4.63515799e-02 1.36533473e-02 3.46071178e+02] [-4.63466513e-02 9.98925187e-01 -6.77338120e-04 -1.56458049e+01] [-1.36700682e-02 4.37599781e-05 9.99906559e-01 -6.10194125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534391418 meters 0.014437820740732557 Centerline is valid? [True, True] Translation: X:346.10, Y:-15.65, Z:-6.10 [[ 9.98916486e-01 4.41096449e-02 1.48389205e-02 3.46098614e+02] [-4.41036062e-02 9.99026693e-01 -7.34107786e-04 -1.56510964e+01] [-1.48568589e-02 7.88624648e-05 9.99889628e-01 -6.10149510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564391418 meters 0.014558167781507234 Centerline is valid? [True, True] Translation: X:346.13, Y:-15.66, Z:-6.10 [[ 9.98966671e-01 4.25569050e-02 1.59530464e-02 3.46127142e+02] [-4.25497556e-02 9.99094039e-01 -7.87461969e-04 -1.56551156e+01] [-1.59721055e-02 1.07850037e-04 9.99872432e-01 -6.10134201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594391418 meters 0.015187313725252952 Centerline is valid? [True, True] Translation: X:346.15, Y:-15.66, Z:-6.10 [[ 9.99052460e-01 4.03249539e-02 1.63731856e-02 3.46154511e+02] [-4.03171451e-02 9.99186608e-01 -8.06863976e-04 -1.56601556e+01] [-1.63924046e-02 1.45979339e-04 9.99865625e-01 -6.10185501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624391418 meters 0.016102513662271323 Centerline is valid? [True, True] Translation: X:346.18, Y:-15.67, Z:-6.10 [[ 9.99267641e-01 3.46226963e-02 1.62926449e-02 3.46183196e+02] [-3.46142332e-02 9.99400427e-01 -8.01236983e-04 -1.56683710e+01] [-1.63106173e-02 2.36692778e-04 9.99866945e-01 -6.10311637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654391418 meters 0.01679752100731599 Centerline is valid? [True, True] Translation: X:346.21, Y:-15.67, Z:-6.10 [[ 9.99383487e-01 3.12034873e-02 1.60931224e-02 3.46211940e+02] [-3.11948083e-02 9.99513011e-01 -7.90108357e-04 -1.56731146e+01] [-1.61099394e-02 2.87599377e-04 9.99870185e-01 -6.10407424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684391418 meters 0.019056648992304363 Centerline is valid? [True, True] Translation: X:346.24, Y:-15.68, Z:-6.11 [[ 9.99512445e-01 2.73302086e-02 1.50974303e-02 3.46240531e+02] [-2.73221474e-02 9.99626407e-01 -7.39982355e-04 -1.56807832e+01] [-1.51120139e-02 3.27127355e-04 9.99885753e-01 -6.10566925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714391418 meters 0.021180014053374458 Centerline is valid? [True, True] Translation: X:346.27, Y:-15.69, Z:-6.11 [[ 9.99701681e-01 1.97273861e-02 1.44006862e-02 3.46270496e+02] [-1.97192790e-02 9.99805308e-01 -7.04755874e-04 -1.56902646e+01] [-1.44117855e-02 4.20574482e-04 9.99896056e-01 -6.10764725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744391418 meters 0.022518037394158388 Centerline is valid? [True, True] Translation: X:346.30, Y:-15.70, Z:-6.11 [[ 9.99776441e-01 1.58635668e-02 1.39791167e-02 3.46300971e+02] [-1.58555542e-02 9.99874059e-01 -6.83832471e-04 -1.56957396e+01] [-1.39882042e-02 4.62032951e-04 9.99902054e-01 -6.10945368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774391418 meters 0.027728094726572734 Centerline is valid? [True, True] Translation: X:346.33, Y:-15.71, Z:-6.11 [[ 9.99879498e-01 8.54221802e-03 1.29622827e-02 3.46329613e+02] [-8.53469766e-03 9.99963377e-01 -6.35379577e-04 -1.57094929e+01] [-1.29672355e-02 5.24673848e-04 9.99915784e-01 -6.11260087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.804391418 meters 0.03247360401277472 Centerline is valid? [True, True] Translation: X:346.36, Y:-15.72, Z:-6.11 [[ 9.99900260e-01 5.64010451e-03 1.29483388e-02 3.46360550e+02] [-5.63237761e-03 9.99983938e-01 -6.33137428e-04 -1.57197521e+01] [-1.29517018e-02 5.60144345e-04 9.99915966e-01 -6.11393008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834391418 meters 0.03247360401277472 Centerline is valid? [True, True] Translation: X:346.39, Y:-15.72, Z:-6.11 [[ 9.99898539e-01 5.93761202e-03 1.29481884e-02 3.46393117e+02] [-5.92987050e-03 9.99982216e-01 -6.36195217e-04 -1.57215227e+01] [-1.29517357e-02 5.59349587e-04 9.99915966e-01 -6.11451702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.864391418 meters 0.029046686245075323 Centerline is valid? [True, True] Translation: X:346.43, Y:-15.72, Z:-6.11 [[ 9.99911442e-01 3.54727009e-03 1.28267237e-02 3.46425620e+02] [-3.53941406e-03 9.99993535e-01 -6.35122569e-04 -1.57198750e+01] [-1.28288937e-02 5.89667237e-04 9.99917532e-01 -6.11414078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894391418 meters 0.030491578966782798 Centerline is valid? [True, True] Translation: X:346.46, Y:-15.72, Z:-6.11 [[ 9.99906675e-01 1.69115037e-03 1.35566240e-02 3.46457741e+02] [-1.68218829e-03 9.99998359e-01 -6.72460381e-04 -1.57246738e+01] [-1.35577390e-02 6.49592829e-04 9.99907879e-01 -6.11443198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters 0.031023758696693795 Centerline is valid? [True, True] Translation: X:346.49, Y:-15.73, Z:-6.11 [[ 9.99892792e-01 -2.82625110e-04 1.46398508e-02 3.46489391e+02] [ 2.93297756e-04 9.99999693e-01 -7.26871452e-04 -1.57297664e+01] [-1.46396409e-02 7.31087361e-04 9.99892567e-01 -6.11378705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954391418 meters 0.03495020800906338 Centerline is valid? [True, True] Translation: X:346.52, Y:-15.74, Z:-6.12 [[ 9.99893670e-01 -9.45090553e-04 1.45518248e-02 3.46520608e+02] [ 9.55761731e-04 9.99999279e-01 -7.26385359e-04 -1.57383923e+01] [-1.45511278e-02 7.40216200e-04 9.99893853e-01 -6.11515695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters 0.03212079207387601 Centerline is valid? [True, True] Translation: X:346.55, Y:-15.74, Z:-6.12 [[ 9.99913905e-01 -1.38784807e-03 1.30482688e-02 3.46552449e+02] [ 1.39651661e-03 9.99998810e-01 -6.55256359e-04 -1.57381839e+01] [-1.30473439e-02 6.73422069e-04 9.99914653e-01 -6.11697346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014391418 meters 0.030620649477672263 Centerline is valid? [True, True] Translation: X:346.58, Y:-15.74, Z:-6.12 [[ 9.99923112e-01 -9.07770205e-04 1.23671256e-02 3.46584692e+02] [ 9.15532351e-04 9.99999387e-01 -6.21996551e-04 -1.57379576e+01] [-1.23665534e-02 6.33271231e-04 9.99923331e-01 -6.11761363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters 0.030082198151523794 Centerline is valid? [True, True] Translation: X:346.62, Y:-15.74, Z:-6.12 [[ 9.99931012e-01 2.10377273e-03 1.15561885e-02 3.46615472e+02] [-2.09718267e-03 9.99997631e-01 -5.82350547e-04 -1.57379193e+01] [-1.15573863e-02 5.58074934e-04 9.99933055e-01 -6.11890633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074391418 meters 0.0281100671735585 Centerline is valid? [True, True] Translation: X:346.65, Y:-15.74, Z:-6.12 [[ 9.99923353e-01 4.56378357e-03 1.15091241e-02 3.46647344e+02] [-4.55740579e-03 9.99989447e-01 -5.80315693e-04 -1.57368895e+01] [-1.15116511e-02 5.27819464e-04 9.99933599e-01 -6.11955550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters 0.026718871135956914 Centerline is valid? [True, True] Translation: X:346.68, Y:-15.74, Z:-6.12 [[ 9.99905572e-01 7.24544099e-03 1.16769408e-02 3.46678557e+02] [-7.23904800e-03 9.99973624e-01 -5.89662286e-04 -1.57365885e+01] [-1.16809052e-02 5.05076670e-04 9.99931648e-01 -6.12037596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134391418 meters 0.025899728478736388 Centerline is valid? [True, True] Translation: X:346.71, Y:-15.74, Z:-6.12 [[ 9.99880963e-01 1.00911953e-02 1.16716951e-02 3.46709553e+02] [-1.00849958e-02 9.99948971e-01 -5.89892298e-04 -1.57371969e+01] [-1.16770522e-02 4.72113083e-04 9.99931709e-01 -6.12139432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters 0.024528346523387985 Centerline is valid? [True, True] Translation: X:346.74, Y:-15.74, Z:-6.12 [[ 9.99813769e-01 1.56961203e-02 1.12275678e-02 3.46739861e+02] [-1.56907284e-02 9.99876732e-01 -5.68168757e-04 -1.57353401e+01] [-1.12351018e-02 3.91894230e-04 9.99936807e-01 -6.12285764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194391418 meters 0.021780430294435386 Centerline is valid? [True, True] Translation: X:346.77, Y:-15.73, Z:-6.12 [[ 9.99681680e-01 2.23013126e-02 1.17978517e-02 3.46771299e+02] [-2.22958200e-02 9.99751239e-01 -5.96903658e-04 -1.57300741e+01] [-1.18082286e-02 3.33670875e-04 9.99930225e-01 -6.12326816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters 0.01996959788644887 Centerline is valid? [True, True] Translation: X:346.80, Y:-15.73, Z:-6.12 [[ 9.99598831e-01 2.55203539e-02 1.22836691e-02 3.46801429e+02] [-2.55146349e-02 9.99674255e-01 -6.22091496e-04 -1.57275851e+01] [-1.22955437e-02 3.08428600e-04 9.99924359e-01 -6.12348210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254391418 meters 0.019271923760929198 Centerline is valid? [True, True] Translation: X:346.83, Y:-15.73, Z:-6.12 [[ 9.99534237e-01 2.81428821e-02 1.18020085e-02 3.46831032e+02] [-2.81377909e-02 9.99603876e-01 -5.97246409e-04 -1.57259094e+01] [-1.18141417e-02 2.64885785e-04 9.99930176e-01 -6.12427347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters 0.018282007208440015 Centerline is valid? [True, True] Translation: X:346.86, Y:-15.72, Z:-6.12 [[ 9.99426386e-01 3.19380424e-02 1.12632170e-02 3.46858979e+02] [-3.19336466e-02 9.99489829e-01 -5.69958389e-04 -1.57234608e+01] [-1.12756742e-02 2.09955860e-04 9.99936406e-01 -6.12451189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314391418 meters 0.018325173924994154 Centerline is valid? [True, True] Translation: X:346.89, Y:-15.72, Z:-6.13 [[ 9.99395943e-01 3.29395661e-02 1.10785006e-02 3.46886410e+02] [-3.29353870e-02 9.99457326e-01 -5.59511616e-04 -1.57244134e+01] [-1.10909186e-02 1.94298936e-04 9.99938475e-01 -6.12504316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344391418 meters 0.01824013662595041 Centerline is valid? [True, True] Translation: X:346.92, Y:-15.73, Z:-6.12 [[ 9.99379846e-01 3.33186309e-02 1.13926293e-02 3.46915677e+02] [-3.33142510e-02 9.99444761e-01 -5.74058945e-04 -1.57253356e+01] [-1.14054305e-02 1.94166028e-04 9.99934937e-01 -6.12484126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374391418 meters 0.018674450242020274 Centerline is valid? [True, True] Translation: X:346.94, Y:-15.73, Z:-6.12 [[ 9.99419039e-01 3.21546092e-02 1.12989161e-02 3.46944263e+02] [-3.21502365e-02 9.99482886e-01 -5.68473895e-04 -1.57259664e+01] [-1.13113523e-02 2.04880809e-04 9.99936004e-01 -6.12375804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404391418 meters 0.01894958312658913 Centerline is valid? [True, True] Translation: X:346.97, Y:-15.73, Z:-6.12 [[ 9.99464702e-01 3.08378917e-02 1.09240256e-02 3.46973027e+02] [-3.08337343e-02 9.99524377e-01 -5.48823296e-04 -1.57268089e+01] [-1.09357544e-02 2.11701009e-04 9.99940180e-01 -6.12352797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434391418 meters 0.0206895633526954 Centerline is valid? [True, True] Translation: X:347.00, Y:-15.73, Z:-6.12 [[ 9.99596874e-01 2.69475864e-02 8.93963961e-03 3.47001485e+02] [-2.69446524e-02 9.99636826e-01 -4.48502604e-04 -1.57295574e+01] [-8.94847903e-03 2.07446319e-04 9.99959940e-01 -6.12480391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464391418 meters 0.021901902296851895 Centerline is valid? [True, True] Translation: X:347.03, Y:-15.73, Z:-6.13 [[ 9.99659816e-01 2.48288010e-02 7.98642457e-03 3.47030382e+02] [-2.48263949e-02 9.99691697e-01 -4.00291549e-04 -1.57326152e+01] [-7.99390109e-03 2.01881246e-04 9.99968028e-01 -6.12600323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494391418 meters 0.02297471883472376 Centerline is valid? [True, True] Translation: X:347.06, Y:-15.74, Z:-6.13 [[ 9.99715789e-01 2.26863964e-02 7.32583780e-03 3.47059503e+02] [-2.26843163e-02 9.99742610e-01 -3.66916773e-04 -1.57356325e+01] [-7.33227622e-03 2.00630870e-04 9.99973098e-01 -6.12720885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524391418 meters 0.024393658755518282 Centerline is valid? [True, True] Translation: X:347.09, Y:-15.74, Z:-6.13 [[ 9.99774776e-01 2.00056227e-02 7.08320344e-03 3.47089230e+02] [-2.00036149e-02 9.99799845e-01 -3.54188908e-04 -1.57386343e+01] [-7.08887147e-03 2.12419462e-04 9.99974851e-01 -6.12755228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.554391418 meters 0.02423718219272227 Centerline is valid? [True, True] Translation: X:347.12, Y:-15.74, Z:-6.13 [[ 9.99862640e-01 1.54485568e-02 6.00354379e-03 3.47119012e+02] [-1.54470330e-02 9.99880642e-01 -3.00110776e-04 -1.57382615e+01] [-6.00746350e-03 2.07332614e-04 9.99981934e-01 -6.12582774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584391418 meters 0.025691168399913596 Centerline is valid? [True, True] Translation: X:347.15, Y:-15.74, Z:-6.13 [[ 9.99895080e-01 1.31889441e-02 5.99008123e-03 3.47147004e+02] [-1.31873897e-02 9.99912998e-01 -2.98907966e-04 -1.57411905e+01] [-5.99350236e-03 2.19883069e-04 9.99982015e-01 -6.12592503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.614391418 meters 0.027336483396341503 Centerline is valid? [True, True] Translation: X:347.18, Y:-15.74, Z:-6.12 [[ 9.99939662e-01 9.06611087e-03 6.20312780e-03 3.47177260e+02] [-9.06436670e-03 9.99958870e-01 -3.09231829e-04 -1.57437503e+01] [-6.20567619e-03 2.52985746e-04 9.99980713e-01 -6.12478826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644391418 meters 0.028280970471498988 Centerline is valid? [True, True] Translation: X:347.21, Y:-15.75, Z:-6.12 [[ 9.99954613e-01 7.20432692e-03 6.23463017e-03 3.47207388e+02] [-7.20252887e-03 9.99974013e-01 -3.10802253e-04 -1.57456218e+01] [-6.23670728e-03 2.65883042e-04 9.99980516e-01 -6.12492262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67439141799997 meters 0.029287179753614914 Centerline is valid? [True, True] Translation: X:347.24, Y:-15.75, Z:-6.13 [[ 9.99964843e-01 6.30007318e-03 5.53366360e-03 3.47238110e+02] [-6.29865819e-03 9.99980126e-01 -2.73096921e-04 -1.57481140e+01] [-5.53527415e-03 2.38232664e-04 9.99984652e-01 -6.12524600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704391418 meters 0.02884593737868745 Centerline is valid? [True, True] Translation: X:347.27, Y:-15.75, Z:-6.12 [[ 9.99976134e-01 5.04441935e-03 4.72077130e-03 3.47269590e+02] [-5.04336209e-03 9.99987254e-01 -2.35837744e-04 -1.57469071e+01] [-4.72190079e-03 2.12023556e-04 9.99988829e-01 -6.12454685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734391418 meters 0.03016730360761372 Centerline is valid? [True, True] Translation: X:347.30, Y:-15.75, Z:-6.13 [[ 9.99978830e-01 5.19147970e-03 3.92288774e-03 3.47300309e+02] [-5.19074948e-03 9.99986509e-01 -1.96303715e-04 -1.57495343e+01] [-3.92385392e-03 1.75936831e-04 9.99992286e-01 -6.12557525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764391418 meters 0.031356771470253154 Centerline is valid? [True, True] Translation: X:347.33, Y:-15.75, Z:-6.13 [[ 9.99981065e-01 5.45642960e-03 2.84568631e-03 3.47330617e+02] [-5.45604651e-03 9.99985106e-01 -1.42365890e-04 -1.57513515e+01] [-2.84642073e-03 1.26836998e-04 9.99995941e-01 -6.12712929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794391418 meters 0.029457097334611507 Centerline is valid? [True, True] Translation: X:347.36, Y:-15.75, Z:-6.13 [[ 9.99976238e-01 6.83129134e-03 9.25692352e-04 3.47361159e+02] [-6.83125129e-03 9.99976666e-01 -4.64264558e-05 -1.57472047e+01] [-9.25987905e-04 4.01017155e-05 9.99999570e-01 -6.12689901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824391418 meters 0.02672960025759552 Centerline is valid? [True, True] Translation: X:347.39, Y:-15.74, Z:-6.13 [[ 9.99966852e-01 8.09112882e-03 9.09827104e-04 3.47390695e+02] [-8.09109000e-03 9.99967266e-01 -4.63386011e-05 -1.57429363e+01] [-9.10172253e-04 3.89755721e-05 9.99999585e-01 -6.12529831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854391418 meters 0.026767864709901144 Centerline is valid? [True, True] Translation: X:347.42, Y:-15.74, Z:-6.12 [[ 9.99944480e-01 1.05165588e-02 6.62714698e-04 3.47419221e+02] [-1.05165384e-02 9.99944699e-01 -3.42764225e-05 -1.57403345e+01] [-6.63038519e-04 2.73050549e-05 9.99999780e-01 -6.12450550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884391418 meters 0.029677907383145057 Centerline is valid? [True, True] Translation: X:347.45, Y:-15.74, Z:-6.13 [[ 9.99934181e-01 1.14441249e-02 8.15329212e-04 3.47447245e+02] [-1.14440940e-02 9.99934513e-01 -4.25221341e-05 -1.57441204e+01] [-8.15762447e-04 3.31886313e-05 9.99999667e-01 -6.12644592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914391418 meters 0.025621690892123725 Centerline is valid? [True, True] Translation: X:347.48, Y:-15.74, Z:-6.12 [[ 9.99918084e-01 1.27897563e-02 4.97335982e-04 3.47476235e+02] [-1.27897449e-02 9.99918208e-01 -2.62512076e-05 -1.57378903e+01] [-4.97631050e-04 1.98882569e-05 9.99999876e-01 -6.12419964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944391418 meters 0.02500704493086897 Centerline is valid? [True, True] Translation: X:347.51, Y:-15.73, Z:-6.12 [[ 9.99892627e-01 1.46447275e-02 5.16089201e-04 3.47505620e+02] [-1.46447155e-02 9.99892760e-01 -2.71322071e-05 -1.57345111e+01] [-5.16431199e-04 1.95713144e-05 9.99999866e-01 -6.12390077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974391418 meters 0.023888681625386262 Centerline is valid? [True, True] Translation: X:347.53, Y:-15.73, Z:-6.12 [[ 9.99884371e-01 1.52048689e-02 2.38218469e-04 3.47534221e+02] [-1.52048662e-02 9.99884399e-01 -1.33087397e-05 -1.57321300e+01] [-2.38393289e-04 9.68512093e-06 9.99999972e-01 -6.12327771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004391418 meters 0.023441520579672116 Centerline is valid? [True, True] Translation: X:347.56, Y:-15.73, Z:-6.12 [[ 9.99878107e-01 1.56074489e-02 4.22635714e-04 3.47563464e+02] [-1.56074408e-02 9.99878196e-01 -2.24502279e-05 -1.57311543e+01] [-4.22934627e-04 1.58512294e-05 9.99999910e-01 -6.12274663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034391418 meters 0.0239797149100005 Centerline is valid? [True, True] Translation: X:347.59, Y:-15.73, Z:-6.12 [[ 9.99873769e-01 1.58760630e-02 6.29552793e-04 3.47591324e+02] [-1.58760454e-02 9.99873967e-01 -3.30061368e-05 -1.57302631e+01] [-6.29997456e-04 2.30071617e-05 9.99999801e-01 -6.12284570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064391418 meters 0.023644670298209006 Centerline is valid? [True, True] Translation: X:347.62, Y:-15.73, Z:-6.12 [[ 9.99877038e-01 1.56803457e-02 1.89899534e-04 3.47620380e+02] [-1.56803439e-02 9.99877056e-01 -1.08541008e-05 -1.57299894e+01] [-1.90046383e-04 7.87507619e-06 9.99999982e-01 -6.12315914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094391418 meters 0.02385501908352011 Centerline is valid? [True, True] Translation: X:347.65, Y:-15.73, Z:-6.12 [[ 9.99892525e-01 1.45833955e-02 -1.50426813e-03 3.47648943e+02] [-1.45833025e-02 9.99893655e-01 7.27788779e-05 -1.57289235e+01] [ 1.50516952e-03 -5.08338589e-05 9.99998866e-01 -6.12335504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124391418 meters 0.02504759863522668 Centerline is valid? [True, True] Translation: X:347.68, Y:-15.73, Z:-6.12 [[ 9.99900053e-01 1.39799923e-02 -2.10796970e-03 3.47676925e+02] [-1.39798082e-02 9.99902273e-01 1.02013171e-04 -1.57306988e+01] [ 2.10918984e-03 -7.25339628e-05 9.99997773e-01 -6.12442564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154391418 meters 0.02426334152265929 Centerline is valid? [True, True] Translation: X:347.71, Y:-15.73, Z:-6.12 [[ 9.99906557e-01 1.33902957e-02 -2.75268098e-03 3.47705470e+02] [-1.33899778e-02 9.99910341e-01 1.33893697e-04 -1.57289531e+01] [ 2.75422706e-03 -9.70228482e-05 9.99996202e-01 -6.12376654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184391418 meters 0.02386875499509804 Centerline is valid? [True, True] Translation: X:347.73, Y:-15.73, Z:-6.12 [[ 9.99906423e-01 1.32017908e-02 -3.58590093e-03 3.47734797e+02] [-1.32012496e-02 9.99912844e-01 1.74552196e-04 -1.57268397e+01] [ 3.58789280e-03 -1.27197489e-04 9.99993555e-01 -6.12346326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214391418 meters 0.02393454176519218 Centerline is valid? [True, True] Translation: X:347.76, Y:-15.73, Z:-6.12 [[ 9.99897189e-01 1.37392075e-02 -4.10424679e-03 3.47763570e+02] [-1.37385035e-02 9.99905602e-01 1.99673378e-04 -1.57267763e+01] [ 4.10660271e-03 -1.43266640e-04 9.99991558e-01 -6.12423372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244391418 meters 0.023540509969777728 Centerline is valid? [True, True] Translation: X:347.79, Y:-15.72, Z:-6.12 [[ 9.99871355e-01 1.57008320e-02 -3.27998508e-03 3.47791246e+02] [-1.57003961e-02 9.99876729e-01 1.58585769e-04 -1.57245922e+01] [ 3.28207068e-03 -1.07068303e-04 9.99994608e-01 -6.12433944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274391418 meters 0.023645351703359255 Centerline is valid? [True, True] Translation: X:347.82, Y:-15.72, Z:-6.12 [[ 9.99846652e-01 1.72880385e-02 -2.79225498e-03 3.47818739e+02] [-1.72877303e-02 9.99850547e-01 1.34476729e-04 -1.57241818e+01] [ 2.79416250e-03 -8.61843562e-05 9.99996093e-01 -6.12490946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.304391418 meters 0.02235019049255258 Centerline is valid? [True, True] Translation: X:347.85, Y:-15.72, Z:-6.12 [[ 9.99817446e-01 1.90058651e-02 -1.96279129e-03 3.47847448e+02] [-1.90057168e-02 9.99819371e-01 9.41963165e-05 -1.57217143e+01] [ 1.96422704e-03 -5.68748651e-05 9.99998069e-01 -6.12418463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334391418 meters 0.020444158512419774 Centerline is valid? [True, True] Translation: X:347.88, Y:-15.72, Z:-6.12 [[ 9.99744169e-01 2.25951147e-02 -1.02824841e-03 3.47876606e+02] [-2.25950767e-02 9.99744697e-01 4.85458793e-05 -1.57159899e+01] [ 1.02908280e-03 -2.53001080e-05 9.99999470e-01 -6.12249755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.364391418 meters 0.019680280889763653 Centerline is valid? [True, True] Translation: X:347.91, Y:-15.71, Z:-6.12 [[ 9.99699751e-01 2.44858678e-02 -9.22439302e-04 3.47905777e+02] [-2.44858382e-02 9.99700176e-01 4.33180943e-05 -1.57140364e+01] [ 9.23223413e-04 -2.07183886e-05 9.99999574e-01 -6.12236548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394391418 meters 0.019062599523311307 Centerline is valid? [True, True] Translation: X:347.93, Y:-15.71, Z:-6.12 [[ 9.99658473e-01 2.61163856e-02 -9.33821543e-04 3.47934765e+02] [-2.61163561e-02 9.99658909e-01 4.37861684e-05 -1.57123590e+01] [ 9.34646561e-04 -1.93831983e-05 9.99999563e-01 -6.12243021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters 0.018176837142571 Centerline is valid? [True, True] Translation: X:347.96, Y:-15.71, Z:-6.12 [[ 9.99561409e-01 2.95965947e-02 -1.01597471e-03 3.47963702e+02] [-2.95965615e-02 9.99561925e-01 4.76997227e-05 -1.57087738e+01] [ 1.01694138e-03 -1.76094441e-05 9.99999483e-01 -6.12290461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454391418 meters 0.01766435612432583 Centerline is valid? [True, True] Translation: X:347.99, Y:-15.71, Z:-6.12 [[ 9.99510394e-01 3.12803664e-02 -7.15367301e-04 3.47993121e+02] [-3.12803504e-02 9.99510650e-01 3.34731109e-05 -1.57076370e+01] [ 7.16064287e-04 -1.10797824e-05 9.99999744e-01 -6.12278918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters 0.017224685274146213 Centerline is valid? [True, True] Translation: X:348.02, Y:-15.70, Z:-6.12 [[ 9.99413204e-01 3.42524649e-02 -1.28191932e-04 3.48020914e+02] [-3.42524646e-02 9.99413212e-01 4.35443077e-06 -1.57041013e+01] [ 1.28265860e-04 3.90140053e-08 9.99999992e-01 -6.12252527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514391418 meters 0.016991394599017107 Centerline is valid? [True, True] Translation: X:348.05, Y:-15.70, Z:-6.12 [[ 9.99374517e-01 3.53634330e-02 5.01604275e-05 3.48048426e+02] [-3.53634329e-02 9.99374518e-01 -4.20417221e-06 -1.57029379e+01] [-5.02777272e-05 2.42769766e-06 9.99999999e-01 -6.12271063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters 0.016710278371956128 Centerline is valid? [True, True] Translation: X:348.08, Y:-15.70, Z:-6.12 [[ 9.99337465e-01 3.63950910e-02 -1.68479360e-04 3.48076968e+02] [-3.63950903e-02 9.99337479e-01 6.67271613e-06 -1.57020962e+01] [ 1.68610593e-04 -5.36473681e-07 9.99999986e-01 -6.12307992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574391418 meters 0.01635701699908042 Centerline is valid? [True, True] Translation: X:348.11, Y:-15.70, Z:-6.12 [[ 9.99274471e-01 3.80853938e-02 1.84825992e-04 3.48105743e+02] [-3.80853926e-02 9.99274488e-01 -1.02830207e-05 -1.56991412e+01] [-1.85083532e-04 3.23638961e-06 9.99999983e-01 -6.12390720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters 0.016312698385855966 Centerline is valid? [True, True] Translation: X:348.13, Y:-15.70, Z:-6.12 [[ 9.99255198e-01 3.85865063e-02 3.62377649e-04 3.48133338e+02] [-3.85865019e-02 9.99255263e-01 -1.91040656e-05 -1.56989120e+01] [-3.62844932e-04 5.10695104e-06 9.99999934e-01 -6.12447145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634391418 meters 0.015981804047378294 Centerline is valid? [True, True] Translation: X:348.16, Y:-15.70, Z:-6.12 [[ 9.99255710e-01 3.85694995e-02 6.48433552e-04 3.48161799e+02] [-3.85694866e-02 9.99255920e-01 -3.24349831e-05 -1.56983127e+01] [-6.49202066e-04 7.40109286e-06 9.99999789e-01 -6.12383292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters 0.01717942114346313 Centerline is valid? [True, True] Translation: X:348.19, Y:-15.70, Z:-6.12 [[ 9.99229052e-01 3.91630934e-02 2.74842140e-03 3.48189478e+02] [-3.91628760e-02 9.99232831e-01 -1.32890874e-04 -1.56972664e+01] [-2.75151732e-03 2.51523353e-05 9.99996214e-01 -6.12454380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694391418 meters 0.01613292740407042 Centerline is valid? [True, True] Translation: X:348.22, Y:-15.70, Z:-6.12 [[ 9.99266763e-01 3.81438854e-02 3.31378927e-03 3.48217885e+02] [-3.81435653e-02 9.99272257e-01 -1.59756904e-04 -1.56976222e+01] [-3.31747143e-03 3.32400273e-05 9.99994497e-01 -6.12329414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters 0.01613292740407042 Centerline is valid? [True, True] Translation: X:348.25, Y:-15.70, Z:-6.12 [[ 9.99271098e-01 3.80301356e-02 3.31380727e-03 3.48245314e+02] [-3.80298162e-02 9.99276592e-01 -1.59380598e-04 -1.56988077e+01] [-3.31747130e-03 3.32409438e-05 9.99994497e-01 -6.12378984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754391418 meters 0.015910320291542063 Centerline is valid? [True, True] Translation: X:348.27, Y:-15.70, Z:-6.12 [[ 9.99307412e-01 3.68976235e-02 4.82313045e-03 3.48273876e+02] [-3.68969430e-02 9.99319050e-01 -2.30008987e-04 -1.56977179e+01] [-4.82833292e-03 5.18909166e-05 9.99988342e-01 -6.12157610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters 0.01606825155879574 Centerline is valid? [True, True] Translation: X:348.30, Y:-15.70, Z:-6.12 [[ 9.99331277e-01 3.62058107e-02 5.11247586e-03 3.48302030e+02] [-3.62050370e-02 9.99344353e-01 -2.43816898e-04 -1.56983732e+01] [-5.11795147e-03 5.85564743e-05 9.99986901e-01 -6.12204554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814391418 meters 0.016207070550620983 Centerline is valid? [True, True] Translation: X:348.33, Y:-15.70, Z:-6.12 [[ 9.99360912e-01 3.54086877e-02 4.89810558e-03 3.48330700e+02] [-3.54079729e-02 9.99372914e-01 -2.32607702e-04 -1.56988373e+01] [-4.90327038e-03 5.90270559e-05 9.99987977e-01 -6.12269690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844391418 meters 0.01610827679878739 Centerline is valid? [True, True] Translation: X:348.36, Y:-15.70, Z:-6.12 [[ 9.99371851e-01 3.51705902e-02 4.35110891e-03 3.48359396e+02] [-3.51700246e-02 9.99381322e-01 -2.06474141e-04 -1.56987406e+01] [-4.35567879e-03 5.33158372e-05 9.99990513e-01 -6.12343342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874391418 meters 0.016188227503950218 Centerline is valid? [True, True] Translation: X:348.39, Y:-15.70, Z:-6.13 [[ 9.99369698e-01 3.52891722e-02 3.85760640e-03 3.48388192e+02] [-3.52887290e-02 9.99377142e-01 -1.82909239e-04 -1.56976339e+01] [-3.86165837e-03 4.66639246e-05 9.99992543e-01 -6.12541449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904391418 meters 0.01612375429115398 Centerline is valid? [True, True] Translation: X:348.42, Y:-15.70, Z:-6.13 [[ 9.99343067e-01 3.60486589e-02 3.73216567e-03 3.48416389e+02] [-3.60482493e-02 9.99350035e-01 -1.76982367e-04 -1.56973086e+01] [-3.73611987e-03 4.23280626e-05 9.99993020e-01 -6.12661471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934391418 meters 0.015490830839164338 Centerline is valid? [True, True] Translation: X:348.45, Y:-15.69, Z:-6.13 [[ 9.99258690e-01 3.82715782e-02 4.16607610e-03 3.48445638e+02] [-3.82710909e-02 9.99267374e-01 -1.96677757e-04 -1.56937593e+01] [-4.17055109e-03 3.70916811e-05 9.99991303e-01 -6.12662573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964391418 meters 0.015366678635564587 Centerline is valid? [True, True] Translation: X:348.47, Y:-15.69, Z:-6.13 [[ 9.99212253e-01 3.94436852e-02 4.36685739e-03 3.48474606e+02] [-3.94431627e-02 9.99221795e-01 -2.05738135e-04 -1.56923048e+01] [-4.37157415e-03 3.33333988e-05 9.99990444e-01 -6.12696101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994391418 meters 0.015002615998702801 Centerline is valid? [True, True] Translation: X:348.50, Y:-15.69, Z:-6.13 [[ 9.99146768e-01 4.10314817e-02 4.70681604e-03 3.48503892e+02] [-4.10308945e-02 9.99157854e-01 -2.21290840e-04 -1.56907098e+01] [-4.71193210e-03 2.79771548e-05 9.99988898e-01 -6.12706015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024391418 meters 0.014802439981229583 Centerline is valid? [True, True] Translation: X:348.53, Y:-15.69, Z:-6.13 [[ 9.99008540e-01 4.40878762e-02 6.18030709e-03 3.48531699e+02] [-4.40869267e-02 9.99027657e-01 -2.89861133e-04 -1.56864452e+01] [-6.18707707e-03 1.71030014e-05 9.99980860e-01 -6.12672888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.054391418 meters 0.01467271448374916 Centerline is valid? [True, True] Translation: X:348.56, Y:-15.69, Z:-6.13 [[ 9.98924099e-01 4.58113788e-02 7.20847840e-03 3.48560726e+02] [-4.58101406e-02 9.98950108e-01 -3.36879731e-04 -1.56851500e+01] [-7.21634320e-03 6.29587243e-06 9.99973962e-01 -6.12636212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084391418 meters 0.014529695061101876 Centerline is valid? [True, True] Translation: X:348.59, Y:-15.68, Z:-6.13 [[ 9.98866636e-01 4.69372366e-02 7.89549334e-03 3.48589546e+02] [-4.69357920e-02 9.98897841e-01 -3.68257239e-04 -1.56840091e+01] [-7.90407622e-03 -2.74136370e-06 9.99968762e-01 -6.12577728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.114391418 meters 0.014619715970730914 Centerline is valid? [True, True] Translation: X:348.62, Y:-15.68, Z:-6.13 [[ 9.98763945e-01 4.88547462e-02 9.15405785e-03 3.48616928e+02] [-4.88528825e-02 9.98805894e-01 -4.27215403e-04 -1.56806838e+01] [-9.16399843e-03 -2.05147718e-05 9.99958009e-01 -6.12578932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144391418 meters 0.014737345019887335 Centerline is valid? [True, True] Translation: X:348.64, Y:-15.68, Z:-6.13 [[ 9.98745924e-01 4.92140180e-02 9.19565520e-03 3.48643903e+02] [-4.92121777e-02 9.98788256e-01 -4.26428381e-04 -1.56795696e+01] [-9.20549867e-03 -2.66446098e-05 9.99957628e-01 -6.12741326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17439141799997 meters 0.014485137038646784 Centerline is valid? [True, True] Translation: X:348.67, Y:-15.68, Z:-6.13 [[ 9.98771468e-01 4.85850076e-02 9.74940954e-03 3.48673228e+02] [-4.85829280e-02 9.98819051e-01 -4.50166439e-04 -1.56792755e+01] [-9.75976732e-03 -2.40414665e-05 9.99952372e-01 -6.12656445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204391418 meters 0.014521003812907092 Centerline is valid? [True, True] Translation: X:348.70, Y:-15.68, Z:-6.13 [[ 9.98829783e-01 4.74128798e-02 9.54374054e-03 3.48701149e+02] [-4.74108368e-02 9.98875377e-01 -4.40320956e-04 -1.56803197e+01] [-9.55388431e-03 -1.26710398e-05 9.99954361e-01 -6.12657013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234391418 meters 0.014501225246407455 Centerline is valid? [True, True] Translation: X:348.73, Y:-15.68, Z:-6.13 [[ 9.98872100e-01 4.63933331e-02 1.01087263e-02 3.48729202e+02] [-4.63910039e-02 9.98923250e-01 -4.64901375e-04 -1.56812587e+01] [-1.01194100e-02 -4.57694667e-06 9.99948797e-01 -6.12738421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264391418 meters 0.014437560137710406 Centerline is valid? [True, True] Translation: X:348.76, Y:-15.68, Z:-6.13 [[ 9.98966527e-01 4.41537731e-02 1.07852607e-02 3.48757651e+02] [-4.41510054e-02 9.99024746e-01 -4.94701271e-04 -1.56822205e+01] [-1.07965852e-02 1.80099091e-05 9.99941715e-01 -6.12687544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294391418 meters 0.014553767025164414 Centerline is valid? [True, True] Translation: X:348.79, Y:-15.68, Z:-6.13 [[ 9.99034435e-01 4.25516966e-02 1.09339606e-02 3.48785231e+02] [-4.25487627e-02 9.99094266e-01 -5.00917413e-04 -1.56831911e+01] [-1.09453722e-02 3.52072500e-05 9.99940097e-01 -6.12727585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324391418 meters 0.014469482037376812 Centerline is valid? [True, True] Translation: X:348.81, Y:-15.68, Z:-6.13 [[ 9.99080274e-01 4.14376185e-02 1.10240729e-02 3.48813974e+02] [-4.14345857e-02 9.99141092e-01 -5.03461681e-04 -1.56845454e+01] [-1.10354664e-02 4.62207433e-05 9.99939106e-01 -6.12749458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354391418 meters 0.01490885543368978 Centerline is valid? [True, True] Translation: X:348.84, Y:-15.69, Z:-6.13 [[ 9.99180271e-01 3.87818343e-02 1.16084363e-02 3.48841799e+02] [-3.87783021e-02 9.99247699e-01 -5.29294361e-04 -1.56862844e+01] [-1.16202303e-02 7.87050308e-05 9.99932480e-01 -6.12829028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384391418 meters 0.014963439302374497 Centerline is valid? [True, True] Translation: X:348.87, Y:-15.69, Z:-6.13 [[ 9.99228082e-01 3.74500934e-02 1.18629952e-02 3.48870767e+02] [-3.74463260e-02 9.99298495e-01 -5.39616441e-04 -1.56877541e+01] [-1.18748819e-02 9.49743154e-05 9.99929487e-01 -6.12869622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414391418 meters 0.015309802872954869 Centerline is valid? [True, True] Translation: X:348.90, Y:-15.69, Z:-6.13 [[ 9.99315313e-01 3.48546024e-02 1.24121308e-02 3.48899151e+02] [-3.48502907e-02 9.99392385e-01 -5.63567055e-04 -1.56891282e+01] [-1.24242319e-02 1.30614821e-04 9.99922808e-01 -6.12855572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444391418 meters 0.01558105563297484 Centerline is valid? [True, True] Translation: X:348.93, Y:-15.69, Z:-6.13 [[ 9.99354822e-01 3.35874316e-02 1.27209965e-02 3.48926617e+02] [-3.35828123e-02 9.99435772e-01 -5.76625365e-04 -1.56908596e+01] [-1.27331863e-02 1.49046502e-04 9.99918919e-01 -6.12923963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474391418 meters 0.01581283006077195 Centerline is valid? [True, True] Translation: X:348.96, Y:-15.69, Z:-6.13 [[ 9.99400539e-01 3.24055402e-02 1.21837582e-02 3.48955645e+02] [-3.24012306e-02 9.99474790e-01 -5.50999833e-04 -1.56924868e+01] [-1.21952146e-02 1.55900772e-04 9.99925623e-01 -6.13029177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504391418 meters 0.016326810011689237 Centerline is valid? [True, True] Translation: X:348.98, Y:-15.69, Z:-6.13 [[ 9.99499638e-01 2.98823356e-02 1.03692079e-02 3.48984223e+02] [-2.98790845e-02 9.99553411e-01 -4.68339040e-04 -1.56946295e+01] [-1.03785722e-02 1.58282261e-04 9.99946129e-01 -6.13294259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534391418 meters 0.016755280171061065 Centerline is valid? [True, True] Translation: X:349.01, Y:-15.70, Z:-6.13 [[ 9.99540724e-01 2.86548153e-02 9.86121572e-03 3.49012703e+02] [-2.86518224e-02 9.99589353e-01 -4.44668882e-04 -1.56966091e+01] [-9.86990815e-03 1.61922854e-04 9.99951278e-01 -6.13457010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564391418 meters 0.017643796638517856 Centerline is valid? [True, True] Translation: X:349.04, Y:-15.70, Z:-6.14 [[ 9.99607905e-01 2.66083955e-02 8.71953276e-03 3.49039836e+02] [-2.66059792e-02 9.99645921e-01 -3.93018093e-04 -1.56990663e+01] [-8.72690294e-03 1.60872286e-04 9.99961907e-01 -6.13642799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594391418 meters 0.017553765904402396 Centerline is valid? [True, True] Translation: X:349.07, Y:-15.70, Z:-6.14 [[ 9.99620115e-01 2.60529887e-02 8.99265835e-03 3.49068605e+02] [-2.60504097e-02 9.99660549e-01 -4.03828821e-04 -1.56998976e+01] [-9.00012673e-03 1.69412978e-04 9.99959484e-01 -6.13642475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624391418 meters 0.01769728130602218 Centerline is valid? [True, True] Translation: X:349.10, Y:-15.70, Z:-6.14 [[ 9.99639252e-01 2.52133363e-02 9.25489155e-03 3.49096978e+02] [-2.52105759e-02 9.99682077e-01 -4.14829225e-04 -1.57012430e+01] [-9.26240843e-03 1.81358431e-04 9.99957087e-01 -6.13655458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654391418 meters 0.018293267834433587 Centerline is valid? [True, True] Translation: X:349.12, Y:-15.70, Z:-6.14 [[ 9.99658997e-01 2.41412856e-02 9.95428593e-03 3.49124265e+02] [-2.41380456e-02 9.99708536e-01 -4.45514710e-04 -1.57034515e+01] [-9.96213991e-03 2.05085780e-04 9.99950356e-01 -6.13657191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684391418 meters 0.018289613727951272 Centerline is valid? [True, True] Translation: X:349.15, Y:-15.70, Z:-6.14 [[ 9.99661697e-01 2.37988836e-02 1.04930469e-02 3.49152923e+02] [-2.37952801e-02 9.99716743e-01 -4.68149489e-04 -1.57044556e+01] [-1.05012161e-02 2.18306123e-04 9.99944837e-01 -6.13628431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714391418 meters 0.018524281257242394 Centerline is valid? [True, True] Translation: X:349.18, Y:-15.71, Z:-6.14 [[ 9.99666925e-01 2.34375726e-02 1.08037082e-02 3.49181261e+02] [-2.34337411e-02 9.99725276e-01 -4.81118971e-04 -1.57052938e+01] [-1.08120164e-02 2.27787422e-04 9.99941522e-01 -6.13588474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744391418 meters 0.018494030002518348 Centerline is valid? [True, True] Translation: X:349.21, Y:-15.71, Z:-6.13 [[ 9.99660287e-01 2.35558041e-02 1.11549999e-02 3.49209948e+02] [-2.35517370e-02 9.99722496e-01 -4.95843656e-04 -1.57050177e+01] [-1.11635844e-02 2.32955587e-04 9.99937658e-01 -6.13486091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774391418 meters 0.018409475464893826 Centerline is valid? [True, True] Translation: X:349.24, Y:-15.71, Z:-6.14 [[ 9.99654787e-01 2.38522241e-02 1.10171915e-02 3.49238320e+02] [-2.38482842e-02 9.99715470e-01 -4.88872611e-04 -1.57058487e+01] [-1.10257175e-02 2.25962731e-04 9.99939189e-01 -6.13556020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.804391418 meters 0.01827070163514901 Centerline is valid? [True, True] Translation: X:349.27, Y:-15.71, Z:-6.14 [[ 9.99663383e-01 2.42732520e-02 9.16135735e-03 3.49267565e+02] [-2.42705497e-02 9.99705344e-01 -4.06044056e-04 -1.57058028e+01] [-9.16851391e-03 1.83556196e-04 9.99957951e-01 -6.13710747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834391418 meters 0.01756537770970765 Centerline is valid? [True, True] Translation: X:349.30, Y:-15.70, Z:-6.14 [[ 9.99648836e-01 2.53354292e-02 7.76661907e-03 3.49296856e+02] [-2.53335220e-02 9.99678996e-01 -3.43856119e-04 -1.57040221e+01] [-7.77283769e-03 1.46979554e-04 9.99969780e-01 -6.13821788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.864391418 meters 0.01756537770970765 Centerline is valid? [True, True] Translation: X:349.32, Y:-15.71, Z:-6.14 [[ 9.99651809e-01 2.52178438e-02 7.76662834e-03 3.49324285e+02] [-2.52159348e-02 9.99681969e-01 -3.43647365e-04 -1.57051146e+01] [-7.77282436e-03 1.47684916e-04 9.99969780e-01 -6.13871335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894391418 meters 0.016873326830384918 Centerline is valid? [True, True] Translation: X:349.35, Y:-15.70, Z:-6.14 [[ 9.99604638e-01 2.72868030e-02 6.78225945e-03 3.49353537e+02] [-2.72854014e-02 9.99627639e-01 -2.99120364e-04 -1.57036051e+01] [-6.78789604e-03 1.13945432e-04 9.99976955e-01 -6.14047199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters 0.01605751410837376 Centerline is valid? [True, True] Translation: X:349.38, Y:-15.70, Z:-6.14 [[ 9.99562069e-01 2.88112151e-02 6.75153539e-03 3.49382793e+02] [-2.88098643e-02 9.99584866e-01 -2.97264209e-04 -1.57023696e+01] [-6.75729714e-03 1.02623209e-04 9.99977164e-01 -6.14054471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954391418 meters 0.015046424598228258 Centerline is valid? [True, True] Translation: X:349.41, Y:-15.70, Z:-6.14 [[ 9.99456022e-01 3.21234411e-02 7.46622384e-03 3.49412064e+02] [-3.21218870e-02 9.99483905e-01 -3.27995658e-04 -1.56983601e+01] [-7.47290691e-03 8.79880368e-05 9.99972074e-01 -6.13979362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters 0.014893297152615859 Centerline is valid? [True, True] Translation: X:349.44, Y:-15.70, Z:-6.14 [[ 9.99395258e-01 3.38774916e-02 7.83801661e-03 3.49439784e+02] [-3.38758370e-02 9.99425990e-01 -3.43808479e-04 -1.56975808e+01] [-7.84516488e-03 7.80811908e-05 9.99969223e-01 -6.14024651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014391418 meters 0.014465124858287956 Centerline is valid? [True, True] Translation: X:349.47, Y:-15.70, Z:-6.14 [[ 9.99333899e-01 3.55723111e-02 8.14670357e-03 3.49468437e+02] [-3.55705889e-02 9.99367103e-01 -3.56236428e-04 -1.56960881e+01] [-8.15421970e-03 6.62160951e-05 9.99966752e-01 -6.13984081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters 0.014054162610448893 Centerline is valid? [True, True] Translation: X:349.50, Y:-15.69, Z:-6.14 [[ 9.99211813e-01 3.86405480e-02 9.09176001e-03 3.49496848e+02] [-3.86385383e-02 9.99253174e-01 -3.96653045e-04 -1.56932131e+01] [-9.10029694e-03 4.50480910e-05 9.99958590e-01 -6.13935821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074391418 meters 0.01391537495387844 Centerline is valid? [True, True] Translation: X:349.52, Y:-15.69, Z:-6.14 [[ 9.99170786e-01 3.96479584e-02 9.26172471e-03 3.49524457e+02] [-3.96459218e-02 9.99213710e-01 -4.03464357e-04 -1.56926974e+01] [-9.27043885e-03 3.59401848e-05 9.99957028e-01 -6.14012727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters 0.013835065425102487 Centerline is valid? [True, True] Translation: X:349.55, Y:-15.69, Z:-6.14 [[ 9.99162219e-01 3.99226029e-02 9.00259311e-03 3.49552932e+02] [-3.99206958e-02 9.99202775e-01 -3.91513988e-04 -1.56920128e+01] [-9.01104627e-03 3.17962035e-05 9.99959399e-01 -6.13965504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134391418 meters 0.013824641776959436 Centerline is valid? [True, True] Translation: X:349.58, Y:-15.69, Z:-6.14 [[ 9.99177128e-01 3.97109674e-02 8.25264147e-03 3.49580369e+02] [-3.97093620e-02 9.99211208e-01 -3.58357098e-04 -1.56919695e+01] [-8.26036256e-03 3.03550887e-05 9.99965882e-01 -6.14083304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters 0.013785446857893475 Centerline is valid? [True, True] Translation: X:349.61, Y:-15.69, Z:-6.14 [[ 9.99222726e-01 3.87296493e-02 7.34562389e-03 3.49609298e+02] [-3.87283616e-02 9.99249725e-01 -3.17517467e-04 -1.56934566e+01] [-7.35240999e-03 3.27866910e-05 9.99972970e-01 -6.14164259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194391418 meters 0.014136832424557468 Centerline is valid? [True, True] Translation: X:349.64, Y:-15.70, Z:-6.14 [[ 9.99342768e-01 3.56907096e-02 6.34078349e-03 3.49638175e+02] [-3.56896908e-02 9.99362883e-01 -2.73774912e-04 -1.56963095e+01] [-6.34651489e-03 4.72943754e-05 9.99979860e-01 -6.14322236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters 0.01451555407872392 Centerline is valid? [True, True] Translation: X:349.67, Y:-15.70, Z:-6.15 [[ 9.99399475e-01 3.41127763e-02 6.08347721e-03 3.49665651e+02] [-3.41118106e-02 9.99417988e-01 -2.62461985e-04 -1.56989080e+01] [-6.08888986e-03 5.47859477e-05 9.99981461e-01 -6.14511761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254391418 meters 0.014521062411590109 Centerline is valid? [True, True] Translation: X:349.69, Y:-15.70, Z:-6.14 [[ 9.99453073e-01 3.25461655e-02 5.85677986e-03 3.49693898e+02] [-3.25452432e-02 9.99470231e-01 -2.52734772e-04 -1.56999649e+01] [-5.86190267e-03 6.19862199e-05 9.99982817e-01 -6.14471787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters 0.014763282281246216 Centerline is valid? [True, True] Translation: X:349.72, Y:-15.70, Z:-6.15 [[ 9.99502661e-01 3.10944471e-02 5.25038749e-03 3.49723004e+02] [-3.10936930e-02 9.99516449e-01 -2.25204940e-04 -1.57018563e+01] [-5.25485129e-03 6.18390000e-05 9.99986191e-01 -6.14542193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314391418 meters 0.01556886846451491 Centerline is valid? [True, True] Translation: X:349.75, Y:-15.70, Z:-6.15 [[ 9.99586557e-01 2.83329289e-02 4.89498043e-03 3.49750323e+02] [-2.83322405e-02 9.99598539e-01 -2.09916228e-04 -1.57048387e+01] [-4.89896284e-03 7.11436763e-05 9.99987997e-01 -6.14621793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344391418 meters 0.01594911320737536 Centerline is valid? [True, True] Translation: X:349.78, Y:-15.71, Z:-6.15 [[ 9.99625574e-01 2.69512875e-02 4.72644422e-03 3.49779000e+02] [-2.69506335e-02 9.99636745e-01 -2.02008002e-04 -1.57073477e+01] [-4.73017169e-03 7.45516988e-05 9.99988810e-01 -6.14697383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374391418 meters 0.016968868400286673 Centerline is valid? [True, True] Translation: X:349.81, Y:-15.71, Z:-6.15 [[ 9.99700579e-01 2.39067207e-02 5.21734745e-03 3.49806496e+02] [-2.39058840e-02 9.99714189e-01 -2.22673947e-04 -1.57109014e+01] [-5.22117968e-03 9.78819711e-05 9.99986365e-01 -6.14613237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404391418 meters 0.017445530420784356 Centerline is valid? [True, True] Translation: X:349.83, Y:-15.71, Z:-6.15 [[ 9.99729449e-01 2.24888562e-02 5.93975126e-03 3.49834735e+02] [-2.24877517e-02 9.99747087e-01 -2.52679226e-04 -1.57128160e+01] [-5.94393148e-03 1.19039212e-04 9.99982328e-01 -6.14562077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434391418 meters 0.01721694150543544 Centerline is valid? [True, True] Translation: X:349.86, Y:-15.71, Z:-6.14 [[ 9.99755279e-01 2.13183956e-02 5.90830175e-03 3.49863861e+02] [-2.13172869e-02 9.99772729e-01 -2.50575321e-04 -1.57134579e+01] [-5.91230083e-03 1.24565036e-04 9.99982514e-01 -6.14489861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464391418 meters 0.018002476177146568 Centerline is valid? [True, True] Translation: X:349.89, Y:-15.72, Z:-6.15 [[ 9.99795633e-01 1.95749255e-02 5.05111614e-03 3.49891272e+02] [-1.95740926e-02 9.99808386e-01 -2.14275131e-04 -1.57162277e+01] [-5.05434270e-03 1.15360325e-04 9.99987220e-01 -6.14617417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494391418 meters 0.017722779732046907 Centerline is valid? [True, True] Translation: X:349.92, Y:-15.72, Z:-6.15 [[ 9.99810670e-01 1.88487838e-02 4.83197403e-03 3.49919757e+02] [-1.88480163e-02 9.99822339e-01 -2.04338150e-04 -1.57168700e+01] [-4.83496711e-03 1.13226337e-04 9.99988305e-01 -6.14672325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524391418 meters 0.018580496181202055 Centerline is valid? [True, True] Translation: X:349.95, Y:-15.72, Z:-6.15 [[ 9.99822840e-01 1.82713679e-02 4.52175485e-03 3.49947077e+02] [-1.82706899e-02 9.99833059e-01 -1.91207380e-04 -1.57198620e+01] [-4.52449360e-03 1.08557925e-04 9.99989759e-01 -6.14850470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.554391418 meters 0.01875417088786974 Centerline is valid? [True, True] Translation: X:349.98, Y:-15.72, Z:-6.15 [[ 9.99844455e-01 1.73597364e-02 3.11538775e-03 3.49976110e+02] [-1.73594103e-02 9.99849305e-01 -1.31670895e-04 -1.57214167e+01] [-3.11720405e-03 7.75691197e-05 9.99995138e-01 -6.14984349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584391418 meters 0.01914922599022385 Centerline is valid? [True, True] Translation: X:350.00, Y:-15.72, Z:-6.15 [[ 9.99849841e-01 1.71641808e-02 2.38446208e-03 3.50004275e+02] [-1.71639882e-02 9.99852683e-01 -1.01221187e-04 -1.57228963e+01] [-2.38584819e-03 6.02791088e-05 9.99997152e-01 -6.15072222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.614391418 meters 0.0187588803389272 Centerline is valid? [True, True] Translation: X:350.03, Y:-15.72, Z:-6.15 [[ 9.99849154e-01 1.72623228e-02 1.91845967e-03 3.50033199e+02] [-1.72621986e-02 9.99850994e-01 -8.12917933e-05 -1.57229095e+01] [-1.91957710e-03 4.81626989e-05 9.99998156e-01 -6.15080779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644391418 meters 0.0187588803389272 Centerline is valid? [True, True] Translation: X:350.06, Y:-15.72, Z:-6.15 [[ 9.99850519e-01 1.71831207e-02 1.91846605e-03 3.50061483e+02] [-1.71829967e-02 9.99852358e-01 -8.11398221e-05 -1.57240095e+01] [-1.91957704e-03 4.81626974e-05 9.99998156e-01 -6.15131868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67439141799997 meters 0.018299652325831868 Centerline is valid? [True, True] Translation: X:350.09, Y:-15.72, Z:-6.15 [[ 9.99844171e-01 1.75442729e-02 1.95754744e-03 3.50090431e+02] [-1.75441448e-02 9.99846086e-01 -8.26213128e-05 -1.57247546e+01] [-1.95869568e-03 4.82649423e-05 9.99998081e-01 -6.15105881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704391418 meters 0.018020181310527798 Centerline is valid? [True, True] Translation: X:350.12, Y:-15.73, Z:-6.15 [[ 9.99839800e-01 1.77503601e-02 2.30188308e-03 3.50118741e+02] [-1.77501844e-02 9.99842448e-01 -9.67250305e-05 -1.57256324e+01] [-2.30323732e-03 5.58506860e-05 9.99997346e-01 -6.15121412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734391418 meters 0.01762418412178849 Centerline is valid? [True, True] Translation: X:350.15, Y:-15.73, Z:-6.15 [[ 9.99828330e-01 1.84244629e-02 1.96225710e-03 3.50147781e+02] [-1.84243364e-02 9.99830254e-01 -8.25233677e-05 -1.57263720e+01] [-1.96344446e-03 4.63559160e-05 9.99998071e-01 -6.15071645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764391418 meters 0.01795509831777547 Centerline is valid? [True, True] Translation: X:350.18, Y:-15.73, Z:-6.15 [[ 9.99815784e-01 1.91065508e-02 1.82681249e-03 3.50175284e+02] [-1.91064418e-02 9.99817452e-01 -7.70936422e-05 -1.57276967e+01] [-1.82795201e-03 4.21755538e-05 9.99998328e-01 -6.15130233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794391418 meters 0.017416985156864326 Centerline is valid? [True, True] Translation: X:350.20, Y:-15.73, Z:-6.15 [[ 9.99779493e-01 2.08930498e-02 2.10852701e-03 3.50203081e+02] [-2.08929097e-02 9.99781715e-01 -8.84450099e-05 -1.57276403e+01] [-2.10991463e-03 4.43722428e-05 9.99997773e-01 -6.15080258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824391418 meters 0.017006619542311217 Centerline is valid? [True, True] Translation: X:350.23, Y:-15.73, Z:-6.15 [[ 9.99764096e-01 2.15647273e-02 2.59116904e-03 3.50232154e+02] [-2.15645204e-02 9.99767453e-01 -1.07741342e-04 -1.57283031e+01] [-2.59288989e-03 5.18386081e-05 9.99996637e-01 -6.15037918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854391418 meters 0.01718510889741154 Centerline is valid? [True, True] Translation: X:350.26, Y:-15.73, Z:-6.15 [[ 9.99757220e-01 2.18625098e-02 2.74438640e-03 3.50259554e+02] [-2.18622790e-02 9.99760985e-01 -1.14099179e-04 -1.57300752e+01] [-2.74622494e-03 5.40729375e-05 9.99996228e-01 -6.15103888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884391418 meters 0.01754116665464785 Centerline is valid? [True, True] Translation: X:350.29, Y:-15.73, Z:-6.15 [[ 9.99759341e-01 2.18101585e-02 2.36141227e-03 3.50286967e+02] [-2.18099874e-02 9.99762129e-01 -9.81689963e-05 -1.57326303e+01] [-2.36299164e-03 4.66429992e-05 9.99997207e-01 -6.15159391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914391418 meters 0.017813856038439383 Centerline is valid? [True, True] Translation: X:350.32, Y:-15.73, Z:-6.15 [[ 9.99770644e-01 2.13004571e-02 2.22504929e-03 3.50315349e+02] [-2.13003049e-02 9.99773119e-01 -9.20619465e-05 -1.57345542e+01] [-2.22650543e-03 4.46466031e-05 9.99997520e-01 -6.15184257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944391418 meters 0.017556644894368544 Centerline is valid? [True, True] Translation: X:350.34, Y:-15.74, Z:-6.15 [[ 9.99807818e-01 1.95138572e-02 1.88045924e-03 3.50343872e+02] [-1.95137451e-02 9.99809586e-01 -7.79354552e-05 -1.57356969e+01] [-1.88162200e-03 4.12256751e-05 9.99998229e-01 -6.15049851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974391418 meters 0.018284523529031326 Centerline is valid? [True, True] Translation: X:350.37, Y:-15.74, Z:-6.15 [[ 9.99831611e-01 1.82633920e-02 1.78817304e-03 3.50371287e+02] [-1.82632883e-02 9.99833209e-01 -7.43489012e-05 -1.57389064e+01] [-1.78923265e-03 4.16784620e-05 9.99998398e-01 -6.15149493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004391418 meters 0.018429229484988624 Centerline is valid? [True, True] Translation: X:350.40, Y:-15.74, Z:-6.15 [[ 9.99856859e-01 1.68570083e-02 1.45014581e-03 3.50399990e+02] [-1.68569387e-02 9.99857910e-01 -6.01782569e-05 -1.57413387e+01] [-1.45095418e-03 3.57246240e-05 9.99998947e-01 -6.15228995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034391418 meters 0.02005880653178646 Centerline is valid? [True, True] Translation: X:350.43, Y:-15.75, Z:-6.15 [[ 9.99908943e-01 1.34725075e-02 7.73042662e-04 3.50428291e+02] [-1.34724863e-02 9.99909241e-01 -3.26867197e-05 -1.57472698e+01] [-7.73412874e-04 2.22689367e-05 9.99999701e-01 -6.15456895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064391418 meters 0.020875041503967514 Centerline is valid? [True, True] Translation: X:350.46, Y:-15.75, Z:-6.16 [[ 9.99927324e-01 1.20337954e-02 7.31446861e-04 3.50456921e+02] [-1.20337760e-02 9.99927591e-01 -3.09294212e-05 -1.57500760e+01] [-7.31766097e-04 2.21251057e-05 9.99999732e-01 -6.15556343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094391418 meters 0.021059821781090143 Centerline is valid? [True, True] Translation: X:350.49, Y:-15.75, Z:-6.16 [[ 9.99940861e-01 1.08019843e-02 1.26137993e-03 3.50485997e+02] [-1.08019270e-02 9.99941656e-01 -5.22181198e-05 -1.57517785e+01] [-1.26187039e-03 3.85896978e-05 9.99999203e-01 -6.15601308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124391418 meters 0.022320900804106765 Centerline is valid? [True, True] Translation: X:350.51, Y:-15.76, Z:-6.16 [[ 9.99958349e-01 8.86420435e-03 2.17386532e-03 3.50513992e+02] [-8.86403162e-03 9.99960710e-01 -8.90803548e-05 -1.57551842e+01] [-2.17456953e-03 6.98074336e-05 9.99997633e-01 -6.15701931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154391418 meters 0.022192325224770403 Centerline is valid? [True, True] Translation: X:350.54, Y:-15.76, Z:-6.16 [[ 9.99961636e-01 8.26076463e-03 2.91321041e-03 3.50542548e+02] [-8.26045532e-03 9.99965875e-01 -1.18192695e-04 -1.57562105e+01] [-2.91408735e-03 9.41237167e-05 9.99995750e-01 -6.15677312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184391418 meters 0.02215285567011839 Centerline is valid? [True, True] Translation: X:350.57, Y:-15.76, Z:-6.16 [[ 9.99948362e-01 8.81746026e-03 5.05228187e-03 3.50570087e+02] [-8.81654316e-03 9.99961113e-01 -2.03765848e-04 -1.57566193e+01] [-5.05388210e-03 1.59211665e-04 9.99987216e-01 -6.15582891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214391418 meters 0.021210087052518225 Centerline is valid? [True, True] Translation: X:350.60, Y:-15.76, Z:-6.16 [[ 9.99941431e-01 9.18788564e-03 5.71996141e-03 3.50599371e+02] [-9.18672201e-03 9.99957775e-01 -2.29674702e-04 -1.57554549e+01] [-5.72183011e-03 1.77113555e-04 9.99983615e-01 -6.15523278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244391418 meters 0.021378268281712624 Centerline is valid? [True, True] Translation: X:350.63, Y:-15.76, Z:-6.16 [[ 9.99928847e-01 1.01663262e-02 6.24081214e-03 3.50628285e+02] [-1.01649656e-02 9.99948304e-01 -2.49705831e-04 -1.57555852e+01] [-6.24302810e-03 1.86250423e-04 9.99980495e-01 -6.15533772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274391418 meters 0.01970423346975412 Centerline is valid? [True, True] Translation: X:350.66, Y:-15.75, Z:-6.15 [[ 9.99877062e-01 1.35519293e-02 7.88711418e-03 3.50657656e+02] [-1.35498673e-02 9.99908147e-01 -3.14815344e-04 -1.57508827e+01] [-7.89065608e-03 2.07907291e-04 9.99968847e-01 -6.15420204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.304391418 meters 0.019479014609385992 Centerline is valid? [True, True] Translation: X:350.69, Y:-15.75, Z:-6.15 [[ 9.99849675e-01 1.49880793e-02 8.71689536e-03 3.50685697e+02] [-1.49856175e-02 9.99887649e-01 -3.47673783e-04 -1.57504034e+01] [-8.72112697e-03 2.16993460e-04 9.99961947e-01 -6.15420294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334391418 meters 0.018341047626030123 Centerline is valid? [True, True] Translation: X:350.71, Y:-15.75, Z:-6.15 [[ 9.99813656e-01 1.69875040e-02 9.16943500e-03 3.50714854e+02] [-1.69848749e-02 9.99855680e-01 -3.64531098e-04 -1.57468303e+01] [-9.17430414e-03 2.08721464e-04 9.99957893e-01 -6.15395171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.364391418 meters 0.01781082862285779 Centerline is valid? [True, True] Translation: X:350.74, Y:-15.75, Z:-6.15 [[ 9.99795536e-01 1.79802058e-02 9.25191527e-03 3.50744150e+02] [-1.79775785e-02 9.99838323e-01 -3.67065247e-04 -1.57455626e+01] [-9.25701935e-03 2.00663163e-04 9.99957133e-01 -6.15432370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394391418 meters 0.017352118586410423 Centerline is valid? [True, True] Translation: X:350.77, Y:-15.74, Z:-6.15 [[ 9.99774680e-01 1.90354895e-02 9.39359563e-03 3.50772617e+02] [-1.90328349e-02 9.99818790e-01 -3.71915256e-04 -1.57440562e+01] [-9.39897301e-03 1.93044701e-04 9.99955810e-01 -6.15460134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters 0.017644554102968363 Centerline is valid? [True, True] Translation: X:350.80, Y:-15.74, Z:-6.16 [[ 9.99749348e-01 2.02172000e-02 9.61802927e-03 3.50800043e+02] [-2.02144772e-02 9.99795594e-01 -3.80232097e-04 -1.57432834e+01] [-9.62375052e-03 1.85713357e-04 9.99953673e-01 -6.15525731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454391418 meters 0.016621774792396987 Centerline is valid? [True, True] Translation: X:350.83, Y:-15.74, Z:-6.15 [[ 9.99731482e-01 2.09377280e-02 9.92855517e-03 3.50829483e+02] [-2.09348772e-02 9.99780765e-01 -3.90981491e-04 -1.57408352e+01] [-9.93456475e-03 1.83023422e-04 9.99950634e-01 -6.15477715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters 0.015847351658454568 Centerline is valid? [True, True] Translation: X:350.86, Y:-15.74, Z:-6.15 [[ 9.99698536e-01 2.22776573e-02 1.03219478e-02 3.50858699e+02] [-2.22746526e-02 9.99751807e-01 -4.05980085e-04 -1.57389579e+01] [-1.03284302e-02 1.75939896e-04 9.99946645e-01 -6.15462209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514391418 meters 0.015144656741014405 Centerline is valid? [True, True] Translation: X:350.89, Y:-15.74, Z:-6.15 [[ 9.99617094e-01 2.52107546e-02 1.14053882e-02 3.50886786e+02] [-2.52072878e-02 9.99682146e-01 -4.47638162e-04 -1.57357274e+01] [-1.14130482e-02 1.59967858e-04 9.99934856e-01 -6.15475832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters 0.01474419801377758 Centerline is valid? [True, True] Translation: X:350.92, Y:-15.73, Z:-6.15 [[ 9.99573770e-01 2.66656324e-02 1.18836881e-02 3.50915805e+02] [-2.66619883e-02 9.99644398e-01 -4.65000266e-04 -1.57342314e+01] [-1.18918618e-02 1.47959315e-04 9.99929278e-01 -6.15479702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574391418 meters 0.014582413702906747 Centerline is valid? [True, True] Translation: X:350.94, Y:-15.73, Z:-6.15 [[ 9.99551103e-01 2.73276633e-02 1.22797089e-02 3.50944268e+02] [-2.73238348e-02 9.99626519e-01 -4.79470093e-04 -1.57329876e+01] [-1.22882255e-02 1.43726123e-04 9.99924487e-01 -6.15463169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters 0.014508392383506267 Centerline is valid? [True, True] Translation: X:350.97, Y:-15.73, Z:-6.15 [[ 9.99536444e-01 2.75701628e-02 1.29144477e-02 3.50972162e+02] [-2.75659613e-02 9.99619860e-01 -5.03260242e-04 -1.57299795e+01] [-1.29234133e-02 1.47027788e-04 9.99916478e-01 -6.15351901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634391418 meters 0.014776906679043876 Centerline is valid? [True, True] Translation: X:351.00, Y:-15.73, Z:-6.15 [[ 9.99549903e-01 2.67486411e-02 1.35831343e-02 3.50999977e+02] [-2.67439367e-02 9.99642178e-01 -5.27898706e-04 -1.57300954e+01] [-1.35923945e-02 1.64394616e-04 9.99907606e-01 -6.15342874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters 0.015322947547549896 Centerline is valid? [True, True] Translation: X:351.03, Y:-15.73, Z:-6.15 [[ 9.99630743e-01 2.37074760e-02 1.32790648e-02 3.51028368e+02] [-2.37027291e-02 9.99718918e-01 -5.14758793e-04 -1.57305316e+01] [-1.32875359e-02 1.99818639e-04 9.99911697e-01 -6.15436842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694391418 meters 0.015927035024913605 Centerline is valid? [True, True] Translation: X:351.06, Y:-15.73, Z:-6.16 [[ 9.99679677e-01 2.17249273e-02 1.29835193e-02 3.51057424e+02] [-2.17202353e-02 9.99763962e-01 -5.02299426e-04 -1.57317463e+01] [-1.29913671e-02 2.20133435e-04 9.99915584e-01 -6.15553198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters 0.01707971456710666 Centerline is valid? [True, True] Translation: X:351.08, Y:-15.73, Z:-6.16 [[ 9.99716658e-01 1.99871367e-02 1.29274325e-02 3.51085000e+02] [-1.99823519e-02 9.99800208e-01 -4.99198833e-04 -1.57335241e+01] [-1.29348272e-02 2.40736883e-04 9.99916313e-01 -6.15652460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754391418 meters 0.017493261965133584 Centerline is valid? [True, True] Translation: X:351.11, Y:-15.73, Z:-6.16 [[ 9.99732126e-01 1.92573188e-02 1.28386557e-02 3.51113270e+02] [-1.92525558e-02 9.99814530e-01 -4.94492147e-04 -1.57332961e+01] [-1.28457972e-02 2.47182750e-04 9.99917459e-01 -6.15718161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters 0.01743819017644052 Centerline is valid? [True, True] Translation: X:351.14, Y:-15.73, Z:-6.16 [[ 9.99761170e-01 1.85301500e-02 1.15860281e-02 3.51142267e+02] [-1.85262345e-02 9.99828275e-01 -4.45192031e-04 -1.57282535e+01] [-1.15922880e-02 2.30440232e-04 9.99932781e-01 -6.15661017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814391418 meters 0.017600475151112235 Centerline is valid? [True, True] Translation: X:351.17, Y:-15.73, Z:-6.16 [[ 9.99764333e-01 1.81453897e-02 1.19173854e-02 3.51171167e+02] [-1.81412314e-02 9.99835330e-01 -4.56951900e-04 -1.57270510e+01] [-1.19237145e-02 2.40648166e-04 9.99928881e-01 -6.15676642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844391418 meters 0.018805255917451188 Centerline is valid? [True, True] Translation: X:351.20, Y:-15.73, Z:-6.16 [[ 9.99801807e-01 1.58620745e-02 1.20308228e-02 3.51199378e+02] [-1.58576805e-02 9.99874153e-01 -4.60542155e-04 -1.57253623e+01] [-1.20366139e-02 2.69669936e-04 9.99927521e-01 -6.15599400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874391418 meters 0.018862409297000518 Centerline is valid? [True, True] Translation: X:351.23, Y:-15.72, Z:-6.16 [[ 9.99819614e-01 1.45171637e-02 1.22471114e-02 3.51228622e+02] [-1.45125286e-02 9.99894579e-01 -4.67255241e-04 -1.57245729e+01] [-1.22526035e-02 2.89434400e-04 9.99924892e-01 -6.15573268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904391418 meters 0.01961656066417118 Centerline is valid? [True, True] Translation: X:351.26, Y:-15.72, Z:-6.16 [[ 9.99838984e-01 1.28369889e-02 1.25386435e-02 3.51258622e+02] [-1.28320139e-02 9.99917552e-01 -4.77142238e-04 -1.57249184e+01] [-1.25437348e-02 3.16169363e-04 9.99921274e-01 -6.15566643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934391418 meters 0.021083099794526158 Centerline is valid? [True, True] Translation: X:351.29, Y:-15.72, Z:-6.16 [[ 9.99868281e-01 1.01958772e-02 1.26279294e-02 3.51286967e+02] [-1.01906257e-02 9.99947959e-01 -4.80142288e-04 -1.57240510e+01] [-1.26321677e-02 3.51392542e-04 9.99920149e-01 -6.15577018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964391418 meters 0.021954180874892537 Centerline is valid? [True, True] Translation: X:351.32, Y:-15.72, Z:-6.16 [[ 9.99888376e-01 8.71511024e-03 1.21360280e-02 3.51317725e+02] [-8.71016321e-03 9.99961960e-01 -4.60428486e-04 -1.57243320e+01] [-1.21395790e-02 3.54670307e-04 9.99926250e-01 -6.15656463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994391418 meters 0.022687825683081978 Centerline is valid? [True, True] Translation: X:351.35, Y:-15.72, Z:-6.16 [[ 9.99903574e-01 7.61419075e-03 1.16132479e-02 3.51347799e+02] [-7.60958659e-03 9.99970950e-01 -4.40594746e-04 -1.57245721e+01] [-1.16162653e-02 3.52180246e-04 9.99932467e-01 -6.15802619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024391418 meters 0.022003853985073416 Centerline is valid? [True, True] Translation: X:351.38, Y:-15.72, Z:-6.16 [[ 9.99930572e-01 6.56866748e-03 9.78282519e-03 3.51379335e+02] [-6.56535357e-03 9.99978379e-01 -3.70823601e-04 -1.57202836e+01] [-9.78504950e-03 3.06570149e-04 9.99952078e-01 -6.16030657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.054391418 meters 0.022747152384130966 Centerline is valid? [True, True] Translation: X:351.41, Y:-15.72, Z:-6.16 [[ 9.99944491e-01 5.81046528e-03 8.78935418e-03 3.51409335e+02] [-5.80775698e-03 9.99983079e-01 -3.33626418e-04 -1.57215996e+01] [-8.79114399e-03 2.82561465e-04 9.99961317e-01 -6.16280736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084391418 meters 0.023659673080796993 Centerline is valid? [True, True] Translation: X:351.44, Y:-15.73, Z:-6.16 [[ 9.99957039e-01 2.74226956e-03 8.85437377e-03 3.51440170e+02] [-2.73939935e-03 9.99996191e-01 -3.36269174e-04 -1.57250020e+01] [-8.85526219e-03 3.11999062e-04 9.99960743e-01 -6.16248222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.114391418 meters 0.024577186017975112 Centerline is valid? [True, True] Translation: X:351.47, Y:-15.73, Z:-6.16 [[ 9.99955909e-01 2.27417867e-03 9.11091257e-03 3.51471362e+02] [-2.27113782e-03 9.99997362e-01 -3.44091327e-04 -1.57269427e+01] [-9.11167106e-03 3.23384017e-04 9.99958436e-01 -6.16206695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144391418 meters 0.024891406172418723 Centerline is valid? [True, True] Translation: X:351.50, Y:-15.73, Z:-6.16 [[ 9.99958031e-01 1.74158798e-03 8.99463095e-03 3.51503678e+02] [-1.73858403e-03 9.99998430e-01 -3.41779070e-04 -1.57282300e+01] [-8.99521207e-03 3.26126804e-04 9.99959489e-01 -6.16202031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17439141799997 meters 0.02533954633041501 Centerline is valid? [True, True] Translation: X:351.54, Y:-15.73, Z:-6.16 [[ 9.99955303e-01 1.82133171e-03 9.27760131e-03 3.51535926e+02] [-1.81811370e-03 9.99998284e-01 -3.55279764e-04 -1.57301943e+01] [-9.27823248e-03 3.38396150e-04 9.99956899e-01 -6.16285449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204391418 meters 0.025412989021768268 Centerline is valid? [True, True] Translation: X:351.57, Y:-15.73, Z:-6.16 [[ 9.99958027e-01 2.28251202e-03 8.87329640e-03 3.51567911e+02] [-2.27956679e-03 9.99997343e-01 -3.42019926e-04 -1.57313397e+01] [-8.87405349e-03 3.21778299e-04 9.99960573e-01 -6.16363887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234391418 meters 0.02556801249175631 Centerline is valid? [True, True] Translation: X:351.60, Y:-15.73, Z:-6.17 [[ 9.99962246e-01 3.16720052e-03 8.09172089e-03 3.51599640e+02] [-3.16476565e-03 9.99994943e-01 -3.13695552e-04 -1.57330899e+01] [-8.09267351e-03 2.88075308e-04 9.99967212e-01 -6.16528076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264391418 meters 0.025257504997914546 Centerline is valid? [True, True] Translation: X:351.63, Y:-15.73, Z:-6.17 [[ 9.99962151e-01 4.07104198e-03 7.68920418e-03 3.51630625e+02] [-4.06883736e-03 9.99991677e-01 -3.02337072e-04 -1.57349175e+01] [-7.69037101e-03 2.71039508e-04 9.99970392e-01 -6.16642236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294391418 meters 0.024428209714984044 Centerline is valid? [True, True] Translation: X:351.66, Y:-15.74, Z:-6.17 [[ 9.99959500e-01 4.62385286e-03 7.72129015e-03 3.51661696e+02] [-4.62164399e-03 9.99989274e-01 -3.03892844e-04 -1.57351764e+01] [-7.72261249e-03 2.68195482e-04 9.99970144e-01 -6.16658417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324391418 meters 0.0236047981907054 Centerline is valid? [True, True] Translation: X:351.69, Y:-15.74, Z:-6.17 [[ 9.99950588e-01 7.12030183e-03 6.93700944e-03 3.51692015e+02] [-7.11857602e-03 9.99974625e-01 -2.73442938e-04 -1.57358572e+01] [-6.93878042e-03 2.24047798e-04 9.99975901e-01 -6.16845989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354391418 meters 0.021953337852178918 Centerline is valid? [True, True] Translation: X:351.72, Y:-15.73, Z:-6.17 [[ 9.99938881e-01 9.19808036e-03 6.13428739e-03 3.51721325e+02] [-9.19676514e-03 9.99957679e-01 -2.42578571e-04 -1.57344852e+01] [-6.13625904e-03 1.86148144e-04 9.99981156e-01 -6.16952664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384391418 meters 0.021491093684895716 Centerline is valid? [True, True] Translation: X:351.75, Y:-15.73, Z:-6.17 [[ 9.99917589e-01 1.15812071e-02 5.53990590e-03 3.51750266e+02] [-1.15801705e-02 9.99932924e-01 -2.19162739e-04 -1.57347360e+01] [-5.54207247e-03 1.54991623e-04 9.99984631e-01 -6.17125729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414391418 meters 0.019562904062964733 Centerline is valid? [True, True] Translation: X:351.78, Y:-15.73, Z:-6.17 [[ 9.99853084e-01 1.63460415e-02 5.15929691e-03 3.51779657e+02] [-1.63452071e-02 9.99866387e-01 -2.03863377e-04 -1.57324433e+01] [-5.16193992e-03 1.19503649e-04 9.99986670e-01 -6.17257250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444391418 meters 0.01829742197375467 Centerline is valid? [True, True] Translation: X:351.81, Y:-15.73, Z:-6.17 [[ 9.99809497e-01 1.88435275e-02 5.08827834e-03 3.51808078e+02] [-1.88427482e-02 9.99822439e-01 -2.01042752e-04 -1.57317587e+01] [-5.09116321e-03 1.05127306e-04 9.99987034e-01 -6.17290523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474391418 meters 0.017521086496615632 Centerline is valid? [True, True] Translation: X:351.84, Y:-15.73, Z:-6.17 [[ 9.99770959e-01 2.07676159e-02 5.17074020e-03 3.51837310e+02] [-2.07668392e-02 9.99784325e-01 -2.03879105e-04 -1.57315725e+01] [-5.17385908e-03 9.64524779e-05 9.99986611e-01 -6.17305848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504391418 meters 0.016453955542490732 Centerline is valid? [True, True] Translation: X:351.87, Y:-15.73, Z:-6.17 [[ 9.99688506e-01 2.42425247e-02 5.93213351e-03 3.51866141e+02] [-2.42415674e-02 9.99706103e-01 -2.33229572e-04 -1.57304437e+01] [-5.93604415e-03 8.93527082e-05 9.99982378e-01 -6.17252033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534391418 meters 0.016453955542490732 Centerline is valid? [True, True] Translation: X:351.89, Y:-15.73, Z:-6.17 [[ 9.99691361e-01 2.41245282e-02 5.93213327e-03 3.51893566e+02] [-2.41235689e-02 9.99708957e-01 -2.33237930e-04 -1.57313991e+01] [-5.93603352e-03 9.00617187e-05 9.99982378e-01 -6.17301572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564391418 meters 0.016381093987046357 Centerline is valid? [True, True] Translation: X:351.92, Y:-15.73, Z:-6.17 [[ 9.99655515e-01 2.55423468e-02 6.03647394e-03 3.51921554e+02] [-2.55413852e-02 9.99673738e-01 -2.36343351e-04 -1.57322386e+01] [-6.04054123e-03 8.20820281e-05 9.99981752e-01 -6.17397296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594391418 meters 0.015475580922305299 Centerline is valid? [True, True] Translation: X:351.95, Y:-15.73, Z:-6.17 [[ 9.99553374e-01 2.93354457e-02 5.69957517e-03 3.51950218e+02] [-2.93346540e-02 9.99569622e-01 -2.22470759e-04 -1.57306583e+01] [-5.70364847e-03 5.51763317e-05 9.99983733e-01 -6.17472219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624391418 meters 0.015312041721590558 Centerline is valid? [True, True] Translation: X:351.98, Y:-15.73, Z:-6.18 [[ 9.99509503e-01 3.08995895e-02 5.09601313e-03 3.51978806e+02] [-3.08989781e-02 9.99522493e-01 -1.98673720e-04 -1.57305698e+01] [-5.09971869e-03 4.11146727e-05 9.99986996e-01 -6.17534721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654391418 meters 0.015465349247138034 Centerline is valid? [True, True] Translation: X:352.01, Y:-15.73, Z:-6.18 [[ 9.99479710e-01 3.19188979e-02 4.63608152e-03 3.52005233e+02] [-3.19184004e-02 9.99490462e-01 -1.81292386e-04 -1.57313499e+01] [-4.63950591e-03 3.32217551e-05 9.99989237e-01 -6.17699372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684391418 meters 0.015488464975061624 Centerline is valid? [True, True] Translation: X:352.03, Y:-15.73, Z:-6.18 [[ 9.99468186e-01 3.22705397e-02 4.68585653e-03 3.52033014e+02] [-3.22700399e-02 9.99479170e-01 -1.82243544e-04 -1.57318897e+01] [-4.68929709e-03 3.09338470e-05 9.99989005e-01 -6.17744506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714391418 meters 0.015501828010815313 Centerline is valid? [True, True] Translation: X:352.06, Y:-15.73, Z:-6.18 [[ 9.99449114e-01 3.29260226e-02 4.16484939e-03 3.52061335e+02] [-3.29256343e-02 9.99457791e-01 -1.61781789e-04 -1.57321999e+01] [-4.16791801e-03 2.45623576e-05 9.99991314e-01 -6.17672944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744391418 meters 0.015494332773334694 Centerline is valid? [True, True] Translation: X:352.09, Y:-15.73, Z:-6.18 [[ 9.99432580e-01 3.34455229e-02 3.98928712e-03 3.52089463e+02] [-3.34451724e-02 9.99440542e-01 -1.54568916e-04 -1.57330032e+01] [-3.99222492e-03 2.10588155e-05 9.99992031e-01 -6.17721111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774391418 meters 0.0156366482020317 Centerline is valid? [True, True] Translation: X:352.12, Y:-15.73, Z:-6.18 [[ 9.99403058e-01 3.42500687e-02 4.52334582e-03 3.52117442e+02] [-3.42496284e-02 9.99413294e-01 -1.74800652e-04 -1.57337264e+01] [-4.52667888e-03 1.97733927e-05 9.99989754e-01 -6.17797730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.804391418 meters 0.01589504316880974 Centerline is valid? [True, True] Translation: X:352.15, Y:-15.73, Z:-6.18 [[ 9.99370986e-01 3.51379778e-02 4.79119755e-03 3.52145262e+02] [-3.51375013e-02 9.99382470e-01 -1.83620661e-04 -1.57338371e+01] [-4.79469090e-03 1.51544505e-05 9.99988505e-01 -6.17848158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834391418 meters 0.01596518640889096 Centerline is valid? [True, True] Translation: X:352.17, Y:-15.73, Z:-6.18 [[ 9.99371105e-01 3.51343621e-02 4.79290904e-03 3.52173538e+02] [-3.51338861e-02 9.99382598e-01 -1.83496525e-04 -1.57346265e+01] [-4.79639692e-03 1.49876045e-05 9.99988497e-01 -6.17790369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.864391418 meters 0.01628891976724402 Centerline is valid? [True, True] Translation: X:352.20, Y:-15.74, Z:-6.18 [[ 9.99427566e-01 3.35328888e-02 4.48176842e-03 3.52200771e+02] [-3.35324595e-02 9.99437614e-01 -1.70915089e-04 -1.57374290e+01] [-4.48497921e-03 2.05325332e-05 9.99989942e-01 -6.17896330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894391418 meters 0.01653993688261219 Centerline is valid? [True, True] Translation: X:352.23, Y:-15.74, Z:-6.18 [[ 9.99458634e-01 3.26394076e-02 4.13622055e-03 3.52229011e+02] [-3.26390366e-02 9.99467192e-01 -1.57177376e-04 -1.57397605e+01] [-4.13914692e-03 2.20900314e-05 9.99991433e-01 -6.18029996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters 0.016710060619662046 Centerline is valid? [True, True] Translation: X:352.26, Y:-15.74, Z:-6.18 [[ 9.99481078e-01 3.19730825e-02 3.91117744e-03 3.52257702e+02] [-3.19727465e-02 9.99488730e-01 -1.48423436e-04 -1.57420451e+01] [-3.91392333e-03 2.32953312e-05 9.99992340e-01 -6.18091960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954391418 meters 0.017055568277538437 Centerline is valid? [True, True] Translation: X:352.29, Y:-15.74, Z:-6.18 [[ 9.99513161e-01 3.09971012e-02 3.55247180e-03 3.52285057e+02] [-3.09968174e-02 9.99519474e-01 -1.34931501e-04 -1.57447620e+01] [-3.55494723e-03 2.47504913e-05 9.99993681e-01 -6.18254935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters 0.01748732840396924 Centerline is valid? [True, True] Translation: X:352.31, Y:-15.75, Z:-6.18 [[ 9.99564632e-01 2.93721856e-02 2.79667323e-03 3.52313426e+02] [-2.93720039e-02 9.99568544e-01 -1.06020144e-04 -1.57480637e+01] [-2.79858063e-03 2.38300888e-05 9.99996084e-01 -6.18334337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014391418 meters 0.017659953924096288 Centerline is valid? [True, True] Translation: X:352.34, Y:-15.75, Z:-6.18 [[ 9.99585875e-01 2.86413404e-02 2.78413230e-03 3.52341905e+02] [-2.86411581e-02 9.99589752e-01 -1.05330678e-04 -1.57503234e+01] [-2.78600693e-03 2.55462848e-05 9.99996119e-01 -6.18362191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters 0.017651516502085247 Centerline is valid? [True, True] Translation: X:352.37, Y:-15.75, Z:-6.18 [[ 9.99588937e-01 2.85122087e-02 3.00179412e-03 3.52370199e+02] [-2.85119953e-02 9.99593444e-01 -1.13848183e-04 -1.57524339e+01] [-3.00381979e-03 2.82142444e-05 9.99995488e-01 -6.18316344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074391418 meters 0.01757774050261007 Centerline is valid? [True, True] Translation: X:352.40, Y:-15.75, Z:-6.18 [[ 9.99592413e-01 2.83640069e-02 3.23900439e-03 3.52398005e+02] [-2.83637594e-02 9.99597660e-01 -1.22314498e-04 -1.57538713e+01] [-3.24117054e-03 3.03943031e-05 9.99994747e-01 -6.18309412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters 0.01748557573018195 Centerline is valid? [True, True] Translation: X:352.43, Y:-15.76, Z:-6.18 [[ 9.99557072e-01 2.95196434e-02 3.77496646e-03 3.52426992e+02] [-2.95193207e-02 9.99564200e-01 -1.41177515e-04 -1.57556700e+01] [-3.77748884e-03 2.96805379e-05 9.99992865e-01 -6.18301480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134391418 meters 0.01752434245488361 Centerline is valid? [True, True] Translation: X:352.45, Y:-15.76, Z:-6.18 [[ 9.99538018e-01 3.02000052e-02 3.42200716e-03 3.52454111e+02] [-3.01997416e-02 9.99543876e-01 -1.28686513e-04 -1.57563272e+01] [-3.42433263e-03 2.52833301e-05 9.99994137e-01 -6.18378162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters 0.01743064740750183 Centerline is valid? [True, True] Translation: X:352.48, Y:-15.76, Z:-6.18 [[ 9.99496764e-01 3.14703921e-02 3.97897244e-03 3.52482418e+02] [-3.14700529e-02 9.99504684e-01 -1.47845902e-04 -1.57570178e+01] [-3.98165436e-03 2.25530278e-05 9.99992073e-01 -6.18383738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194391418 meters 0.017473367367305422 Centerline is valid? [True, True] Translation: X:352.51, Y:-15.76, Z:-6.18 [[ 9.99471694e-01 3.22404469e-02 4.10934859e-03 3.52511344e+02] [-3.22400931e-02 9.99480141e-01 -1.52322313e-04 -1.57578024e+01] [-4.11212325e-03 1.97560587e-05 9.99991545e-01 -6.18377992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters 0.01736183718147062 Centerline is valid? [True, True] Translation: X:352.54, Y:-15.76, Z:-6.18 [[ 9.99413417e-01 3.39498023e-02 4.49813763e-03 3.52540450e+02] [-3.39493978e-02 9.99423539e-01 -1.66273209e-04 -1.57583971e+01] [-4.50118957e-03 1.34666128e-05 9.99989870e-01 -6.18250813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254391418 meters 0.017406093801313985 Centerline is valid? [True, True] Translation: X:352.57, Y:-15.76, Z:-6.18 [[ 9.99370729e-01 3.52042478e-02 4.33664644e-03 3.52567498e+02] [-3.52038774e-02 9.99380138e-01 -1.61745688e-04 -1.57591251e+01] [-4.33965245e-03 8.97713693e-06 9.99990584e-01 -6.18308659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters 0.017552436862603115 Centerline is valid? [True, True] Translation: X:352.60, Y:-15.76, Z:-6.18 [[ 9.99248501e-01 3.85046256e-02 4.45273792e-03 3.52595459e+02] [-3.85042777e-02 9.99258422e-01 -1.63877749e-04 -1.57587900e+01] [-4.45574591e-03 -7.69486187e-06 9.99990073e-01 -6.18312949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314391418 meters 0.01777337611106744 Centerline is valid? [True, True] Translation: X:352.62, Y:-15.76, Z:-6.18 [[ 9.99150316e-01 4.08264141e-02 5.64354411e-03 3.52623533e+02] [-4.08259004e-02 9.99166254e-01 -2.06247175e-04 -1.57585497e+01] [-5.64725916e-03 -2.43308393e-05 9.99984054e-01 -6.18309657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344391418 meters 0.017936573778258698 Centerline is valid? [True, True] Translation: X:352.65, Y:-15.76, Z:-6.18 [[ 9.99090666e-01 4.22501989e-02 5.72385012e-03 3.52652327e+02] [-4.22496985e-02 9.99107061e-01 -2.08365662e-04 -1.57586259e+01] [-5.72754256e-03 -3.36547536e-05 9.99983597e-01 -6.18325550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374391418 meters 0.01814987824968042 Centerline is valid? [True, True] Translation: X:352.68, Y:-15.76, Z:-6.18 [[ 9.99015124e-01 4.40419940e-02 5.39305068e-03 3.52680900e+02] [-4.40415776e-02 9.99029680e-01 -1.96006276e-04 -1.57595532e+01] [-5.39645020e-03 -4.17052258e-05 9.99985438e-01 -6.18387646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404391418 meters 0.01860882869561989 Centerline is valid? [True, True] Translation: X:352.71, Y:-15.76, Z:-6.19 [[ 9.98990582e-01 4.46749856e-02 4.68633751e-03 3.52708381e+02] [-4.46746778e-02 9.99001574e-01 -1.70387512e-04 -1.57600358e+01] [-4.68927061e-03 -3.91450982e-05 9.99989005e-01 -6.18570681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434391418 meters 0.018782196503989393 Centerline is valid? [True, True] Translation: X:352.74, Y:-15.76, Z:-6.19 [[ 9.98934560e-01 4.60168099e-02 3.49263877e-03 3.52737478e+02] [-4.60166382e-02 9.98940665e-01 -1.29556587e-04 -1.57607300e+01] [-3.49490068e-03 -3.13009424e-05 9.99993892e-01 -6.18658506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464391418 meters 0.01901369395202309 Centerline is valid? [True, True] Translation: X:352.77, Y:-15.76, Z:-6.19 [[ 9.98872988e-01 4.73590130e-02 3.14303198e-03 3.52766110e+02] [-4.73588816e-02 9.98877932e-01 -1.16270426e-04 -1.57620584e+01] [-3.14501174e-03 -3.27110911e-05 9.99995054e-01 -6.18715603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494391418 meters 0.019208434729908165 Centerline is valid? [True, True] Translation: X:352.79, Y:-15.76, Z:-6.19 [[ 9.98864888e-01 4.75353565e-02 3.05384984e-03 3.52793815e+02] [-4.75352432e-02 9.98869555e-01 -1.09704313e-04 -1.57633820e+01] [-3.05561247e-03 -3.55857085e-05 9.99995331e-01 -6.18746429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524391418 meters 0.018423862002661866 Centerline is valid? [True, True] Translation: X:352.82, Y:-15.77, Z:-6.19 [[ 9.98960076e-01 4.54483418e-02 3.63516071e-03 3.52822265e+02] [-4.54481610e-02 9.98966690e-01 -1.32394051e-04 -1.57680650e+01] [-3.63742156e-03 -3.29549984e-05 9.99993384e-01 -6.18617467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.554391418 meters 0.017983457165573823 Centerline is valid? [True, True] Translation: X:352.85, Y:-15.77, Z:-6.19 [[ 9.99028136e-01 4.39005432e-02 3.94034996e-03 3.52850797e+02] [-4.39003350e-02 9.99035906e-01 -1.39370369e-04 -1.57716483e+01] [-3.94266953e-03 -3.37477637e-05 9.99992227e-01 -6.18581153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584391418 meters 0.017244230084490553 Centerline is valid? [True, True] Translation: X:352.88, Y:-15.78, Z:-6.19 [[ 9.99148709e-01 4.10194042e-02 4.38935982e-03 3.52879056e+02] [-4.10191201e-02 9.99158350e-01 -1.54759654e-04 -1.57782294e+01] [-4.39201366e-03 -2.54197697e-05 9.99990355e-01 -6.18511599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.614391418 meters 0.017094583286595435 Centerline is valid? [True, True] Translation: X:352.91, Y:-15.78, Z:-6.19 [[ 9.99195456e-01 3.98454010e-02 4.55904459e-03 3.52907763e+02] [-3.98450841e-02 9.99205856e-01 -1.60349315e-04 -1.57820124e+01] [-4.56181324e-03 -2.14352086e-05 9.99989595e-01 -6.18506280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644391418 meters 0.016783877179642092 Centerline is valid? [True, True] Translation: X:352.94, Y:-15.79, Z:-6.18 [[ 9.99243549e-01 3.85812387e-02 4.88034724e-03 3.52935988e+02] [-3.85808627e-02 9.99255467e-01 -1.71202294e-04 -1.57856100e+01] [-4.88331885e-03 -1.72152184e-05 9.99988076e-01 -6.18441103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67439141799997 meters 0.0168202723541118 Centerline is valid? [True, True] Translation: X:352.96, Y:-15.79, Z:-6.19 [[ 9.99315242e-01 3.67235954e-02 4.51929152e-03 3.52962712e+02] [-3.67232516e-02 9.99325461e-01 -1.59059814e-04 -1.57886512e+01] [-4.52208433e-03 -7.01218331e-06 9.99989775e-01 -6.18535374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704391418 meters 0.01672616564033189 Centerline is valid? [True, True] Translation: X:352.99, Y:-15.79, Z:-6.19 [[ 9.99379858e-01 3.49766648e-02 4.06600007e-03 3.52991719e+02] [-3.49763766e-02 9.99388129e-01 -1.41979857e-04 -1.57936007e+01] [-4.06847819e-03 -3.22141071e-07 9.99991724e-01 -6.18507448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734391418 meters 0.016699232713554984 Centerline is valid? [True, True] Translation: X:353.02, Y:-15.80, Z:-6.19 [[ 9.99415442e-01 3.39954436e-02 3.61712681e-03 3.53019384e+02] [-3.39952086e-02 9.99421988e-01 -1.26442921e-04 -1.57967848e+01] [-3.61933455e-03 3.40402720e-06 9.99993450e-01 -6.18682299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764391418 meters 0.01637431668736281 Centerline is valid? [True, True] Translation: X:353.05, Y:-15.80, Z:-6.19 [[ 9.99453147e-01 3.29425106e-02 2.86303452e-03 3.53047561e+02] [-3.29423596e-02 9.99457248e-01 -9.98990069e-05 -1.58019916e+01] [-2.86477152e-03 5.52926430e-06 9.99995897e-01 -6.18716909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794391418 meters 0.016432778529383334 Centerline is valid? [True, True] Translation: X:353.08, Y:-15.80, Z:-6.19 [[ 9.99467918e-01 3.25337865e-02 2.33103347e-03 3.53076336e+02] [-3.25336852e-02 9.99470636e-01 -8.14073069e-05 -1.58049212e+01] [-2.33244799e-03 5.52688246e-06 9.99997280e-01 -6.18791944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824391418 meters 0.01634040509967565 Centerline is valid? [True, True] Translation: X:353.11, Y:-15.81, Z:-6.19 [[ 9.99464248e-01 3.26799847e-02 1.79855187e-03 3.53105090e+02] [-3.26799243e-02 9.99465867e-01 -6.30064437e-05 -1.58070816e+01] [-1.79965025e-03 4.19614901e-06 9.99998381e-01 -6.18842614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854391418 meters 0.016167745798104805 Centerline is valid? [True, True] Translation: X:353.13, Y:-15.81, Z:-6.19 [[ 9.99454780e-01 3.30038456e-02 9.42447788e-04 3.53133546e+02] [-3.30038285e-02 9.99455225e-01 -3.36084131e-05 -1.58098494e+01] [-9.43043573e-04 2.48570397e-06 9.99999555e-01 -6.18860132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884391418 meters 0.016161137237708994 Centerline is valid? [True, True] Translation: X:353.16, Y:-15.81, Z:-6.19 [[ 9.99458298e-01 3.28994157e-02 8.59305570e-04 3.53161866e+02] [-3.28994009e-02 9.99458668e-01 -3.13723330e-05 -1.58122204e+01] [-8.59872532e-04 3.08470018e-06 9.99999630e-01 -6.18890801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914391418 meters 0.01609802375627202 Centerline is valid? [True, True] Translation: X:353.19, Y:-15.81, Z:-6.19 [[ 9.99443696e-01 3.33408834e-02 8.26802616e-04 3.53188641e+02] [-3.33408696e-02 9.99444038e-01 -3.04842509e-05 -1.58146953e+01] [-8.27359317e-04 2.90097428e-06 9.99999658e-01 -6.18955214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944391418 meters 0.016056979851545684 Centerline is valid? [True, True] Translation: X:353.22, Y:-15.82, Z:-6.19 [[ 9.99395764e-01 3.47312512e-02 1.35873323e-03 3.53217364e+02] [-3.47312189e-02 9.99396688e-01 -4.73774930e-05 -1.58182010e+01] [-1.35955897e-03 1.58404710e-07 9.99999076e-01 -6.18881585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974391418 meters 0.016008897203549536 Centerline is valid? [True, True] Translation: X:353.25, Y:-15.82, Z:-6.19 [[ 9.99374472e-01 3.53316406e-02 1.52990040e-03 3.53245487e+02] [-3.53315998e-02 9.99375643e-01 -5.36739318e-05 -1.58197245e+01] [-1.53084158e-03 -4.13471319e-07 9.99998828e-01 -6.18887685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004391418 meters 0.016038603546491063 Centerline is valid? [True, True] Translation: X:353.27, Y:-15.82, Z:-6.19 [[ 9.99268975e-01 3.82015606e-02 1.46813381e-03 3.53274265e+02] [-3.82015272e-02 9.99270054e-01 -5.08026364e-05 -1.58213905e+01] [-1.46900289e-03 -5.31945516e-06 9.99998921e-01 -6.18861180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034391418 meters 0.01629011458251059 Centerline is valid? [True, True] Translation: X:353.30, Y:-15.82, Z:-6.19 [[ 9.99222931e-01 3.93858561e-02 1.51275286e-03 3.53302799e+02] [-3.93858222e-02 9.99224076e-01 -5.21868132e-05 -1.58226243e+01] [-1.51363450e-03 -7.43475462e-06 9.99998854e-01 -6.18922143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064391418 meters 0.016481383129443833 Centerline is valid? [True, True] Translation: X:353.33, Y:-15.82, Z:-6.19 [[ 9.99155871e-01 4.10441006e-02 1.71109035e-03 3.53331059e+02] [-4.10440597e-02 9.99157336e-01 -5.90158563e-05 -1.58234444e+01] [-1.71207073e-03 -1.12640552e-05 9.99998534e-01 -6.18937954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094391418 meters 0.016664885468432877 Centerline is valid? [True, True] Translation: X:353.36, Y:-15.82, Z:-6.19 [[ 9.99098847e-01 4.24102306e-02 1.69304842e-03 3.53359898e+02] [-4.24101933e-02 9.99100281e-01 -5.79579598e-05 -1.58248923e+01] [-1.69398316e-03 -1.38967800e-05 9.99998565e-01 -6.18944628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124391418 meters 0.017384275371745056 Centerline is valid? [True, True] Translation: X:353.39, Y:-15.83, Z:-6.19 [[ 9.98986480e-01 4.50054878e-02 7.19918456e-04 3.53387586e+02] [-4.50054809e-02 9.98986740e-01 -2.57036240e-05 -1.58266176e+01] [-7.20345796e-04 -6.72270348e-06 9.99999741e-01 -6.19073155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154391418 meters 0.01769521454822576 Centerline is valid? [True, True] Translation: X:353.42, Y:-15.83, Z:-6.19 [[ 9.98910548e-01 4.66631854e-02 5.14432689e-04 3.53416168e+02] [-4.66631804e-02 9.98910680e-01 -2.18030030e-05 -1.58274445e+01] [-5.14889705e-04 -2.22581566e-06 9.99999867e-01 -6.19096147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184391418 meters 0.019149525117540072 Centerline is valid? [True, True] Translation: X:353.44, Y:-15.83, Z:-6.19 [[ 9.98731568e-01 5.03427288e-02 9.29897926e-04 3.53444140e+02] [-5.03427198e-02 9.98732001e-01 -3.31495026e-05 -1.58259638e+01] [-9.30387653e-04 -1.37061360e-05 9.99999567e-01 -6.19063333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214391418 meters 0.019148511043098674 Centerline is valid? [True, True] Translation: X:353.47, Y:-15.83, Z:-6.19 [[ 9.98642083e-01 5.20814358e-02 1.23071078e-03 3.53473107e+02] [-5.20814198e-02 9.98642841e-01 -4.50474689e-05 -1.58269111e+01] [-1.23138665e-03 -1.91108666e-05 9.99999242e-01 -6.18950563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244391418 meters 0.019565052272523354 Centerline is valid? [True, True] Translation: X:353.50, Y:-15.83, Z:-6.19 [[ 9.98514647e-01 5.44701406e-02 1.22591059e-03 3.53501450e+02] [-5.44701295e-02 9.98515400e-01 -4.24767630e-05 -1.58271513e+01] [-1.22640432e-03 -2.43618384e-05 9.99999248e-01 -6.18864264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274391418 meters 0.020894589150802088 Centerline is valid? [True, True] Translation: X:353.53, Y:-15.83, Z:-6.19 [[ 9.98340157e-01 5.75550639e-02 2.08476257e-03 3.53529013e+02] [-5.75550446e-02 9.98342332e-01 -6.92879672e-05 -1.58266700e+01] [-2.08529460e-03 -5.08156430e-05 9.99997824e-01 -6.18864027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.304391418 meters 0.021586692063146364 Centerline is valid? [True, True] Translation: X:353.56, Y:-15.83, Z:-6.19 [[ 9.98275685e-01 5.86504390e-02 2.40453791e-03 3.53557490e+02] [-5.86504113e-02 9.98278580e-01 -8.20886643e-05 -1.58270829e+01] [-2.40521322e-03 -5.90800197e-05 9.99997106e-01 -6.18906482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334391418 meters 0.022603825127441173 Centerline is valid? [True, True] Translation: X:353.59, Y:-15.83, Z:-6.19 [[ 9.98120054e-01 6.12390339e-02 2.47767654e-03 3.53585985e+02] [-6.12390144e-02 9.98123127e-01 -8.37744128e-05 -1.58269323e+01] [-2.47815652e-03 -6.81135480e-05 9.99996927e-01 -6.18892971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.364391418 meters 0.023273991220142697 Centerline is valid? [True, True] Translation: X:353.61, Y:-15.83, Z:-6.19 [[ 9.98080001e-01 6.18887134e-02 2.46970763e-03 3.53614381e+02] [-6.18886978e-02 9.98083054e-01 -8.28242074e-05 -1.58269555e+01] [-2.47009922e-03 -7.01818043e-05 9.99996947e-01 -6.18943958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394391418 meters 0.02370961854292194 Centerline is valid? [True, True] Translation: X:353.64, Y:-15.83, Z:-6.19 [[ 9.98079394e-01 6.18951250e-02 2.55289265e-03 3.53642004e+02] [-6.18951090e-02 9.98082656e-01 -8.53286474e-05 -1.58276245e+01] [-2.55327930e-03 -7.28468041e-05 9.99996738e-01 -6.18998153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters 0.02370961854292194 Centerline is valid? [True, True] Translation: X:353.67, Y:-15.83, Z:-6.19 [[ 9.98097994e-01 6.15944532e-02 2.55291753e-03 3.53669363e+02] [-6.15944382e-02 9.98101256e-01 -8.45558634e-05 -1.58283322e+01] [-2.55327837e-03 -7.28504837e-05 9.99996738e-01 -6.19047724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454391418 meters 0.0238811236584094 Centerline is valid? [True, True] Translation: X:353.70, Y:-15.83, Z:-6.19 [[ 9.98131583e-01 6.10686919e-02 1.98946019e-03 3.53697503e+02] [-6.10686807e-02 9.98133564e-01 -6.64616939e-05 -1.58300408e+01] [-1.98980572e-03 -5.51561936e-05 9.99998019e-01 -6.19133249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters 0.023633523230397108 Centerline is valid? [True, True] Translation: X:353.73, Y:-15.83, Z:-6.19 [[ 9.98204898e-01 5.98392067e-02 2.50011898e-03 3.53725751e+02] [-5.98391920e-02 9.98208027e-01 -8.07665572e-05 -1.58337379e+01] [-2.50047184e-03 -6.89835267e-05 9.99996871e-01 -6.19168830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514391418 meters 0.023732438747043574 Centerline is valid? [True, True] Translation: X:353.75, Y:-15.84, Z:-6.19 [[ 9.98246632e-01 5.91357846e-02 2.57322084e-03 3.53754943e+02] [-5.91357695e-02 9.98249946e-01 -8.20085232e-05 -1.58353989e+01] [-2.57356720e-03 -7.03046624e-05 9.99996686e-01 -6.19204896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters 0.02370576615659938 Centerline is valid? [True, True] Translation: X:353.78, Y:-15.84, Z:-6.19 [[ 9.98287044e-01 5.83866632e-02 3.73828287e-03 3.53783164e+02] [-5.83866456e-02 9.98294038e-01 -1.13919131e-04 -1.58383097e+01] [-3.73855686e-03 -1.04541804e-04 9.99993006e-01 -6.19137788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574391418 meters 0.02349221056850443 Centerline is valid? [True, True] Translation: X:353.81, Y:-15.84, Z:-6.19 [[ 9.98328271e-01 5.76394981e-02 4.28380267e-03 3.53812345e+02] [-5.76394704e-02 9.98337455e-01 -1.30030230e-04 -1.58404643e+01] [-4.28417553e-03 -1.17103263e-04 9.99990816e-01 -6.19160882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters 0.023389822379079887 Centerline is valid? [True, True] Translation: X:353.84, Y:-15.84, Z:-6.19 [[ 9.98396940e-01 5.64535185e-02 4.06834431e-03 3.53840709e+02] [-5.64534847e-02 9.98405223e-01 -1.23252595e-04 -1.58424032e+01] [-4.06881425e-03 -1.06617200e-04 9.99991717e-01 -6.19240444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634391418 meters 0.022418026715783104 Centerline is valid? [True, True] Translation: X:353.87, Y:-15.85, Z:-6.19 [[ 9.98515935e-01 5.43365190e-02 3.67011091e-03 3.53869304e+02] [-5.43364776e-02 9.98522676e-01 -1.11049674e-04 -1.58463572e+01] [-3.67072302e-03 -8.85360302e-05 9.99993259e-01 -6.19308383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters 0.019933079778435694 Centerline is valid? [True, True] Translation: X:353.90, Y:-15.85, Z:-6.19 [[ 9.98607006e-01 5.26362159e-02 3.67096108e-03 3.53897428e+02] [-5.26361535e-02 9.98613750e-01 -1.13665061e-04 -1.58521616e+01] [-3.67185511e-03 -7.97185445e-05 9.99993256e-01 -6.19193058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694391418 meters 0.019529275162419812 Centerline is valid? [True, True] Translation: X:353.93, Y:-15.86, Z:-6.19 [[ 9.98695998e-01 5.09370124e-02 3.42397752e-03 3.53926410e+02] [-5.09369503e-02 9.98701865e-01 -1.05403718e-04 -1.58551780e+01] [-3.42490169e-03 -6.91407017e-05 9.99994133e-01 -6.19311944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters 0.018924976501509136 Centerline is valid? [True, True] Translation: X:353.96, Y:-15.86, Z:-6.19 [[ 9.98797099e-01 4.88903679e-02 3.75328393e-03 3.53955064e+02] [-4.88902947e-02 9.98804148e-01 -1.11307006e-04 -1.58592994e+01] [-3.75423740e-03 -7.23260427e-05 9.99992950e-01 -6.19419236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754391418 meters 0.018704886650663232 Centerline is valid? [True, True] Translation: X:353.98, Y:-15.86, Z:-6.19 [[ 9.98839834e-01 4.79584510e-02 4.35570940e-03 3.53983912e+02] [-4.79583460e-02 9.98849328e-01 -1.28612165e-04 -1.58612277e+01] [-4.35686545e-03 -8.04296642e-05 9.99990506e-01 -6.19433844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters 0.01855290683648498 Centerline is valid? [True, True] Translation: X:354.01, Y:-15.86, Z:-6.19 [[ 9.98876788e-01 4.69937818e-02 6.06195943e-03 3.54011917e+02] [-4.69935653e-02 9.98895176e-01 -1.78215328e-04 -1.58633367e+01] [-6.06363705e-03 -1.06857932e-04 9.99981610e-01 -6.19355302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814391418 meters 0.01852794541726796 Centerline is valid? [True, True] Translation: X:354.04, Y:-15.86, Z:-6.19 [[ 9.98897211e-01 4.63931484e-02 7.21376422e-03 3.54039760e+02] [-4.63928335e-02 9.98923251e-01 -2.11068375e-04 -1.58647784e+01] [-7.21578893e-03 -1.23831351e-04 9.99973958e-01 -6.19368869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844391418 meters 0.01954095906558971 Centerline is valid? [True, True] Translation: X:354.07, Y:-15.86, Z:-6.20 [[ 9.98945882e-01 4.52564736e-02 7.67960609e-03 3.54067117e+02] [-4.52560859e-02 9.98975393e-01 -2.24333971e-04 -1.58641038e+01] [-7.68189008e-03 -1.23451417e-04 9.99970486e-01 -6.19525400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874391418 meters 0.017748941087328912 Centerline is valid? [True, True] Translation: X:354.10, Y:-15.87, Z:-6.19 [[ 9.98994487e-01 4.39808486e-02 8.70052512e-03 3.54095488e+02] [-4.39803211e-02 9.99032366e-01 -2.52042735e-04 -1.58699596e+01] [-8.70319125e-03 -1.30862585e-04 9.99962118e-01 -6.19405792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904391418 meters 0.01778138313322265 Centerline is valid? [True, True] Translation: X:354.12, Y:-15.87, Z:-6.20 [[ 9.99025315e-01 4.32973260e-02 8.58847785e-03 3.54123989e+02] [-4.32967920e-02 9.99062223e-01 -2.48184136e-04 -1.58717915e+01] [-8.59116948e-03 -1.23911304e-04 9.99963088e-01 -6.19514182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934391418 meters 0.019298931977368153 Centerline is valid? [True, True] Translation: X:354.15, Y:-15.87, Z:-6.20 [[ 9.99028741e-01 4.31561806e-02 8.89483551e-03 3.54151199e+02] [-4.31555992e-02 9.99068330e-01 -2.57371886e-04 -1.58706632e+01] [-8.89765565e-03 -1.26740045e-04 9.99960407e-01 -6.19750175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964391418 meters 0.019849414037262314 Centerline is valid? [True, True] Translation: X:354.18, Y:-15.87, Z:-6.20 [[ 9.98985461e-01 4.40621229e-02 9.30474846e-03 3.54179057e+02] [-4.40615518e-02 9.99028783e-01 -2.66471650e-04 -1.58712142e+01] [-9.30745283e-03 -1.43780352e-04 9.99956674e-01 -6.19815370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994391418 meters 0.018801611797854032 Centerline is valid? [True, True] Translation: X:354.21, Y:-15.87, Z:-6.20 [[ 9.98953437e-01 4.46967887e-02 9.70706459e-03 3.54207688e+02] [-4.46962062e-02 9.99000587e-01 -2.77045912e-04 -1.58737465e+01] [-9.70974629e-03 -1.57112995e-04 9.99952847e-01 -6.19709224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024391418 meters 0.01685448799227079 Centerline is valid? [True, True] Translation: X:354.24, Y:-15.88, Z:-6.20 [[ 9.98879349e-01 4.60330172e-02 1.10003003e-02 3.54236116e+02] [-4.60323597e-02 9.98939900e-01 -3.13089123e-04 -1.58779135e+01] [-1.10030514e-02 -1.93631522e-04 9.99939446e-01 -6.19558025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.054391418 meters 0.017198222232026668 Centerline is valid? [True, True] Translation: X:354.26, Y:-15.88, Z:-6.20 [[ 9.98863896e-01 4.61519086e-02 1.18709424e-02 3.54263032e+02] [-4.61511599e-02 9.98934411e-01 -3.37150585e-04 -1.58782948e+01] [-1.18738530e-02 -2.11090216e-04 9.99929481e-01 -6.19680369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084391418 meters 0.016560241597488756 Centerline is valid? [True, True] Translation: X:354.29, Y:-15.88, Z:-6.20 [[ 9.98860590e-01 4.60577095e-02 1.24983682e-02 3.54290710e+02] [-4.60568971e-02 9.98938756e-01 -3.52974323e-04 -1.58807197e+01] [-1.25013616e-02 -2.23063918e-04 9.99921830e-01 -6.19701432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.114391418 meters 0.017010618535059658 Centerline is valid? [True, True] Translation: X:354.32, Y:-15.88, Z:-6.20 [[ 9.98858232e-01 4.59359796e-02 1.31193786e-02 3.54318055e+02] [-4.59350957e-02 9.98944358e-01 -3.68859948e-04 -1.58806249e+01] [-1.31224732e-02 -2.34201116e-04 9.99913869e-01 -6.19758818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144391418 meters 0.016757950175360914 Centerline is valid? [True, True] Translation: X:354.35, Y:-15.88, Z:-6.20 [[ 9.98881414e-01 4.49484763e-02 1.46818059e-02 3.54346424e+02] [-4.49473014e-02 9.98989275e-01 -4.10147219e-04 -1.58819111e+01] [-1.46854021e-02 -2.50219122e-04 9.99892132e-01 -6.19736619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17439141799997 meters 0.016476854603860166 Centerline is valid? [True, True] Translation: X:354.37, Y:-15.88, Z:-6.20 [[ 9.98902837e-01 4.41130628e-02 1.57213288e-02 3.54373766e+02] [-4.41116332e-02 9.99026512e-01 -4.37860228e-04 -1.58829082e+01] [-1.57253396e-02 -2.56113665e-04 9.99876316e-01 -6.19733055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204391418 meters 0.016158709172853218 Centerline is valid? [True, True] Translation: X:354.40, Y:-15.88, Z:-6.20 [[ 9.98940221e-01 4.31199179e-02 1.60967945e-02 3.54402801e+02] [-4.31183176e-02 9.99069873e-01 -4.46623341e-04 -1.58841983e+01] [-1.61010808e-02 -2.47916679e-04 9.99870338e-01 -6.19764584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234391418 meters 0.01572415451677339 Centerline is valid? [True, True] Translation: X:354.43, Y:-15.88, Z:-6.20 [[ 9.98999415e-01 4.17585825e-02 1.60121654e-02 3.54432080e+02] [-4.17568451e-02 9.99127704e-01 -4.42963472e-04 -1.58848229e+01] [-1.60166956e-02 -2.26097261e-04 9.99871699e-01 -6.19831226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264391418 meters 0.015893614412662408 Centerline is valid? [True, True] Translation: X:354.46, Y:-15.88, Z:-6.20 [[ 9.99022982e-01 4.12526959e-02 1.58523430e-02 3.54458676e+02] [-4.12509399e-02 9.99148722e-01 -4.37876080e-04 -1.58845169e+01] [-1.58569118e-02 -2.16475781e-04 9.99874248e-01 -6.19949111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294391418 meters 0.015700285304299205 Centerline is valid? [True, True] Translation: X:354.49, Y:-15.88, Z:-6.20 [[ 9.99044750e-01 4.08200794e-02 1.55983330e-02 3.54486938e+02] [-4.08183740e-02 9.99166491e-01 -4.27815517e-04 -1.58840311e+01] [-1.56027951e-02 -2.09291745e-04 9.99878247e-01 -6.20102578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324391418 meters 0.01577892210300273 Centerline is valid? [True, True] Translation: X:354.51, Y:-15.88, Z:-6.20 [[ 9.99048951e-01 4.07104717e-02 1.56157437e-02 3.54514317e+02] [-4.07087755e-02 9.99170963e-01 -4.26608587e-04 -1.58835935e+01] [-1.56201652e-02 -2.09494944e-04 9.99877976e-01 -6.20196416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354391418 meters 0.015754283072679467 Centerline is valid? [True, True] Translation: X:354.54, Y:-15.88, Z:-6.20 [[ 9.99062408e-01 4.05071927e-02 1.52798182e-02 3.54542494e+02] [-4.05055897e-02 9.99179226e-01 -4.14503531e-04 -1.58828641e+01] [-1.52840673e-02 -2.04803151e-04 9.99883171e-01 -6.20259459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384391418 meters 0.015631691650073592 Centerline is valid? [True, True] Translation: X:354.57, Y:-15.88, Z:-6.20 [[ 9.99072640e-01 4.00630904e-02 1.57736889e-02 3.54570199e+02] [-4.00613573e-02 9.99197131e-01 -4.25961737e-04 -1.58809334e+01] [-1.57780901e-02 -2.06348672e-04 9.99875497e-01 -6.20224541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414391418 meters 0.01552349656121537 Centerline is valid? [True, True] Translation: X:354.60, Y:-15.88, Z:-6.20 [[ 9.99090938e-01 3.95223917e-02 1.59774124e-02 3.54599409e+02] [-3.95205699e-02 9.99218665e-01 -4.29870053e-04 -1.58804141e+01] [-1.59819182e-02 -2.01957168e-04 9.99872261e-01 -6.20250848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444391418 meters 0.015228848392409467 Centerline is valid? [True, True] Translation: X:354.63, Y:-15.88, Z:-6.20 [[ 9.99114061e-01 3.87456174e-02 1.64277395e-02 3.54628536e+02] [-3.87436076e-02 9.99249087e-01 -4.40701515e-04 -1.58802918e+01] [-1.64324789e-02 -1.96158811e-04 9.99864958e-01 -6.20239856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474391418 meters 0.01410218981548497 Centerline is valid? [True, True] Translation: X:354.66, Y:-15.88, Z:-6.20 [[ 9.99173575e-01 3.70085635e-02 1.68087160e-02 3.54657741e+02] [-3.70062353e-02 9.99314934e-01 -4.49633990e-04 -1.58817667e+01] [-1.68138413e-02 -1.72764900e-04 9.99858622e-01 -6.20228403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504391418 meters 0.014548910324405624 Centerline is valid? [True, True] Translation: X:354.68, Y:-15.88, Z:-6.20 [[ 9.99188396e-01 3.66268112e-02 1.67638512e-02 3.54684927e+02] [-3.66244634e-02 9.99328999e-01 -4.47136711e-04 -1.58794875e+01] [-1.67689798e-02 -1.67193241e-04 9.99859377e-01 -6.20301744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534391418 meters 0.013793917369785446 Centerline is valid? [True, True] Translation: X:354.71, Y:-15.88, Z:-6.20 [[ 9.99211446e-01 3.60524108e-02 1.66346131e-02 3.54713678e+02] [-3.60500599e-02 9.99349888e-01 -4.41261368e-04 -1.58787245e+01] [-1.66397073e-02 -1.58765389e-04 9.99861538e-01 -6.20293763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564391418 meters 0.014375178252850517 Centerline is valid? [True, True] Translation: X:354.74, Y:-15.87, Z:-6.20 [[ 9.99208752e-01 3.59364294e-02 1.70424030e-02 3.54740455e+02] [-3.59339681e-02 9.99354065e-01 -4.50721020e-04 -1.58748498e+01] [-1.70475920e-02 -1.62036778e-04 9.99854666e-01 -6.20336840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594391418 meters 0.013791044876889832 Centerline is valid? [True, True] Translation: X:354.77, Y:-15.88, Z:-6.20 [[ 9.99230392e-01 3.53471332e-02 1.70060184e-02 3.54768853e+02] [-3.53446518e-02 9.99375083e-01 -4.46537696e-04 -1.58752264e+01] [-1.70111749e-02 -1.54877763e-04 9.99855287e-01 -6.20349955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624391418 meters 0.013725009837784359 Centerline is valid? [True, True] Translation: X:354.80, Y:-15.87, Z:-6.20 [[ 9.99247156e-01 3.48180186e-02 1.71121966e-02 3.54797248e+02] [-3.48154513e-02 9.99393658e-01 -4.48003251e-04 -1.58743153e+01] [-1.71174193e-02 -1.48102873e-04 9.99853475e-01 -6.20357537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654391418 meters 0.01355886688487355 Centerline is valid? [True, True] Translation: X:354.82, Y:-15.87, Z:-6.20 [[ 9.99250504e-01 3.48249627e-02 1.69012328e-02 3.54824848e+02] [-3.48224936e-02 9.99393416e-01 -4.40453064e-04 -1.58706824e+01] [-1.69063195e-02 -1.48420124e-04 9.99857067e-01 -6.20465409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684391418 meters 0.013406516752193292 Centerline is valid? [True, True] Translation: X:354.85, Y:-15.87, Z:-6.21 [[ 9.99266762e-01 3.43752372e-02 1.68606687e-02 3.54853058e+02] [-3.43727507e-02 9.99408987e-01 -4.37331359e-04 -1.58693775e+01] [-1.68657372e-02 -1.42536871e-04 9.99857753e-01 -6.20557387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714391418 meters 0.013528419987943753 Centerline is valid? [True, True] Translation: X:354.88, Y:-15.87, Z:-6.21 [[ 9.99298832e-01 3.36312241e-02 1.64555517e-02 3.54879580e+02] [-3.36287865e-02 9.99434302e-01 -4.24893956e-04 -1.58676870e+01] [-1.64605326e-02 -1.28784203e-04 9.99864508e-01 -6.20623384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744391418 meters 0.01337978062928513 Centerline is valid? [True, True] Translation: X:354.91, Y:-15.87, Z:-6.21 [[ 9.99323682e-01 3.31087034e-02 1.59997494e-02 3.54907172e+02] [-3.31063685e-02 9.99451750e-01 -4.10846056e-04 -1.58659125e+01] [-1.60045801e-02 -1.19125405e-04 9.99871911e-01 -6.20682605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774391418 meters 0.01308560083604456 Centerline is valid? [True, True] Translation: X:354.94, Y:-15.86, Z:-6.21 [[ 9.99382550e-01 3.11841082e-02 1.61885583e-02 3.54936135e+02] [-3.11814922e-02 9.99513653e-01 -4.14042457e-04 -1.58636828e+01] [-1.61935966e-02 -9.09965961e-05 9.99868871e-01 -6.20688547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.804391418 meters 0.012852834093072075 Centerline is valid? [True, True] Translation: X:354.97, Y:-15.86, Z:-6.21 [[ 9.99413423e-01 3.01415493e-02 1.62572266e-02 3.54965303e+02] [-3.01387943e-02 9.99545637e-01 -4.14494576e-04 -1.58635928e+01] [-1.62623335e-02 -7.57217659e-05 9.99867757e-01 -6.20730811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834391418 meters 0.012712038483478827 Centerline is valid? [True, True] Translation: X:354.99, Y:-15.86, Z:-6.21 [[ 9.99462326e-01 2.80284786e-02 1.70136201e-02 3.54994457e+02] [-2.80251801e-02 9.99607124e-01 -4.32313421e-04 -1.58622860e+01] [-1.70190530e-02 -4.47287894e-05 9.99855164e-01 -6.20739451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.864391418 meters 0.012755997344047828 Centerline is valid? [True, True] Translation: X:355.02, Y:-15.86, Z:-6.21 [[ 9.99493954e-01 2.67452374e-02 1.72200185e-02 3.55022302e+02] [-2.67416920e-02 9.99642282e-01 -4.36160728e-04 -1.58616269e+01] [-1.72255238e-02 -2.45524200e-05 9.99851629e-01 -6.20760754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894391418 meters 0.012712256363353927 Centerline is valid? [True, True] Translation: X:355.05, Y:-15.86, Z:-6.21 [[ 9.99568789e-01 2.43884200e-02 1.63536504e-02 3.55050475e+02] [-2.43849385e-02 9.99702558e-01 -4.12285347e-04 -1.58590918e+01] [-1.63588412e-02 1.33248040e-05 9.99866185e-01 -6.20818410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters 0.012801015229334748 Centerline is valid? [True, True] Translation: X:355.08, Y:-15.86, Z:-6.21 [[ 9.99587549e-01 2.38568527e-02 1.59869279e-02 3.55078041e+02] [-2.38534830e-02 9.99715385e-01 -4.01455745e-04 -1.58576573e+01] [-1.59919553e-02 1.99462508e-05 9.99872120e-01 -6.20920106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954391418 meters 0.012755992402612479 Centerline is valid? [True, True] Translation: X:355.11, Y:-15.86, Z:-6.21 [[ 9.99607552e-01 2.35421214e-02 1.51825488e-02 3.55106443e+02] [-2.35390684e-02 9.99722846e-01 -3.79783248e-04 -1.58563486e+01] [-1.51872818e-02 2.22511479e-05 9.99884666e-01 -6.21074422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters 0.012700295362168787 Centerline is valid? [True, True] Translation: X:355.13, Y:-15.85, Z:-6.21 [[ 9.99642602e-01 2.27050210e-02 1.41120724e-02 3.55134957e+02] [-2.27023140e-02 9.99742207e-01 -3.52005946e-04 -1.58526953e+01] [-1.41164267e-02 3.15034416e-05 9.99900358e-01 -6.21263369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014391418 meters 0.012690919247255648 Centerline is valid? [True, True] Translation: X:355.16, Y:-15.85, Z:-6.21 [[ 9.99637605e-01 2.28032727e-02 1.43063064e-02 3.55163870e+02] [-2.28005177e-02 9.99739971e-01 -3.55665583e-04 -1.58506809e+01] [-1.43106967e-02 2.93454979e-05 9.99897596e-01 -6.21306352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters 0.012672635366191001 Centerline is valid? [True, True] Translation: X:355.19, Y:-15.85, Z:-6.21 [[ 9.99628710e-01 2.34232718e-02 1.39209357e-02 3.55192002e+02] [-2.34207374e-02 9.99725637e-01 -3.45081082e-04 -1.58477765e+01] [-1.39251992e-02 1.89143782e-05 9.99903040e-01 -6.21354924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074391418 meters 0.01267914612344107 Centerline is valid? [True, True] Translation: X:355.22, Y:-15.84, Z:-6.21 [[ 9.99588375e-01 2.52450096e-02 1.36297318e-02 3.55221141e+02] [-2.52427686e-02 9.99681294e-01 -3.36451728e-04 -1.58405396e+01] [-1.36338817e-02 -7.73893060e-06 9.99907054e-01 -6.21380210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters 0.01267109043027254 Centerline is valid? [True, True] Translation: X:355.25, Y:-15.84, Z:-6.21 [[ 9.99565352e-01 2.61546332e-02 1.36029974e-02 3.55249549e+02] [-2.61524977e-02 9.99657909e-01 -3.34880049e-04 -1.58371151e+01] [-1.36071026e-02 -2.10178641e-05 9.99907419e-01 -6.21461513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134391418 meters 0.012731770419504155 Centerline is valid? [True, True] Translation: X:355.28, Y:-15.83, Z:-6.22 [[ 9.99508268e-01 2.82355577e-02 1.36372597e-02 3.55277000e+02] [-2.82336275e-02 9.99601296e-01 -3.34082030e-04 -1.58297720e+01] [-1.36412554e-02 -5.11115576e-05 9.99906952e-01 -6.21574395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters 0.012918509418360733 Centerline is valid? [True, True] Translation: X:355.31, Y:-15.83, Z:-6.22 [[ 9.99470533e-01 2.95122771e-02 1.36996144e-02 3.55305765e+02] [-2.95104737e-02 9.99564415e-01 -3.33813165e-04 -1.58262579e+01] [-1.37034987e-02 -7.06456896e-05 9.99906100e-01 -6.21644530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194391418 meters 0.013181706985703976 Centerline is valid? [True, True] Translation: X:355.33, Y:-15.82, Z:-6.22 [[ 9.99428987e-01 3.09843998e-02 1.34783924e-02 3.55333628e+02] [-3.09828012e-02 9.99519864e-01 -3.27446511e-04 -1.58218130e+01] [-1.34820667e-02 -9.03388183e-05 9.99909109e-01 -6.21738375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters 0.013575170884034293 Centerline is valid? [True, True] Translation: X:355.36, Y:-15.82, Z:-6.22 [[ 9.99388089e-01 3.22493376e-02 1.35435847e-02 3.55362858e+02] [-3.22478595e-02 9.99479849e-01 -3.27567847e-04 -1.58176584e+01] [-1.35471038e-02 -1.09384211e-04 9.99908228e-01 -6.21787123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254391418 meters 0.01392069239321853 Centerline is valid? [True, True] Translation: X:355.39, Y:-15.81, Z:-6.22 [[ 9.99291793e-01 3.50494679e-02 1.36911184e-02 3.55391739e+02] [-3.50482347e-02 9.99385567e-01 -3.30077312e-04 -1.58097654e+01] [-1.36942752e-02 -1.50005983e-04 9.99906218e-01 -6.21801641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters 0.01418670811458751 Centerline is valid? [True, True] Translation: X:355.42, Y:-15.81, Z:-6.22 [[ 9.99246948e-01 3.62272873e-02 1.38967879e-02 3.55420291e+02] [-3.62261463e-02 9.99343562e-01 -3.33898507e-04 -1.58058603e+01] [-1.38997617e-02 -1.69780008e-04 9.99903379e-01 -6.21870810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314391418 meters 0.014550196033401961 Centerline is valid? [True, True] Translation: X:355.45, Y:-15.80, Z:-6.22 [[ 9.99205663e-01 3.74671493e-02 1.35740784e-02 3.55448693e+02] [-3.74661853e-02 9.99297843e-01 -3.25394437e-04 -1.57987471e+01] [-1.35767389e-02 -1.83432973e-04 9.99907815e-01 -6.21992424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344391418 meters 0.014550196033401961 Centerline is valid? [True, True] Translation: X:355.48, Y:-15.80, Z:-6.22 [[ 9.99210072e-01 3.73493563e-02 1.35741282e-02 3.55476123e+02] [-3.73484098e-02 9.99302252e-01 -3.23301551e-04 -1.57992855e+01] [-1.35767320e-02 -1.83925938e-04 9.99907815e-01 -6.22042016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374391418 meters 0.014383168681002036 Centerline is valid? [True, True] Translation: X:355.50, Y:-15.80, Z:-6.22 [[ 9.99208254e-01 3.73712055e-02 1.36476737e-02 3.55503674e+02] [-3.73702729e-02 9.99301435e-01 -3.23440854e-04 -1.57970768e+01] [-1.36502273e-02 -1.86832520e-04 9.99906814e-01 -6.22117528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404391418 meters 0.014422318738770805 Centerline is valid? [True, True] Translation: X:355.53, Y:-15.79, Z:-6.22 [[ 9.99197864e-01 3.75825090e-02 1.38269460e-02 3.55532383e+02] [-3.75815976e-02 9.99293509e-01 -3.25836148e-04 -1.57945971e+01] [-1.38294231e-02 -1.94063935e-04 9.99904350e-01 -6.22162542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434391418 meters 0.014585872671817816 Centerline is valid? [True, True] Translation: X:355.56, Y:-15.79, Z:-6.22 [[ 9.99191325e-01 3.74617520e-02 1.46052132e-02 3.55559172e+02] [-3.74607376e-02 9.99298041e-01 -3.43125922e-04 -1.57885387e+01] [-1.46078151e-02 -2.04273615e-04 9.99893279e-01 -6.22270275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464391418 meters 0.014226674091908618 Centerline is valid? [True, True] Translation: X:355.59, Y:-15.79, Z:-6.22 [[ 9.99197134e-01 3.72163866e-02 1.48333739e-02 3.55586899e+02] [-3.72153451e-02 9.99307209e-01 -3.46325972e-04 -1.57870665e+01] [-1.48359864e-02 -2.05981210e-04 9.99889919e-01 -6.22332051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494391418 meters 0.014151065278539444 Centerline is valid? [True, True] Translation: X:355.61, Y:-15.78, Z:-6.22 [[ 9.99228069e-01 3.63406571e-02 1.49205292e-02 3.55614962e+02] [-3.63395337e-02 9.99339441e-01 -3.46494421e-04 -1.57849854e+01] [-1.49232651e-02 -1.95978123e-04 9.99888623e-01 -6.22396677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524391418 meters 0.012739606211493852 Centerline is valid? [True, True] Translation: X:355.64, Y:-15.79, Z:-6.22 [[ 9.99399631e-01 3.00569398e-02 1.72324932e-02 3.55643183e+02] [-3.00545416e-02 9.99548181e-01 -3.98184257e-04 -1.57880399e+01] [-1.72366755e-02 -1.19969485e-04 9.99851430e-01 -6.22372677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.554391418 meters 0.012344421412580473 Centerline is valid? [True, True] Translation: X:355.67, Y:-15.79, Z:-6.22 [[ 9.99501705e-01 2.58900072e-02 1.80568212e-02 3.55670720e+02] [-2.58867209e-02 9.99664796e-01 -4.15747991e-04 -1.57907214e+01] [-1.80615322e-02 -5.18910642e-05 9.99836876e-01 -6.22376538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584391418 meters 0.012188446997067956 Centerline is valid? [True, True] Translation: X:355.70, Y:-15.79, Z:-6.22 [[ 9.99599145e-01 2.14899430e-02 1.84318293e-02 3.55698717e+02] [-2.14858044e-02 9.99769064e-01 -4.22556441e-04 -1.57949569e+01] [-1.84366534e-02 2.63643785e-05 9.99830030e-01 -6.22411971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.614391418 meters 0.013657788205131416 Centerline is valid? [True, True] Translation: X:355.73, Y:-15.80, Z:-6.23 [[ 9.99748430e-01 1.32857863e-02 1.80710725e-02 3.55725919e+02] [-1.32805063e-02 9.99911725e-01 -4.12163434e-04 -1.58028012e+01] [-1.80749532e-02 1.72066754e-04 9.99836620e-01 -6.22574368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644391418 meters 0.013861298868799133 Centerline is valid? [True, True] Translation: X:355.76, Y:-15.80, Z:-6.23 [[ 9.99799100e-01 1.05153804e-02 1.70641789e-02 3.55755390e+02] [-1.05102971e-02 9.99944690e-01 -3.87550611e-04 -1.58045084e+01] [-1.70673104e-02 2.08123161e-04 9.99854321e-01 -6.22819601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67439141799997 meters 0.014497442491549927 Centerline is valid? [True, True] Translation: X:355.79, Y:-15.81, Z:-6.23 [[ 9.99839459e-01 8.80290701e-03 1.56065738e-02 3.55785439e+02] [-8.79846007e-03 9.99961230e-01 -3.53579506e-04 -1.58098362e+01] [-1.56090813e-02 2.16208926e-04 9.99878147e-01 -6.23184578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704391418 meters 0.01435336094951454 Centerline is valid? [True, True] Translation: X:355.82, Y:-15.81, Z:-6.23 [[ 9.99823771e-01 9.29758771e-03 1.63089373e-02 3.55816450e+02] [-9.29277109e-03 9.99956752e-01 -3.71095342e-04 -1.58100449e+01] [-1.63116823e-02 2.19474723e-04 9.99866932e-01 -6.23176370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734391418 meters 0.014061938823962991 Centerline is valid? [True, True] Translation: X:355.85, Y:-15.81, Z:-6.23 [[ 9.99802435e-01 1.06268653e-02 1.67976566e-02 3.55846814e+02] [-1.06219392e-02 9.99943512e-01 -3.82455173e-04 -1.58096638e+01] [-1.68007721e-02 2.03955927e-04 9.99858836e-01 -6.23154593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764391418 meters 0.013726298663734442 Centerline is valid? [True, True] Translation: X:355.88, Y:-15.81, Z:-6.23 [[ 9.99765635e-01 1.21400500e-02 1.79246946e-02 3.55877841e+02] [-1.21346485e-02 9.99926288e-01 -4.10080516e-04 -1.58087084e+01] [-1.79283517e-02 1.92474540e-04 9.99839256e-01 -6.23133380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794391418 meters 0.013010192255637126 Centerline is valid? [True, True] Translation: X:355.91, Y:-15.81, Z:-6.23 [[ 9.99674159e-01 1.57896229e-02 2.00565189e-02 3.55908548e+02] [-1.57835865e-02 9.99875326e-01 -4.59244348e-04 -1.58063938e+01] [-2.00612697e-02 1.42530907e-04 9.99798742e-01 -6.23052160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824391418 meters 0.01289563833157038 Centerline is valid? [True, True] Translation: X:355.94, Y:-15.81, Z:-6.23 [[ 9.99646166e-01 1.69862579e-02 2.04697413e-02 3.55937927e+02] [-1.69802228e-02 9.99855716e-01 -4.68611249e-04 -1.58062458e+01] [-2.04747478e-02 1.20864670e-04 9.99790363e-01 -6.23086427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854391418 meters 0.012812124221182136 Centerline is valid? [True, True] Translation: X:355.97, Y:-15.81, Z:-6.23 [[ 9.99618107e-01 1.79237706e-02 2.10327868e-02 3.55966903e+02] [-1.79176241e-02 9.99839351e-01 -4.80662132e-04 -1.58068395e+01] [-2.10380232e-02 1.03621003e-04 9.99778671e-01 -6.23167459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884391418 meters 0.012866813680071459 Centerline is valid? [True, True] Translation: X:356.00, Y:-15.81, Z:-6.23 [[ 9.99584561e-01 1.82655219e-02 2.22952013e-02 3.55995880e+02] [-1.82587247e-02 9.99833166e-01 -5.08417034e-04 -1.58076997e+01] [-2.23007683e-02 1.01123875e-04 9.99751302e-01 -6.23157835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914391418 meters 0.012950879013254826 Centerline is valid? [True, True] Translation: X:356.02, Y:-15.81, Z:-6.23 [[ 9.99582058e-01 1.77478491e-02 2.28193573e-02 3.56024289e+02] [-1.77406340e-02 9.99842488e-01 -5.18603706e-04 -1.58087700e+01] [-2.28249671e-02 1.13557094e-04 9.99739470e-01 -6.23157195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944391418 meters 0.01309474712599831 Centerline is valid? [True, True] Translation: X:356.05, Y:-15.81, Z:-6.23 [[ 9.99598362e-01 1.69956341e-02 2.26773895e-02 3.56053634e+02] [-1.69883497e-02 9.99855556e-01 -5.13845315e-04 -1.58107736e+01] [-2.26828470e-02 1.28387513e-04 9.99742703e-01 -6.23266464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974391418 meters 0.013103674962562694 Centerline is valid? [True, True] Translation: X:356.08, Y:-15.81, Z:-6.23 [[ 9.99601458e-01 1.70400947e-02 2.25068981e-02 3.56083041e+02] [-1.70329499e-02 9.99854799e-01 -5.09127171e-04 -1.58121921e+01] [-2.25123056e-02 1.25565395e-04 9.99746558e-01 -6.23435285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004391418 meters 0.01308816570637333 Centerline is valid? [True, True] Translation: X:356.11, Y:-15.81, Z:-6.24 [[ 9.99599510e-01 1.64828701e-02 2.30029127e-02 3.56113111e+02] [-1.64752806e-02 9.99864138e-01 -5.19424513e-04 -1.58130920e+01] [-2.30083491e-02 1.40237048e-04 9.99735263e-01 -6.23524029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034391418 meters 0.013281365276507225 Centerline is valid? [True, True] Translation: X:356.14, Y:-15.82, Z:-6.24 [[ 9.99595335e-01 1.59981417e-02 2.35207377e-02 3.56142974e+02] [-1.59900927e-02 9.99872010e-01 -5.30257110e-04 -1.58150816e+01] [-2.35262104e-02 1.53943757e-04 9.99723209e-01 -6.23556019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064391418 meters 0.013617306973371764 Centerline is valid? [True, True] Translation: X:356.17, Y:-15.82, Z:-6.24 [[ 9.99609411e-01 1.48674785e-02 2.36639652e-02 3.56172241e+02] [-1.48590257e-02 9.99889457e-01 -5.33008354e-04 -1.58171876e+01] [-2.36692738e-02 1.81176700e-04 9.99719827e-01 -6.23612731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094391418 meters 0.013697131717653596 Centerline is valid? [True, True] Translation: X:356.20, Y:-15.82, Z:-6.24 [[ 9.99620831e-01 1.46468056e-02 2.33166135e-02 3.56202299e+02] [-1.46385449e-02 9.99892713e-01 -5.24935205e-04 -1.58185820e+01] [-2.33218006e-02 1.83414872e-04 9.99727993e-01 -6.23670781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124391418 meters 0.014122969325791232 Centerline is valid? [True, True] Translation: X:356.23, Y:-15.82, Z:-6.24 [[ 9.99654363e-01 1.35396502e-02 2.25351176e-02 3.56232908e+02] [-1.35316432e-02 9.99908314e-01 -5.07769367e-04 -1.58207243e+01] [-2.25399265e-02 2.02656694e-04 9.99745923e-01 -6.23775934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154391418 meters 0.0141817440468236 Centerline is valid? [True, True] Translation: X:356.26, Y:-15.82, Z:-6.24 [[ 9.99663349e-01 1.30738894e-02 2.24112115e-02 3.56264138e+02] [-1.30658416e-02 9.99914510e-01 -5.05496894e-04 -1.58218451e+01] [-2.24159044e-02 2.12505380e-04 9.99748709e-01 -6.23931671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184391418 meters 0.014343309137530196 Centerline is valid? [True, True] Translation: X:356.29, Y:-15.82, Z:-6.24 [[ 9.99660286e-01 1.29811455e-02 2.26009179e-02 3.56294149e+02] [-1.29729189e-02 9.99915718e-01 -5.10582812e-04 -1.58235368e+01] [-2.26056410e-02 2.17209486e-04 9.99744436e-01 -6.24002103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214391418 meters 0.01455007583599862 Centerline is valid? [True, True] Translation: X:356.33, Y:-15.83, Z:-6.24 [[ 9.99681585e-01 1.23191486e-02 2.20219860e-02 3.56325424e+02] [-1.23111665e-02 9.99924091e-01 -4.98002852e-04 -1.58250170e+01] [-2.20264493e-02 2.26727944e-04 9.99757363e-01 -6.24105104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244391418 meters 0.015041717421877748 Centerline is valid? [True, True] Translation: X:356.36, Y:-15.83, Z:-6.24 [[ 9.99700771e-01 1.15510004e-02 2.15625529e-02 3.56356739e+02] [-1.15431516e-02 9.99933256e-01 -4.88433854e-04 -1.58266383e+01] [-2.15667556e-02 2.39387883e-04 9.99767382e-01 -6.24122227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274391418 meters 0.015078975866654602 Centerline is valid? [True, True] Translation: X:356.39, Y:-15.83, Z:-6.24 [[ 9.99706189e-01 1.14734017e-02 2.13517619e-02 3.56388520e+02] [-1.14656706e-02 9.99934150e-01 -4.84473275e-04 -1.58273740e+01] [-2.13559144e-02 2.39518664e-04 9.99771908e-01 -6.24191523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.304391418 meters 0.01520379758192081 Centerline is valid? [True, True] Translation: X:356.42, Y:-15.83, Z:-6.24 [[ 9.99721319e-01 1.16177193e-02 2.05502613e-02 3.56420084e+02] [-1.16105726e-02 9.99932486e-01 -4.67049729e-04 -1.58282346e+01] [-2.05542999e-02 2.28319269e-04 9.99788712e-01 -6.24255709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334391418 meters 0.015472816254400217 Centerline is valid? [True, True] Translation: X:356.45, Y:-15.83, Z:-6.24 [[ 9.99750049e-01 1.16663415e-02 1.90718475e-02 3.56451248e+02] [-1.16601780e-02 9.99931923e-01 -4.34348551e-04 -1.58299025e+01] [-1.90756165e-02 2.11858848e-04 9.99818021e-01 -6.24353798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.364391418 meters 0.015505580119411106 Centerline is valid? [True, True] Translation: X:356.48, Y:-15.83, Z:-6.24 [[ 9.99768182e-01 1.17936539e-02 1.80136560e-02 3.56482229e+02] [-1.17881004e-02 9.99930432e-01 -4.14447695e-04 -1.58302987e+01] [-1.80172906e-02 2.02004833e-04 9.99837655e-01 -6.24443863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394391418 meters 0.015516338766379126 Centerline is valid? [True, True] Translation: X:356.51, Y:-15.83, Z:-6.25 [[ 9.99796066e-01 1.28232542e-02 1.56010074e-02 3.56512722e+02] [-1.28192086e-02 9.99917766e-01 -3.59295743e-04 -1.58308103e+01] [-1.56043318e-02 1.59229902e-04 9.99878232e-01 -6.24631648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters 0.015476683623231572 Centerline is valid? [True, True] Translation: X:356.54, Y:-15.83, Z:-6.25 [[ 9.99805749e-01 1.33424277e-02 1.45066856e-02 3.56542006e+02] [-1.33389587e-02 9.99910976e-01 -3.35867588e-04 -1.58309504e+01] [-1.45098754e-02 1.42298264e-04 9.99894716e-01 -6.24716433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454391418 meters 0.015032298270671122 Centerline is valid? [True, True] Translation: X:356.57, Y:-15.83, Z:-6.25 [[ 9.99797047e-01 1.45465483e-02 1.39377877e-02 3.56571062e+02] [-1.45434676e-02 9.99894186e-01 -3.22373337e-04 -1.58294821e+01] [-1.39410023e-02 1.19604147e-04 9.99902812e-01 -6.24731418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters 0.014826069829115348 Centerline is valid? [True, True] Translation: X:356.60, Y:-15.83, Z:-6.25 [[ 9.99759144e-01 1.79173377e-02 1.26737173e-02 3.56598842e+02] [-1.79150710e-02 9.99839470e-01 -2.92366346e-04 -1.58269586e+01] [-1.26769212e-02 6.52453816e-05 9.99919642e-01 -6.24833078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514391418 meters 0.014515164500313487 Centerline is valid? [True, True] Translation: X:356.63, Y:-15.82, Z:-6.25 [[ 9.99719247e-01 2.03710836e-02 1.21014960e-02 3.56627995e+02] [-2.03692115e-02 9.99792487e-01 -2.77949160e-04 -1.58248510e+01] [-1.21046469e-02 3.13731938e-05 9.99926736e-01 -6.24812489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters 0.014565040976159417 Centerline is valid? [True, True] Translation: X:356.66, Y:-15.82, Z:-6.25 [[ 9.99677733e-01 2.25258808e-02 1.17053186e-02 3.56656099e+02] [-2.25242842e-02 9.99746260e-01 -2.68227123e-04 -1.58233448e+01] [-1.17083906e-02 4.48675870e-06 9.99931454e-01 -6.24872743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574391418 meters 0.014675110736074404 Centerline is valid? [True, True] Translation: X:356.68, Y:-15.82, Z:-6.25 [[ 9.99636632e-01 2.44449407e-02 1.13599471e-02 3.56684365e+02] [-2.44435770e-02 9.99701178e-01 -2.58899609e-04 -1.58220976e+01] [-1.13628813e-02 -1.88722085e-05 9.99935440e-01 -6.25005549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters 0.01498508926621004 Centerline is valid? [True, True] Translation: X:356.71, Y:-15.82, Z:-6.25 [[ 9.99556379e-01 2.80898508e-02 9.89980198e-03 3.56713402e+02] [-2.80890026e-02 9.99605401e-01 -2.24739131e-04 -1.58204129e+01] [-9.90220842e-03 -5.34361320e-05 9.99950971e-01 -6.25046942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634391418 meters 0.015402498450686515 Centerline is valid? [True, True] Translation: X:356.74, Y:-15.82, Z:-6.25 [[ 9.99520380e-01 2.95562599e-02 9.24328705e-03 3.56740650e+02] [-2.95555827e-02 9.99563116e-01 -2.09885663e-04 -1.58193088e+01] [-9.24545225e-03 -6.34057369e-05 9.99957258e-01 -6.25230725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters 0.015473283867501625 Centerline is valid? [True, True] Translation: X:356.77, Y:-15.82, Z:-6.25 [[ 9.99488891e-01 3.08025683e-02 8.55331375e-03 3.56769670e+02] [-3.08020501e-02 9.99525486e-01 -1.92336705e-04 -1.58196487e+01] [-8.55517955e-03 -7.12211996e-05 9.99963401e-01 -6.25244582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694391418 meters 0.016093003817793838 Centerline is valid? [True, True] Translation: X:356.80, Y:-15.82, Z:-6.25 [[ 9.99419502e-01 3.32382793e-02 7.47497656e-03 3.56798755e+02] [-3.32379548e-02 9.99447452e-01 -1.67670329e-04 -1.58186525e+01] [-7.47641935e-03 -8.08799369e-05 9.99972048e-01 -6.25390023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters 0.01638688082209754 Centerline is valid? [True, True] Translation: X:356.83, Y:-15.82, Z:-6.25 [[ 9.99386835e-01 3.43718742e-02 6.67298952e-03 3.56827439e+02] [-3.43716433e-02 9.99409109e-01 -1.49306498e-04 -1.58186073e+01] [-6.67417846e-03 -8.01466678e-05 9.99977724e-01 -6.25485019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754391418 meters 0.016719694668133646 Centerline is valid? [True, True] Translation: X:356.86, Y:-15.82, Z:-6.26 [[ 9.99347381e-01 3.56344330e-02 5.91596848e-03 3.56856062e+02] [-3.56342755e-02 9.99364889e-01 -1.32061167e-04 -1.58185447e+01] [-5.91691710e-03 -7.88362690e-05 9.99982492e-01 -6.25562882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters 0.018508250766850167 Centerline is valid? [True, True] Translation: X:356.88, Y:-15.82, Z:-6.26 [[ 9.99271334e-01 3.77323314e-02 5.75090552e-03 3.56884278e+02] [-3.77322184e-02 9.99287878e-01 -1.28193187e-04 -1.58156139e+01] [-5.75164721e-03 -8.88946466e-05 9.99983455e-01 -6.25764735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814391418 meters 0.01771691089464496 Centerline is valid? [True, True] Translation: X:356.91, Y:-15.82, Z:-6.26 [[ 9.99224219e-01 3.89553613e-02 5.78275171e-03 3.56913519e+02] [-3.89552722e-02 9.99240947e-01 -1.28084889e-04 -1.58175228e+01] [-5.78335189e-03 -9.72831436e-05 9.99983272e-01 -6.25620406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844391418 meters 0.01882573484641562 Centerline is valid? [True, True] Translation: X:356.94, Y:-15.82, Z:-6.26 [[ 9.99044484e-01 4.32807318e-02 6.07434244e-03 3.56941869e+02] [-4.32807152e-02 9.99062942e-01 -1.34240711e-04 -1.58153404e+01] [-6.07446046e-03 -1.28789444e-04 9.99981542e-01 -6.25607974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874391418 meters 0.01978372085807448 Centerline is valid? [True, True] Translation: X:356.97, Y:-15.81, Z:-6.26 [[ 9.98938802e-01 4.56119691e-02 6.38894257e-03 3.56969817e+02] [-4.56120032e-02 9.98959221e-01 -1.40454310e-04 -1.58135685e+01] [-6.38869949e-03 -1.51107208e-04 9.99979581e-01 -6.25664084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904391418 meters 0.02068068974087973 Centerline is valid? [True, True] Translation: X:357.00, Y:-15.81, Z:-6.26 [[ 9.98854594e-01 4.74891527e-02 5.85496915e-03 3.56997273e+02] [-4.74892126e-02 9.98871743e-01 -1.28867559e-04 -1.58116219e+01] [-5.85448304e-03 -1.49327922e-04 9.99982851e-01 -6.25699783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934391418 meters 0.023475949296868203 Centerline is valid? [True, True] Translation: X:357.02, Y:-15.81, Z:-6.26 [[ 9.98787546e-01 4.89157468e-02 5.53967555e-03 3.57024679e+02] [-4.89158281e-02 9.98802897e-01 -1.20882866e-04 -1.58074115e+01] [-5.53895707e-03 -1.50241516e-04 9.99984649e-01 -6.25908291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964391418 meters 0.021920873097330047 Centerline is valid? [True, True] Translation: X:357.05, Y:-15.81, Z:-6.26 [[ 9.98759441e-01 4.95730980e-02 4.69978177e-03 3.57053235e+02] [-4.95731553e-02 9.98770490e-01 -1.04379375e-04 -1.58106987e+01] [-4.69917775e-03 -1.28733126e-04 9.99988951e-01 -6.25888909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994391418 meters 0.02140483687024682 Centerline is valid? [True, True] Translation: X:357.08, Y:-15.81, Z:-6.26 [[ 9.98766751e-01 4.94687868e-02 4.22087315e-03 3.57082229e+02] [-4.94688345e-02 9.98775663e-01 -9.31680637e-05 -1.58126782e+01] [-4.22031429e-03 -1.15748511e-04 9.99991088e-01 -6.25938875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024391418 meters 0.021213480617466696 Centerline is valid? [True, True] Translation: X:357.11, Y:-15.81, Z:-6.26 [[ 9.98805011e-01 4.87326095e-02 3.69892030e-03 3.57110033e+02] [-4.87326404e-02 9.98811856e-01 -8.18238401e-05 -1.58137795e+01] [-3.69851294e-03 -9.85320913e-05 9.99993156e-01 -6.26009670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.054391418 meters 0.022658284944739846 Centerline is valid? [True, True] Translation: X:357.14, Y:-15.81, Z:-6.26 [[ 9.98804269e-01 4.87601331e-02 3.53289831e-03 3.57137667e+02] [-4.87601757e-02 9.98810512e-01 -7.41320951e-05 -1.58125433e+01] [-3.53231066e-03 -9.82212890e-05 9.99993757e-01 -6.26188104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084391418 meters 0.02235988039397003 Centerline is valid? [True, True] Translation: X:357.17, Y:-15.82, Z:-6.26 [[ 9.98877347e-01 4.72527891e-02 3.34959800e-03 3.57165409e+02] [-4.72528199e-02 9.98882959e-01 -6.99859636e-05 -1.58150741e+01] [-3.34916340e-03 -8.83705574e-05 9.99994388e-01 -6.26326738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.114391418 meters 0.021956083081689517 Centerline is valid? [True, True] Translation: X:357.19, Y:-15.82, Z:-6.26 [[ 9.98948358e-01 4.56987806e-02 3.71467217e-03 3.57194264e+02] [-4.56988009e-02 9.98955261e-01 -7.94638595e-05 -1.58177650e+01] [-3.71442271e-03 -9.03757722e-05 9.99993097e-01 -6.26424306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144391418 meters 0.021489997702579942 Centerline is valid? [True, True] Translation: X:357.22, Y:-15.82, Z:-6.26 [[ 9.99060324e-01 4.32041740e-02 3.44492004e-03 3.57221795e+02] [-4.32041870e-02 9.99066261e-01 -7.06959929e-05 -1.58212772e+01] [-3.44475774e-03 -7.82054078e-05 9.99994064e-01 -6.26499169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17439141799997 meters 0.021151128318889482 Centerline is valid? [True, True] Translation: X:357.25, Y:-15.82, Z:-6.26 [[ 9.99056653e-01 4.32915567e-02 3.41265559e-03 3.57250177e+02] [-4.32915625e-02 9.99062478e-01 -7.21835635e-05 -1.58224906e+01] [-3.41258109e-03 -7.56237235e-05 9.99994174e-01 -6.26480908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204391418 meters 0.02269052036418402 Centerline is valid? [True, True] Translation: X:357.28, Y:-15.82, Z:-6.27 [[ 9.98892195e-01 4.69788710e-02 2.71452064e-03 3.57279343e+02] [-4.69788961e-02 9.98895881e-01 -5.45504523e-05 -1.58202426e+01] [-2.71408621e-03 -7.30351621e-05 9.99996314e-01 -6.26568317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234391418 meters 0.02269052036418402 Centerline is valid? [True, True] Translation: X:357.31, Y:-15.82, Z:-6.27 [[ 9.98906099e-01 4.66822997e-02 2.71445142e-03 3.57306682e+02] [-4.66823141e-02 9.98909785e-01 -5.80936783e-05 -1.58206276e+01] [-2.71420403e-03 -6.86867444e-05 9.99996314e-01 -6.26617661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264391418 meters 0.024023110424114154 Centerline is valid? [True, True] Translation: X:357.33, Y:-15.82, Z:-6.27 [[ 9.98844869e-01 4.79728932e-02 2.74405533e-03 3.57334876e+02] [-4.79729238e-02 9.98848635e-01 -5.47187185e-05 -1.58189352e+01] [-2.74352093e-03 -7.69848457e-05 9.99996234e-01 -6.26745891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294391418 meters 0.023390810098287446 Centerline is valid? [True, True] Translation: X:357.36, Y:-15.82, Z:-6.27 [[ 9.98800678e-01 4.89009256e-02 2.43010889e-03 3.57363244e+02] [-4.89009460e-02 9.98803632e-01 -5.10958616e-05 -1.58201221e+01] [-2.42970022e-03 -6.78000425e-05 9.99997046e-01 -6.26671758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324391418 meters 0.023023804194031838 Centerline is valid? [True, True] Translation: X:357.39, Y:-15.82, Z:-6.27 [[ 9.98714319e-01 5.06619763e-02 1.75311387e-03 3.57391603e+02] [-5.06619878e-02 9.98715856e-01 -3.78673985e-05 -1.58215897e+01] [-1.75278106e-03 -5.09975204e-05 9.99998463e-01 -6.26681430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354391418 meters 0.0227285189830154 Centerline is valid? [True, True] Translation: X:357.42, Y:-15.82, Z:-6.27 [[ 9.98678540e-01 5.13744046e-02 1.35841920e-03 3.57420273e+02] [-5.13744111e-02 9.98679463e-01 -3.01693070e-05 -1.58229207e+01] [-1.35817529e-03 -3.96585470e-05 9.99999077e-01 -6.26725342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384391418 meters 0.02361270660614787 Centerline is valid? [True, True] Translation: X:357.45, Y:-15.82, Z:-6.27 [[ 9.98578895e-01 5.32779146e-02 1.28653536e-03 3.57449014e+02] [-5.32779221e-02 9.98579723e-01 -2.84662783e-05 -1.58225239e+01] [-1.28622474e-03 -4.01181057e-05 9.99999172e-01 -6.26787775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414391418 meters 0.024653408642552572 Centerline is valid? [True, True] Translation: X:357.48, Y:-15.82, Z:-6.27 [[ 9.98498135e-01 5.47648090e-02 1.51316758e-03 3.57477072e+02] [-5.47648275e-02 9.98499280e-01 -2.92244915e-05 -1.58214298e+01] [-1.51249721e-03 -5.36877611e-05 9.99998855e-01 -6.26869067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444391418 meters 0.02522136298352739 Centerline is valid? [True, True] Translation: X:357.51, Y:-15.82, Z:-6.27 [[ 9.98430213e-01 5.59836573e-02 1.71457754e-03 3.57505357e+02] [-5.59836836e-02 9.98431683e-01 -3.27060638e-05 -1.58212062e+01] [-1.71371954e-03 -6.33336442e-05 9.99998530e-01 -6.26915893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474391418 meters 0.025476117858410082 Centerline is valid? [True, True] Translation: X:357.53, Y:-15.82, Z:-6.27 [[ 9.98476751e-01 5.51418411e-02 1.88556977e-03 3.57533426e+02] [-5.51418706e-02 9.98478529e-01 -3.63533756e-05 -1.58222242e+01] [-1.88470552e-03 -6.76758441e-05 9.99998222e-01 -6.26989228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504391418 meters 0.025102854043458352 Centerline is valid? [True, True] Translation: X:357.56, Y:-15.82, Z:-6.27 [[ 9.98541706e-01 5.39408776e-02 2.20077663e-03 3.57562601e+02] [-5.39409129e-02 9.98544128e-01 -4.33692701e-05 -1.58245844e+01] [-2.19991196e-03 -7.54058756e-05 9.99997577e-01 -6.27055228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534391418 meters 0.023938150050848876 Centerline is valid? [True, True] Translation: X:357.59, Y:-15.83, Z:-6.27 [[ 9.98665334e-01 5.15485646e-02 3.20885906e-03 3.57591431e+02] [-5.15486447e-02 9.98670483e-01 -5.78068883e-05 -1.58305393e+01] [-3.20757269e-03 -1.07682600e-04 9.99994850e-01 -6.27106378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564391418 meters 0.024182820827008095 Centerline is valid? [True, True] Translation: X:357.62, Y:-15.83, Z:-6.27 [[ 9.98716509e-01 5.05578524e-02 3.03952363e-03 3.57618978e+02] [-5.05579193e-02 9.98721129e-01 -5.48709664e-05 -1.58324445e+01] [-3.03841063e-03 -9.88714507e-05 9.99995379e-01 -6.27240996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594391418 meters 0.02345836826727929 Centerline is valid? [True, True] Translation: X:357.65, Y:-15.84, Z:-6.27 [[ 9.98762334e-01 4.96354540e-02 3.18154973e-03 3.57647305e+02] [-4.96355156e-02 9.98767396e-01 -5.96296032e-05 -1.58355065e+01] [-3.18058788e-03 -9.83620597e-05 9.99994937e-01 -6.27274296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624391418 meters 0.024406014965824698 Centerline is valid? [True, True] Translation: X:357.68, Y:-15.84, Z:-6.27 [[ 9.98832643e-01 4.82274421e-02 2.73219097e-03 3.57675014e+02] [-4.82274897e-02 9.98836376e-01 -4.84964504e-05 -1.58372901e+01] [-2.73135059e-03 -8.33268743e-05 9.99996266e-01 -6.27450228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654391418 meters 0.024706976189617556 Centerline is valid? [True, True] Translation: X:357.70, Y:-15.84, Z:-6.28 [[ 9.98868935e-01 4.74536512e-02 3.00038441e-03 3.57703022e+02] [-4.74537066e-02 9.98873437e-01 -5.27432383e-05 -1.58387829e+01] [-2.99950715e-03 -8.96957794e-05 9.99995497e-01 -6.27533000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684391418 meters 0.024073218903458617 Centerline is valid? [True, True] Translation: X:357.73, Y:-15.84, Z:-6.28 [[ 9.98898389e-01 4.68161659e-02 3.20226385e-03 3.57731483e+02] [-4.68162193e-02 9.98903518e-01 -5.83361766e-05 -1.58417389e+01] [-3.20148371e-03 -9.16459740e-05 9.99994871e-01 -6.27551895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714391418 meters 0.024315238435552958 Centerline is valid? [True, True] Translation: X:357.76, Y:-15.85, Z:-6.28 [[ 9.98903514e-01 4.66631803e-02 3.78381375e-03 3.57758708e+02] [-4.66632669e-02 9.98910674e-01 -6.54228682e-05 -1.58457883e+01] [-3.78274478e-03 -1.11213978e-04 9.99992839e-01 -6.27691501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744391418 meters 0.025704288262048753 Centerline is valid? [True, True] Translation: X:357.79, Y:-15.85, Z:-6.28 [[ 9.98858100e-01 4.75897757e-02 4.20821343e-03 3.57786627e+02] [-4.75898975e-02 9.98866956e-01 -7.12519833e-05 -1.58462328e+01] [-4.20683621e-03 -1.29097825e-04 9.99991143e-01 -6.27808621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774391418 meters 0.02572838350054746 Centerline is valid? [True, True] Translation: X:357.82, Y:-15.85, Z:-6.28 [[ 9.98835369e-01 4.80441905e-02 4.43422750e-03 3.57815742e+02] [-4.80443227e-02 9.98845202e-01 -7.67737739e-05 -1.58477888e+01] [-4.43279539e-03 -1.36355096e-04 9.99990166e-01 -6.27813670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.804391418 meters 0.022652438427167867 Centerline is valid? [True, True] Translation: X:357.84, Y:-15.86, Z:-6.28 [[ 9.98830306e-01 4.81132156e-02 4.81020129e-03 3.57843464e+02] [-4.81133756e-02 9.98841878e-01 -8.25024323e-05 -1.58554656e+01] [-4.80859995e-03 -1.49029092e-04 9.99988428e-01 -6.27639765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834391418 meters 0.022811062640741113 Centerline is valid? [True, True] Translation: X:357.87, Y:-15.86, Z:-6.28 [[ 9.98849528e-01 4.76885883e-02 5.04175347e-03 3.57871122e+02] [-4.76887682e-02 9.98862240e-01 -8.46041223e-05 -1.58573189e+01] [-5.04005182e-03 -1.55928225e-04 9.99987287e-01 -6.27670402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.864391418 meters 0.022958426482416888 Centerline is valid? [True, True] Translation: X:357.90, Y:-15.86, Z:-6.28 [[ 9.98861443e-01 4.73914956e-02 5.46472480e-03 3.57898663e+02] [-4.73917144e-02 9.98876377e-01 -8.95220283e-05 -1.58593441e+01] [-5.46282710e-03 -1.69562575e-04 9.99985064e-01 -6.27725280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894391418 meters 0.02294656827496277 Centerline is valid? [True, True] Translation: X:357.93, Y:-15.86, Z:-6.28 [[ 9.98893931e-01 4.67087635e-02 5.40421333e-03 3.57927415e+02] [-4.67089789e-02 9.98908536e-01 -8.64227737e-05 -1.58643318e+01] [-5.40235153e-03 -1.66098102e-04 9.99985393e-01 -6.27886407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters 0.02300198347352809 Centerline is valid? [True, True] Translation: X:357.96, Y:-15.87, Z:-6.28 [[ 9.98912076e-01 4.62827721e-02 5.70702853e-03 3.57955363e+02] [-4.62830130e-02 9.98928363e-01 -8.99354346e-05 -1.58665513e+01] [-5.70507513e-03 -1.74300884e-04 9.99983711e-01 -6.27932524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954391418 meters 0.023528700495637295 Centerline is valid? [True, True] Translation: X:357.98, Y:-15.87, Z:-6.28 [[ 9.98901237e-01 4.64050250e-02 6.54927884e-03 3.57982187e+02] [-4.64053762e-02 9.98922685e-01 -9.84113124e-05 -1.58675769e+01] [-6.54678998e-03 -2.05618567e-04 9.99978548e-01 -6.27986729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters 0.022025165882407504 Centerline is valid? [True, True] Translation: X:358.01, Y:-15.87, Z:-6.28 [[ 9.98896402e-01 4.64083573e-02 7.22787579e-03 3.58011323e+02] [-4.64087980e-02 9.98922526e-01 -1.06822114e-04 -1.58732737e+01] [-7.22504538e-03 -2.28732802e-04 9.99973873e-01 -6.27864268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014391418 meters 0.022748972307665087 Centerline is valid? [True, True] Translation: X:358.04, Y:-15.87, Z:-6.28 [[ 9.98904108e-01 4.61843188e-02 7.58890516e-03 3.58038106e+02] [-4.61847925e-02 9.98932907e-01 -1.12897907e-04 -1.58739754e+01] [-7.58602120e-03 -2.37717827e-04 9.99971197e-01 -6.27947631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters 0.022440436687167192 Centerline is valid? [True, True] Translation: X:358.07, Y:-15.88, Z:-6.28 [[ 9.98878718e-01 4.66662165e-02 7.97307896e-03 3.58066628e+02] [-4.66667651e-02 9.98910506e-01 -1.17329845e-04 -1.58762359e+01] [-7.96986768e-03 -2.54879517e-04 9.99968208e-01 -6.28007913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074391418 meters 0.024603294376774772 Centerline is valid? [True, True] Translation: X:358.10, Y:-15.88, Z:-6.28 [[ 9.98714782e-01 4.99901343e-02 8.35285381e-03 3.58095061e+02] [-4.99908908e-02 9.98749667e-01 -1.18325188e-04 -1.58750864e+01] [-8.34832506e-03 -2.99393488e-04 9.99965107e-01 -6.28108701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters 0.025216098530316866 Centerline is valid? [True, True] Translation: X:358.12, Y:-15.87, Z:-6.28 [[ 9.98636679e-01 5.15272286e-02 8.35028850e-03 3.58123944e+02] [-5.15280254e-02 9.98671542e-01 -1.19840230e-04 -1.58742891e+01] [-8.34537052e-03 -3.10597029e-04 9.99965129e-01 -6.28159460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134391418 meters 0.026542155377799644 Centerline is valid? [True, True] Translation: X:358.15, Y:-15.87, Z:-6.28 [[ 9.98530312e-01 5.35188919e-02 8.54068569e-03 3.58152904e+02] [-5.35198188e-02 9.98566780e-01 -1.20151803e-04 -1.58722863e+01] [-8.53487540e-03 -3.37120734e-04 9.99963520e-01 -6.28194065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters 0.02739711338616412 Centerline is valid? [True, True] Translation: X:358.18, Y:-15.87, Z:-6.28 [[ 9.98410557e-01 5.56211806e-02 9.09083869e-03 3.58181810e+02] [-5.56223426e-02 9.98451871e-01 -1.25165918e-04 -1.58704964e+01] [-9.08372678e-03 -3.80686770e-04 9.99958670e-01 -6.28122714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194391418 meters 0.028133047269266995 Centerline is valid? [True, True] Translation: X:358.21, Y:-15.87, Z:-6.28 [[ 9.98443687e-01 5.50038560e-02 9.20754653e-03 3.58209320e+02] [-5.50050588e-02 9.98486068e-01 -1.22743317e-04 -1.58698257e+01] [-9.20035829e-03 -3.83909348e-04 9.99957602e-01 -6.28184076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters 0.027561679209866196 Centerline is valid? [True, True] Translation: X:358.24, Y:-15.87, Z:-6.28 [[ 9.98542242e-01 5.31689282e-02 9.29821052e-03 3.58238379e+02] [-5.31700717e-02 9.98585464e-01 -1.24349520e-04 -1.58716160e+01] [-9.29166940e-03 -3.70218272e-04 9.99956763e-01 -6.28253628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254391418 meters 0.026763845790283913 Centerline is valid? [True, True] Translation: X:358.27, Y:-15.87, Z:-6.28 [[ 9.98675431e-01 5.06529053e-02 9.03697025e-03 3.58265741e+02] [-5.06539104e-02 9.98716260e-01 -1.17770671e-04 -1.58745063e+01] [-9.03133455e-03 -3.40143206e-04 9.99959159e-01 -6.28392934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters 0.02349909306026789 Centerline is valid? [True, True] Translation: X:358.29, Y:-15.88, Z:-6.29 [[ 9.99047639e-01 4.27489007e-02 8.73770090e-03 3.58294574e+02] [-4.27495560e-02 9.99085814e-01 -1.11843828e-04 -1.58833942e+01] [-8.73449422e-03 -2.61795522e-04 9.99961819e-01 -6.28600042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314391418 meters 0.021402092954741055 Centerline is valid? [True, True] Translation: X:358.32, Y:-15.89, Z:-6.29 [[ 9.99238746e-01 3.80450047e-02 8.63166615e-03 3.58324475e+02] [-3.80454709e-02 9.99276003e-01 -1.10241991e-04 -1.58889607e+01] [-8.62961101e-03 -2.18237735e-04 9.99962740e-01 -6.28695594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344391418 meters 0.01675663464057983 Centerline is valid? [True, True] Translation: X:358.35, Y:-15.90, Z:-6.29 [[ 9.99585023e-01 2.72512243e-02 9.33557335e-03 3.58353101e+02] [-2.72512994e-02 9.99628607e-01 -1.19191706e-04 -1.59022806e+01] [-9.33535430e-03 -1.35264260e-04 9.99956415e-01 -6.28809855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374391418 meters 0.014896250297716249 Centerline is valid? [True, True] Translation: X:358.38, Y:-15.91, Z:-6.29 [[ 9.99721598e-01 2.15293766e-02 9.65467393e-03 3.58382033e+02] [-2.15291908e-02 9.99768213e-01 -1.23193295e-04 -1.59098650e+01] [-9.65508837e-03 -8.46983191e-05 9.99953385e-01 -6.28836440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404391418 meters 0.0136633513082826 Centerline is valid? [True, True] Translation: X:358.41, Y:-15.92, Z:-6.29 [[ 9.99822914e-01 1.58150833e-02 1.01992206e-02 3.58410398e+02] [-1.58145867e-02 9.99874933e-01 -1.29342273e-04 -1.59177969e+01] [-1.01999906e-02 -3.19770905e-05 9.99947978e-01 -6.28832063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434391418 meters 0.013853674852200421 Centerline is valid? [True, True] Translation: X:358.44, Y:-15.93, Z:-6.29 [[ 9.99917858e-01 5.46738931e-03 1.15924335e-02 3.58438618e+02] [-5.46606357e-03 9.99985050e-01 -1.46043195e-04 -1.59316093e+01] [-1.15930586e-02 8.26662202e-05 9.99932795e-01 -6.28664486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464391418 meters 0.014991689569812812 Centerline is valid? [True, True] Translation: X:358.47, Y:-15.94, Z:-6.29 [[ 9.99930216e-01 1.31561135e-03 1.17401584e-02 3.58469826e+02] [-1.31400005e-03 9.99999126e-01 -1.44959166e-04 -1.59380325e+01] [-1.17403389e-02 1.29522481e-04 9.99931071e-01 -6.28682986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494391418 meters 0.017480139024535643 Centerline is valid? [True, True] Translation: X:358.50, Y:-15.95, Z:-6.29 [[ 9.99917851e-01 -5.50331358e-03 1.15760524e-02 3.58501707e+02] [ 5.50538207e-03 9.99984834e-01 -1.46827465e-04 -1.59484632e+01] [-1.15750688e-02 2.10545995e-04 9.99932984e-01 -6.28718791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524391418 meters 0.018054165993641017 Centerline is valid? [True, True] Translation: X:358.53, Y:-15.95, Z:-6.29 [[ 9.99899803e-01 -7.86993808e-03 1.17664173e-02 3.58533689e+02] [ 7.87224953e-03 9.99969002e-01 -1.50141287e-04 -1.59517935e+01] [-1.17648710e-02 2.42754416e-04 9.99930762e-01 -6.28747272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.554391418 meters 0.018632584165147358 Centerline is valid? [True, True] Translation: X:358.57, Y:-15.96, Z:-6.29 [[ 9.99891872e-01 -9.18254760e-03 1.14858825e-02 3.58566116e+02] [ 9.18484662e-03 9.99957808e-01 -1.47425147e-04 -1.59554281e+01] [-1.14840441e-02 2.52905276e-04 9.99934024e-01 -6.28820641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584391418 meters 0.019096658540492174 Centerline is valid? [True, True] Translation: X:358.60, Y:-15.96, Z:-6.29 [[ 9.99889543e-01 -9.64935841e-03 1.13045425e-02 3.58598307e+02] [ 9.65162492e-03 9.99953411e-01 -1.45955981e-04 -1.59582352e+01] [-1.13026075e-02 2.55047064e-04 9.99936091e-01 -6.28892202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.614391418 meters 0.018885408747892705 Centerline is valid? [True, True] Translation: X:358.63, Y:-15.96, Z:-6.29 [[ 9.99892851e-01 -9.24061114e-03 1.13533351e-02 3.58630837e+02] [ 9.24288086e-03 9.99957273e-01 -1.47461474e-04 -1.59607990e+01] [-1.13514874e-02 2.52383197e-04 9.99935538e-01 -6.28944547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644391418 meters 0.018223619233574257 Centerline is valid? [True, True] Translation: X:358.66, Y:-15.96, Z:-6.29 [[ 9.99898792e-01 -8.37553100e-03 1.15002450e-02 3.58662764e+02] [ 8.37781309e-03 9.99964894e-01 -1.50276939e-04 -1.59613357e+01] [-1.14985826e-02 2.46608633e-04 9.99933859e-01 -6.28952832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67439141799997 meters 0.01830005368246566 Centerline is valid? [True, True] Translation: X:358.69, Y:-15.96, Z:-6.29 [[ 9.99908045e-01 -7.43843161e-03 1.13389421e-02 3.58694354e+02] [ 7.44059402e-03 9.99972307e-01 -1.48532135e-04 -1.59625561e+01] [-1.13375233e-02 2.32886941e-04 9.99935701e-01 -6.28985683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704391418 meters 0.017920747564295035 Centerline is valid? [True, True] Translation: X:358.73, Y:-15.96, Z:-6.29 [[ 9.99915789e-01 -6.26884192e-03 1.13629263e-02 3.58726614e+02] [ 6.27096389e-03 9.99980326e-01 -1.51125220e-04 -1.59630636e+01] [-1.13617554e-02 2.22368994e-04 9.99935428e-01 -6.29022486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734391418 meters 0.019265686236075635 Centerline is valid? [True, True] Translation: X:358.76, Y:-15.97, Z:-6.29 [[ 9.99920446e-01 -3.31703975e-03 1.21696173e-02 3.58757513e+02] [ 3.31926927e-03 9.99994478e-01 -1.63009915e-04 -1.59678662e+01] [-1.21690093e-02 2.03391184e-04 9.99925934e-01 -6.29129574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764391418 meters 0.01619419978676827 Centerline is valid? [True, True] Translation: X:358.79, Y:-15.96, Z:-6.29 [[ 9.99912966e-01 -1.00086336e-03 1.31551835e-02 3.58789669e+02] [ 1.00327807e-03 9.99999481e-01 -1.76957646e-04 -1.59632962e+01] [-1.31549996e-02 1.90140552e-04 9.99913451e-01 -6.28953579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794391418 meters 0.014974210196862682 Centerline is valid? [True, True] Translation: X:358.82, Y:-15.96, Z:-6.29 [[ 9.99896672e-01 3.78062501e-03 1.38690955e-02 3.58820805e+02] [-3.77838902e-03 9.99992844e-01 -1.87420161e-04 -1.59627325e+01] [-1.38697048e-02 1.34997957e-04 9.99903802e-01 -6.28954182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824391418 meters 0.014504030599848998 Centerline is valid? [True, True] Translation: X:358.85, Y:-15.96, Z:-6.29 [[ 9.99887638e-01 6.04679443e-03 1.37167104e-02 3.58851650e+02] [-6.04479345e-03 9.99981713e-01 -1.87334017e-04 -1.59626169e+01] [-1.37175924e-02 1.04398286e-04 9.99905904e-01 -6.29011867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854391418 meters 0.01420731827525153 Centerline is valid? [True, True] Translation: X:358.88, Y:-15.96, Z:-6.29 [[ 9.99877902e-01 8.25691119e-03 1.32666578e-02 3.58884194e+02] [-8.25521717e-03 9.99965908e-01 -1.82447625e-04 -1.59626976e+01] [-1.32677120e-02 7.29062071e-05 9.99911977e-01 -6.29069715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884391418 meters 0.013904547317776851 Centerline is valid? [True, True] Translation: X:358.92, Y:-15.96, Z:-6.29 [[ 9.99845374e-01 1.14454978e-02 1.33502592e-02 3.58915244e+02] [-1.14440121e-02 9.99934498e-01 -1.87672511e-04 -1.59629392e+01] [-1.33515328e-02 3.48629637e-05 9.99910864e-01 -6.29174845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914391418 meters 0.013774650477826075 Centerline is valid? [True, True] Translation: X:358.95, Y:-15.96, Z:-6.29 [[ 9.99823239e-01 1.28745651e-02 1.37016919e-02 3.58945788e+02] [-1.28730968e-02 9.99917119e-01 -1.95351998e-04 -1.59637426e+01] [-1.37030714e-02 1.89342602e-05 9.99906108e-01 -6.29219742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944391418 meters 0.013722393295134163 Centerline is valid? [True, True] Translation: X:358.98, Y:-15.96, Z:-6.29 [[ 9.99797788e-01 1.44858521e-02 1.39478888e-02 3.58976510e+02] [-1.44844874e-02 9.99895075e-01 -1.98862152e-04 -1.59648224e+01] [-1.39493060e-02 -3.20608054e-06 9.99902704e-01 -6.29277583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974391418 meters 0.013823827612262144 Centerline is valid? [True, True] Translation: X:359.01, Y:-15.97, Z:-6.29 [[ 9.99739083e-01 1.78172044e-02 1.42938244e-02 3.59005007e+02] [-1.78161087e-02 9.99841260e-01 -2.03998504e-04 -1.59653251e+01] [-1.42951901e-02 -5.07150524e-05 9.99897817e-01 -6.29325072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004391418 meters 0.01409144718993254 Centerline is valid? [True, True] Translation: X:359.03, Y:-15.97, Z:-6.29 [[ 9.99710027e-01 1.94473294e-02 1.42008464e-02 3.59033633e+02] [-1.94464221e-02 9.99810880e-01 -2.01982508e-04 -1.59654435e+01] [-1.42020888e-02 -7.42317155e-05 9.99899142e-01 -6.29375079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034391418 meters 0.01456582900730107 Centerline is valid? [True, True] Translation: X:359.06, Y:-15.96, Z:-6.29 [[ 9.99687995e-01 2.08387012e-02 1.37717191e-02 3.59061646e+02] [-2.08379928e-02 9.99782846e-01 -1.94949520e-04 -1.59642202e+01] [-1.37727910e-02 -9.20862877e-05 9.99905146e-01 -6.29455142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064391418 meters 0.01492361171478664 Centerline is valid? [True, True] Translation: X:359.09, Y:-15.96, Z:-6.30 [[ 9.99637595e-01 2.32927574e-02 1.34953845e-02 3.59090876e+02] [-2.32923186e-02 9.99728679e-01 -1.89712690e-04 -1.59649116e+01] [-1.34961419e-02 -1.24694858e-04 9.99908915e-01 -6.29539823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094391418 meters 0.0154921814418439 Centerline is valid? [True, True] Translation: X:359.12, Y:-15.97, Z:-6.30 [[ 9.99607307e-01 2.45432463e-02 1.35226127e-02 3.59118720e+02] [-2.45429328e-02 9.99698759e-01 -1.89155548e-04 -1.59652397e+01] [-1.35231816e-02 -1.42803307e-04 9.99908547e-01 -6.29650380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124391418 meters 0.015025187831545071 Centerline is valid? [True, True] Translation: X:359.15, Y:-15.97, Z:-6.30 [[ 9.99579613e-01 2.56002401e-02 1.36097440e-02 3.59147725e+02] [-2.56000388e-02 9.99672247e-01 -1.89035290e-04 -1.59678440e+01] [-1.36101227e-02 -1.59454152e-04 9.99907365e-01 -6.29639122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154391418 meters 0.015025187831545071 Centerline is valid? [True, True] Translation: X:359.18, Y:-15.97, Z:-6.30 [[ 9.99581670e-01 2.55197977e-02 1.36097591e-02 3.59176019e+02] [-2.55196038e-02 9.99674304e-01 -1.87940818e-04 -1.59681597e+01] [-1.36101226e-02 -1.59453463e-04 9.99907365e-01 -6.29690193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184391418 meters 0.01576853598245431 Centerline is valid? [True, True] Translation: X:359.20, Y:-15.97, Z:-6.30 [[ 9.99510932e-01 2.79872801e-02 1.39502339e-02 3.59203618e+02] [-2.79873317e-02 9.99608260e-01 -1.91561926e-04 -1.59679402e+01] [-1.39501303e-02 -1.98961586e-04 9.99902672e-01 -6.29731891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214391418 meters 0.01568885232962446 Centerline is valid? [True, True] Translation: X:359.23, Y:-15.97, Z:-6.30 [[ 9.99465497e-01 2.94697463e-02 1.41511328e-02 3.59232015e+02] [-2.94699693e-02 9.99565648e-01 -1.92811760e-04 -1.59683713e+01] [-1.41506683e-02 -2.24324748e-04 9.99899849e-01 -6.29692222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244391418 meters 0.015978670631405244 Centerline is valid? [True, True] Translation: X:359.26, Y:-15.97, Z:-6.30 [[ 9.99428624e-01 3.06682467e-02 1.42086127e-02 3.59261134e+02] [-3.06686091e-02 9.99529589e-01 -1.92438166e-04 -1.59681277e+01] [-1.42078306e-02 -2.43430177e-04 9.99899034e-01 -6.29691672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274391418 meters 0.016403960457855273 Centerline is valid? [True, True] Translation: X:359.29, Y:-15.97, Z:-6.30 [[ 9.99356436e-01 3.27689957e-02 1.45913145e-02 3.59289776e+02] [-3.27696197e-02 9.99462913e-01 -1.96382292e-04 -1.59679182e+01] [-1.45899129e-02 -2.81895919e-04 9.99893522e-01 -6.29721400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.304391418 meters 0.01661582355690313 Centerline is valid? [True, True] Translation: X:359.32, Y:-15.97, Z:-6.30 [[ 9.99341381e-01 3.34509016e-02 1.40655922e-02 3.59318032e+02] [-3.34515624e-02 9.99440322e-01 -1.88357855e-04 -1.59686440e+01] [-1.40640207e-02 -2.82282236e-04 9.99901057e-01 -6.29832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334391418 meters 0.016908115552443696 Centerline is valid? [True, True] Translation: X:359.35, Y:-15.97, Z:-6.30 [[ 9.99339536e-01 3.34546590e-02 1.41872520e-02 3.59346135e+02] [-3.34553580e-02 9.99440195e-01 -1.88128446e-04 -1.59696806e+01] [-1.41856037e-02 -2.86635400e-04 9.99899338e-01 -6.29967905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.364391418 meters 0.016871960869675545 Centerline is valid? [True, True] Translation: X:359.37, Y:-15.97, Z:-6.30 [[ 9.99355370e-01 3.30899055e-02 1.39248839e-02 3.59374015e+02] [-3.30905616e-02 9.99452341e-01 -1.83340789e-04 -1.59711231e+01] [-1.39233245e-02 -2.77559625e-04 9.99903027e-01 -6.30089317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394391418 meters 0.016307034904838202 Centerline is valid? [True, True] Translation: X:359.40, Y:-15.97, Z:-6.30 [[ 9.99426177e-01 3.11918004e-02 1.32056130e-02 3.59402611e+02] [-3.11922471e-02 9.99513389e-01 -1.72184146e-04 -1.59742077e+01] [-1.32045577e-02 -2.39827401e-04 9.99912787e-01 -6.30172531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters 0.01589265675893357 Centerline is valid? [True, True] Translation: X:359.43, Y:-15.98, Z:-6.30 [[ 9.99469828e-01 2.97005569e-02 1.33393988e-02 3.59431242e+02] [-2.97008946e-02 9.99558816e-01 -1.72832253e-04 -1.59762252e+01] [-1.33386469e-02 -2.23451457e-04 9.99911011e-01 -6.30199380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454391418 meters 0.015293529908744522 Centerline is valid? [True, True] Translation: X:359.46, Y:-15.98, Z:-6.30 [[ 9.99567274e-01 2.61602342e-02 1.34501326e-02 3.59458827e+02] [-2.61602708e-02 9.99657747e-01 -1.73247566e-04 -1.59804442e+01] [-1.34500614e-02 -1.78686513e-04 9.99909528e-01 -6.30292880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters 0.014981346780369918 Centerline is valid? [True, True] Translation: X:359.49, Y:-15.98, Z:-6.30 [[ 9.99629090e-01 2.36874618e-02 1.34382557e-02 3.59487672e+02] [-2.36872944e-02 9.99719402e-01 -1.71642091e-04 -1.59836652e+01] [-1.34385507e-02 -1.46737492e-04 9.99909688e-01 -6.30406200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514391418 meters 0.014480188941872158 Centerline is valid? [True, True] Translation: X:359.52, Y:-15.99, Z:-6.30 [[ 9.99677919e-01 2.16674519e-02 1.32128941e-02 3.59516615e+02] [-2.16671273e-02 9.99765226e-01 -1.67727396e-04 -1.59868394e+01] [-1.32134263e-02 -1.18612085e-04 9.99912692e-01 -6.30481904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters 0.014136339598907208 Centerline is valid? [True, True] Translation: X:359.54, Y:-15.99, Z:-6.31 [[ 9.99763777e-01 1.71350352e-02 1.33709263e-02 3.59544226e+02] [-1.71343109e-02 9.99853183e-01 -1.68735801e-04 -1.59918003e+01] [-1.33718545e-02 -6.04056658e-05 9.99910591e-01 -6.30539306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574391418 meters 0.013831016610700148 Centerline is valid? [True, True] Translation: X:359.57, Y:-15.99, Z:-6.30 [[ 9.99786324e-01 1.52860423e-02 1.39155551e-02 3.59574164e+02] [-1.52851023e-02 9.99883161e-01 -1.73911843e-04 -1.59943588e+01] [-1.39165876e-02 -3.88260002e-05 9.99903159e-01 -6.30492016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters 0.013587681514646986 Centerline is valid? [True, True] Translation: X:359.60, Y:-16.00, Z:-6.30 [[ 9.99800417e-01 1.39461882e-02 1.43048816e-02 3.59603594e+02] [-1.39450661e-02 9.99902747e-01 -1.78192890e-04 -1.59965758e+01] [-1.43059756e-02 -2.13251943e-05 9.99897664e-01 -6.30497189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634391418 meters 0.013642721811170929 Centerline is valid? [True, True] Translation: X:359.63, Y:-16.00, Z:-6.31 [[ 9.99824508e-01 1.18650608e-02 1.44973772e-02 3.59632834e+02] [-1.18636991e-02 9.99929608e-01 -1.79929525e-04 -1.59999777e+01] [-1.44984915e-02 7.90542827e-06 9.99894891e-01 -6.30581829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters 0.013437257416002733 Centerline is valid? [True, True] Translation: X:359.66, Y:-16.00, Z:-6.31 [[ 9.99826655e-01 1.14655711e-02 1.46697311e-02 3.59663990e+02] [-1.14641411e-02 9.99934268e-01 -1.81568957e-04 -1.60012657e+01] [-1.46708486e-02 1.33616159e-05 9.99892377e-01 -6.30563631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694391418 meters 0.013561187640471581 Centerline is valid? [True, True] Translation: X:359.69, Y:-16.00, Z:-6.31 [[ 9.99831927e-01 1.11552482e-02 1.45491705e-02 3.59694612e+02] [-1.11537991e-02 9.99937778e-01 -1.80739811e-04 -1.60023848e+01] [-1.45502814e-02 1.84309084e-05 9.99894139e-01 -6.30669750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters 0.013654498080834751 Centerline is valid? [True, True] Translation: X:359.73, Y:-16.00, Z:-6.31 [[ 9.99816509e-01 1.10834233e-02 1.56238895e-02 3.59726210e+02] [-1.10817388e-02 9.99938577e-01 -1.94389569e-04 -1.60036889e+01] [-1.56250843e-02 2.12140383e-05 9.99877921e-01 -6.30648325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754391418 meters 0.013426768666129005 Centerline is valid? [True, True] Translation: X:359.76, Y:-16.00, Z:-6.31 [[ 9.99802938e-01 1.19791819e-02 1.58298840e-02 3.59757144e+02] [-1.19775550e-02 9.99928247e-01 -1.97581108e-04 -1.60040795e+01] [-1.58311151e-02 7.93886500e-06 9.99874680e-01 -6.30644771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters 0.013444223630511338 Centerline is valid? [True, True] Translation: X:359.79, Y:-16.00, Z:-6.31 [[ 9.99785535e-01 1.26814355e-02 1.63727104e-02 3.59787992e+02] [-1.26797777e-02 9.99919587e-01 -2.05060272e-04 -1.60043114e+01] [-1.63739943e-02 -2.58603474e-06 9.99865937e-01 -6.30690503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814391418 meters 0.013358440338029506 Centerline is valid? [True, True] Translation: X:359.82, Y:-16.00, Z:-6.31 [[ 9.99750432e-01 1.49011013e-02 1.66442349e-02 3.59818874e+02] [-1.48996841e-02 9.99888972e-01 -2.09157080e-04 -1.60039916e+01] [-1.66455036e-02 -3.88889610e-05 9.99861453e-01 -6.30687534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844391418 meters 0.013544877320392312 Centerline is valid? [True, True] Translation: X:359.85, Y:-16.00, Z:-6.31 [[ 9.99736035e-01 1.60091316e-02 1.64793073e-02 3.59849416e+02] [-1.60078811e-02 9.99871844e-01 -2.07792576e-04 -1.60037372e+01] [-1.64805219e-02 -5.60610662e-05 9.99864185e-01 -6.30745254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874391418 meters 0.013657422337190589 Centerline is valid? [True, True] Translation: X:359.88, Y:-16.00, Z:-6.31 [[ 9.99701765e-01 1.85985539e-02 1.58264122e-02 3.59879852e+02] [-1.85977250e-02 9.99827027e-01 -1.99560025e-04 -1.60034125e+01] [-1.58273862e-02 -9.48347537e-05 9.99874735e-01 -6.30775121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904391418 meters 0.014080406776418244 Centerline is valid? [True, True] Translation: X:359.91, Y:-16.00, Z:-6.31 [[ 9.99671016e-01 2.03447865e-02 1.56188721e-02 3.59908715e+02] [-2.03441900e-02 9.99793016e-01 -1.97091420e-04 -1.60035971e+01] [-1.56196490e-02 -1.20726722e-04 9.99877999e-01 -6.30933420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934391418 meters 0.013906502201004688 Centerline is valid? [True, True] Translation: X:359.94, Y:-16.01, Z:-6.31 [[ 9.99658949e-01 2.10246612e-02 1.54902885e-02 3.59937400e+02] [-2.10241699e-02 9.99778949e-01 -1.94577269e-04 -1.60066229e+01] [-1.54909552e-02 -1.31159549e-04 9.99879999e-01 -6.30979243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964391418 meters 0.014111234480964371 Centerline is valid? [True, True] Translation: X:359.97, Y:-16.01, Z:-6.31 [[ 9.99651398e-01 2.07671301e-02 1.63036389e-02 3.59965030e+02] [-2.07665745e-02 9.99784331e-01 -2.03394912e-04 -1.60075437e+01] [-1.63043466e-02 -1.35246723e-04 9.99867066e-01 -6.31000207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994391418 meters 0.014135831373877871 Centerline is valid? [True, True] Translation: X:359.99, Y:-16.01, Z:-6.31 [[ 9.99639156e-01 2.08560644e-02 1.69287475e-02 3.59994244e+02] [-2.08555092e-02 9.99782478e-01 -2.09356486e-04 -1.60093139e+01] [-1.69294315e-02 -1.43776708e-04 9.99856677e-01 -6.30956223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024391418 meters 0.014135831373877871 Centerline is valid? [True, True] Translation: X:360.02, Y:-16.01, Z:-6.31 [[ 9.99640852e-01 2.07746118e-02 1.69287644e-02 3.60022539e+02] [-2.07740683e-02 9.99784174e-01 -2.07976589e-04 -1.60095881e+01] [-1.69294314e-02 -1.43777413e-04 9.99856677e-01 -6.31007293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.054391418 meters 0.01402574061618032 Centerline is valid? [True, True] Translation: X:360.05, Y:-16.01, Z:-6.31 [[ 9.99633926e-01 2.05891612e-02 1.75527787e-02 3.60051767e+02] [-2.05885744e-02 9.99788010e-01 -2.14158257e-04 -1.60113278e+01] [-1.75534670e-02 -1.47306831e-04 9.99845915e-01 -6.31030855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084391418 meters 0.014115238507048322 Centerline is valid? [True, True] Translation: X:360.08, Y:-16.01, Z:-6.31 [[ 9.99628963e-01 2.07283163e-02 1.76712829e-02 3.60080829e+02] [-2.07277689e-02 9.99785134e-01 -2.14155079e-04 -1.60148501e+01] [-1.76719250e-02 -1.52210648e-04 9.99843828e-01 -6.31128090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.114391418 meters 0.014371301250897098 Centerline is valid? [True, True] Translation: X:360.11, Y:-16.02, Z:-6.31 [[ 9.99605500e-01 2.19427742e-02 1.75316773e-02 3.60110586e+02] [-2.19424407e-02 9.99759213e-01 -2.11404550e-04 -1.60159662e+01] [-1.75320947e-02 -1.73366639e-04 9.99846286e-01 -6.31212466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144391418 meters 0.015830318922033595 Centerline is valid? [True, True] Translation: X:360.14, Y:-16.01, Z:-6.31 [[ 9.99503545e-01 2.59991434e-02 1.77962904e-02 3.60138371e+02] [-2.59994550e-02 9.99661934e-01 -2.13889884e-04 -1.60144940e+01] [-1.77958351e-02 -2.48910156e-04 9.99841611e-01 -6.31213277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17439141799997 meters 0.016312011309124127 Centerline is valid? [True, True] Translation: X:360.17, Y:-16.01, Z:-6.31 [[ 9.99434132e-01 2.81567178e-02 1.84014747e-02 3.60167261e+02] [-2.81574510e-02 9.99603476e-01 -2.19293932e-04 -1.60141964e+01] [-1.84003527e-02 -2.98968782e-04 9.99830654e-01 -6.31224793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204391418 meters 0.01708293204229561 Centerline is valid? [True, True] Translation: X:360.20, Y:-16.01, Z:-6.31 [[ 9.99378062e-01 3.01995636e-02 1.82064895e-02 3.60195686e+02] [-3.02006456e-02 9.99543833e-01 -2.15572828e-04 -1.60134365e+01] [-1.82046945e-02 -3.34408981e-04 9.99834225e-01 -6.31239679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234391418 meters 0.01691559376067061 Centerline is valid? [True, True] Translation: X:360.22, Y:-16.01, Z:-6.31 [[ 9.99309159e-01 3.24709918e-02 1.80786908e-02 3.60224449e+02] [-3.24724552e-02 9.99472608e-01 -2.12676227e-04 -1.60148828e+01] [-1.80760620e-02 -3.74530176e-04 9.99836544e-01 -6.31274650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264391418 meters 0.019522944050673927 Centerline is valid? [True, True] Translation: X:360.25, Y:-16.01, Z:-6.31 [[ 9.99205376e-01 3.56505444e-02 1.78228823e-02 3.60251702e+02] [-3.56524976e-02 9.99364226e-01 -2.08236120e-04 -1.60118957e+01] [-1.78189747e-02 -4.27359618e-04 9.99841138e-01 -6.31397713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294391418 meters 0.018404205993428204 Centerline is valid? [True, True] Translation: X:360.28, Y:-16.02, Z:-6.32 [[ 9.99176485e-01 3.66542322e-02 1.74017067e-02 3.60280882e+02] [-3.66562828e-02 9.99327912e-01 -2.01222725e-04 -1.60159013e+01] [-1.73973869e-02 -4.36824869e-04 9.99848559e-01 -6.31556575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324391418 meters 0.01927575994711688 Centerline is valid? [True, True] Translation: X:360.31, Y:-16.02, Z:-6.32 [[ 9.99126983e-01 3.81253400e-02 1.70801013e-02 3.60308560e+02] [-3.81275532e-02 9.99272861e-01 -1.96156925e-04 -1.60180456e+01] [-1.70751603e-02 -4.55236796e-04 9.99854105e-01 -6.31703669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354391418 meters 0.01949443035360463 Centerline is valid? [True, True] Translation: X:360.34, Y:-16.02, Z:-6.32 [[ 9.99096213e-01 3.87691344e-02 1.74273410e-02 3.60337784e+02] [-3.87715679e-02 9.99248080e-01 -1.98334755e-04 -1.60191739e+01] [-1.74219263e-02 -4.77529832e-04 9.99848113e-01 -6.31781043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384391418 meters 0.018942171549257206 Centerline is valid? [True, True] Translation: X:360.37, Y:-16.02, Z:-6.32 [[ 9.99109419e-01 3.84718889e-02 1.73286645e-02 3.60366854e+02] [-3.84742742e-02 9.99259572e-01 -1.95830783e-04 -1.60222195e+01] [-1.73233678e-02 -4.71051411e-04 9.99849828e-01 -6.31825171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414391418 meters 0.0187417119689835 Centerline is valid? [True, True] Translation: X:360.40, Y:-16.02, Z:-6.32 [[ 9.99112840e-01 3.81939552e-02 1.77413104e-02 3.60395841e+02] [-3.81964382e-02 9.99270230e-01 -1.99005965e-04 -1.60238671e+01] [-1.77359642e-02 -4.78825452e-04 9.99842591e-01 -6.31856969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444391418 meters 0.01880839865281867 Centerline is valid? [True, True] Translation: X:360.42, Y:-16.03, Z:-6.32 [[ 9.99125164e-01 3.76986096e-02 1.81030673e-02 3.60424668e+02] [-3.77011411e-02 9.99289039e-01 -2.01545419e-04 -1.60254535e+01] [-1.80977947e-02 -4.81137194e-04 9.99836106e-01 -6.31900470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474391418 meters 0.018802967009919496 Centerline is valid? [True, True] Translation: X:360.45, Y:-16.03, Z:-6.32 [[ 9.99161158e-01 3.62914424e-02 1.89713305e-02 3.60452708e+02] [-3.62940003e-02 9.99341134e-01 -2.09570447e-04 -1.60288033e+01] [-1.89664366e-02 -4.79150826e-04 9.99820006e-01 -6.31951592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504391418 meters 0.018934762436720706 Centerline is valid? [True, True] Translation: X:360.48, Y:-16.03, Z:-6.32 [[ 9.99183464e-01 3.56453274e-02 1.90214587e-02 3.60481273e+02] [-3.56478179e-02 9.99364393e-01 -2.08231285e-04 -1.60298925e+01] [-1.90167910e-02 -4.70012238e-04 9.99819054e-01 -6.32051640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534391418 meters 0.018672071836002106 Centerline is valid? [True, True] Translation: X:360.51, Y:-16.03, Z:-6.32 [[ 9.99203012e-01 3.52107607e-02 1.88027231e-02 3.60509620e+02] [-3.52131388e-02 9.99379804e-01 -2.04689989e-04 -1.60312478e+01] [-1.87982691e-02 -4.57576046e-04 9.99823192e-01 -6.32118673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564391418 meters 0.01793391624951403 Centerline is valid? [True, True] Translation: X:360.54, Y:-16.03, Z:-6.32 [[ 9.99225969e-01 3.45182543e-02 1.88667426e-02 3.60538659e+02] [-3.45205543e-02 9.99403967e-01 -2.03849328e-04 -1.60331885e+01] [-1.88625339e-02 -4.47598868e-04 9.99821986e-01 -6.32210257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594391418 meters 0.017964900422147292 Centerline is valid? [True, True] Translation: X:360.57, Y:-16.03, Z:-6.32 [[ 9.99317037e-01 3.18498601e-02 1.87362188e-02 3.60566734e+02] [-3.18516885e-02 9.99492586e-01 -2.00895363e-04 -1.60335819e+01] [-1.87331102e-02 -3.96022045e-04 9.99824441e-01 -6.32240330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624391418 meters 0.01748410284488435 Centerline is valid? [True, True] Translation: X:360.60, Y:-16.04, Z:-6.32 [[ 9.99377138e-01 3.00769925e-02 1.84583541e-02 3.60595970e+02] [-3.00784987e-02 9.99547520e-01 -1.96084602e-04 -1.60354326e+01] [-1.84558997e-02 -3.59237111e-04 9.99829611e-01 -6.32374761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654391418 meters 0.01675534047797432 Centerline is valid? [True, True] Translation: X:360.62, Y:-16.04, Z:-6.32 [[ 9.99464787e-01 2.66230938e-02 1.90092338e-02 3.60623623e+02] [-2.66240892e-02 9.99645496e-01 -2.00751082e-04 -1.60389615e+01] [-1.90078395e-02 -3.05459898e-04 9.99819288e-01 -6.32471595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684391418 meters 0.01615861218660566 Centerline is valid? [True, True] Translation: X:360.65, Y:-16.04, Z:-6.32 [[ 9.99508689e-01 2.44849247e-02 1.95670500e-02 3.60652739e+02] [-2.44856074e-02 9.99700162e-01 -2.04725184e-04 -1.60412462e+01] [-1.95661957e-02 -2.74486505e-04 9.99808526e-01 -6.32482832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714391418 meters 0.015538820868968524 Centerline is valid? [True, True] Translation: X:360.68, Y:-16.04, Z:-6.32 [[ 9.99543843e-01 2.21520742e-02 2.05278019e-02 3.60681940e+02] [-2.21523653e-02 9.99754584e-01 -2.13241952e-04 -1.60433123e+01] [-2.05274878e-02 -2.41594686e-04 9.99789260e-01 -6.32466409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744391418 meters 0.01414910116089658 Centerline is valid? [True, True] Translation: X:360.71, Y:-16.05, Z:-6.32 [[ 9.99645502e-01 1.63244645e-02 2.10328782e-02 3.60712111e+02] [-1.63234986e-02 9.99866739e-01 -2.17618219e-04 -1.60474707e+01] [-2.10336279e-02 -1.25789085e-04 9.99778761e-01 -6.32439761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774391418 meters 0.013839264675160667 Centerline is valid? [True, True] Translation: X:360.74, Y:-16.05, Z:-6.32 [[ 9.99695652e-01 1.32148916e-02 2.08319599e-02 3.60743996e+02] [-1.32132728e-02 9.99912678e-01 -2.15354446e-04 -1.60497801e+01] [-2.08329867e-02 -5.99694650e-05 9.99782968e-01 -6.32481320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.804391418 meters 0.013921544800215067 Centerline is valid? [True, True] Translation: X:360.78, Y:-16.05, Z:-6.33 [[ 9.99740729e-01 9.77245643e-03 2.05663437e-02 3.60777564e+02] [-9.77002820e-03 9.99952248e-01 -2.18544969e-04 -1.60524368e+01] [-2.05674973e-02 1.75545486e-05 9.99788466e-01 -6.32585562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834391418 meters 0.014072278539125108 Centerline is valid? [True, True] Translation: X:360.81, Y:-16.06, Z:-6.33 [[ 9.99774912e-01 6.41642400e-03 2.02226459e-02 3.60809705e+02] [-6.41325811e-03 9.99979410e-01 -2.21401219e-04 -1.60556519e+01] [-2.02236501e-02 9.16583368e-05 9.99795477e-01 -6.32752222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.864391418 meters 0.015498433477171497 Centerline is valid? [True, True] Translation: X:360.84, Y:-16.06, Z:-6.33 [[ 9.99796059e-01 -1.33179677e-03 2.01510770e-02 3.60840672e+02] [ 1.33663592e-03 9.99999081e-01 -2.26676750e-04 -1.60625390e+01] [-2.01507566e-02 2.53565174e-04 9.99796921e-01 -6.32948913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894391418 meters 0.01652873826358809 Centerline is valid? [True, True] Translation: X:360.87, Y:-16.07, Z:-6.33 [[ 9.99783869e-01 -4.97989957e-03 2.01845652e-02 3.60872852e+02] [ 4.98560587e-03 9.99987545e-01 -2.32394473e-04 -1.60658809e+01] [-2.01831565e-02 3.32976532e-04 9.99796244e-01 -6.33027729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters 0.017965546775287895 Centerline is valid? [True, True] Translation: X:360.90, Y:-16.07, Z:-6.33 [[ 9.99751358e-01 -8.77546203e-03 2.04991067e-02 3.60903988e+02] [ 8.78225795e-03 9.99961406e-01 -2.41520922e-04 -1.60692728e+01] [-2.04961961e-02 4.21489313e-04 9.99789842e-01 -6.33049746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954391418 meters 0.021649190911358925 Centerline is valid? [True, True] Translation: X:360.93, Y:-16.08, Z:-6.33 [[ 9.99643370e-01 -1.66394088e-02 2.08869061e-02 3.60933974e+02] [ 1.66482344e-02 9.99861378e-01 -2.48718638e-04 -1.60750076e+01] [-2.08798722e-02 5.96360047e-04 9.99781814e-01 -6.33042748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters 0.022803865492761498 Centerline is valid? [True, True] Translation: X:360.97, Y:-16.08, Z:-6.33 [[ 9.99600892e-01 -1.93728083e-02 2.05609305e-02 3.60965807e+02] [ 1.93819454e-02 9.99812122e-01 -2.45191558e-04 -1.60774346e+01] [-2.05523175e-02 6.43604533e-04 9.99788572e-01 -6.33123478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014391418 meters 0.023762514544934984 Centerline is valid? [True, True] Translation: X:361.00, Y:-16.08, Z:-6.33 [[ 9.99531839e-01 -2.30863993e-02 2.00778711e-02 3.60998120e+02] [ 2.30959131e-02 9.99733225e-01 -2.42058294e-04 -1.60792844e+01] [-2.00669265e-02 7.05661736e-04 9.99798390e-01 -6.33354883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters 0.023762514544934984 Centerline is valid? [True, True] Translation: X:361.03, Y:-16.08, Z:-6.33 [[ 9.99534649e-01 -2.29644487e-02 2.00778503e-02 3.61030674e+02] [ 2.29739721e-02 9.99736034e-01 -2.43767833e-04 -1.60797944e+01] [-2.00669524e-02 7.04922369e-04 9.99798390e-01 -6.33413539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074391418 meters 0.024148109575232068 Centerline is valid? [True, True] Translation: X:361.06, Y:-16.08, Z:-6.34 [[ 9.99507507e-01 -2.40869803e-02 2.01137181e-02 3.61063116e+02] [ 2.40968125e-02 9.99709599e-01 -2.46577476e-04 -1.60804828e+01] [-2.01019377e-02 7.31132531e-04 9.99797668e-01 -6.33516600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters 0.02421969404398695 Centerline is valid? [True, True] Translation: X:361.10, Y:-16.08, Z:-6.34 [[ 9.99460974e-01 -2.56802705e-02 2.04520439e-02 3.61095080e+02] [ 2.56908042e-02 9.99669905e-01 -2.52426775e-04 -1.60801624e+01] [-2.04388104e-02 7.77720167e-04 9.99790803e-01 -6.33522397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134391418 meters 0.02712087279033325 Centerline is valid? [True, True] Translation: X:361.13, Y:-16.08, Z:-6.33 [[ 9.99413626e-01 -2.67907742e-02 2.13227180e-02 3.61126720e+02] [ 2.68025285e-02 9.99640712e-01 -2.65615936e-04 -1.60824336e+01] [-2.13079410e-02 8.36962943e-04 9.99772610e-01 -6.33335590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters 0.02498905142923597 Centerline is valid? [True, True] Translation: X:361.16, Y:-16.08, Z:-6.33 [[ 9.99405481e-01 -2.70074247e-02 2.14309063e-02 3.61158788e+02] [ 2.70194581e-02 9.99634871e-01 -2.72085148e-04 -1.60785027e+01] [-2.14157329e-02 8.50974863e-04 9.99770295e-01 -6.33384594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194391418 meters 0.02551863900081006 Centerline is valid? [True, True] Translation: X:361.19, Y:-16.08, Z:-6.33 [[ 9.99418254e-01 -2.61765812e-02 2.18618486e-02 3.61190451e+02] [ 2.61889613e-02 9.99656971e-01 -2.80127269e-04 -1.60795245e+01] [-2.18470166e-02 8.52503415e-04 9.99760962e-01 -6.33462071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters 0.025534742821673197 Centerline is valid? [True, True] Translation: X:361.22, Y:-16.08, Z:-6.34 [[ 9.99465813e-01 -2.50695327e-02 2.09667999e-02 3.61221517e+02] [ 2.50807901e-02 9.99685390e-01 -2.74086903e-04 -1.60791351e+01] [-2.09533324e-02 7.99804399e-04 9.99780135e-01 -6.33688275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254391418 meters 0.025471314116938315 Centerline is valid? [True, True] Translation: X:361.25, Y:-16.08, Z:-6.34 [[ 9.99493389e-01 -2.43516788e-02 2.04929488e-02 3.61254220e+02] [ 2.43623824e-02 9.99703156e-01 -2.72777439e-04 -1.60787729e+01] [-2.04802230e-02 7.71896302e-04 9.99789960e-01 -6.33832245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284391418 meters 0.024323077223387536 Centerline is valid? [True, True] Translation: X:361.29, Y:-16.08, Z:-6.34 [[ 9.99501706e-01 -2.41904277e-02 2.02771533e-02 3.61286972e+02] [ 2.42009159e-02 9.99707078e-01 -2.71977480e-04 -1.60763096e+01] [-2.02646344e-02 7.62567638e-04 9.99794360e-01 -6.33894481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314391418 meters 0.024458649893787817 Centerline is valid? [True, True] Translation: X:361.32, Y:-16.08, Z:-6.34 [[ 9.99500595e-01 -2.40321918e-02 2.05186197e-02 3.61320036e+02] [ 2.40429510e-02 9.99710888e-01 -2.77797083e-04 -1.60759763e+01] [-2.05060114e-02 7.70986516e-04 9.99789432e-01 -6.33918817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344391418 meters 0.024918612268031673 Centerline is valid? [True, True] Translation: X:361.35, Y:-16.08, Z:-6.34 [[ 9.99479945e-01 -2.39066998e-02 2.16404747e-02 3.61351670e+02] [ 2.39187119e-02 9.99713863e-01 -2.96374550e-04 -1.60751643e+01] [-2.16271972e-02 8.13832699e-04 9.99765774e-01 -6.33891125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374391418 meters 0.02709568167701076 Centerline is valid? [True, True] Translation: X:361.38, Y:-16.08, Z:-6.34 [[ 9.99469987e-01 -2.40155115e-02 2.19772837e-02 3.61383139e+02] [ 2.40280644e-02 9.99711237e-01 -3.07249484e-04 -1.60785459e+01] [-2.19635588e-02 8.35158226e-04 9.99758423e-01 -6.33906633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404391418 meters 0.02655402788749993 Centerline is valid? [True, True] Translation: X:361.42, Y:-16.08, Z:-6.34 [[ 9.99424114e-01 -2.57359486e-02 2.21156165e-02 3.61415723e+02] [ 2.57491928e-02 9.99668385e-01 -3.14258459e-04 -1.60778195e+01] [-2.21001949e-02 8.83536755e-04 9.99755370e-01 -6.33989095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434391418 meters 0.0260820989626542 Centerline is valid? [True, True] Translation: X:361.45, Y:-16.08, Z:-6.34 [[ 9.99388662e-01 -2.70528884e-02 2.21459660e-02 3.61447957e+02] [ 2.70665314e-02 9.99633584e-01 -3.16482049e-04 -1.60775404e+01] [-2.21292896e-02 9.15703055e-04 9.99754698e-01 -6.34088940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464391418 meters 0.027282613451951876 Centerline is valid? [True, True] Translation: X:361.48, Y:-16.08, Z:-6.34 [[ 9.99352109e-01 -2.82740912e-02 2.22696626e-02 3.61479244e+02] [ 2.82882480e-02 9.99599756e-01 -3.20869209e-04 -1.60793491e+01] [-2.22516770e-02 9.50631059e-04 9.99751949e-01 -6.34177543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494391418 meters 0.02804443380057262 Centerline is valid? [True, True] Translation: X:361.51, Y:-16.08, Z:-6.34 [[ 9.99250047e-01 -3.17761108e-02 2.21273983e-02 3.61510778e+02] [ 3.17910526e-02 9.99494484e-01 -3.23733031e-04 -1.60800232e+01] [-2.21059256e-02 1.02694353e-03 9.99755107e-01 -6.34280018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524391418 meters 0.030098642701580434 Centerline is valid? [True, True] Translation: X:361.54, Y:-16.08, Z:-6.34 [[ 9.99195004e-01 -3.35333513e-02 2.20195007e-02 3.61541473e+02] [ 3.35486024e-02 9.99437035e-01 -3.23476824e-04 -1.60836698e+01] [-2.19962572e-02 1.06193990e-03 9.99757489e-01 -6.34325827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.554391418 meters 0.03074709765859124 Centerline is valid? [True, True] Translation: X:361.57, Y:-16.09, Z:-6.34 [[ 9.99121170e-01 -3.57581281e-02 2.18687822e-02 3.61573451e+02] [ 3.57737662e-02 9.99359861e-01 -3.24168102e-04 -1.60855609e+01] [-2.18431915e-02 1.10621191e-03 9.99760797e-01 -6.34418474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584391418 meters 0.0315752005065205 Centerline is valid? [True, True] Translation: X:361.60, Y:-16.09, Z:-6.35 [[ 9.98972064e-01 -3.97376025e-02 2.18114042e-02 3.61604235e+02] [ 3.97541383e-02 9.99209439e-01 -3.24882238e-04 -1.60885669e+01] [-2.17812509e-02 1.19164186e-03 9.99762050e-01 -6.34548983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.614391418 meters 0.034344881180781675 Centerline is valid? [True, True] Translation: X:361.64, Y:-16.09, Z:-6.35 [[ 9.98927266e-01 -4.11252429e-02 2.12845174e-02 3.61635459e+02] [ 4.11413298e-02 9.99153286e-01 -3.18285416e-04 -1.60929737e+01] [-2.12534060e-02 1.19361733e-03 9.99773408e-01 -6.34617785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644391418 meters 0.034754698949033595 Centerline is valid? [True, True] Translation: X:361.67, Y:-16.09, Z:-6.35 [[ 9.98864869e-01 -4.29202926e-02 2.06596605e-02 3.61667074e+02] [ 4.29359365e-02 9.99077778e-01 -3.14044030e-04 -1.60937811e+01] [-2.06271289e-02 1.20072942e-03 9.99786517e-01 -6.34684049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67439141799997 meters 0.035185476702972916 Centerline is valid? [True, True] Translation: X:361.70, Y:-16.09, Z:-6.35 [[ 9.98845201e-01 -4.33780176e-02 2.06546119e-02 3.61699425e+02] [ 4.33938080e-02 9.99057995e-01 -3.16712838e-04 -1.60946165e+01] [-2.06214167e-02 1.21262936e-03 9.99786621e-01 -6.34724405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704391418 meters 0.03449766438312304 Centerline is valid? [True, True] Translation: X:361.73, Y:-16.09, Z:-6.35 [[ 9.98841741e-01 -4.35309067e-02 2.04996648e-02 3.61731531e+02] [ 4.35465275e-02 9.99051350e-01 -3.16018833e-04 -1.60939795e+01] [-2.04664612e-02 1.20834202e-03 9.99789810e-01 -6.34805147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734391418 meters 0.03722778356060526 Centerline is valid? [True, True] Translation: X:361.76, Y:-16.10, Z:-6.35 [[ 9.98854918e-01 -4.32855464e-02 2.03768196e-02 3.61763191e+02] [ 4.33009700e-02 9.99062023e-01 -3.16108907e-04 -1.60982471e+01] [-2.03440237e-02 1.19808299e-03 9.99792321e-01 -6.34874287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764391418 meters 0.044287372905997956 Centerline is valid? [True, True] Translation: X:361.79, Y:-16.11, Z:-6.35 [[ 9.98853200e-01 -4.33410089e-02 2.03431246e-02 3.61794602e+02] [ 4.33564808e-02 9.99059614e-01 -3.19908816e-04 -1.61082592e+01] [-2.03101290e-02 1.20154823e-03 9.99793006e-01 -6.34963015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794391418 meters 0.036755070169060794 Centerline is valid? [True, True] Translation: X:361.83, Y:-16.10, Z:-6.35 [[ 9.98925203e-01 -4.19385015e-02 1.97383118e-02 3.61826664e+02] [ 4.19528858e-02 9.99119540e-01 -3.15052494e-04 -1.60971270e+01] [-1.97077202e-02 1.14279302e-03 9.99805131e-01 -6.35257003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824391418 meters 0.036952531022726165 Centerline is valid? [True, True] Translation: X:361.86, Y:-16.10, Z:-6.35 [[ 9.98863081e-01 -4.29013417e-02 2.07851192e-02 3.61857906e+02] [ 4.29175479e-02 9.99078562e-01 -3.34052763e-04 -1.60991441e+01] [-2.07516357e-02 1.22571932e-03 9.99783910e-01 -6.35139660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854391418 meters 0.039405347380750064 Centerline is valid? [True, True] Translation: X:361.89, Y:-16.10, Z:-6.35 [[ 9.98934497e-01 -4.13424067e-02 2.05103996e-02 3.61889104e+02] [ 4.13579692e-02 9.99144337e-01 -3.34979726e-04 -1.61028351e+01] [-2.04790008e-02 1.18289128e-03 9.99789584e-01 -6.35287095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884391418 meters 0.035046164343708115 Centerline is valid? [True, True] Translation: X:361.92, Y:-16.10, Z:-6.35 [[ 9.98933090e-01 -4.11462765e-02 2.09682092e-02 3.61921871e+02] [ 4.11626063e-02 9.99152400e-01 -3.47599838e-04 -1.60979965e+01] [-2.09361341e-02 1.21033512e-03 9.99780083e-01 -6.35300971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914391418 meters 0.034389980573968935 Centerline is valid? [True, True] Translation: X:361.95, Y:-16.10, Z:-6.35 [[ 9.98971958e-01 -4.02267827e-02 2.09005465e-02 3.61954206e+02] [ 4.02428580e-02 9.99189867e-01 -3.48938776e-04 -1.60971492e+01] [-2.08695776e-02 1.18967778e-03 9.99781499e-01 -6.35432546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944391418 meters 0.034644847421935 Centerline is valid? [True, True] Translation: X:361.99, Y:-16.10, Z:-6.36 [[ 9.98997740e-01 -3.96419775e-02 2.07852974e-02 3.61986740e+02] [ 3.96577852e-02 9.99213260e-01 -3.48718145e-04 -1.60982605e+01] [-2.07551209e-02 1.17266750e-03 9.99783902e-01 -6.35526233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974391418 meters 0.033636728136438906 Centerline is valid? [True, True] Translation: X:362.02, Y:-16.10, Z:-6.36 [[ 9.99030342e-01 -3.88535308e-02 2.07069823e-02 3.62018565e+02] [ 3.88690857e-02 9.99244251e-01 -3.49092427e-04 -1.60979083e+01] [-2.06777695e-02 1.15361539e-03 9.99785527e-01 -6.35618990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004391418 meters 0.035383925162845636 Centerline is valid? [True, True] Translation: X:362.05, Y:-16.10, Z:-6.36 [[ 9.99072157e-01 -3.76109934e-02 2.09818450e-02 3.62050280e+02] [ 3.76267276e-02 9.99291801e-01 -3.55474745e-04 -1.61014064e+01] [-2.09536159e-02 1.14462309e-03 9.99779794e-01 -6.35676323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034391418 meters 0.035026890861672176 Centerline is valid? [True, True] Translation: X:362.08, Y:-16.10, Z:-6.36 [[ 9.99107296e-01 -3.66509669e-02 2.10075665e-02 3.62082839e+02] [ 3.66665640e-02 9.99327491e-01 -3.57623188e-04 -1.61016115e+01] [-2.09803315e-02 1.12757922e-03 9.99779253e-01 -6.35769286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064391418 meters 0.03537381685704017 Centerline is valid? [True, True] Translation: X:362.11, Y:-16.10, Z:-6.36 [[ 9.99133618e-01 -3.58519042e-02 2.11341859e-02 3.62114092e+02] [ 3.58675590e-02 9.99356487e-01 -3.62019723e-04 -1.61030909e+01] [-2.11076067e-02 1.11973774e-03 9.99776583e-01 -6.35775596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094391418 meters 0.032611039842261075 Centerline is valid? [True, True] Translation: X:362.15, Y:-16.10, Z:-6.36 [[ 9.99154653e-01 -3.51828853e-02 2.12636956e-02 3.62146315e+02] [ 3.51986857e-02 9.99380266e-01 -3.69144162e-04 -1.61007397e+01] [-2.12375302e-02 1.11728624e-03 9.99773834e-01 -6.35892506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124391418 meters 0.03179555037133737 Centerline is valid? [True, True] Translation: X:362.18, Y:-16.10, Z:-6.36 [[ 9.99140776e-01 -3.54000709e-02 2.15533103e-02 3.62178936e+02] [ 3.54163937e-02 9.99372572e-01 -3.75962224e-04 -1.61009011e+01] [-2.15264781e-02 1.13897971e-03 9.99767630e-01 -6.35979110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154391418 meters 0.035681579717609435 Centerline is valid? [True, True] Translation: X:362.21, Y:-16.11, Z:-6.36 [[ 9.99122943e-01 -3.57746531e-02 2.17605038e-02 3.62209837e+02] [ 3.57914256e-02 9.99359209e-01 -3.81673232e-04 -1.61078225e+01] [-2.17329057e-02 1.16017793e-03 9.99763139e-01 -6.36005076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184391418 meters 0.03227054386068848 Centerline is valid? [True, True] Translation: X:362.24, Y:-16.11, Z:-6.36 [[ 9.99081251e-01 -3.66607597e-02 2.21955489e-02 3.62241986e+02] [ 3.66784992e-02 9.99327040e-01 -3.92528068e-04 -1.61060217e+01] [-2.21662218e-02 1.20626685e-03 9.99753571e-01 -6.36151269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214391418 meters 0.03779614735617105 Centerline is valid? [True, True] Translation: X:362.27, Y:-16.12, Z:-6.36 [[ 9.99083063e-01 -3.66075158e-02 2.22018754e-02 3.62274313e+02] [ 3.66253145e-02 9.99328990e-01 -3.95441321e-04 -1.61151931e+01] [-2.21725016e-02 1.20822939e-03 9.99753430e-01 -6.36212232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244391418 meters 0.03262188192322029 Centerline is valid? [True, True] Translation: X:362.31, Y:-16.11, Z:-6.36 [[ 9.99093863e-01 -3.64062791e-02 2.20462036e-02 3.62306228e+02] [ 3.64239096e-02 9.99336350e-01 -3.98549390e-04 -1.61099563e+01] [-2.20170629e-02 1.20119718e-03 9.99756873e-01 -6.36372659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274391418 meters 0.03325543169438617 Centerline is valid? [True, True] Translation: X:362.34, Y:-16.11, Z:-6.37 [[ 9.99134175e-01 -3.56259808e-02 2.14869656e-02 3.62337152e+02] [ 3.56425917e-02 9.99364525e-01 -3.90471762e-04 -1.61128112e+01] [-2.14594002e-02 1.15598482e-03 9.99769052e-01 -6.36539416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.304391418 meters 0.03854623500810728 Centerline is valid? [True, True] Translation: X:362.37, Y:-16.12, Z:-6.37 [[ 9.99159962e-01 -3.49752345e-02 2.13565912e-02 3.62368305e+02] [ 3.49915779e-02 9.99387530e-01 -3.91934984e-04 -1.61213323e+01] [-2.13298029e-02 1.13890657e-03 9.99771845e-01 -6.36561660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334391418 meters 0.03235507887036474 Centerline is valid? [True, True] Translation: X:362.40, Y:-16.11, Z:-6.37 [[ 9.99171819e-01 -3.46013308e-02 2.14108261e-02 3.62400819e+02] [ 3.46177793e-02 9.99400546e-01 -3.97959761e-04 -1.61140428e+01] [-2.13842213e-02 1.13882543e-03 9.99770683e-01 -6.36684342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.364391418 meters 0.033816323478723306 Centerline is valid? [True, True] Translation: X:362.43, Y:-16.12, Z:-6.37 [[ 9.99198083e-01 -3.34722344e-02 2.19727073e-02 3.62432441e+02] [ 3.34893262e-02 9.99438991e-01 -4.10256630e-04 -1.61186672e+01] [-2.19466482e-02 1.14577880e-03 9.99758487e-01 -6.36714442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394391418 meters 0.03263636107746145 Centerline is valid? [True, True] Translation: X:362.46, Y:-16.12, Z:-6.37 [[ 9.99207122e-01 -3.29307568e-02 2.23761705e-02 3.62464865e+02] [ 3.29483884e-02 9.99456966e-01 -4.19646800e-04 -1.61185693e+01] [-2.23502002e-02 1.15657283e-03 9.99749534e-01 -6.36745893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters 0.03312010343293762 Centerline is valid? [True, True] Translation: X:362.50, Y:-16.12, Z:-6.37 [[ 9.99243683e-01 -3.17209867e-02 2.24908878e-02 3.62495636e+02] [ 3.17385535e-02 9.99496115e-01 -4.24442841e-04 -1.61215536e+01] [-2.24660912e-02 1.13795007e-03 9.99746958e-01 -6.36811908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454391418 meters 0.030235965278855574 Centerline is valid? [True, True] Translation: X:362.53, Y:-16.12, Z:-6.37 [[ 9.99276554e-01 -3.10493004e-02 2.19615696e-02 3.62527899e+02] [ 3.10659963e-02 9.99517247e-01 -4.19389195e-04 -1.61188237e+01] [-2.19379459e-02 1.10134383e-03 9.99758728e-01 -6.36987710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters 0.03205730257451668 Centerline is valid? [True, True] Translation: X:362.56, Y:-16.12, Z:-6.37 [[ 9.99340721e-01 -2.95828117e-02 2.10471149e-02 3.62559606e+02] [ 2.95978571e-02 9.99561806e-01 -4.03624596e-04 -1.61218207e+01] [-2.10259518e-02 1.02630799e-03 9.99778403e-01 -6.37175930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514391418 meters 0.030428418637707105 Centerline is valid? [True, True] Translation: X:362.59, Y:-16.12, Z:-6.37 [[ 9.99337765e-01 -2.96309128e-02 2.11196561e-02 3.62591346e+02] [ 2.96461099e-02 9.99560375e-01 -4.06772654e-04 -1.61224379e+01] [-2.10983184e-02 1.03261892e-03 9.99776872e-01 -6.37176966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters 0.03030633353671699 Centerline is valid? [True, True] Translation: X:362.62, Y:-16.12, Z:-6.37 [[ 9.99406743e-01 -2.75578091e-02 2.06574466e-02 3.62622262e+02] [ 2.75719507e-02 9.99619741e-01 -4.00022546e-04 -1.61244008e+01] [-2.06385677e-02 9.69351329e-04 9.99786532e-01 -6.37306097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574391418 meters 0.029261534405795986 Centerline is valid? [True, True] Translation: X:362.65, Y:-16.12, Z:-6.37 [[ 9.99450606e-01 -2.63814226e-02 2.00625874e-02 3.62654710e+02] [ 2.63946211e-02 9.99651524e-01 -3.93307006e-04 -1.61241640e+01] [-2.00452201e-02 9.22635319e-04 9.99798649e-01 -6.37396076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters 0.027944965992616252 Centerline is valid? [True, True] Translation: X:362.69, Y:-16.12, Z:-6.38 [[ 9.99519074e-01 -2.37216458e-02 1.99725629e-02 3.62685995e+02] [ 2.37342271e-02 9.99718226e-01 -3.93090899e-04 -1.61243839e+01] [-1.99576104e-02 8.66935196e-04 9.99800451e-01 -6.37511637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634391418 meters 0.026372454134175695 Centerline is valid? [True, True] Translation: X:362.72, Y:-16.12, Z:-6.38 [[ 9.99556312e-01 -2.20147401e-02 2.00631571e-02 3.62718278e+02] [ 2.20271109e-02 9.99757295e-01 -3.95787813e-04 -1.61232782e+01] [-2.00495745e-02 8.37545594e-04 9.99798636e-01 -6.37577028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters 0.026476454423625218 Centerline is valid? [True, True] Translation: X:362.75, Y:-16.12, Z:-6.38 [[ 9.99583136e-01 -2.03736518e-02 2.04564825e-02 3.62749932e+02] [ 2.03862049e-02 9.99792098e-01 -4.05280068e-04 -1.61246742e+01] [-2.04439725e-02 8.22141167e-04 9.99790662e-01 -6.37607584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694391418 meters 0.024926737565167768 Centerline is valid? [True, True] Translation: X:362.78, Y:-16.12, Z:-6.38 [[ 9.99630609e-01 -1.70988344e-02 2.11252475e-02 3.62781003e+02] [ 1.71115269e-02 9.99853499e-01 -4.20193613e-04 -1.61236600e+01] [-2.11149678e-02 7.81523638e-04 9.99776749e-01 -6.37604839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters 0.025996424695546236 Centerline is valid? [True, True] Translation: X:362.81, Y:-16.13, Z:-6.38 [[ 9.99660556e-01 -1.57502191e-02 2.07534085e-02 3.62812211e+02] [ 1.57622084e-02 9.99875683e-01 -4.14242239e-04 -1.61266581e+01] [-2.07443041e-02 7.41221178e-04 9.99784539e-01 -6.37671111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754391418 meters 0.02411302290006198 Centerline is valid? [True, True] Translation: X:362.84, Y:-16.13, Z:-6.38 [[ 9.99681168e-01 -1.45003718e-02 2.06712583e-02 3.62844330e+02] [ 1.45121012e-02 9.99894607e-01 -4.17524680e-04 -1.61256697e+01] [-2.06630255e-02 7.17374953e-04 9.99786240e-01 -6.37796858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784391418 meters 0.023909573033900185 Centerline is valid? [True, True] Translation: X:362.88, Y:-16.13, Z:-6.38 [[ 9.99733919e-01 -1.20585720e-02 1.96642518e-02 3.62875389e+02] [ 1.20687502e-02 9.99927090e-01 -3.99001961e-04 -1.61281564e+01] [-1.96580067e-02 6.36218737e-04 9.99806560e-01 -6.38008740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814391418 meters 0.023780792005199065 Centerline is valid? [True, True] Translation: X:362.91, Y:-16.13, Z:-6.38 [[ 9.99757014e-01 -1.05512898e-02 1.93541607e-02 3.62906868e+02] [ 1.05609581e-02 9.99944153e-01 -3.97404680e-04 -1.61295244e+01] [-1.93488867e-02 6.01706596e-04 9.99812612e-01 -6.38135791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844391418 meters 0.022749671487675285 Centerline is valid? [True, True] Translation: X:362.94, Y:-16.13, Z:-6.38 [[ 9.99795126e-01 -7.77686596e-03 1.86875844e-02 3.62938013e+02] [ 7.78541539e-03 9.99969619e-01 -3.84783232e-04 -1.61301263e+01] [-1.86840242e-02 5.30195007e-04 9.99825298e-01 -6.38262528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874391418 meters 0.02065211587510714 Centerline is valid? [True, True] Translation: X:362.97, Y:-16.13, Z:-6.38 [[ 9.99802653e-01 -6.36395322e-03 1.88189915e-02 3.62970480e+02] [ 6.37239441e-03 9.99979621e-01 -3.88613607e-04 -1.61280829e+01] [-1.88161349e-02 5.08458952e-04 9.99822832e-01 -6.38313999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904391418 meters 0.020488679869566043 Centerline is valid? [True, True] Translation: X:363.00, Y:-16.13, Z:-6.38 [[ 9.99804032e-01 -5.33851492e-03 1.90629932e-02 3.63002336e+02] [ 5.34702022e-03 9.99985626e-01 -3.95225975e-04 -1.61287694e+01] [-1.90606093e-02 4.97078734e-04 9.99818207e-01 -6.38355935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934391418 meters 0.021989984758493928 Centerline is valid? [True, True] Translation: X:363.03, Y:-16.13, Z:-6.38 [[ 9.99800383e-01 -4.68027710e-03 1.94239135e-02 3.63033572e+02] [ 4.68901412e-03 9.99988925e-01 -4.04287746e-04 -1.61344493e+01] [-1.94218062e-02 4.95286048e-04 9.99811256e-01 -6.38422798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964391418 meters 0.021989984758493928 Centerline is valid? [True, True] Translation: X:363.07, Y:-16.14, Z:-6.38 [[ 9.99800912e-01 -4.56615325e-03 1.94238874e-02 3.63066106e+02] [ 4.57489304e-03 9.99989453e-01 -4.05538599e-04 -1.61352503e+01] [-1.94218308e-02 4.94320069e-04 9.99811256e-01 -6.38481442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994391418 meters 0.020129997864458696 Centerline is valid? [True, True] Translation: X:363.10, Y:-16.13, Z:-6.39 [[ 9.99800867e-01 -4.59958276e-03 1.94183152e-02 3.63098767e+02] [ 4.60836714e-03 9.99989298e-01 -4.07652297e-04 -1.61347673e+01] [-1.94162323e-02 4.97057845e-04 9.99811364e-01 -6.38577097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024391418 meters 0.02023010517856296 Centerline is valid? [True, True] Translation: X:363.13, Y:-16.14, Z:-6.39 [[ 9.99792812e-01 -4.85868663e-03 1.97668124e-02 3.63131061e+02] [ 4.86788748e-03 9.99988065e-01 -4.17380154e-04 -1.61376858e+01] [-1.97645486e-02 5.13516297e-04 9.99804530e-01 -6.38669799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.054391418 meters 0.02072780048059267 Centerline is valid? [True, True] Translation: X:363.16, Y:-16.14, Z:-6.39 [[ 9.99786636e-01 -5.08095241e-03 2.00216464e-02 3.63162005e+02] [ 5.09046911e-03 9.99986953e-01 -4.24384115e-04 -1.61428422e+01] [-2.00192289e-02 5.26213139e-04 9.99799457e-01 -6.38750874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084391418 meters 0.020554494149218006 Centerline is valid? [True, True] Translation: X:363.19, Y:-16.14, Z:-6.39 [[ 9.99777384e-01 -4.96604839e-03 2.05065887e-02 3.63194785e+02] [ 4.97603705e-03 9.99987524e-01 -4.36097448e-04 -1.61448553e+01] [-2.05041672e-02 5.38041911e-04 9.99789623e-01 -6.38841276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.114391418 meters 0.020709844899029196 Centerline is valid? [True, True] Translation: X:363.23, Y:-16.15, Z:-6.39 [[ 9.99781867e-01 -4.67154415e-03 2.03567197e-02 3.63225972e+02] [ 4.68137400e-03 9.99988948e-01 -4.35252961e-04 -1.61472323e+01] [-2.03544614e-02 5.30455436e-04 9.99792686e-01 -6.38933242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144391418 meters 0.020578863826602598 Centerline is valid? [True, True] Translation: X:363.26, Y:-16.15, Z:-6.39 [[ 9.99797902e-01 -3.90468218e-03 1.97207582e-02 3.63257786e+02] [ 3.91378188e-03 9.99992252e-01 -4.22853690e-04 -1.61504768e+01] [-1.97189543e-02 4.99950979e-04 9.99805438e-01 -6.39073138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17439141799997 meters 0.020333800898651697 Centerline is valid? [True, True] Translation: X:363.29, Y:-16.15, Z:-6.39 [[ 9.99795568e-01 -2.87241934e-03 2.00142642e-02 3.63290039e+02] [ 2.88161787e-03 9.99995755e-01 -4.30774204e-04 -1.61526774e+01] [-2.00129419e-02 4.88359601e-04 9.99799602e-01 -6.39192167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204391418 meters 0.019657347092701595 Centerline is valid? [True, True] Translation: X:363.32, Y:-16.15, Z:-6.39 [[ 9.99788762e-01 -1.67581140e-03 2.04847005e-02 3.63322058e+02] [ 1.68523072e-03 9.99998482e-01 -4.42568295e-04 -1.61539182e+01] [-2.04839277e-02 4.76996254e-04 9.99790069e-01 -6.39232368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234391418 meters 0.018567695989852046 Centerline is valid? [True, True] Translation: X:363.35, Y:-16.15, Z:-6.39 [[ 9.99757370e-01 1.49318328e-03 2.19766105e-02 3.63354743e+02] [-1.48306006e-03 9.99998787e-01 -4.76927152e-04 -1.61549230e+01] [-2.19772960e-02 4.44218802e-04 9.99758371e-01 -6.39207762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264391418 meters 0.01786911433750099 Centerline is valid? [True, True] Translation: X:363.39, Y:-16.16, Z:-6.39 [[ 9.99749708e-01 3.46664575e-03 2.21021319e-02 3.63387137e+02] [-3.45682365e-03 9.99993909e-01 -4.82586924e-04 -1.61555368e+01] [-2.21036702e-02 4.06062964e-04 9.99755602e-01 -6.39230786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294391418 meters 0.017187858807642682 Centerline is valid? [True, True] Translation: X:363.42, Y:-16.16, Z:-6.39 [[ 9.99728291e-01 5.79995023e-03 2.25766449e-02 3.63418961e+02] [-5.79025494e-03 9.99983114e-01 -4.94786576e-04 -1.61554123e+01] [-2.25791334e-02 3.63927609e-04 9.99744993e-01 -6.39317846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324391418 meters 0.016072208398907134 Centerline is valid? [True, True] Translation: X:363.45, Y:-16.16, Z:-6.39 [[ 9.99695758e-01 1.02771583e-02 2.24225863e-02 3.63449801e+02] [-1.02686723e-02 9.99947154e-01 -4.93566573e-04 -1.61550690e+01] [-2.24264738e-02 2.63166217e-04 9.99748460e-01 -6.39452176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354391418 meters 0.015289183655503764 Centerline is valid? [True, True] Translation: X:363.48, Y:-16.15, Z:-6.40 [[ 9.99661172e-01 1.32385433e-02 2.24116587e-02 3.63482236e+02] [-1.32307165e-02 9.99912346e-01 -4.97476231e-04 -1.61543765e+01] [-2.24162801e-02 2.00785368e-04 9.99748703e-01 -6.39584998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384391418 meters 0.014958660675784208 Centerline is valid? [True, True] Translation: X:363.51, Y:-16.15, Z:-6.40 [[ 9.99613768e-01 1.67508715e-02 2.21748427e-02 3.63513815e+02] [-1.67439362e-02 9.99859686e-01 -4.98402944e-04 -1.61543957e+01] [-2.21800799e-02 1.26916294e-04 9.99753984e-01 -6.39692627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414391418 meters 0.014359391404294618 Centerline is valid? [True, True] Translation: X:363.55, Y:-16.15, Z:-6.40 [[ 9.99472184e-01 2.31979868e-02 2.27421697e-02 3.63546120e+02] [-2.31922205e-02 9.99730890e-01 -5.17304314e-04 -1.61521899e+01] [-2.27480500e-02 -1.04101441e-05 9.99741230e-01 -6.39821979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444391418 meters 0.014492339616665122 Centerline is valid? [True, True] Translation: X:363.58, Y:-16.15, Z:-6.40 [[ 9.99389574e-01 2.63960941e-02 2.28850651e-02 3.63577151e+02] [-2.63909611e-02 9.99651559e-01 -5.26337116e-04 -1.61510987e+01] [-2.28909843e-02 -7.79430370e-05 9.99737964e-01 -6.39847489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474391418 meters 0.015122149054432259 Centerline is valid? [True, True] Translation: X:363.61, Y:-16.15, Z:-6.40 [[ 9.99218141e-01 3.25841166e-02 2.23915503e-02 3.63608119e+02] [-3.25806953e-02 9.99468974e-01 -5.17686754e-04 -1.61475016e+01] [-2.23965282e-02 -2.12250281e-04 9.99749144e-01 -6.39893877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504391418 meters 0.015614920442716448 Centerline is valid? [True, True] Translation: X:363.64, Y:-16.15, Z:-6.40 [[ 9.99092852e-01 3.58470919e-02 2.29882252e-02 3.63638168e+02] [-3.58443539e-02 9.99357243e-01 -5.31281161e-04 -1.61468180e+01] [-2.29924943e-02 -2.93198870e-04 9.99735595e-01 -6.39977103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534391418 meters 0.016885725314710495 Centerline is valid? [True, True] Translation: X:363.67, Y:-16.14, Z:-6.40 [[ 9.98967577e-01 3.91051055e-02 2.31207929e-02 3.63667197e+02] [-3.91032320e-02 9.99235034e-01 -5.33306725e-04 -1.61441989e+01] [-2.31239613e-02 -3.71341604e-04 9.99732536e-01 -6.40005413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564391418 meters 0.017075590066621377 Centerline is valid? [True, True] Translation: X:363.70, Y:-16.14, Z:-6.40 [[ 9.98842304e-01 4.20550221e-02 2.33543550e-02 3.63696275e+02] [-4.20539520e-02 9.99115197e-01 -5.37175539e-04 -1.61445358e+01] [-2.33562820e-02 -4.45589273e-04 9.99727106e-01 -6.40115625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594391418 meters 0.02118903014932757 Centerline is valid? [True, True] Translation: X:363.72, Y:-16.14, Z:-6.40 [[ 9.98627947e-01 4.67651323e-02 2.35636503e-02 3.63724721e+02] [-4.67653958e-02 9.98905754e-01 -5.40176541e-04 -1.61381598e+01] [-2.35631273e-02 -5.62528044e-04 9.99722193e-01 -6.40107820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624391418 meters 0.023310197348555748 Centerline is valid? [True, True] Translation: X:363.75, Y:-16.14, Z:-6.40 [[ 9.98513715e-01 4.90131393e-02 2.38342721e-02 3.63752625e+02] [-4.90140919e-02 9.98797939e-01 -5.44573134e-04 -1.61356103e+01] [-2.38323130e-02 -6.24451457e-04 9.99715775e-01 -6.40154604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654391418 meters 0.023041663957771685 Centerline is valid? [True, True] Translation: X:363.78, Y:-16.14, Z:-6.40 [[ 9.98384128e-01 5.14369964e-02 2.41530222e-02 3.63781433e+02] [-5.14387424e-02 9.98676000e-01 -5.49406077e-04 -1.61369050e+01] [-2.41493034e-02 -6.93882781e-04 9.99708122e-01 -6.40268054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684391418 meters 0.026015412577193496 Centerline is valid? [True, True] Translation: X:363.81, Y:-16.13, Z:-6.40 [[ 9.98143641e-01 5.59702941e-02 2.40124423e-02 3.63809532e+02] [-5.59733797e-02 9.98432113e-01 -5.44132352e-04 -1.61339451e+01] [-2.40052487e-02 -8.00935301e-04 9.99711512e-01 -6.40424808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714391418 meters 0.028596953746496453 Centerline is valid? [True, True] Translation: X:363.84, Y:-16.13, Z:-6.41 [[ 9.98057519e-01 5.78332974e-02 2.31624277e-02 3.63837064e+02] [-5.78367167e-02 9.98325919e-01 -5.22821806e-04 -1.61327555e+01] [-2.31538884e-02 -8.17832532e-04 9.99731578e-01 -6.40591764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744391418 meters 0.03007242938042372 Centerline is valid? [True, True] Translation: X:363.87, Y:-16.13, Z:-6.41 [[ 9.97840119e-01 6.09149339e-02 2.45859255e-02 3.63865453e+02] [-6.09197845e-02 9.98142512e-01 -5.52356643e-04 -1.61301760e+01] [-2.45739042e-02 -9.46605666e-04 9.99697568e-01 -6.40574720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774391418 meters 0.03152016054543799 Centerline is valid? [True, True] Translation: X:363.89, Y:-16.13, Z:-6.41 [[ 9.97733480e-01 6.24906538e-02 2.49563667e-02 3.63893777e+02] [-6.24962072e-02 9.98045045e-01 -5.58137914e-04 -1.61287375e+01] [-2.49424565e-02 -1.00280538e-03 9.99688386e-01 -6.40609842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.804391418 meters 0.03327891069010167 Centerline is valid? [True, True] Translation: X:363.92, Y:-16.13, Z:-6.41 [[ 9.97520186e-01 6.54226816e-02 2.59489994e-02 3.63923245e+02] [-6.54297543e-02 9.97857011e-01 -5.77317680e-04 -1.61272839e+01] [-2.59311606e-02 -1.12195061e-03 9.99663101e-01 -6.40642046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834391418 meters 0.03536106660928776 Centerline is valid? [True, True] Translation: X:363.95, Y:-16.12, Z:-6.41 [[ 9.97448653e-01 6.65357771e-02 2.58684040e-02 3.63950562e+02] [-6.65432266e-02 9.97783378e-01 -5.73700136e-04 -1.61249223e+01] [-2.58492351e-02 -1.14913064e-03 9.99665192e-01 -6.40695915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.864391418 meters 0.03556937024227078 Centerline is valid? [True, True] Translation: X:363.98, Y:-16.13, Z:-6.41 [[ 9.97354755e-01 6.76725591e-02 2.65314463e-02 3.63979648e+02] [-6.76808825e-02 9.97706849e-01 -5.85179314e-04 -1.61254444e+01] [-2.65102063e-02 -1.21204033e-03 9.99647808e-01 -6.40763787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894391418 meters 0.0338333841190411 Centerline is valid? [True, True] Translation: X:364.01, Y:-16.13, Z:-6.41 [[ 9.97306249e-01 6.82197163e-02 2.69502675e-02 3.64008056e+02] [-6.82285657e-02 9.97669541e-01 -5.92131709e-04 -1.61290345e+01] [-2.69278561e-02 -1.24824144e-03 9.99636600e-01 -6.40946491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters 0.03855801465747165 Centerline is valid? [True, True] Translation: X:364.04, Y:-16.12, Z:-6.41 [[ 9.97298160e-01 6.82954863e-02 2.70574551e-02 3.64036304e+02] [-6.83045026e-02 9.97664345e-01 -5.91953731e-04 -1.61236795e+01] [-2.70346859e-02 -1.25779164e-03 9.99633705e-01 -6.40908918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954391418 meters 0.03484912028993695 Centerline is valid? [True, True] Translation: X:364.06, Y:-16.13, Z:-6.41 [[ 9.97303833e-01 6.81321473e-02 2.72593976e-02 3.64063804e+02] [-6.81413232e-02 9.97675502e-01 -5.93244578e-04 -1.61291956e+01] [-2.72364522e-02 -1.26584633e-03 9.99628218e-01 -6.41043304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters 0.03440341842773195 Centerline is valid? [True, True] Translation: X:364.09, Y:-16.13, Z:-6.41 [[ 9.97412987e-01 6.66707296e-02 2.68765243e-02 3.64093017e+02] [-6.66792168e-02 9.97774295e-01 -5.81305053e-04 -1.61304605e+01] [-2.68554611e-02 -1.21230438e-03 9.99638592e-01 -6.41198628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014391418 meters 0.034342846902254705 Centerline is valid? [True, True] Translation: X:364.12, Y:-16.13, Z:-6.41 [[ 9.97477848e-01 6.58122585e-02 2.65836375e-02 3.64120638e+02] [-6.58203525e-02 9.97831326e-01 -5.71387587e-04 -1.61309524e+01] [-2.65635906e-02 -1.17979793e-03 9.99646429e-01 -6.41306805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters 0.03281961517804444 Centerline is valid? [True, True] Translation: X:364.15, Y:-16.13, Z:-6.41 [[ 9.97570013e-01 6.46477627e-02 2.59756833e-02 3.64149018e+02] [-6.46551615e-02 9.97907511e-01 -5.55813326e-04 -1.61333728e+01] [-2.59572615e-02 -1.12499929e-03 9.99662420e-01 -6.41472404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074391418 meters 0.030556017382942734 Centerline is valid? [True, True] Translation: X:364.18, Y:-16.14, Z:-6.42 [[ 9.97685520e-01 6.25666966e-02 2.66272609e-02 3.64178251e+02] [-6.25738086e-02 9.98040178e-01 -5.66870534e-04 -1.61367353e+01] [-2.66105435e-02 -1.10061061e-03 9.99645271e-01 -6.41636075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters 0.030716533027905134 Centerline is valid? [True, True] Translation: X:364.21, Y:-16.14, Z:-6.42 [[ 9.97723288e-01 6.15798914e-02 2.74983032e-02 3.64206170e+02] [-6.15872172e-02 9.98101536e-01 -5.81247262e-04 -1.61368847e+01] [-2.74818919e-02 -1.11362005e-03 9.99621681e-01 -6.41663275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134391418 meters 0.028778985670965228 Centerline is valid? [True, True] Translation: X:364.24, Y:-16.14, Z:-6.42 [[ 9.97747724e-01 6.07737560e-02 2.83906591e-02 3.64235192e+02] [-6.07813389e-02 9.98150927e-01 -5.96617434e-04 -1.61396835e+01] [-2.83744214e-02 -1.13034858e-03 9.99596726e-01 -6.41729015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters 0.028104903469175553 Centerline is valid? [True, True] Translation: X:364.26, Y:-16.14, Z:-6.42 [[ 9.97850511e-01 5.88126738e-02 2.89037461e-02 3.64264505e+02] [-5.88197795e-02 9.98268435e-01 -6.05066815e-04 -1.61397765e+01] [-2.88892830e-02 -1.09634574e-03 9.99582016e-01 -6.41793560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194391418 meters 0.028060582045146727 Centerline is valid? [True, True] Translation: X:364.29, Y:-16.14, Z:-6.42 [[ 9.97900098e-01 5.78998390e-02 2.90345110e-02 3.64292752e+02] [-5.79066855e-02 9.98321816e-01 -6.05667286e-04 -1.61397021e+01] [-2.90208538e-02 -1.07689686e-03 9.99578226e-01 -6.41906923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters 0.025168382118348553 Centerline is valid? [True, True] Translation: X:364.32, Y:-16.14, Z:-6.42 [[ 9.98034350e-01 5.58450091e-02 2.84388983e-02 3.64321608e+02] [-5.58508144e-02 9.98438950e-01 -5.90774249e-04 -1.61432001e+01] [-2.84274956e-02 -9.98722640e-04 9.99595358e-01 -6.42221180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254391418 meters 0.026079724505428375 Centerline is valid? [True, True] Translation: X:364.35, Y:-16.14, Z:-6.42 [[ 9.98095472e-01 5.49066757e-02 2.81191490e-02 3.64349632e+02] [-5.49120565e-02 9.98491026e-01 -5.81383254e-04 -1.61416491e+01] [-2.81086397e-02 -9.63804304e-04 9.99604409e-01 -6.42277139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284391418 meters 0.02655519442557417 Centerline is valid? [True, True] Translation: X:364.38, Y:-16.14, Z:-6.42 [[ 9.98106372e-01 5.47738024e-02 2.79910691e-02 3.64378642e+02] [-5.47791630e-02 9.98498328e-01 -5.75840196e-04 -1.61424841e+01] [-2.79805767e-02 -9.58577568e-04 9.99608007e-01 -6.42414766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314391418 meters 0.02455202581366896 Centerline is valid? [True, True] Translation: X:364.41, Y:-16.14, Z:-6.42 [[ 9.98149885e-01 5.37256013e-02 2.84669420e-02 3.64407899e+02] [-5.37308081e-02 9.98555287e-01 -5.82545231e-04 -1.61429995e+01] [-2.84571130e-02 -9.48084340e-04 9.99594565e-01 -6.42420821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344391418 meters 0.025032447049984443 Centerline is valid? [True, True] Translation: X:364.44, Y:-16.14, Z:-6.42 [[ 9.98108706e-01 5.44161321e-02 2.85988856e-02 3.64436417e+02] [-5.44217701e-02 9.98517868e-01 -5.81762329e-04 -1.61397950e+01] [-2.85881555e-02 -9.75739931e-04 9.99590799e-01 -6.42432505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374391418 meters 0.025748210831859332 Centerline is valid? [True, True] Translation: X:364.47, Y:-16.14, Z:-6.42 [[ 9.98065791e-01 5.53232427e-02 2.83551716e-02 3.64465417e+02] [-5.53292220e-02 9.98468000e-01 -5.74277722e-04 -1.61375837e+01] [-2.83435024e-02 -9.95702636e-04 9.99597746e-01 -6.42469396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404391418 meters 0.026647862834894544 Centerline is valid? [True, True] Translation: X:364.49, Y:-16.14, Z:-6.42 [[ 9.97992597e-01 5.64938726e-02 2.86220123e-02 3.64494185e+02] [-5.65005190e-02 9.98402403e-01 -5.77128387e-04 -1.61350140e+01] [-2.86088901e-02 -1.04118869e-03 9.99590140e-01 -6.42472152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434391418 meters 0.024538749549882742 Centerline is valid? [True, True] Translation: X:364.52, Y:-16.13, Z:-6.43 [[ 9.97811061e-01 5.92786765e-02 2.93108389e-02 3.64522815e+02] [-5.92869159e-02 9.98240810e-01 -5.88642570e-04 -1.61349299e+01] [-2.92941695e-02 -1.15039517e-03 9.99570172e-01 -6.42704743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464391418 meters 0.02399056769365772 Centerline is valid? [True, True] Translation: X:364.55, Y:-16.13, Z:-6.43 [[ 9.97715610e-01 6.07122353e-02 2.96240930e-02 3.64551916e+02] [-6.07213460e-02 9.98154581e-01 -5.92793820e-04 -1.61340917e+01] [-2.96054140e-02 -1.20737516e-03 9.99560934e-01 -6.42798349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494391418 meters 0.02643549602271099 Centerline is valid? [True, True] Translation: X:364.58, Y:-16.13, Z:-6.43 [[ 9.97529089e-01 6.37470001e-02 2.95302506e-02 3.64580640e+02] [-6.37574432e-02 9.97965251e-01 -5.88775839e-04 -1.61263900e+01] [-2.95076967e-02 -1.29545225e-03 9.99563714e-01 -6.42854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524391418 meters 0.028538937732236078 Centerline is valid? [True, True] Translation: X:364.61, Y:-16.12, Z:-6.43 [[ 9.97447583e-01 6.48013991e-02 2.99849465e-02 3.64608523e+02] [-6.48127098e-02 9.97897268e-01 -5.95578353e-04 -1.61212256e+01] [-2.99604905e-02 -1.34934745e-03 9.99550173e-01 -6.42827191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.554391418 meters 0.027113503502990074 Centerline is valid? [True, True] Translation: X:364.64, Y:-16.12, Z:-6.43 [[ 9.97326397e-01 6.67743233e-02 2.96858217e-02 3.64637625e+02] [-6.67863603e-02 9.97767126e-01 -5.86967333e-04 -1.61197222e+01] [-2.96587313e-02 -1.39720997e-03 9.99559107e-01 -6.43065242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584391418 meters 0.026830979333126566 Centerline is valid? [True, True] Translation: X:364.67, Y:-16.12, Z:-6.43 [[ 9.97284483e-01 6.74482309e-02 2.95702005e-02 3.64666760e+02] [-6.74605397e-02 9.97721773e-01 -5.82311846e-04 -1.61187228e+01] [-2.95421088e-02 -1.41409112e-03 9.99562536e-01 -6.43182133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.614391418 meters 0.027425071541329806 Centerline is valid? [True, True] Translation: X:364.70, Y:-16.12, Z:-6.43 [[ 9.97271600e-01 6.76244018e-02 2.96023124e-02 3.64695098e+02] [-6.76368924e-02 9.97709835e-01 -5.80323745e-04 -1.61166406e+01] [-2.95737622e-02 -1.42346803e-03 9.99561587e-01 -6.43293327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644391418 meters 0.027446467885488903 Centerline is valid? [True, True] Translation: X:364.72, Y:-16.12, Z:-6.43 [[ 9.97285214e-01 6.74728925e-02 2.94891596e-02 3.64723780e+02] [-6.74853015e-02 9.97720103e-01 -5.75395827e-04 -1.61153068e+01] [-2.94607510e-02 -1.41625108e-03 9.99564935e-01 -6.43366417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67439141799997 meters 0.02714103321694959 Centerline is valid? [True, True] Translation: X:364.75, Y:-16.11, Z:-6.43 [[ 9.97367801e-01 6.60833758e-02 2.98405416e-02 3.64752997e+02] [-6.60955335e-02 9.97813131e-01 -5.79856338e-04 -1.61128263e+01] [-2.98136031e-02 -1.39399647e-03 9.99554504e-01 -6.43403958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704391418 meters 0.026113576997328525 Centerline is valid? [True, True] Translation: X:364.78, Y:-16.11, Z:-6.43 [[ 9.97425036e-01 6.50640855e-02 3.01655898e-02 3.64782249e+02] [-6.50761105e-02 9.97880132e-01 -5.83989557e-04 -1.61135178e+01] [-3.01396394e-02 -1.38057345e-03 9.99544744e-01 -6.43488033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734391418 meters 0.024754538125671566 Centerline is valid? [True, True] Translation: X:364.81, Y:-16.11, Z:-6.44 [[ 9.97509395e-01 6.38677895e-02 2.99317894e-02 3.64811227e+02] [-6.38791529e-02 9.97957474e-01 -5.77404933e-04 -1.61149768e+01] [-2.99075305e-02 -1.33605051e-03 9.99551777e-01 -6.43609984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764391418 meters 0.025315899064815926 Centerline is valid? [True, True] Translation: X:364.84, Y:-16.11, Z:-6.44 [[ 9.97731236e-01 6.04702955e-02 2.95926496e-02 3.64839635e+02] [-6.04799707e-02 9.98169249e-01 -5.68842490e-04 -1.61131222e+01] [-2.95728709e-02 -1.22221066e-03 9.99561880e-01 -6.43705251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794391418 meters 0.023173937263595006 Centerline is valid? [True, True] Translation: X:364.87, Y:-16.12, Z:-6.44 [[ 9.97853881e-01 5.87031681e-02 2.90098393e-02 3.64868657e+02] [-5.87117709e-02 9.98274821e-01 -5.55885533e-04 -1.61159492e+01] [-2.89924243e-02 -1.14852650e-03 9.99578971e-01 -6.43890672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824391418 meters 0.023810149517556913 Centerline is valid? [True, True] Translation: X:364.90, Y:-16.11, Z:-6.44 [[ 9.97954019e-01 5.69246240e-02 2.91095064e-02 3.64896954e+02] [-5.69326003e-02 9.98377870e-01 -5.55404424e-04 -1.61141716e+01] [-2.90939031e-02 -1.10301181e-03 9.99576074e-01 -6.43866063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854391418 meters 0.023810149517556913 Centerline is valid? [True, True] Translation: X:364.92, Y:-16.11, Z:-6.44 [[ 9.97960811e-01 5.68054055e-02 2.91095594e-02 3.64924422e+02] [-5.68134125e-02 9.98384661e-01 -5.52612745e-04 -1.61145830e+01] [-2.90939290e-02 -1.10232754e-03 9.99576074e-01 -6.43915641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884391418 meters 0.02226747468411646 Centerline is valid? [True, True] Translation: X:364.95, Y:-16.12, Z:-6.44 [[ 9.98122889e-01 5.34192021e-02 2.99514072e-02 3.64953229e+02] [-5.34262520e-02 9.98571638e-01 -5.65419156e-04 -1.61154895e+01] [-2.99388299e-02 -1.03583363e-03 9.99551196e-01 -6.44011589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914391418 meters 0.022370212727521696 Centerline is valid? [True, True] Translation: X:364.98, Y:-16.11, Z:-6.44 [[ 9.98206459e-01 5.18051928e-02 3.00014571e-02 3.64981412e+02] [-5.18116177e-02 9.98656717e-01 -5.63716490e-04 -1.61149702e+01] [-2.99903601e-02 -9.91718586e-04 9.99549696e-01 -6.44022805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944391418 meters 0.02070022187942809 Centerline is valid? [True, True] Translation: X:365.01, Y:-16.12, Z:-6.44 [[ 9.98393785e-01 4.80392253e-02 3.00346914e-02 3.65010050e+02] [-4.80440449e-02 9.98845060e-01 -5.61585897e-04 -1.61167791e+01] [-3.00269813e-02 -8.82304193e-04 9.99548699e-01 -6.44095575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974391418 meters 0.020074468702232996 Centerline is valid? [True, True] Translation: X:365.04, Y:-16.12, Z:-6.44 [[ 9.98482839e-01 4.61456262e-02 3.00433363e-02 3.65038834e+02] [-4.61496641e-02 9.98934380e-01 -5.59354296e-04 -1.61174320e+01] [-3.00371333e-02 -8.27984217e-04 9.99548441e-01 -6.44158494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004391418 meters 0.02100451607211838 Centerline is valid? [True, True] Translation: X:365.07, Y:-16.12, Z:-6.44 [[ 9.98581967e-01 4.41984180e-02 2.96741433e-02 3.65066818e+02] [-4.42015745e-02 9.99022481e-01 -5.49905732e-04 -1.61151692e+01] [-2.96694412e-02 -7.62517907e-04 9.99559474e-01 -6.44146129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034391418 meters 0.018165072675460147 Centerline is valid? [True, True] Translation: X:365.10, Y:-16.12, Z:-6.44 [[ 9.98751559e-01 4.09109240e-02 2.86638926e-02 3.65095924e+02] [-4.09125993e-02 9.99162589e-01 -5.28273435e-04 -1.61184488e+01] [-2.86615013e-02 -6.45100434e-04 9.99588967e-01 -6.44468033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064391418 meters 0.017476473098989306 Centerline is valid? [True, True] Translation: X:365.12, Y:-16.12, Z:-6.45 [[ 9.98817553e-01 3.93867787e-02 2.84987253e-02 3.65124793e+02] [-3.93878960e-02 9.99223859e-01 -5.22377031e-04 -1.61187875e+01] [-2.84971810e-02 -6.00745479e-04 9.99593692e-01 -6.44567018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094391418 meters 0.01761099302885798 Centerline is valid? [True, True] Translation: X:365.15, Y:-16.12, Z:-6.45 [[ 9.98868226e-01 3.79113235e-02 2.87228066e-02 3.65153067e+02] [-3.79119162e-02 9.99280947e-01 -5.24141205e-04 -1.61176627e+01] [-2.87220242e-02 -5.65388639e-04 9.99587278e-01 -6.44627859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124391418 meters 0.01723011545884032 Centerline is valid? [True, True] Translation: X:365.18, Y:-16.12, Z:-6.45 [[ 9.98918606e-01 3.62157468e-02 2.91554092e-02 3.65181865e+02] [-3.62156981e-02 9.99343856e-01 -5.29899373e-04 -1.61158546e+01] [-2.91554697e-02 -5.26557152e-04 9.99574750e-01 -6.44695823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154391418 meters 0.0170633534207068 Centerline is valid? [True, True] Translation: X:365.21, Y:-16.12, Z:-6.45 [[ 9.98936832e-01 3.53333169e-02 2.96101623e-02 3.65211450e+02] [-3.53329247e-02 9.99375453e-01 -5.36628186e-04 -1.61151451e+01] [-2.96106302e-02 -5.10155977e-04 9.99561379e-01 -6.44749565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184391418 meters 0.01718580181495817 Centerline is valid? [True, True] Translation: X:365.24, Y:-16.11, Z:-6.45 [[ 9.98939855e-01 3.51047304e-02 2.97795821e-02 3.65240858e+02] [-3.51042669e-02 9.99383510e-01 -5.38536676e-04 -1.61140518e+01] [-2.97801285e-02 -5.07424649e-04 9.99556345e-01 -6.44778149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214391418 meters 0.016199811004338076 Centerline is valid? [True, True] Translation: X:365.27, Y:-16.11, Z:-6.45 [[ 9.98986195e-01 3.31816795e-02 3.04230071e-02 3.65270777e+02] [-3.31803413e-02 9.99449230e-01 -5.48965220e-04 -1.61126853e+01] [-3.04244666e-02 -4.61037082e-04 9.99536962e-01 -6.44825360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244391418 meters 0.016159347480986363 Centerline is valid? [True, True] Translation: X:365.30, Y:-16.11, Z:-6.45 [[ 9.99030457e-01 3.17743103e-02 3.04719433e-02 3.65300242e+02] [-3.17723428e-02 9.99494981e-01 -5.48882736e-04 -1.61119649e+01] [-3.04739947e-02 -4.19814458e-04 9.99535472e-01 -6.44815326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274391418 meters 0.015193318394551571 Centerline is valid? [True, True] Translation: X:365.33, Y:-16.11, Z:-6.45 [[ 9.99140336e-01 2.79757623e-02 3.05932325e-02 3.65330458e+02] [-2.79720098e-02 9.99608555e-01 -5.50709949e-04 -1.61131847e+01] [-3.05966635e-02 -3.05517676e-04 9.99531766e-01 -6.45018373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.304391418 meters 0.015113004109658625 Centerline is valid? [True, True] Translation: X:365.36, Y:-16.11, Z:-6.45 [[ 9.99181198e-01 2.65167531e-02 3.05580685e-02 3.65361287e+02] [-2.65122262e-02 9.99648336e-01 -5.53377044e-04 -1.61131166e+01] [-3.05619961e-02 -2.57238486e-04 9.99532840e-01 -6.44972361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334391418 meters 0.014548203368937121 Centerline is valid? [True, True] Translation: X:365.39, Y:-16.11, Z:-6.45 [[ 9.99228323e-01 2.46942061e-02 3.05443077e-02 3.65393633e+02] [-2.46885787e-02 9.99695033e-01 -5.61417758e-04 -1.61146133e+01] [-3.05488565e-02 -1.93111020e-04 9.99533256e-01 -6.45172389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.364391418 meters 0.01433832468068622 Centerline is valid? [True, True] Translation: X:365.42, Y:-16.12, Z:-6.45 [[ 9.99332970e-01 2.13112899e-02 2.96554174e-02 3.65424614e+02] [-2.13042588e-02 9.99772886e-01 -5.53071291e-04 -1.61151350e+01] [-2.96604689e-02 -7.90843118e-05 9.99560028e-01 -6.45367717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394391418 meters 0.01436342622708065 Centerline is valid? [True, True] Translation: X:365.46, Y:-16.12, Z:-6.46 [[ 9.99360860e-01 2.03456374e-02 2.93926184e-02 3.65457859e+02] [-2.03380686e-02 9.99793005e-01 -5.56476241e-04 -1.61152328e+01] [-2.93978561e-02 -4.16685135e-05 9.99567789e-01 -6.45514892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters 0.014186008032181029 Centerline is valid? [True, True] Translation: X:365.49, Y:-16.11, Z:-6.46 [[ 9.99378137e-01 1.97578514e-02 2.92056088e-02 3.65491132e+02] [-1.97498547e-02 9.99804795e-01 -5.62275597e-04 -1.61149379e+01] [-2.92110170e-02 -1.48805899e-05 9.99573267e-01 -6.45593214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454391418 meters 0.014334673814344103 Centerline is valid? [True, True] Translation: X:365.52, Y:-16.11, Z:-6.46 [[ 9.99398256e-01 1.85801392e-02 2.92900089e-02 3.65523696e+02] [-1.85713214e-02 9.99827374e-01 -5.73081593e-04 -1.61130720e+01] [-2.92956006e-02 2.87825745e-05 9.99570791e-01 -6.45629460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters 0.014374998150452156 Centerline is valid? [True, True] Translation: X:365.56, Y:-16.11, Z:-6.46 [[ 9.99398469e-01 1.80460973e-02 2.96148281e-02 3.65557266e+02] [-1.80365754e-02 9.99837154e-01 -5.88647971e-04 -1.61127108e+01] [-2.96206282e-02 5.41438010e-05 9.99561211e-01 -6.45711642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514391418 meters 0.014306356036347369 Centerline is valid? [True, True] Translation: X:365.59, Y:-16.11, Z:-6.46 [[ 9.99386429e-01 1.78244488e-02 3.01505240e-02 3.65590598e+02] [-1.78141806e-02 9.99841129e-01 -6.09165200e-04 -1.61108845e+01] [-3.01565920e-02 7.16845556e-05 9.99545184e-01 -6.45744231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters 0.014215050227903802 Centerline is valid? [True, True] Translation: X:365.62, Y:-16.11, Z:-6.46 [[ 9.99369535e-01 1.83851122e-02 3.03730125e-02 3.65623907e+02] [-1.83746510e-02 9.99830977e-01 -6.23522233e-04 -1.61101023e+01] [-3.03793423e-02 6.50356208e-05 9.99538439e-01 -6.45826976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574391418 meters 0.014374183726266343 Centerline is valid? [True, True] Translation: X:365.66, Y:-16.11, Z:-6.46 [[ 9.99363736e-01 1.86109155e-02 3.04262488e-02 3.65655988e+02] [-1.86002304e-02 9.99826800e-01 -6.34201167e-04 -1.61093575e+01] [-3.04327820e-02 6.78624104e-05 9.99536813e-01 -6.45920769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters 0.014274447423279431 Centerline is valid? [True, True] Translation: X:365.69, Y:-16.11, Z:-6.46 [[ 9.99335572e-01 1.97839366e-02 3.06106205e-02 3.65688115e+02] [-1.97733897e-02 9.99804278e-01 -6.47248820e-04 -1.61062833e+01] [-3.06174345e-02 4.15430399e-05 9.99531176e-01 -6.46026139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634391418 meters 0.014297980756276089 Centerline is valid? [True, True] Translation: X:365.72, Y:-16.10, Z:-6.46 [[ 9.99303936e-01 2.09591223e-02 3.08603073e-02 3.65721656e+02] [-2.09486707e-02 9.99780333e-01 -6.61990294e-04 -1.61047217e+01] [-3.08674031e-02 1.50470904e-05 9.99523488e-01 -6.46135186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters 0.014279646645462208 Centerline is valid? [True, True] Translation: X:365.75, Y:-16.10, Z:-6.46 [[ 9.99258116e-01 2.25596290e-02 3.12134692e-02 3.65753602e+02] [-2.25494164e-02 9.99745499e-01 -6.79200444e-04 -1.61030582e+01] [-3.12208479e-02 -2.51489584e-05 9.99512510e-01 -6.46167996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694391418 meters 0.014354583380120862 Centerline is valid? [True, True] Translation: X:365.79, Y:-16.10, Z:-6.46 [[ 9.99166569e-01 2.56005016e-02 3.17927792e-02 3.65787157e+02] [-2.55911354e-02 9.99672247e-01 -7.01542464e-04 -1.60987987e+01] [-3.18003189e-02 -1.12655540e-04 9.99494236e-01 -6.46386013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters 0.014418991024381055 Centerline is valid? [True, True] Translation: X:365.82, Y:-16.10, Z:-6.46 [[ 9.99134325e-01 2.69435570e-02 3.16961496e-02 3.65819797e+02] [-2.69346246e-02 9.99636946e-01 -7.08824382e-04 -1.60970996e+01] [-3.17037405e-02 -1.45513123e-04 9.99497299e-01 -6.46458089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754391418 meters 0.014816292946255033 Centerline is valid? [True, True] Translation: X:365.85, Y:-16.09, Z:-6.46 [[ 9.99063102e-01 2.88211932e-02 3.22840143e-02 3.65851425e+02] [-2.88126753e-02 9.99584563e-01 -7.29125995e-04 -1.60925847e+01] [-3.22916166e-02 -2.01745943e-04 9.99478469e-01 -6.46493961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784391418 meters 0.014853104786770844 Centerline is valid? [True, True] Translation: X:365.88, Y:-16.09, Z:-6.47 [[ 9.99037347e-01 2.94121373e-02 3.25469736e-02 3.65882666e+02] [-2.94036868e-02 9.99567345e-01 -7.38339807e-04 -1.60912017e+01] [-3.25546082e-02 -2.19371976e-04 9.99469934e-01 -6.46535870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814391418 meters 0.014996535783808855 Centerline is valid? [True, True] Translation: X:365.91, Y:-16.09, Z:-6.47 [[ 9.99010012e-01 2.99326153e-02 3.29094817e-02 3.65913205e+02] [-2.99242253e-02 9.99551891e-01 -7.47551239e-04 -1.60901376e+01] [-3.29171108e-02 -2.37979571e-04 9.99458057e-01 -6.46591536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844391418 meters 0.01491716486428961 Centerline is valid? [True, True] Translation: X:365.94, Y:-16.09, Z:-6.47 [[ 9.98991268e-01 3.03171282e-02 3.31258059e-02 3.65944722e+02] [-3.03088078e-02 9.99540299e-01 -7.53401356e-04 -1.60898923e+01] [-3.31334189e-02 -2.51362310e-04 9.99450906e-01 -6.46782443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874391418 meters 0.014942301811865673 Centerline is valid? [True, True] Translation: X:365.98, Y:-16.09, Z:-6.47 [[ 9.99000605e-01 3.03645661e-02 3.27991442e-02 3.65976333e+02] [-3.03563927e-02 9.99538859e-01 -7.47245899e-04 -1.60885926e+01] [-3.28067090e-02 -2.49164597e-04 9.99461684e-01 -6.46980880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904391418 meters 0.015264100558507483 Centerline is valid? [True, True] Translation: X:366.01, Y:-16.09, Z:-6.47 [[ 9.99015997e-01 2.99865491e-02 3.26778904e-02 3.66007028e+02] [-2.99782016e-02 9.99550275e-01 -7.45470068e-04 -1.60877974e+01] [-3.26855484e-02 -2.34887863e-04 9.99465657e-01 -6.47000476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934391418 meters 0.014938151538005677 Centerline is valid? [True, True] Translation: X:366.04, Y:-16.09, Z:-6.47 [[ 9.99026991e-01 2.91845640e-02 3.30655791e-02 3.66038336e+02] [-2.91755472e-02 9.99574018e-01 -7.55248425e-04 -1.60883406e+01] [-3.30735353e-02 -2.10192803e-04 9.99452899e-01 -6.47144788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964391418 meters 0.014863832034607033 Centerline is valid? [True, True] Translation: X:366.07, Y:-16.09, Z:-6.47 [[ 9.99089546e-01 2.67228185e-02 3.32561352e-02 3.66070057e+02] [-2.67122913e-02 9.99642874e-01 -7.60885550e-04 -1.60885761e+01] [-3.32645916e-02 -1.28154773e-04 9.99446572e-01 -6.47254601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994391418 meters 0.01471157944561597 Centerline is valid? [True, True] Translation: X:366.10, Y:-16.09, Z:-6.47 [[ 9.99127585e-01 2.55699050e-02 3.30189313e-02 3.66102390e+02] [-2.55587412e-02 9.99673033e-01 -7.60204061e-04 -1.60896375e+01] [-3.30275736e-02 -8.43814747e-05 9.99454437e-01 -6.47359794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024391418 meters 0.014994996184030647 Centerline is valid? [True, True] Translation: X:366.13, Y:-16.09, Z:-6.47 [[ 9.99193621e-01 2.28906004e-02 3.29867797e-02 3.66134024e+02] [-2.28776954e-02 9.99737976e-01 -7.68646322e-04 -1.60912199e+01] [-3.29957312e-02 1.33650035e-05 9.99455493e-01 -6.47425310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.054391418 meters 0.015124137802102488 Centerline is valid? [True, True] Translation: X:366.17, Y:-16.09, Z:-6.48 [[ 9.99235062e-01 2.13565462e-02 3.27595716e-02 3.66166681e+02] [-2.13426787e-02 9.99771920e-01 -7.72975224e-04 -1.60928822e+01] [-3.27686079e-02 7.32069355e-05 9.99462962e-01 -6.47516585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084391418 meters 0.0150433781917295 Centerline is valid? [True, True] Translation: X:366.20, Y:-16.09, Z:-6.48 [[ 9.99272233e-01 1.99621638e-02 3.25040850e-02 3.66200111e+02] [-1.99474451e-02 9.99800728e-01 -7.77066475e-04 -1.60938065e+01] [-3.25131198e-02 1.28127500e-04 9.99471301e-01 -6.47790517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.114391418 meters 0.015504260580365066 Centerline is valid? [True, True] Translation: X:366.23, Y:-16.10, Z:-6.48 [[ 9.99313415e-01 1.85436216e-02 3.20754223e-02 3.66232215e+02] [-1.85282367e-02 9.99828036e-01 -7.76831519e-04 -1.60953082e+01] [-3.20843118e-02 1.81997139e-04 9.99485149e-01 -6.47809706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144391418 meters 0.015941682692561073 Centerline is valid? [True, True] Translation: X:366.27, Y:-16.10, Z:-6.48 [[ 9.99373053e-01 1.62005586e-02 3.14808249e-02 3.66265556e+02] [-1.61842760e-02 9.99868728e-01 -7.71980994e-04 -1.60954995e+01] [-3.14891989e-02 2.62002644e-04 9.99504058e-01 -6.48000847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17439141799997 meters 0.01598568179213571 Centerline is valid? [True, True] Translation: X:366.30, Y:-16.10, Z:-6.48 [[ 9.99399824e-01 1.52946095e-02 3.10816171e-02 3.66298737e+02] [-1.52779954e-02 9.99882987e-01 -7.71964826e-04 -1.60956690e+01] [-3.10897870e-02 2.96636708e-04 9.99516552e-01 -6.48174211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204391418 meters 0.016550540901858684 Centerline is valid? [True, True] Translation: X:366.33, Y:-16.10, Z:-6.48 [[ 9.99443114e-01 1.34141299e-02 3.05535941e-02 3.66330135e+02] [-1.33969639e-02 9.99909963e-01 -7.66484774e-04 -1.60956212e+01] [-3.05611248e-02 3.56732534e-04 9.99532836e-01 -6.48312156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234391418 meters 0.016791744859135527 Centerline is valid? [True, True] Translation: X:366.36, Y:-16.10, Z:-6.48 [[ 9.99462332e-01 1.27846391e-02 3.01926968e-02 3.66362925e+02] [-1.27673905e-02 9.99918202e-01 -7.64009693e-04 -1.60960215e+01] [-3.01999947e-02 3.78116960e-04 9.99543805e-01 -6.48419167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264391418 meters 0.017459473627884185 Centerline is valid? [True, True] Translation: X:366.39, Y:-16.09, Z:-6.48 [[ 9.99485179e-01 1.16323668e-02 2.99009148e-02 3.66394210e+02] [-1.16146762e-02 9.99932255e-01 -7.65263057e-04 -1.60949263e+01] [-2.99077909e-02 4.17579641e-04 9.99552575e-01 -6.48421606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294391418 meters 0.01754693262616319 Centerline is valid? [True, True] Translation: X:366.43, Y:-16.09, Z:-6.48 [[ 9.99487932e-01 1.12663165e-02 2.99490114e-02 3.66427660e+02] [-1.12481560e-02 9.99936437e-01 -7.74788264e-04 -1.60939624e+01] [-2.99558367e-02 4.37520367e-04 9.99551127e-01 -6.48493002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324391418 meters 0.01749740901052656 Centerline is valid? [True, True] Translation: X:366.46, Y:-16.09, Z:-6.49 [[ 9.99494552e-01 1.10222519e-02 2.98186277e-02 3.66460522e+02] [-1.10038625e-02 9.99939151e-01 -7.80738620e-04 -1.60929671e+01] [-2.98254187e-02 4.52223918e-04 9.99555021e-01 -6.48584462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354391418 meters 0.01776286744973943 Centerline is valid? [True, True] Translation: X:366.49, Y:-16.09, Z:-6.49 [[ 9.99529946e-01 9.52386131e-03 2.91407526e-02 3.66492483e+02] [-9.50540910e-03 9.99954525e-01 -7.71674532e-04 -1.60910136e+01] [-2.91467767e-02 4.94317028e-04 9.99575020e-01 -6.48750206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384391418 meters 0.018025428006829318 Centerline is valid? [True, True] Translation: X:366.53, Y:-16.09, Z:-6.49 [[ 9.99550844e-01 9.10038469e-03 2.85533505e-02 3.66525760e+02] [-9.08225918e-03 9.99958463e-01 -7.64423951e-04 -1.60912943e+01] [-2.85591210e-02 5.04751676e-04 9.99591978e-01 -6.48845114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414391418 meters 0.018764230420250057 Centerline is valid? [True, True] Translation: X:366.56, Y:-16.09, Z:-6.49 [[ 9.99578756e-01 8.00889798e-03 2.78956713e-02 3.66557384e+02] [-7.99094605e-03 9.99967787e-01 -7.54958849e-04 -1.60920697e+01] [-2.79008191e-02 5.31728022e-04 9.99610555e-01 -6.48976592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444391418 meters 0.019415097542933676 Centerline is valid? [True, True] Translation: X:366.59, Y:-16.09, Z:-6.49 [[ 9.99604680e-01 5.93345385e-03 2.74823334e-02 3.66589187e+02] [-5.91505444e-03 9.99982224e-01 -7.50747186e-04 -1.60912614e+01] [-2.74862994e-02 5.87890902e-04 9.99622007e-01 -6.49037850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474391418 meters 0.019954499165500635 Centerline is valid? [True, True] Translation: X:366.62, Y:-16.09, Z:-6.49 [[ 9.99609670e-01 4.97397411e-03 2.74912186e-02 3.66621141e+02] [-4.95500144e-03 9.99987436e-01 -7.58215665e-04 -1.60914830e+01] [-2.74946446e-02 6.21700683e-04 9.99621757e-01 -6.49076920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504391418 meters 0.020555703243800325 Centerline is valid? [True, True] Translation: X:366.65, Y:-16.09, Z:-6.49 [[ 9.99633137e-01 2.32408033e-03 2.69849879e-02 3.66653467e+02] [-2.30463607e-03 9.99997062e-01 -7.51637026e-04 -1.60900530e+01] [-2.69866555e-02 6.89170702e-04 9.99635556e-01 -6.49174020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534391418 meters 0.02199321893493986 Centerline is valid? [True, True] Translation: X:366.69, Y:-16.09, Z:-6.49 [[ 9.99639597e-01 1.00660727e-03 2.68265204e-02 3.66685067e+02] [-9.86720721e-04 9.99999229e-01 -7.54529163e-04 -1.60921045e+01] [-2.68272592e-02 7.27786945e-04 9.99639819e-01 -6.49199423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564391418 meters 0.022628732133141576 Centerline is valid? [True, True] Translation: X:366.72, Y:-16.09, Z:-6.49 [[ 9.99650803e-01 -3.19401902e-04 2.64229102e-02 3.66717710e+02] [ 3.39339139e-04 9.99999661e-01 -7.50063064e-04 -1.60931979e+01] [-2.64226617e-02 7.58767472e-04 9.99650573e-01 -6.49322602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594391418 meters 0.022445716780465017 Centerline is valid? [True, True] Translation: X:366.75, Y:-16.09, Z:-6.49 [[ 9.99666609e-01 -1.46407095e-03 2.57784293e-02 3.66749849e+02] [ 1.48360729e-03 9.99998627e-01 -7.38746612e-04 -1.60927244e+01] [-2.57773123e-02 7.76745386e-04 9.99667408e-01 -6.49479792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624391418 meters 0.024493483852029544 Centerline is valid? [True, True] Translation: X:366.78, Y:-16.09, Z:-6.50 [[ 9.99670048e-01 -4.57443304e-03 2.52758891e-02 3.66781245e+02] [ 4.59435790e-03 9.99989179e-01 -7.30278799e-04 -1.60944109e+01] [-2.52722750e-02 8.46164323e-04 9.99680247e-01 -6.49576790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654391418 meters 0.026005398436024084 Centerline is valid? [True, True] Translation: X:366.81, Y:-16.10, Z:-6.50 [[ 9.99673287e-01 -6.42372578e-03 2.47397445e-02 3.66812634e+02] [ 6.44348070e-03 9.99978982e-01 -7.18874084e-04 -1.60963305e+01] [-2.47346067e-02 8.78049285e-04 9.99693667e-01 -6.49648950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684391418 meters 0.026611383084663712 Centerline is valid? [True, True] Translation: X:366.84, Y:-16.10, Z:-6.50 [[ 9.99670707e-01 -7.59203447e-03 2.45120014e-02 3.66844543e+02] [ 7.61193237e-03 9.99970771e-01 -7.18556693e-04 -1.60972233e+01] [-2.45058296e-02 9.04903774e-04 9.99699278e-01 -6.49741889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714391418 meters 0.02628016804844292 Centerline is valid? [True, True] Translation: X:366.88, Y:-16.10, Z:-6.50 [[ 9.99680559e-01 -9.29503968e-03 2.35028003e-02 3.66876961e+02] [ 9.31394907e-03 9.99956383e-01 -6.95217563e-04 -1.60961284e+01] [-2.34953131e-02 9.13899368e-04 9.99723529e-01 -6.49889434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744391418 meters 0.0262097715697163 Centerline is valid? [True, True] Translation: X:366.91, Y:-16.10, Z:-6.50 [[ 9.99698837e-01 -8.54645760e-03 2.30041960e-02 3.66908938e+02] [ 8.56449784e-03 9.99963089e-01 -6.85804826e-04 -1.60969035e+01] [-2.29974857e-02 8.82617674e-04 9.99735133e-01 -6.50083024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774391418 meters 0.0262097715697163 Centerline is valid? [True, True] Translation: X:366.94, Y:-16.10, Z:-6.50 [[ 9.99701510e-01 -8.22813131e-03 2.30041054e-02 3.66941586e+02] [ 8.24615689e-03 9.99965763e-01 -6.88828831e-04 -1.60980236e+01] [-2.29976500e-02 8.78318685e-04 9.99735133e-01 -6.50141861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.804391418 meters 0.02649955032532316 Centerline is valid? [True, True] Translation: X:366.97, Y:-16.10, Z:-6.50 [[ 9.99728158e-01 -7.28456680e-03 2.21482635e-02 3.66972714e+02] [ 7.30119044e-03 9.99973122e-01 -6.69789185e-04 -1.60990374e+01] [-2.21427891e-02 8.31315798e-04 9.99754473e-01 -6.50319166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834391418 meters 0.025119895507585595 Centerline is valid? [True, True] Translation: X:367.01, Y:-16.10, Z:-6.50 [[ 9.99727124e-01 -6.85553972e-03 2.23311421e-02 3.67005208e+02] [ 6.87244397e-03 9.99976153e-01 -6.80323935e-04 -1.60980966e+01] [-2.23259456e-02 8.33607814e-04 9.99750397e-01 -6.50426992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.864391418 meters 0.025050545422296247 Centerline is valid? [True, True] Translation: X:367.04, Y:-16.10, Z:-6.51 [[ 9.99736565e-01 -6.55151194e-03 2.19972421e-02 3.67037403e+02] [ 6.56787937e-03 9.99978206e-01 -6.71902609e-04 -1.60991688e+01] [-2.19923607e-02 8.16200839e-04 9.99757806e-01 -6.50511956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894391418 meters 0.025234295629225717 Centerline is valid? [True, True] Translation: X:367.07, Y:-16.10, Z:-6.51 [[ 9.99731785e-01 -6.45944250e-03 2.22403753e-02 3.67070929e+02] [ 6.47619503e-03 9.99978797e-01 -6.81304701e-04 -1.61004136e+01] [-2.22355029e-02 8.25154973e-04 9.99752420e-01 -6.50552825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters 0.026331848528664277 Centerline is valid? [True, True] Translation: X:367.10, Y:-16.10, Z:-6.51 [[ 9.99727058e-01 -6.73795196e-03 2.23698400e-02 3.67102512e+02] [ 6.75503354e-03 9.99976948e-01 -6.88121930e-04 -1.61035114e+01] [-2.23646878e-02 8.39043133e-04 9.99749527e-01 -6.50603146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954391418 meters 0.026433684408755088 Centerline is valid? [True, True] Translation: X:367.14, Y:-16.11, Z:-6.51 [[ 9.99730913e-01 -6.70488136e-03 2.22069016e-02 3.67135994e+02] [ 6.72177848e-03 9.99977173e-01 -6.86337461e-04 -1.61055516e+01] [-2.22017928e-02 8.35422649e-04 9.99753161e-01 -6.50677624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters 0.026447720051142837 Centerline is valid? [True, True] Translation: X:367.17, Y:-16.11, Z:-6.51 [[ 9.99726907e-01 -7.11461296e-03 2.22596676e-02 3.67167734e+02] [ 7.13174675e-03 9.99974330e-01 -6.90432470e-04 -1.61083323e+01] [-2.22541840e-02 8.48994230e-04 9.99751984e-01 -6.50851150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014391418 meters 0.026002559456582097 Centerline is valid? [True, True] Translation: X:367.20, Y:-16.11, Z:-6.51 [[ 9.99734381e-01 -7.03672422e-03 2.19465855e-02 3.67200434e+02] [ 7.05340159e-03 9.99974891e-01 -6.82590754e-04 -1.61094818e+01] [-2.19412312e-02 8.37207526e-04 9.99758912e-01 -6.50943733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters 0.025402232668234166 Centerline is valid? [True, True] Translation: X:367.23, Y:-16.11, Z:-6.51 [[ 9.99735733e-01 -6.54479614e-03 2.20369900e-02 3.67233134e+02] [ 6.56154860e-03 9.99978236e-01 -6.87975227e-04 -1.61105846e+01] [-2.20320077e-02 8.32390199e-04 9.99756919e-01 -6.51026868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074391418 meters 0.025132862176765417 Centerline is valid? [True, True] Translation: X:367.27, Y:-16.11, Z:-6.51 [[ 9.99747308e-01 -5.66633847e-03 2.17534622e-02 3.67265643e+02] [ 5.68250023e-03 9.99983622e-01 -6.81208265e-04 -1.61120276e+01] [-2.17492460e-02 8.04650183e-04 9.99763133e-01 -6.51078688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters 0.0247993539662848 Centerline is valid? [True, True] Translation: X:367.30, Y:-16.11, Z:-6.51 [[ 9.99762102e-01 -4.34261260e-03 2.13747935e-02 3.67297384e+02] [ 4.35795033e-03 9.99990279e-01 -6.71033118e-04 -1.61135021e+01] [-2.13716717e-02 7.64023769e-04 9.99771308e-01 -6.51172638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134391418 meters 0.02336757112532979 Centerline is valid? [True, True] Translation: X:367.33, Y:-16.11, Z:-6.51 [[ 9.99761393e-01 -2.78687614e-03 2.16654163e-02 3.67330156e+02] [ 2.80230847e-03 9.99995841e-01 -6.81974907e-04 -1.61132555e+01] [-2.16634256e-02 7.42525363e-04 9.99765045e-01 -6.51285144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters 0.02217550095330923 Centerline is valid? [True, True] Translation: X:367.36, Y:-16.11, Z:-6.51 [[ 9.99771295e-01 3.55148244e-04 2.13829763e-02 3.67361833e+02] [-3.40790818e-04 9.99999714e-01 -6.75082163e-04 -1.61143702e+01] [-2.13832099e-02 6.67640647e-04 9.99771130e-01 -6.51405939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194391418 meters 0.022165302326690343 Centerline is valid? [True, True] Translation: X:367.39, Y:-16.12, Z:-6.51 [[ 9.99771135e-01 1.55954433e-03 2.13364912e-02 3.67392738e+02] [-1.54548193e-03 9.99998578e-01 -6.75550838e-04 -1.61160641e+01] [-2.13375144e-02 6.42421066e-04 9.99772123e-01 -6.51407925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters 0.021301555348682926 Centerline is valid? [True, True] Translation: X:367.42, Y:-16.12, Z:-6.51 [[ 9.99765183e-01 2.67061250e-03 2.15045726e-02 3.67424880e+02] [-2.65647782e-03 9.99996236e-01 -6.85827198e-04 -1.61165261e+01] [-2.15063233e-02 6.28539734e-04 9.99768515e-01 -6.51442954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254391418 meters 0.019814100366482446 Centerline is valid? [True, True] Translation: X:367.46, Y:-16.12, Z:-6.52 [[ 9.99753349e-01 5.61022363e-03 2.14887529e-02 3.67457309e+02] [-5.59675112e-03 9.99984102e-01 -6.87046059e-04 -1.61171704e+01] [-2.14922657e-02 5.66609396e-04 9.99768854e-01 -6.51608048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284391418 meters 0.019294788675222066 Centerline is valid? [True, True] Translation: X:367.49, Y:-16.12, Z:-6.52 [[ 9.99748855e-01 7.79635815e-03 2.10105812e-02 3.67488734e+02] [-7.78391487e-03 9.99969478e-01 -6.73955970e-04 -1.61188289e+01] [-2.10151943e-02 5.10242134e-04 9.99779026e-01 -6.51740228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314391418 meters 0.017680427098257505 Centerline is valid? [True, True] Translation: X:367.52, Y:-16.12, Z:-6.52 [[ 9.99703748e-01 1.13904768e-02 2.15098190e-02 3.67520508e+02] [-1.13781575e-02 9.99935025e-01 -6.95032432e-04 -1.61201552e+01] [-2.15163381e-02 4.50084420e-04 9.99768395e-01 -6.51851882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344391418 meters 0.017609632346756717 Centerline is valid? [True, True] Translation: X:367.55, Y:-16.12, Z:-6.52 [[ 9.99681607e-01 1.27509569e-02 2.17737765e-02 3.67552091e+02] [-1.27386024e-02 9.99918611e-01 -7.06012818e-04 -1.61223818e+01] [-2.17810067e-02 4.28420546e-04 9.99762674e-01 -6.51834869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374391418 meters 0.01707424797398814 Centerline is valid? [True, True] Translation: X:367.58, Y:-16.12, Z:-6.52 [[ 9.99653819e-01 1.42078975e-02 2.21444916e-02 3.67584489e+02] [-1.41953451e-02 9.99898979e-01 -7.23941045e-04 -1.61234614e+01] [-2.21525402e-02 4.09341731e-04 9.99754519e-01 -6.51851369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404391418 meters 0.01623985411032224 Centerline is valid? [True, True] Translation: X:367.62, Y:-16.12, Z:-6.52 [[ 9.99602644e-01 1.69442592e-02 2.25265860e-02 3.67616334e+02] [-1.69318214e-02 9.99856371e-01 -7.42769789e-04 -1.61248829e+01] [-2.25359362e-02 3.61058514e-04 9.99745968e-01 -6.51925990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434391418 meters 0.015519544579257838 Centerline is valid? [True, True] Translation: X:367.65, Y:-16.13, Z:-6.52 [[ 9.99578078e-01 1.87143686e-02 2.22134892e-02 3.67648324e+02] [-1.87025753e-02 9.99824819e-01 -7.38557742e-04 -1.61259595e+01] [-2.22234194e-02 3.22796674e-04 9.99752977e-01 -6.52070528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464391418 meters 0.015327856801404551 Centerline is valid? [True, True] Translation: X:367.68, Y:-16.13, Z:-6.52 [[ 9.99550305e-01 2.03633870e-02 2.20118021e-02 3.67679789e+02] [-2.03520724e-02 9.99792603e-01 -7.37948856e-04 -1.61282395e+01] [-2.20222641e-02 2.89631214e-04 9.99757439e-01 -6.52220928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494391418 meters 0.014611746777838943 Centerline is valid? [True, True] Translation: X:367.71, Y:-16.13, Z:-6.52 [[ 9.99507616e-01 2.31318809e-02 2.12000355e-02 3.67710735e+02] [-2.31219095e-02 9.99732397e-01 -7.15381837e-04 -1.61310837e+01] [-2.12109104e-02 2.24844292e-04 9.99774998e-01 -6.52470074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524391418 meters 0.014367414430557307 Centerline is valid? [True, True] Translation: X:367.74, Y:-16.13, Z:-6.53 [[ 9.99472235e-01 2.45219174e-02 2.13055861e-02 3.67740272e+02] [-2.45121497e-02 9.99699273e-01 -7.19526960e-04 -1.61323795e+01] [-2.13168231e-02 1.96901502e-04 9.99772751e-01 -6.52527650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.554391418 meters 0.013870628012245183 Centerline is valid? [True, True] Translation: X:367.77, Y:-16.13, Z:-6.53 [[ 9.99387447e-01 2.80943722e-02 2.08671130e-02 3.67768493e+02] [-2.80857989e-02 9.99605268e-01 -7.03864575e-04 -1.61323199e+01] [-2.08786507e-02 1.17363883e-04 9.99782010e-01 -6.52617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584391418 meters 0.013652970094646232 Centerline is valid? [True, True] Translation: X:367.80, Y:-16.13, Z:-6.53 [[ 9.99340630e-01 2.98151608e-02 2.07210461e-02 3.67797659e+02] [-2.98071029e-02 9.99555426e-01 -6.97686922e-04 -1.61326582e+01] [-2.07326357e-02 7.95925357e-05 9.99785053e-01 -6.52690679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.614391418 meters 0.013385771085904061 Centerline is valid? [True, True] Translation: X:367.83, Y:-16.13, Z:-6.53 [[ 9.99288505e-01 3.15614480e-02 2.06484601e-02 3.67826266e+02] [-3.15538525e-02 9.99501813e-01 -6.93632343e-04 -1.61334016e+01] [-2.06600653e-02 4.16003627e-05 9.99786557e-01 -6.52784790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644391418 meters 0.013423923477745733 Centerline is valid? [True, True] Translation: X:367.85, Y:-16.13, Z:-6.53 [[ 9.99252822e-01 3.27182499e-02 2.05745874e-02 3.67853860e+02] [-3.27109876e-02 9.99464615e-01 -6.89509631e-04 -1.61346466e+01] [-2.05861316e-02 1.59793721e-05 9.99788083e-01 -6.52887446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67439141799997 meters 0.013599364850462526 Centerline is valid? [True, True] Translation: X:367.88, Y:-16.14, Z:-6.53 [[ 9.99179699e-01 3.49591524e-02 2.04398447e-02 3.67882459e+02] [-3.49524928e-02 9.99388742e-01 -6.83084514e-04 -1.61360596e+01] [-2.04512308e-02 -3.18993475e-05 9.99790851e-01 -6.52998318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704391418 meters 0.013629784584621173 Centerline is valid? [True, True] Translation: X:367.91, Y:-16.14, Z:-6.53 [[ 9.99147405e-01 3.60609514e-02 2.01014937e-02 3.67910271e+02] [-3.60547647e-02 9.99349591e-01 -6.70221373e-04 -1.61370128e+01] [-2.01125883e-02 -5.51046777e-05 9.99797720e-01 -6.53089416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734391418 meters 0.013927218434587984 Centerline is valid? [True, True] Translation: X:367.94, Y:-16.14, Z:-6.53 [[ 9.99128314e-01 3.69867552e-02 1.93543915e-02 3.67937726e+02] [-3.69812279e-02 9.99315753e-01 -6.43538644e-04 -1.61384042e+01] [-1.93649507e-02 -7.27714814e-05 9.99812479e-01 -6.53208193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764391418 meters 0.013919036021656528 Centerline is valid? [True, True] Translation: X:367.97, Y:-16.14, Z:-6.53 [[ 9.99123791e-01 3.72539746e-02 1.90733275e-02 3.67965916e+02] [-3.72486895e-02 9.99305827e-01 -6.32400692e-04 -1.61402272e+01] [-1.90836468e-02 -7.86098772e-05 9.99817888e-01 -6.53335745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794391418 meters 0.01373203491234375 Centerline is valid? [True, True] Translation: X:367.99, Y:-16.14, Z:-6.53 [[ 9.99148549e-01 3.63044445e-02 1.96000953e-02 3.67993475e+02] [-3.62987273e-02 9.99340774e-01 -6.47498409e-04 -1.61444261e+01] [-1.96106815e-02 -6.45114167e-05 9.99807690e-01 -6.53436539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824391418 meters 0.013871865486305472 Centerline is valid? [True, True] Translation: X:368.02, Y:-16.15, Z:-6.53 [[ 9.99153931e-01 3.60222188e-02 1.98449519e-02 3.68021274e+02] [-3.60163497e-02 9.99350987e-01 -6.53190445e-04 -1.61466732e+01] [-1.98556016e-02 -6.21049272e-05 9.99802856e-01 -6.53484512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854391418 meters 0.01390168652547559 Centerline is valid? [True, True] Translation: X:368.05, Y:-16.15, Z:-6.54 [[ 9.99154021e-01 3.56744193e-02 2.04591880e-02 3.68050251e+02] [-3.56681505e-02 9.99363464e-01 -6.71347302e-04 -1.61492384e+01] [-2.04701149e-02 -5.89620404e-05 9.99790464e-01 -6.53565115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884391418 meters 0.013872374423445556 Centerline is valid? [True, True] Translation: X:368.08, Y:-16.15, Z:-6.54 [[ 9.99152556e-01 3.56101402e-02 2.06418955e-02 3.68077958e+02] [-3.56037809e-02 9.99365756e-01 -6.75615553e-04 -1.61509082e+01] [-2.06528623e-02 -5.98865190e-05 9.99786705e-01 -6.53573281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914391418 meters 0.013832991859668261 Centerline is valid? [True, True] Translation: X:368.11, Y:-16.15, Z:-6.54 [[ 9.99134690e-01 3.58710777e-02 2.10508229e-02 3.68107102e+02] [-3.58645656e-02 9.99356423e-01 -6.86924116e-04 -1.61529688e+01] [-2.10619157e-02 -6.86489038e-05 9.99778171e-01 -6.53722025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944391418 meters 0.013732915693104857 Centerline is valid? [True, True] Translation: X:368.14, Y:-16.15, Z:-6.54 [[ 9.99112969e-01 3.65267974e-02 2.09539678e-02 3.68136350e+02] [-3.65205242e-02 9.99332670e-01 -6.82096803e-04 -1.61539490e+01] [-2.09648994e-02 -8.37581264e-05 9.99780209e-01 -6.53781846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974391418 meters 0.013877830419409664 Centerline is valid? [True, True] Translation: X:368.17, Y:-16.15, Z:-6.54 [[ 9.99108683e-01 3.66666338e-02 2.09140419e-02 3.68165150e+02] [-3.66604499e-02 9.99327549e-01 -6.79134334e-04 -1.61547771e+01] [-2.09248798e-02 -8.81891779e-05 9.99781047e-01 -6.53858950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004391418 meters 0.013847700173833896 Centerline is valid? [True, True] Translation: X:368.19, Y:-16.16, Z:-6.54 [[ 9.99069805e-01 3.74414414e-02 2.13930711e-02 3.68193287e+02] [-3.74351877e-02 9.99298818e-01 -6.92863043e-04 -1.61553338e+01] [-2.14040124e-02 -1.08635087e-04 9.99770902e-01 -6.53930399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034391418 meters 0.01399130840531867 Centerline is valid? [True, True] Translation: X:368.22, Y:-16.16, Z:-6.54 [[ 9.99059919e-01 3.77317860e-02 2.13445875e-02 3.68221773e+02] [-3.77256735e-02 9.99287896e-01 -6.89108538e-04 -1.61561883e+01] [-2.13553892e-02 -1.16778219e-04 9.99771941e-01 -6.54021047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064391418 meters 0.013810563184934488 Centerline is valid? [True, True] Translation: X:368.25, Y:-16.16, Z:-6.54 [[ 9.99071583e-01 3.73396214e-02 2.14877949e-02 3.68250844e+02] [-3.73333722e-02 9.99302627e-01 -6.92046417e-04 -1.61574214e+01] [-2.14986506e-02 -1.10807933e-04 9.99768871e-01 -6.54071540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094391418 meters 0.013758129650659817 Centerline is valid? [True, True] Translation: X:368.28, Y:-16.16, Z:-6.54 [[ 9.99080581e-01 3.67207981e-02 2.21263592e-02 3.68278779e+02] [-3.67140609e-02 9.99325559e-01 -7.10771758e-04 -1.61586167e+01] [-2.21375363e-02 -1.02230237e-04 9.99754929e-01 -6.54160438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124391418 meters 0.013782743582440207 Centerline is valid? [True, True] Translation: X:368.31, Y:-16.16, Z:-6.54 [[ 9.99100303e-01 3.61227958e-02 2.22199791e-02 3.68307658e+02] [-3.61158995e-02 9.99347355e-01 -7.11711632e-04 -1.61597704e+01] [-2.22311863e-02 -9.14232246e-05 9.99752852e-01 -6.54188372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154391418 meters 0.013689793068212512 Centerline is valid? [True, True] Translation: X:368.34, Y:-16.16, Z:-6.54 [[ 9.99144325e-01 3.48819791e-02 2.22231004e-02 3.68335444e+02] [-3.48748137e-02 9.99391436e-01 -7.10029330e-04 -1.61605400e+01] [-2.22343435e-02 -6.56047108e-05 9.99752784e-01 -6.54237626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184391418 meters 0.013654152483444332 Centerline is valid? [True, True] Translation: X:368.36, Y:-16.16, Z:-6.54 [[ 9.99160574e-01 3.47038907e-02 2.17666580e-02 3.68364378e+02] [-3.46970171e-02 9.99397637e-01 -6.93484795e-04 -1.61611541e+01] [-2.17776132e-02 -6.23354400e-05 9.99762838e-01 -6.54326762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214391418 meters 0.01360416251781297 Centerline is valid? [True, True] Translation: X:368.39, Y:-16.16, Z:-6.55 [[ 9.99198044e-01 3.41631509e-02 2.08841382e-02 3.68393121e+02] [-3.41567375e-02 9.99416268e-01 -6.63826991e-04 -1.61618318e+01] [-2.08946259e-02 -5.00393964e-05 9.99781682e-01 -6.54552017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244391418 meters 0.013663094556158516 Centerline is valid? [True, True] Translation: X:368.42, Y:-16.16, Z:-6.55 [[ 9.99220571e-01 3.37462276e-02 2.04802860e-02 3.68421038e+02] [-3.37400061e-02 9.99430433e-01 -6.49339499e-04 -1.61622944e+01] [-2.04905339e-02 -4.21715896e-05 9.99790046e-01 -6.54638036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274391418 meters 0.013530131349197548 Centerline is valid? [True, True] Translation: X:368.45, Y:-16.16, Z:-6.55 [[ 9.99227100e-01 3.36508795e-02 2.03179898e-02 3.68449456e+02] [-3.36447760e-02 9.99433648e-01 -6.42251431e-04 -1.61622947e+01] [-2.03280950e-02 -4.18391804e-05 9.99793362e-01 -6.54703543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.304391418 meters 0.013469055596907776 Centerline is valid? [True, True] Translation: X:368.48, Y:-16.16, Z:-6.55 [[ 9.99261818e-01 3.29779898e-02 1.97045861e-02 3.68476932e+02] [-3.29721483e-02 9.99456078e-01 -6.21350127e-04 -1.61610994e+01] [-1.97143592e-02 -2.88110768e-05 9.99805653e-01 -6.54737379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334391418 meters 0.013371576903344083 Centerline is valid? [True, True] Translation: X:368.51, Y:-16.16, Z:-6.55 [[ 9.99262529e-01 3.27370057e-02 2.00670711e-02 3.68505964e+02] [-3.27309373e-02 9.99464000e-01 -6.30863244e-04 -1.61612642e+01] [-2.00769678e-02 -2.64160463e-05 9.99798437e-01 -6.54783519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.364391418 meters 0.013441118579830148 Centerline is valid? [True, True] Translation: X:368.53, Y:-16.16, Z:-6.55 [[ 9.99289965e-01 3.20766069e-02 1.97650727e-02 3.68534817e+02] [-3.20706207e-02 9.99485413e-01 -6.19844580e-04 -1.61615018e+01] [-1.97747844e-02 -1.44736804e-05 9.99804460e-01 -6.54852067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394391418 meters 0.013394742312785287 Centerline is valid? [True, True] Translation: X:368.56, Y:-16.16, Z:-6.55 [[ 9.99297531e-01 3.16927349e-02 2.00003867e-02 3.68564140e+02] [-3.16865611e-02 9.99497659e-01 -6.25592022e-04 -1.61608361e+01] [-2.00101664e-02 -8.59091145e-06 9.99799777e-01 -6.54882323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters 0.013310160443424845 Centerline is valid? [True, True] Translation: X:368.59, Y:-16.16, Z:-6.55 [[ 9.99313663e-01 3.11021471e-02 2.01211366e-02 3.68592615e+02] [-3.10958115e-02 9.99516211e-01 -6.27747249e-04 -1.61609218e+01] [-2.01309265e-02 1.63333141e-06 9.99797352e-01 -6.54920541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454391418 meters 0.013320155671788354 Centerline is valid? [True, True] Translation: X:368.62, Y:-16.16, Z:-6.55 [[ 9.99331140e-01 3.07086190e-02 1.98558071e-02 3.68620358e+02] [-3.07024036e-02 9.99528379e-01 -6.17863040e-04 -1.61595021e+01] [-1.98654164e-02 7.82877138e-06 9.99802663e-01 -6.54931830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters 0.013298218618757358 Centerline is valid? [True, True] Translation: X:368.65, Y:-16.16, Z:-6.55 [[ 9.99329835e-01 3.10400019e-02 1.94009840e-02 3.68649623e+02] [-3.10341679e-02 9.99518143e-01 -6.01778966e-04 -1.61588750e+01] [-1.94103148e-02 -7.17721159e-07 9.99811602e-01 -6.54997320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514391418 meters 0.013302180828667305 Centerline is valid? [True, True] Translation: X:368.68, Y:-16.16, Z:-6.55 [[ 9.99329231e-01 3.14101508e-02 1.88279152e-02 3.68678514e+02] [-3.14047492e-02 9.99506579e-01 -5.82566173e-04 -1.61580417e+01] [-1.88369236e-02 -9.11054718e-06 9.99822569e-01 -6.55065895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters 0.013336519934668561 Centerline is valid? [True, True] Translation: X:368.71, Y:-16.15, Z:-6.55 [[ 9.99288440e-01 3.29953224e-02 1.82735649e-02 3.68705979e+02] [-3.29905251e-02 9.99455505e-01 -5.64002811e-04 -1.61545569e+01] [-1.82822245e-02 -3.92530114e-05 9.99832865e-01 -6.55136736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574391418 meters 0.013358314156203512 Centerline is valid? [True, True] Translation: X:368.74, Y:-16.15, Z:-6.55 [[ 9.99243197e-01 3.40469487e-02 1.88106114e-02 3.68735162e+02] [-3.40420869e-02 9.99420233e-01 -5.78696454e-04 -1.61529561e+01] [-1.88194085e-02 -6.20939746e-05 9.99822897e-01 -6.55157013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters 0.013544026350775826 Centerline is valid? [True, True] Translation: X:368.76, Y:-16.15, Z:-6.55 [[ 9.99213413e-01 3.49806591e-02 1.86790824e-02 3.68763713e+02] [-3.49760549e-02 9.99387986e-01 -5.73218921e-04 -1.61514799e+01] [-1.86877021e-02 -8.05525769e-05 9.99825366e-01 -6.55185775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634391418 meters 0.013661561713010032 Centerline is valid? [True, True] Translation: X:368.79, Y:-16.15, Z:-6.55 [[ 9.99174851e-01 3.58814668e-02 1.90299212e-02 3.68791584e+02] [-3.58768801e-02 9.99356048e-01 -5.82480534e-04 -1.61497198e+01] [-1.90385671e-02 -1.00734301e-04 9.99818745e-01 -6.55207483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters 0.013661561713010032 Centerline is valid? [True, True] Translation: X:368.82, Y:-16.15, Z:-6.55 [[ 9.99178899e-01 3.57685437e-02 1.90299770e-02 3.68819019e+02] [-3.57639713e-02 9.99360096e-01 -5.80653672e-04 -1.61504378e+01] [-1.90385688e-02 -1.00410655e-04 9.99818745e-01 -6.55257033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694391418 meters 0.01387651296676938 Centerline is valid? [True, True] Translation: X:368.85, Y:-16.15, Z:-6.55 [[ 9.99137972e-01 3.68323448e-02 1.91492048e-02 3.68847843e+02] [-3.68279512e-02 9.99321451e-01 -5.82154872e-04 -1.61475267e+01] [-1.91576533e-02 -1.23572942e-04 9.99816468e-01 -6.55276625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters 0.01390658000531144 Centerline is valid? [True, True] Translation: X:368.88, Y:-16.15, Z:-6.55 [[ 9.99130419e-01 3.69066719e-02 1.93985321e-02 3.68875571e+02] [-3.69022071e-02 9.99318709e-01 -5.88188778e-04 -1.61468249e+01] [-1.94070241e-02 -1.28171350e-04 9.99811658e-01 -6.55325125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754391418 meters 0.014100946582343572 Centerline is valid? [True, True] Translation: X:368.90, Y:-16.14, Z:-6.55 [[ 9.99111648e-01 3.73073245e-02 1.95978969e-02 3.68903947e+02] [-3.73028882e-02 9.99303830e-01 -5.92007212e-04 -1.61443771e+01] [-1.96063397e-02 -1.39576857e-04 9.99807768e-01 -6.55357701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784391418 meters 0.013956297003692329 Centerline is valid? [True, True] Translation: X:368.93, Y:-16.14, Z:-6.55 [[ 9.99136569e-01 3.68989694e-02 1.90940462e-02 3.68933136e+02] [-3.68947171e-02 9.99318993e-01 -5.75040693e-04 -1.61440824e+01] [-1.91022614e-02 -1.29925249e-04 9.99817527e-01 -6.55429051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814391418 meters 0.0137492799199976 Centerline is valid? [True, True] Translation: X:368.96, Y:-16.14, Z:-6.56 [[ 9.99155061e-01 3.64725009e-02 1.89452096e-02 3.68960666e+02] [-3.64682660e-02 9.99334650e-01 -5.69081990e-04 -1.61442698e+01] [-1.89533602e-02 -1.22297792e-04 9.99820361e-01 -6.55520030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844391418 meters 0.013823910336746157 Centerline is valid? [True, True] Translation: X:368.99, Y:-16.14, Z:-6.56 [[ 9.99203535e-01 3.55556828e-02 1.81132494e-02 3.68988954e+02] [-3.55516989e-02 9.99367692e-01 -5.42002743e-04 -1.61426866e+01] [-1.81210675e-02 -1.02385734e-04 9.99835795e-01 -6.55660454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874391418 meters 0.013672507277370686 Centerline is valid? [True, True] Translation: X:369.02, Y:-16.14, Z:-6.56 [[ 9.99235527e-01 3.47117917e-02 1.79848297e-02 3.69017493e+02] [-3.47077595e-02 9.99397360e-01 -5.36378686e-04 -1.61431856e+01] [-1.79926099e-02 -8.82445036e-05 9.99838116e-01 -6.55736967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904391418 meters 0.013558614398112153 Centerline is valid? [True, True] Translation: X:369.05, Y:-16.14, Z:-6.56 [[ 9.99271712e-01 3.37185439e-02 1.78635110e-02 3.69045423e+02] [-3.37144322e-02 9.99431366e-01 -5.31363125e-04 -1.61436509e+01] [-1.78712700e-02 -7.12819913e-05 9.99840294e-01 -6.55804281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934391418 meters 0.013403998344883638 Centerline is valid? [True, True] Translation: X:369.07, Y:-16.14, Z:-6.56 [[ 9.99311244e-01 3.25828434e-02 1.77594110e-02 3.69073167e+02] [-3.25786308e-02 9.99469037e-01 -5.26542658e-04 -1.61444436e+01] [-1.77671377e-02 -5.23972946e-05 9.99842151e-01 -6.55855159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964391418 meters 0.013303530232552778 Centerline is valid? [True, True] Translation: X:369.10, Y:-16.14, Z:-6.56 [[ 9.99359975e-01 3.08533001e-02 1.81028596e-02 3.69101011e+02] [-3.08486780e-02 9.99523923e-01 -5.34581733e-04 -1.61447934e+01] [-1.81107348e-02 -2.42096987e-05 9.99835987e-01 -6.55853865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994391418 meters 0.013222178058219465 Centerline is valid? [True, True] Translation: X:369.13, Y:-16.15, Z:-6.56 [[ 9.99382109e-01 3.02005520e-02 1.79813060e-02 3.69129785e+02] [-3.01959240e-02 9.99543859e-01 -5.28889889e-04 -1.61450470e+01] [-1.79890767e-02 -1.43990567e-05 9.99838183e-01 -6.55865692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024391418 meters 0.013232731779469077 Centerline is valid? [True, True] Translation: X:369.16, Y:-16.14, Z:-6.56 [[ 9.99411266e-01 2.88162356e-02 1.86210919e-02 3.69158979e+02] [-2.88110602e-02 9.99584726e-01 -5.46197669e-04 -1.61448237e+01] [-1.86290984e-02 9.38270513e-06 9.99826463e-01 -6.55886929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.054391418 meters 0.013205630138980037 Centerline is valid? [True, True] Translation: X:369.19, Y:-16.15, Z:-6.56 [[ 9.99431621e-01 2.81498804e-02 1.85477518e-02 3.69186884e+02] [-2.81446580e-02 9.99603713e-01 -5.42587650e-04 -1.61451489e+01] [-1.85556753e-02 2.02591234e-05 9.99827828e-01 -6.55946387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084391418 meters 0.01323534500685272 Centerline is valid? [True, True] Translation: X:369.22, Y:-16.15, Z:-6.56 [[ 9.99458425e-01 2.71552668e-02 1.85862318e-02 3.69215462e+02] [-2.71498843e-02 9.99631227e-01 -5.41913787e-04 -1.61458222e+01] [-1.85940935e-02 3.70062577e-05 9.99827114e-01 -6.56044146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.114391418 meters 0.01324619091781381 Centerline is valid? [True, True] Translation: X:369.24, Y:-16.15, Z:-6.56 [[ 9.99523692e-01 2.53906293e-02 1.75415210e-02 3.69242802e+02] [-2.53855858e-02 9.99677604e-01 -5.10165698e-04 -1.61468495e+01] [-1.75488192e-02 6.46209152e-05 9.99846006e-01 -6.56203709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144391418 meters 0.01339223707193791 Centerline is valid? [True, True] Translation: X:369.27, Y:-16.15, Z:-6.56 [[ 9.99564044e-01 2.41039353e-02 1.70505750e-02 3.69271555e+02] [-2.40990107e-02 9.99709454e-01 -4.94259572e-04 -1.61477885e+01] [-1.70575346e-02 8.31421067e-05 9.99854506e-01 -6.56292254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17439141799997 meters 0.013510652172391417 Centerline is valid? [True, True] Translation: X:369.30, Y:-16.15, Z:-6.56 [[ 9.99615028e-01 2.23149847e-02 1.64875002e-02 3.69299905e+02] [-2.23101569e-02 9.99750984e-01 -4.76714050e-04 -1.61483104e+01] [-1.64940324e-02 1.08691812e-04 9.99863958e-01 -6.56400951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204391418 meters 0.013647173518304374 Centerline is valid? [True, True] Translation: X:369.33, Y:-16.15, Z:-6.56 [[ 9.99641339e-01 2.11138668e-02 1.64741862e-02 3.69329039e+02] [-2.11089056e-02 9.99777069e-01 -4.74995799e-04 -1.61491473e+01] [-1.64805426e-02 1.27073396e-04 9.99864179e-01 -6.56468225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234391418 meters 0.013886305636941217 Centerline is valid? [True, True] Translation: X:369.36, Y:-16.15, Z:-6.56 [[ 9.99675208e-01 1.92011197e-02 1.67569488e-02 3.69358966e+02] [-1.91957299e-02 9.99815629e-01 -4.82443107e-04 -1.61516305e+01] [-1.67631228e-02 1.60624550e-04 9.99859476e-01 -6.56481169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264391418 meters 0.014743370045276616 Centerline is valid? [True, True] Translation: X:369.39, Y:-16.15, Z:-6.57 [[ 9.99696280e-01 1.74386958e-02 1.74138053e-02 3.69387623e+02] [-1.74326201e-02 9.99847915e-01 -5.00647123e-04 -1.61548671e+01] [-1.74198876e-02 1.96926814e-04 9.99848243e-01 -6.56566397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294391418 meters 0.014908035507781286 Centerline is valid? [True, True] Translation: X:369.42, Y:-16.16, Z:-6.57 [[ 9.99729949e-01 1.51837415e-02 1.75921538e-02 3.69417642e+02] [-1.51772105e-02 9.99884692e-01 -5.04700364e-04 -1.61567059e+01] [-1.75977885e-02 2.37564247e-04 9.99845119e-01 -6.56623687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324391418 meters 0.015248777368137354 Centerline is valid? [True, True] Translation: X:369.45, Y:-16.16, Z:-6.57 [[ 9.99736465e-01 1.51265136e-02 1.72681804e-02 3.69448077e+02] [-1.51202127e-02 9.99885560e-01 -4.95391101e-04 -1.61592272e+01] [-1.72736978e-02 2.34161988e-04 9.99850771e-01 -6.56780699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354391418 meters 0.0147089812816792 Centerline is valid? [True, True] Translation: X:369.48, Y:-16.16, Z:-6.57 [[ 9.99736397e-01 1.53939810e-02 1.70341667e-02 3.69479359e+02] [-1.53878833e-02 9.99881480e-01 -4.88988689e-04 -1.61595531e+01] [-1.70396753e-02 2.26740021e-04 9.99854788e-01 -6.56832757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384391418 meters 0.015199483031112715 Centerline is valid? [True, True] Translation: X:369.51, Y:-16.16, Z:-6.57 [[ 9.99730001e-01 1.55432807e-02 1.72723018e-02 3.69509484e+02] [-1.55370211e-02 9.99879170e-01 -4.96545589e-04 -1.61612740e+01] [-1.72779327e-02 2.28051404e-04 9.99850699e-01 -6.56878775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414391418 meters 0.014992173890788253 Centerline is valid? [True, True] Translation: X:369.54, Y:-16.16, Z:-6.57 [[ 9.99717419e-01 1.58154680e-02 1.77469199e-02 3.69540422e+02] [-1.58088961e-02 9.99874901e-01 -5.10549058e-04 -1.61618491e+01] [-1.77527744e-02 2.29845573e-04 9.99842381e-01 -6.56890947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444391418 meters 0.014948571824569329 Centerline is valid? [True, True] Translation: X:369.57, Y:-16.16, Z:-6.57 [[ 9.99715904e-01 1.56298904e-02 1.79949249e-02 3.69571964e+02] [-1.56230907e-02 9.99877818e-01 -5.18393820e-04 -1.61629488e+01] [-1.80008287e-02 2.37110203e-04 9.99837944e-01 -6.56905676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474391418 meters 0.015310052766893937 Centerline is valid? [True, True] Translation: X:369.60, Y:-16.17, Z:-6.57 [[ 9.99711740e-01 1.51954339e-02 1.85885990e-02 3.69601889e+02] [-1.51880891e-02 9.99884511e-01 -5.36243384e-04 -1.61651655e+01] [-1.85946006e-02 2.53763509e-04 9.99827073e-01 -6.56973425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504391418 meters 0.01578923975186902 Centerline is valid? [True, True] Translation: X:369.63, Y:-16.17, Z:-6.57 [[ 9.99723630e-01 1.39672649e-02 1.89097468e-02 3.69633067e+02] [-1.39594370e-02 9.99902413e-01 -5.45901501e-04 -1.61676893e+01] [-1.89155263e-02 2.81781211e-04 9.99821046e-01 -6.57048443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534391418 meters 0.016581541212338877 Centerline is valid? [True, True] Translation: X:369.67, Y:-16.17, Z:-6.57 [[ 9.99752994e-01 1.13178086e-02 1.91273951e-02 3.69665298e+02] [-1.13092954e-02 9.99935895e-01 -5.53189958e-04 -1.61723172e+01] [-1.91324298e-02 3.36735955e-04 9.99816902e-01 -6.57218297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564391418 meters 0.016824199841910487 Centerline is valid? [True, True] Translation: X:369.70, Y:-16.17, Z:-6.57 [[ 9.99773172e-01 1.06450302e-02 1.84468963e-02 3.69697462e+02] [-1.06369073e-02 9.99943282e-01 -5.38401541e-04 -1.61749556e+01] [-1.84515813e-02 3.42061490e-04 9.99829697e-01 -6.57348299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594391418 meters 0.01727781940948389 Centerline is valid? [True, True] Translation: X:369.73, Y:-16.18, Z:-6.58 [[ 9.99787610e-01 9.52938089e-03 1.82736476e-02 3.69729927e+02] [-9.52113256e-03 9.99954528e-01 -5.38327163e-04 -1.61787039e+01] [-1.82779466e-02 3.64227007e-04 9.99832878e-01 -6.57503840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624391418 meters 0.017680591689497024 Centerline is valid? [True, True] Translation: X:369.76, Y:-16.18, Z:-6.58 [[ 9.99788904e-01 9.23988726e-03 1.83513299e-02 3.69763270e+02] [-9.23142627e-03 9.99957241e-01 -5.45715820e-04 -1.61813054e+01] [-1.83555875e-02 3.76191673e-04 9.99831451e-01 -6.57564247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654391418 meters 0.017860584316808533 Centerline is valid? [True, True] Translation: X:369.80, Y:-16.18, Z:-6.58 [[ 9.99790526e-01 9.07336073e-03 1.83460666e-02 3.69795934e+02] [-9.06477087e-03 9.99958762e-01 -5.51318705e-04 -1.61835801e+01] [-1.83503124e-02 3.84900328e-04 9.99831545e-01 -6.57625255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684391418 meters 0.017990864698688325 Centerline is valid? [True, True] Translation: X:369.83, Y:-16.19, Z:-6.58 [[ 9.99782826e-01 9.13219055e-03 1.87324098e-02 3.69828553e+02] [-9.12313282e-03 9.99958222e-01 -5.68933722e-04 -1.61855298e+01] [-1.87368228e-02 3.97911901e-04 9.99824371e-01 -6.57692590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714391418 meters 0.017451659906268933 Centerline is valid? [True, True] Translation: X:369.86, Y:-16.19, Z:-6.58 [[ 9.99749475e-01 1.00073876e-02 2.00209991e-02 3.69861223e+02] [-9.99708359e-03 9.99949839e-01 -6.14683399e-04 -1.61864120e+01] [-2.00261462e-02 4.14377804e-04 9.99799371e-01 -6.57613787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744391418 meters 0.017471959070491365 Centerline is valid? [True, True] Translation: X:369.89, Y:-16.19, Z:-6.58 [[ 9.99723180e-01 1.12879086e-02 2.06433104e-02 3.69892978e+02] [-1.12771048e-02 9.99936207e-01 -6.39693191e-04 -1.61875523e+01] [-2.06492143e-02 4.06719336e-04 9.99786700e-01 -6.57607581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774391418 meters 0.016466087281314577 Centerline is valid? [True, True] Translation: X:369.93, Y:-16.19, Z:-6.58 [[ 9.99696701e-01 1.28468816e-02 2.10110559e-02 3.69925524e+02] [-1.28359094e-02 9.99917400e-01 -6.56996089e-04 -1.61869370e+01] [-2.10177608e-02 3.87100813e-04 9.99779028e-01 -6.57642367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.804391418 meters 0.01576895781171822 Centerline is valid? [True, True] Translation: X:369.96, Y:-16.19, Z:-6.58 [[ 9.99630120e-01 1.60658825e-02 2.19433365e-02 3.69956397e+02] [-1.60545512e-02 9.99870878e-01 -6.92470685e-04 -1.61868255e+01] [-2.19516283e-02 3.39924135e-04 9.99758976e-01 -6.57708240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834391418 meters 0.01540088676865732 Centerline is valid? [True, True] Translation: X:369.99, Y:-16.19, Z:-6.58 [[ 9.99596015e-01 1.79990279e-02 2.19964061e-02 3.69987857e+02] [-1.79879840e-02 9.99837958e-01 -6.99849374e-04 -1.61876555e+01] [-2.20054384e-02 3.03895643e-04 9.99757805e-01 -6.57779707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.864391418 meters 0.014169170074502559 Centerline is valid? [True, True] Translation: X:370.02, Y:-16.19, Z:-6.58 [[ 9.99524284e-01 2.22492016e-02 2.13583430e-02 3.70020194e+02] [-2.22396440e-02 9.99752434e-01 -6.84941819e-04 -1.61866014e+01] [-2.13682948e-02 2.09614035e-04 9.99771650e-01 -6.57998896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894391418 meters 0.013646418016493637 Centerline is valid? [True, True] Translation: X:370.05, Y:-16.19, Z:-6.58 [[ 9.99477759e-01 2.47049038e-02 2.08297077e-02 3.70050407e+02] [-2.46962465e-02 9.99694775e-01 -6.72797241e-04 -1.61857875e+01] [-2.08399713e-02 1.58030283e-04 9.99782812e-01 -6.58148406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters 0.013304385504079284 Centerline is valid? [True, True] Translation: X:370.08, Y:-16.18, Z:-6.58 [[ 9.99408653e-01 2.77365467e-02 2.03230848e-02 3.70079479e+02] [-2.77289349e-02 9.99615264e-01 -6.56297171e-04 -1.61848034e+01] [-2.03334692e-02 9.23715770e-05 9.99793249e-01 -6.58266589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954391418 meters 0.013074843855687595 Centerline is valid? [True, True] Translation: X:370.11, Y:-16.18, Z:-6.58 [[ 9.99176126e-01 3.51151271e-02 2.03469261e-02 3.70108100e+02] [-3.51090522e-02 9.99383272e-01 -6.55817645e-04 -1.61797238e+01] [-2.03574067e-02 -5.90839577e-05 9.99792765e-01 -6.58357815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters 0.013564648779500177 Centerline is valid? [True, True] Translation: X:370.14, Y:-16.18, Z:-6.58 [[ 9.99024202e-01 3.91428999e-02 2.04567056e-02 3.70135703e+02] [-3.91376376e-02 9.99233613e-01 -6.57685572e-04 -1.61772791e+01] [-2.04667715e-02 -1.43583325e-04 9.99790523e-01 -6.58373399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014391418 meters 0.014356013759467115 Centerline is valid? [True, True] Translation: X:370.16, Y:-16.18, Z:-6.58 [[ 9.98834022e-01 4.34354638e-02 2.10702817e-02 3.70164529e+02] [-4.34308791e-02 9.99056206e-01 -6.75357301e-04 -1.61750598e+01] [-2.10797301e-02 -2.40531007e-04 9.99777769e-01 -6.58404421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters 0.0168080521059474 Centerline is valid? [True, True] Translation: X:370.19, Y:-16.17, Z:-6.58 [[ 9.98464533e-01 5.10363118e-02 2.15376547e-02 3.70193750e+02] [-5.10333243e-02 9.98696713e-01 -6.88682654e-04 -1.61701394e+01] [-2.15447328e-02 -4.11512910e-04 9.99767801e-01 -6.58481653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074391418 meters 0.017887785491863373 Centerline is valid? [True, True] Translation: X:370.22, Y:-16.17, Z:-6.59 [[ 9.98271290e-01 5.45944381e-02 2.17687812e-02 3.70222500e+02] [-5.45922611e-02 9.98508489e-01 -6.94710394e-04 -1.61692094e+01] [-2.17742401e-02 -4.94897546e-04 9.99762791e-01 -6.58527256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters 0.019286679931911525 Centerline is valid? [True, True] Translation: X:370.25, Y:-16.17, Z:-6.59 [[ 9.98113490e-01 5.73056258e-02 2.20346735e-02 3.70250081e+02] [-5.73040956e-02 9.98356524e-01 -7.01372012e-04 -1.61678568e+01] [-2.20386526e-02 -5.62628170e-04 9.99756961e-01 -6.58602368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134391418 meters 0.02131775381290617 Centerline is valid? [True, True] Translation: X:370.28, Y:-16.17, Z:-6.59 [[ 9.97838444e-01 6.16539559e-02 2.27426626e-02 3.70279333e+02] [-6.16535014e-02 9.98097352e-01 -7.21825651e-04 -1.61667907e+01] [-2.27438947e-02 -6.81899396e-04 9.99741092e-01 -6.58722329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters 0.0219324824922121 Centerline is valid? [True, True] Translation: X:370.31, Y:-16.17, Z:-6.59 [[ 9.97748308e-01 6.30337854e-02 2.29140951e-02 3.70307970e+02] [-6.30337202e-02 9.98011134e-01 -7.25840069e-04 -1.61674565e+01] [-2.29142744e-02 -7.20154957e-04 9.99737174e-01 -6.58816011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194391418 meters 0.021704802419086636 Centerline is valid? [True, True] Translation: X:370.34, Y:-16.17, Z:-6.59 [[ 9.97708877e-01 6.38552103e-02 2.23497092e-02 3.70336687e+02] [-6.38553918e-02 9.97958912e-01 -7.06271928e-04 -1.61700763e+01] [-2.23491907e-02 -7.22495668e-04 9.99749965e-01 -6.58943285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters 0.021780903443634946 Centerline is valid? [True, True] Translation: X:370.36, Y:-16.17, Z:-6.59 [[ 9.97726311e-01 6.36679327e-02 2.21043569e-02 3.70364998e+02] [-6.36681021e-02 9.97970885e-01 -6.96808368e-04 -1.61717708e+01] [-2.21038689e-02 -7.12118408e-04 9.99755426e-01 -6.59075395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254391418 meters 0.02168864809318055 Centerline is valid? [True, True] Translation: X:370.39, Y:-16.17, Z:-6.59 [[ 9.97779083e-01 6.30105189e-02 2.16003582e-02 3.70394036e+02] [-6.30105623e-02 9.98012629e-01 -6.79271275e-04 -1.61738458e+01] [-2.16002315e-02 -6.83288049e-04 9.99766454e-01 -6.59215099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284391418 meters 0.021478614460681646 Centerline is valid? [True, True] Translation: X:370.42, Y:-16.18, Z:-6.59 [[ 9.97833811e-01 6.21980820e-02 2.14262578e-02 3.70422364e+02] [-6.21979730e-02 9.98063605e-01 -6.72146494e-04 -1.61758757e+01] [-2.14265744e-02 -6.61979308e-04 9.99770205e-01 -6.59328002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314391418 meters 0.01936496977427352 Centerline is valid? [True, True] Translation: X:370.45, Y:-16.18, Z:-6.59 [[ 9.98018768e-01 5.92856477e-02 2.10654041e-02 3.70451463e+02] [-5.92849394e-02 9.98240884e-01 -6.58670492e-04 -1.61822288e+01] [-2.10673973e-02 -5.91495692e-04 9.99777883e-01 -6.59408322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344391418 meters 0.019348200127219557 Centerline is valid? [True, True] Translation: X:370.48, Y:-16.18, Z:-6.59 [[ 9.98110928e-01 5.74971904e-02 2.16482989e-02 3.70479074e+02] [-5.74961339e-02 9.98345503e-01 -6.71733893e-04 -1.61840432e+01] [-2.16511047e-02 -5.74228554e-04 9.99765422e-01 -6.59384495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374391418 meters 0.018717808646651072 Centerline is valid? [True, True] Translation: X:370.51, Y:-16.19, Z:-6.59 [[ 9.98337074e-01 5.30418619e-02 2.25753549e-02 3.70507255e+02] [-5.30396244e-02 9.98592164e-01 -6.98291678e-04 -1.61878966e+01] [-2.25806112e-02 -5.00257873e-04 9.99744900e-01 -6.59328096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404391418 meters 0.016177524747122068 Centerline is valid? [True, True] Translation: X:370.54, Y:-16.19, Z:-6.59 [[ 9.98465804e-01 5.04418521e-02 2.28398355e-02 3.70536145e+02] [-5.04389229e-02 9.98726899e-01 -7.04684704e-04 -1.61943108e+01] [-2.28463037e-02 -4.48413123e-04 9.99738889e-01 -6.59446817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434391418 meters 0.01583339492452053 Centerline is valid? [True, True] Translation: X:370.56, Y:-16.20, Z:-6.60 [[ 9.98589863e-01 4.79251422e-02 2.28356256e-02 3.70563471e+02] [-4.79216037e-02 9.98850853e-01 -7.02478097e-04 -1.61970726e+01] [-2.28430505e-02 -3.92832295e-04 9.99738986e-01 -6.59500802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464391418 meters 0.014225353962392929 Centerline is valid? [True, True] Translation: X:370.59, Y:-16.20, Z:-6.60 [[ 9.98824389e-01 4.29327509e-02 2.25081787e-02 3.70591854e+02] [-4.29281064e-02 9.99077926e-01 -6.89711340e-04 -1.62037852e+01] [-2.25170357e-02 -2.77332981e-04 9.99746421e-01 -6.59641710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494391418 meters 0.013547443986970508 Centerline is valid? [True, True] Translation: X:370.62, Y:-16.21, Z:-6.60 [[ 9.98939763e-01 4.02172951e-02 2.24035665e-02 3.70620854e+02] [-4.02120497e-02 9.99190934e-01 -6.84768278e-04 -1.62071337e+01] [-2.24129800e-02 -2.16851067e-04 9.99748774e-01 -6.59747295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524391418 meters 0.013106839932192466 Centerline is valid? [True, True] Translation: X:370.65, Y:-16.21, Z:-6.60 [[ 9.99036178e-01 3.78703862e-02 2.21934541e-02 3.70649583e+02] [-3.78646978e-02 9.99282646e-01 -6.76630402e-04 -1.62102209e+01] [-2.22031578e-02 -1.64370181e-04 9.99753466e-01 -6.59798580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.554391418 meters 0.012672876188675068 Centerline is valid? [True, True] Translation: X:370.68, Y:-16.21, Z:-6.60 [[ 9.99117938e-01 3.57228643e-02 2.20731422e-02 3.70677886e+02] [-3.57167512e-02 9.99361728e-01 -6.71248623e-04 -1.62128100e+01] [-2.20830325e-02 -1.17724389e-04 9.99756133e-01 -6.59841622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584391418 meters 0.012672876188675068 Centerline is valid? [True, True] Translation: X:370.71, Y:-16.21, Z:-6.60 [[ 9.99120705e-01 3.56453427e-02 2.20731942e-02 3.70706169e+02] [-3.56392485e-02 9.99364496e-01 -6.69536383e-04 -1.62135912e+01] [-2.20830324e-02 -1.17724389e-04 9.99756133e-01 -6.59892690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.614391418 meters 0.012409797853903634 Centerline is valid? [True, True] Translation: X:370.73, Y:-16.22, Z:-6.60 [[ 9.99230333e-01 3.22303850e-02 2.23594462e-02 3.70734811e+02] [-3.22233161e-02 9.99480465e-01 -6.76461467e-04 -1.62170250e+01] [-2.23696323e-02 -4.45546863e-05 9.99749767e-01 -6.59904982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644391418 meters 0.012391138180597882 Centerline is valid? [True, True] Translation: X:370.76, Y:-16.22, Z:-6.60 [[ 9.99288973e-01 3.04302150e-02 2.22609418e-02 3.70763784e+02] [-3.04228004e-02 9.99536894e-01 -6.71743541e-04 -1.62187599e+01] [-2.22710740e-02 -5.97427669e-06 9.99751969e-01 -6.59953794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67439141799997 meters 0.012455331690712985 Centerline is valid? [True, True] Translation: X:370.79, Y:-16.22, Z:-6.60 [[ 9.99407765e-01 2.70365394e-02 2.12871886e-02 3.70792423e+02] [-2.70290210e-02 9.99634444e-01 -6.40881371e-04 -1.62216407e+01] [-2.12967341e-02 6.51299524e-05 9.99773197e-01 -6.60060117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704391418 meters 0.012635478045390183 Centerline is valid? [True, True] Translation: X:370.82, Y:-16.22, Z:-6.60 [[ 9.99472633e-01 2.51025134e-02 2.05990147e-02 3.70821798e+02] [-2.50950795e-02 9.99684877e-01 -6.19338547e-04 -1.62236179e+01] [-2.06080705e-02 1.02078016e-04 9.99787626e-01 -6.60162661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734391418 meters 0.01285016087236095 Centerline is valid? [True, True] Translation: X:370.85, Y:-16.23, Z:-6.60 [[ 9.99531683e-01 2.31680269e-02 1.99914508e-02 3.70851674e+02] [-2.31606532e-02 9.99731576e-01 -6.00323024e-04 -1.62252322e+01] [-1.99999929e-02 1.37026823e-04 9.99799971e-01 -6.60276968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764391418 meters 0.013738071289120123 Centerline is valid? [True, True] Translation: X:370.88, Y:-16.23, Z:-6.61 [[ 9.99638281e-01 1.92078707e-02 1.88245610e-02 3.70880752e+02] [-1.92006434e-02 9.99815491e-01 -5.64610048e-04 -1.62280812e+01] [-1.88319326e-02 2.02962136e-04 9.99822643e-01 -6.60522690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794391418 meters 0.01449035521346366 Centerline is valid? [True, True] Translation: X:370.91, Y:-16.23, Z:-6.61 [[ 9.99680311e-01 1.73773642e-02 1.83658231e-02 3.70911403e+02] [-1.73701821e-02 9.99848975e-01 -5.50519920e-04 -1.62301501e+01] [-1.83726160e-02 2.31326233e-04 9.99831182e-01 -6.60655666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824391418 meters 0.01463422252863746 Centerline is valid? [True, True] Translation: X:370.94, Y:-16.23, Z:-6.61 [[ 9.99729723e-01 1.50093913e-02 1.77538460e-02 3.70943124e+02] [-1.50023009e-02 9.99887317e-01 -5.32496249e-04 -1.62295903e+01] [-1.77598379e-02 2.66003786e-04 9.99842246e-01 -6.60785369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854391418 meters 0.01486566274384986 Centerline is valid? [True, True] Translation: X:370.98, Y:-16.23, Z:-6.61 [[ 9.99730542e-01 1.48512770e-02 1.78404965e-02 3.70975341e+02] [-1.48440801e-02 9.99889677e-01 -5.35765288e-04 -1.62296171e+01] [-1.78464851e-02 2.70795162e-04 9.99840702e-01 -6.60811898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884391418 meters 0.014797613905580487 Centerline is valid? [True, True] Translation: X:371.01, Y:-16.23, Z:-6.61 [[ 9.99735531e-01 1.45859057e-02 1.77797440e-02 3.71007216e+02] [-1.45786285e-02 9.99893581e-01 -5.38848779e-04 -1.62286011e+01] [-1.77857115e-02 2.79501987e-04 9.99841783e-01 -6.60818044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914391418 meters 0.014807743959785177 Centerline is valid? [True, True] Translation: X:371.04, Y:-16.23, Z:-6.61 [[ 9.99726460e-01 1.43694666e-02 1.84533019e-02 3.71039891e+02] [-1.43614910e-02 9.99896709e-01 -5.64659317e-04 -1.62257437e+01] [-1.84595097e-02 2.99487930e-04 9.99829564e-01 -6.60753567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944391418 meters 0.015660579370287135 Centerline is valid? [True, True] Translation: X:371.07, Y:-16.23, Z:-6.61 [[ 9.99718817e-01 1.38148948e-02 1.92726843e-02 3.71071575e+02] [-1.38059848e-02 9.99904516e-01 -5.95296969e-04 -1.62267325e+01] [-1.92790680e-02 3.29051196e-04 9.99814087e-01 -6.60769327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974391418 meters 0.0164145014328911 Centerline is valid? [True, True] Translation: X:371.10, Y:-16.23, Z:-6.61 [[ 9.99726105e-01 1.22527314e-02 1.99395439e-02 3.71103943e+02] [-1.22428149e-02 9.99924862e-01 -6.19327064e-04 -1.62272007e+01] [-1.99456342e-02 3.75041287e-04 9.99800996e-01 -6.60791047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004391418 meters 0.01602658177465779 Centerline is valid? [True, True] Translation: X:371.14, Y:-16.23, Z:-6.61 [[ 9.99731012e-01 1.31461472e-02 1.91071562e-02 3.71136329e+02] [-1.31371089e-02 9.99913525e-01 -5.98480143e-04 -1.62269458e+01] [-1.91133716e-02 3.47306366e-04 9.99817263e-01 -6.60989259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034391418 meters 0.015837563938645414 Centerline is valid? [True, True] Translation: X:371.17, Y:-16.23, Z:-6.61 [[ 9.99733304e-01 1.37068634e-02 1.85860971e-02 3.71168941e+02] [-1.36983147e-02 9.99906001e-01 -5.87189740e-04 -1.62283949e+01] [-1.85923985e-02 3.32434932e-04 9.99827091e-01 -6.61158278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064391418 meters 0.015467930541136772 Centerline is valid? [True, True] Translation: X:371.20, Y:-16.23, Z:-6.61 [[ 9.99717277e-01 1.41200298e-02 1.91309057e-02 3.71201552e+02] [-1.41109296e-02 9.99900249e-01 -6.10595597e-04 -1.62289017e+01] [-1.91376190e-02 3.40468105e-04 9.99816801e-01 -6.61221828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094391418 meters 0.01563636756936759 Centerline is valid? [True, True] Translation: X:371.23, Y:-16.23, Z:-6.61 [[ 9.99700766e-01 1.47034729e-02 1.95495712e-02 3.71234002e+02] [-1.46939705e-02 9.99891840e-01 -6.29628571e-04 -1.62310999e+01] [-1.95567145e-02 3.42179343e-04 9.99808691e-01 -6.61254083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124391418 meters 0.015541394681282027 Centerline is valid? [True, True] Translation: X:371.27, Y:-16.23, Z:-6.61 [[ 9.99696769e-01 1.48001778e-02 1.96805860e-02 3.71266860e+02] [-1.47904482e-02 9.99890411e-01 -6.39848808e-04 -1.62326089e+01] [-1.96878990e-02 3.48570099e-04 9.99806114e-01 -6.61296175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154391418 meters 0.016211813559914714 Centerline is valid? [True, True] Translation: X:371.30, Y:-16.24, Z:-6.61 [[ 9.99689628e-01 1.48058654e-02 2.00358255e-02 3.71298958e+02] [-1.47956508e-02 9.99890322e-01 -6.57966440e-04 -1.62357327e+01] [-2.00433697e-02 3.61319149e-04 9.99799046e-01 -6.61294370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184391418 meters 0.01717876417896902 Centerline is valid? [True, True] Translation: X:371.33, Y:-16.24, Z:-6.61 [[ 9.99718794e-01 1.26787315e-02 2.00395130e-02 3.71330552e+02] [-1.26679709e-02 9.99919538e-01 -6.63824649e-04 -1.62402941e+01] [-2.00463170e-02 4.09778010e-04 9.99798968e-01 -6.61379954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214391418 meters 0.01748758992445262 Centerline is valid? [True, True] Translation: X:371.36, Y:-16.24, Z:-6.62 [[ 9.99741960e-01 1.10180589e-02 1.98649159e-02 3.71363034e+02] [-1.10070950e-02 9.99939202e-01 -6.61179912e-04 -1.62432473e+01] [-1.98709930e-02 4.42354285e-04 9.99802454e-01 -6.61509560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244391418 meters 0.018830429362240705 Centerline is valid? [True, True] Translation: X:371.39, Y:-16.25, Z:-6.62 [[ 9.99782636e-01 8.64709175e-03 1.89712674e-02 3.71393787e+02] [-8.63657169e-03 9.99962502e-01 -6.36387998e-04 -1.62487288e+01] [-1.89760589e-02 4.72402959e-04 9.99819827e-01 -6.61735004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274391418 meters 0.019705381387640473 Centerline is valid? [True, True] Translation: X:371.42, Y:-16.25, Z:-6.62 [[ 9.99799750e-01 7.61899651e-03 1.85043494e-02 3.71424621e+02] [-7.60876284e-03 9.99970859e-01 -6.23383033e-04 -1.62518736e+01] [-1.85085597e-02 4.82462994e-04 9.99828586e-01 -6.61850681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.304391418 meters 0.02029474079261654 Centerline is valid? [True, True] Translation: X:371.46, Y:-16.25, Z:-6.62 [[ 9.99808847e-01 6.98861865e-03 1.82600080e-02 3.71456381e+02] [-6.97849879e-03 9.99975459e-01 -6.17870349e-04 -1.62547229e+01] [-1.82638779e-02 4.90324798e-04 9.99833081e-01 -6.61956589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334391418 meters 0.02053904640274534 Centerline is valid? [True, True] Translation: X:371.49, Y:-16.26, Z:-6.62 [[ 9.99824460e-01 6.27385204e-03 1.76546716e-02 3.71488191e+02] [-6.26419875e-03 9.99980198e-01 -6.02031656e-04 -1.62569999e+01] [-1.76580990e-02 4.91333604e-04 9.99843963e-01 -6.62025882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.364391418 meters 0.02114493013713881 Centerline is valid? [True, True] Translation: X:371.52, Y:-16.26, Z:-6.62 [[ 9.99807823e-01 5.24529790e-03 1.88892733e-02 3.71520179e+02] [-5.23395890e-03 9.99986092e-01 -6.49675425e-04 -1.62604493e+01] [-1.88924183e-02 5.50684892e-04 9.99821371e-01 -6.62022373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394391418 meters 0.021283177322578613 Centerline is valid? [True, True] Translation: X:371.55, Y:-16.26, Z:-6.62 [[ 9.99797499e-01 4.92182540e-03 1.95124943e-02 3.71552365e+02] [-4.90955564e-03 9.99987719e-01 -6.76669556e-04 -1.62625273e+01] [-1.95155851e-02 5.80734853e-04 9.99809384e-01 -6.62005357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters 0.021570018909450053 Centerline is valid? [True, True] Translation: X:371.58, Y:-16.27, Z:-6.62 [[ 9.99795068e-01 4.56852586e-03 1.97218218e-02 3.71584022e+02] [-4.55581422e-03 9.99989385e-01 -6.89428096e-04 -1.62659159e+01] [-1.97247621e-02 5.99437854e-04 9.99805268e-01 -6.62051891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454391418 meters 0.021633963613856128 Centerline is valid? [True, True] Translation: X:371.62, Y:-16.27, Z:-6.62 [[ 9.99797400e-01 4.47017677e-03 1.96258969e-02 3.71616820e+02] [-4.45746840e-03 9.99989827e-01 -6.91228526e-04 -1.62682891e+01] [-1.96287872e-02 6.03606668e-04 9.99807155e-01 -6.62119266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters 0.022302331965160082 Centerline is valid? [True, True] Translation: X:371.65, Y:-16.27, Z:-6.62 [[ 9.99798893e-01 3.88509732e-03 1.96743522e-02 3.71649289e+02] [-3.87208996e-03 9.99992259e-01 -6.99183930e-04 -1.62712306e+01] [-1.96769163e-02 6.22862457e-04 9.99806197e-01 -6.62199672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514391418 meters 0.023694025415035458 Centerline is valid? [True, True] Translation: X:371.68, Y:-16.28, Z:-6.62 [[ 9.99812914e-01 2.36085585e-03 1.91980240e-02 3.71680464e+02] [-2.34809042e-03 9.99997007e-01 -6.87448571e-04 -1.62768766e+01] [-1.91995895e-02 6.42241262e-04 9.99815465e-01 -6.62378560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters 0.024269933135530185 Centerline is valid? [True, True] Translation: X:371.71, Y:-16.28, Z:-6.63 [[ 9.99829153e-01 1.43844735e-03 1.84281143e-02 3.71712564e+02] [-1.42644525e-03 9.99998762e-01 -6.64420456e-04 -1.62806676e+01] [-1.84290472e-02 6.38020246e-04 9.99829967e-01 -6.62540471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574391418 meters 0.02546516421986375 Centerline is valid? [True, True] Translation: X:371.74, Y:-16.29, Z:-6.63 [[ 9.99834807e-01 2.72261881e-04 1.81737083e-02 3.71743863e+02] [-2.60307109e-04 9.99999748e-01 -6.60168208e-04 -1.62851299e+01] [-1.81738835e-02 6.55328407e-04 9.99834627e-01 -6.62676460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters 0.026249066400196037 Centerline is valid? [True, True] Translation: X:371.78, Y:-16.29, Z:-6.63 [[ 9.99843334e-01 -9.81405901e-04 1.76732709e-02 3.71776093e+02] [ 9.92983563e-04 9.99999298e-01 -6.46331032e-04 -1.62907226e+01] [-1.76726241e-02 6.63779041e-04 9.99843607e-01 -6.62835481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634391418 meters 0.02708982477101618 Centerline is valid? [True, True] Translation: X:371.81, Y:-16.29, Z:-6.63 [[ 9.99835265e-01 -1.61949777e-03 1.80781456e-02 3.71808684e+02] [ 1.63180722e-03 9.99998447e-01 -6.66171749e-04 -1.62944755e+01] [-1.80770387e-02 6.95562056e-04 9.99836355e-01 -6.62852831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters 0.026385783719355328 Centerline is valid? [True, True] Translation: X:371.84, Y:-16.30, Z:-6.63 [[ 9.99826020e-01 -2.13310860e-03 1.85304957e-02 3.71840690e+02] [ 2.14622508e-03 9.99997460e-01 -6.87973831e-04 -1.62958273e+01] [-1.85289811e-02 7.27624752e-04 9.99828059e-01 -6.62821280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694391418 meters 0.027302179516898017 Centerline is valid? [True, True] Translation: X:371.87, Y:-16.30, Z:-6.63 [[ 9.99810334e-01 -3.26058258e-03 1.92006294e-02 3.71872614e+02] [ 3.27497820e-03 9.99994379e-01 -7.18351428e-04 -1.63000048e+01] [-1.91981792e-02 7.81096824e-04 9.99815393e-01 -6.62767963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters 0.02602195516380035 Centerline is valid? [True, True] Translation: X:371.91, Y:-16.30, Z:-6.63 [[ 9.99802489e-01 -3.20513390e-03 1.96140430e-02 3.71905221e+02] [ 3.22025488e-03 9.99994542e-01 -7.39390760e-04 -1.63008998e+01] [-1.96115661e-02 8.02406940e-04 9.99807353e-01 -6.62822431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754391418 meters 0.026835148714427364 Centerline is valid? [True, True] Translation: X:371.94, Y:-16.30, Z:-6.63 [[ 9.99796175e-01 -2.94457395e-03 1.99734101e-02 3.71936957e+02] [ 2.96032621e-03 9.99995330e-01 -7.59140424e-04 -1.63048920e+01] [-1.99710815e-02 8.18113502e-04 9.99800223e-01 -6.62866571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784391418 meters 0.027125053612827812 Centerline is valid? [True, True] Translation: X:371.97, Y:-16.31, Z:-6.63 [[ 9.99793934e-01 -2.81283338e-03 2.01041508e-02 3.71969406e+02] [ 2.82888151e-03 9.99995702e-01 -7.69855215e-04 -1.63088928e+01] [-2.01018989e-02 8.26568834e-04 9.99797595e-01 -6.62967571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814391418 meters 0.027561655250486157 Centerline is valid? [True, True] Translation: X:372.00, Y:-16.31, Z:-6.63 [[ 9.99794440e-01 -2.89909005e-03 2.00667386e-02 3.72001444e+02] [ 2.91514253e-03 9.99995454e-01 -7.70749116e-04 -1.63118823e+01] [-2.00644129e-02 8.29088083e-04 9.99798346e-01 -6.63041583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844391418 meters 0.02779469348677673 Centerline is valid? [True, True] Translation: X:372.03, Y:-16.32, Z:-6.63 [[ 9.99793104e-01 -2.53069194e-03 2.01827883e-02 3.72033079e+02] [ 2.54688825e-03 9.99996455e-01 -7.76817081e-04 -1.63156425e+01] [-2.01807508e-02 8.28059667e-04 9.99796005e-01 -6.63097226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874391418 meters 0.027999666282154365 Centerline is valid? [True, True] Translation: X:372.07, Y:-16.32, Z:-6.63 [[ 9.99787907e-01 -2.11848157e-03 2.04854431e-02 3.72065353e+02] [ 2.13511447e-03 9.99997409e-01 -7.90100195e-04 -1.63180820e+01] [-2.04837162e-02 8.33671386e-04 9.99789839e-01 -6.63177476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904391418 meters 0.027817514266637523 Centerline is valid? [True, True] Translation: X:372.10, Y:-16.32, Z:-6.63 [[ 9.99792748e-01 -1.86875392e-03 2.02723480e-02 3.72097319e+02] [ 1.88502317e-03 9.99997916e-01 -7.83454873e-04 -1.63200568e+01] [-2.02708417e-02 8.21506347e-04 9.99794188e-01 -6.63275673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934391418 meters 0.026914357792967403 Centerline is valid? [True, True] Translation: X:372.13, Y:-16.32, Z:-6.63 [[ 9.99796090e-01 -1.65261991e-03 2.01257687e-02 3.72129395e+02] [ 1.66864264e-03 9.99998304e-01 -7.79362929e-04 -1.63222334e+01] [-2.01244466e-02 8.12786725e-04 9.99797152e-01 -6.63380842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964391418 meters 0.026956102948823658 Centerline is valid? [True, True] Translation: X:372.16, Y:-16.33, Z:-6.63 [[ 9.99798089e-01 -1.27077663e-03 2.00540805e-02 3.72161286e+02] [ 1.28664073e-03 9.99998870e-01 -7.78183493e-04 -1.63250193e+01] [-2.00530689e-02 8.03828766e-04 9.99798594e-01 -6.63471915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994391418 meters 0.02679675666999052 Centerline is valid? [True, True] Translation: X:372.19, Y:-16.33, Z:-6.64 [[ 9.99801485e-01 -1.16352083e-03 1.98906085e-02 3.72194516e+02] [ 1.17913888e-03 9.99999006e-01 -7.73487352e-04 -1.63268400e+01] [-1.98896888e-02 7.96787593e-04 9.99801863e-01 -6.63560272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024391418 meters 0.02906935174723352 Centerline is valid? [True, True] Translation: X:372.23, Y:-16.33, Z:-6.64 [[ 9.99808703e-01 -6.80322863e-04 1.95472260e-02 3.72225271e+02] [ 6.95363396e-04 9.99999467e-01 -7.62659362e-04 -1.63322493e+01] [-1.95466967e-02 7.76105893e-04 9.99808644e-01 -6.63670230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.054391418 meters 0.02711928926143304 Centerline is valid? [True, True] Translation: X:372.26, Y:-16.33, Z:-6.64 [[ 9.99818074e-01 -4.92617848e-04 1.90676580e-02 3.72257932e+02] [ 5.06983672e-04 9.99999591e-01 -7.48586520e-04 -1.63328561e+01] [-1.90672814e-02 7.58117324e-04 9.99817915e-01 -6.63869207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084391418 meters 0.027907907033693204 Centerline is valid? [True, True] Translation: X:372.29, Y:-16.34, Z:-6.64 [[ 9.99826534e-01 -3.31325959e-04 1.86223511e-02 3.72289497e+02] [ 3.45042978e-04 9.99999672e-01 -7.33380828e-04 -1.63364093e+01] [-1.86221020e-02 7.39679123e-04 9.99826320e-01 -6.63979602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.114391418 meters 0.027257447000572872 Centerline is valid? [True, True] Translation: X:372.32, Y:-16.34, Z:-6.64 [[ 9.99832852e-01 -2.73684425e-05 1.82829959e-02 3.72322054e+02] [ 4.06347948e-05 9.99999736e-01 -7.25240411e-04 -1.63383243e+01] [-1.82829713e-02 7.25862114e-04 9.99832589e-01 -6.64126040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144391418 meters 0.026285057837109764 Centerline is valid? [True, True] Translation: X:372.35, Y:-16.34, Z:-6.64 [[ 9.99827716e-01 2.31669852e-04 1.85602836e-02 3.72354250e+02] [-2.18014953e-04 9.99999704e-01 -7.37725348e-04 -1.63389668e+01] [-1.85604491e-02 7.33551831e-04 9.99827471e-01 -6.64181419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17439141799997 meters 0.026583802128439426 Centerline is valid? [True, True] Translation: X:372.39, Y:-16.34, Z:-6.64 [[ 9.99818358e-01 3.02806527e-04 1.90567605e-02 3.72386839e+02] [-2.88393346e-04 9.99999670e-01 -7.59072644e-04 -1.63417195e+01] [-1.90569840e-02 7.53438922e-04 9.99818115e-01 -6.64236921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204391418 meters 0.02701126070554815 Centerline is valid? [True, True] Translation: X:372.42, Y:-16.34, Z:-6.64 [[ 9.99809494e-01 4.21441442e-04 1.95140415e-02 3.72419443e+02] [-4.06298081e-04 9.99999613e-01 -7.79981966e-04 -1.63449108e+01] [-1.95143627e-02 7.71904857e-04 9.99809279e-01 -6.64310637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234391418 meters 0.026766931097503173 Centerline is valid? [True, True] Translation: X:372.45, Y:-16.35, Z:-6.64 [[ 9.99810501e-01 7.20528078e-04 1.94536174e-02 3.72452610e+02] [-7.05415094e-04 9.99999444e-01 -7.83723628e-04 -1.63464685e+01] [-1.94541713e-02 7.69852238e-04 9.99810453e-01 -6.64407084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264391418 meters 0.02758907694823045 Centerline is valid? [True, True] Translation: X:372.48, Y:-16.35, Z:-6.65 [[ 9.99809600e-01 1.21200547e-03 1.94754812e-02 3.72484338e+02] [-1.19683106e-03 9.99998971e-01 -7.90791073e-04 -1.63495416e+01] [-1.94764196e-02 7.67331645e-04 9.99810022e-01 -6.64512052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294391418 meters 0.02758223878420866 Centerline is valid? [True, True] Translation: X:372.52, Y:-16.35, Z:-6.65 [[ 9.99821169e-01 1.49663753e-03 1.88518114e-02 3.72517260e+02] [-1.48236770e-03 9.99998604e-01 -7.70898653e-04 -1.63517188e+01] [-1.88529388e-02 7.42815476e-04 9.99821992e-01 -6.64660048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324391418 meters 0.027724484752607286 Centerline is valid? [True, True] Translation: X:372.55, Y:-16.35, Z:-6.65 [[ 9.99814565e-01 2.05717333e-03 1.91468734e-02 3.72549791e+02] [-2.04244037e-03 9.99997603e-01 -7.88994239e-04 -1.63539003e+01] [-1.91484506e-02 7.49741585e-04 9.99816371e-01 -6.64742791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354391418 meters 0.02766840121170485 Centerline is valid? [True, True] Translation: X:372.58, Y:-16.36, Z:-6.65 [[ 9.99809991e-01 2.74590875e-03 1.92987691e-02 3.72582448e+02] [-2.73097167e-03 9.99995951e-01 -8.00303493e-04 -1.63557703e+01] [-1.93008885e-02 7.47447037e-04 9.99813441e-01 -6.64780949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384391418 meters 0.025881796939005636 Centerline is valid? [True, True] Translation: X:372.61, Y:-16.35, Z:-6.65 [[ 9.99797367e-01 4.89083751e-03 1.95270324e-02 3.72614774e+02] [-4.87591675e-03 9.99987783e-01 -8.11645743e-04 -1.63546705e+01] [-1.95307634e-02 7.16269093e-04 9.99809000e-01 -6.64818607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414391418 meters 0.024505970585404893 Centerline is valid? [True, True] Translation: X:372.65, Y:-16.35, Z:-6.65 [[ 9.99795085e-01 6.25754659e-03 1.92517829e-02 3.72647570e+02] [-6.24326740e-03 9.99980189e-01 -8.01721077e-04 -1.63536946e+01] [-1.92564184e-02 6.81362764e-04 9.99814346e-01 -6.64870288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444391418 meters 0.02273323496966214 Centerline is valid? [True, True] Translation: X:372.68, Y:-16.35, Z:-6.65 [[ 9.99779169e-01 9.33493287e-03 1.88274355e-02 3.72679578e+02] [-9.32178699e-03 9.99956242e-01 -7.85871316e-04 -1.63510851e+01] [-1.88339477e-02 6.10192427e-04 9.99822439e-01 -6.64898520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474391418 meters 0.02273323496966214 Centerline is valid? [True, True] Translation: X:372.71, Y:-16.35, Z:-6.65 [[ 9.99776122e-01 9.65587477e-03 1.88273625e-02 3.72712184e+02] [-9.64275291e-03 9.99953197e-01 -7.87615897e-04 -1.63525906e+01] [-1.88340865e-02 6.05891962e-04 9.99822439e-01 -6.64957317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504391418 meters 0.022691020077873197 Centerline is valid? [True, True] Translation: X:372.74, Y:-16.35, Z:-6.65 [[ 9.99755179e-01 1.16352928e-02 1.88202474e-02 3.72743857e+02] [-1.16224179e-02 9.99932143e-01 -7.93333685e-04 -1.63534266e+01] [-1.88282010e-02 5.74402679e-04 9.99822569e-01 -6.64976637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534391418 meters 0.02120606904203381 Centerline is valid? [True, True] Translation: X:372.78, Y:-16.35, Z:-6.65 [[ 9.99735272e-01 1.33425922e-02 1.87446082e-02 3.72776586e+02] [-1.33300254e-02 9.99910835e-01 -7.95212172e-04 -1.63519242e+01] [-1.87535471e-02 5.45135554e-04 9.99823988e-01 -6.65015944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564391418 meters 0.020518851854980407 Centerline is valid? [True, True] Translation: X:372.81, Y:-16.35, Z:-6.65 [[ 9.99702923e-01 1.54177117e-02 1.88775189e-02 3.72808714e+02] [-1.54052966e-02 9.99881009e-01 -8.02918223e-04 -1.63515378e+01] [-1.88876518e-02 5.11865917e-04 9.99821481e-01 -6.65048832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594391418 meters 0.01886628596603181 Centerline is valid? [True, True] Translation: X:372.84, Y:-16.35, Z:-6.65 [[ 9.99632894e-01 1.98090139e-02 1.84845885e-02 3.72840738e+02] [-1.97977685e-02 9.99803692e-01 -7.91179346e-04 -1.63487387e+01] [-1.84966323e-02 4.24935296e-04 9.99828832e-01 -6.65112129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624391418 meters 0.018166688789308966 Centerline is valid? [True, True] Translation: X:372.87, Y:-16.35, Z:-6.65 [[ 9.99596299e-01 2.18087081e-02 1.82104201e-02 3.72871840e+02] [-2.17981059e-02 9.99762088e-01 -7.80516833e-04 -1.63480127e+01] [-1.82231096e-02 3.83249072e-04 9.99833872e-01 -6.65162763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654391418 meters 0.016671024494347528 Centerline is valid? [True, True] Translation: X:372.90, Y:-16.34, Z:-6.65 [[ 9.99496254e-01 2.63523338e-02 1.76859447e-02 3.72902572e+02] [-2.63430329e-02 9.99652674e-01 -7.58694898e-04 -1.63449686e+01] [-1.76997953e-02 2.92411284e-04 9.99843304e-01 -6.65284468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684391418 meters 0.0165381591689678 Centerline is valid? [True, True] Translation: X:372.93, Y:-16.34, Z:-6.65 [[ 9.99444004e-01 2.86269666e-02 1.70932462e-02 3.72931605e+02] [-2.86185766e-02 9.99590134e-01 -7.35300227e-04 -1.63448273e+01] [-1.71072897e-02 2.45707029e-04 9.99853629e-01 -6.65380688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714391418 meters 0.015194679411506587 Centerline is valid? [True, True] Translation: X:372.96, Y:-16.34, Z:-6.65 [[ 9.99383909e-01 3.08317820e-02 1.67691045e-02 3.72961057e+02] [-3.08240334e-02 9.99524567e-01 -7.20406405e-04 -1.63418437e+01] [-1.67833433e-02 2.03071133e-04 9.99859129e-01 -6.65447060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744391418 meters 0.014063598618119214 Centerline is valid? [True, True] Translation: X:372.99, Y:-16.34, Z:-6.66 [[ 9.99233411e-01 3.54846313e-02 1.65357467e-02 3.72990582e+02] [-3.54777497e-02 9.99370215e-01 -7.09416934e-04 -1.63380401e+01] [-1.65505062e-02 1.22222019e-04 9.99863024e-01 -6.65514273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774391418 meters 0.013577427001871147 Centerline is valid? [True, True] Translation: X:373.02, Y:-16.34, Z:-6.66 [[ 9.99119401e-01 3.84725556e-02 1.67416948e-02 3.73018866e+02] [-3.84659369e-02 9.99259655e-01 -7.17298280e-04 -1.63364148e+01] [-1.67568965e-02 7.26816527e-05 9.99859591e-01 -6.65566864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.804391418 meters 0.013247275791360862 Centerline is valid? [True, True] Translation: X:373.05, Y:-16.33, Z:-6.66 [[ 9.98999377e-01 4.15625422e-02 1.65166607e-02 3.73048085e+02] [-4.15565493e-02 9.99135904e-01 -7.06037702e-04 -1.63344547e+01] [-1.65317334e-02 1.89558000e-05 9.99863341e-01 -6.65615574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834391418 meters 0.013349203212999084 Centerline is valid? [True, True] Translation: X:373.08, Y:-16.33, Z:-6.66 [[ 9.98876605e-01 4.43210000e-02 1.67683508e-02 3.73076206e+02] [-4.43152328e-02 9.99017341e-01 -7.15532649e-04 -1.63324463e+01] [-1.67835863e-02 -2.83645438e-05 9.99859145e-01 -6.65666552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.864391418 meters 0.01385333250611358 Centerline is valid? [True, True] Translation: X:373.11, Y:-16.33, Z:-6.66 [[ 9.98618811e-01 4.94216572e-02 1.78317423e-02 3.73105288e+02] [-4.94159870e-02 9.98777996e-01 -7.58730982e-04 -1.63283484e+01] [-1.78474495e-02 -1.23490114e-04 9.99840714e-01 -6.65646876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894391418 meters 0.014281123878872008 Centerline is valid? [True, True] Translation: X:373.13, Y:-16.33, Z:-6.66 [[ 9.98492477e-01 5.18925405e-02 1.78867943e-02 3.73134624e+02] [-5.18872575e-02 9.98652660e-01 -7.59632128e-04 -1.63270872e+01] [-1.79021139e-02 -1.69609735e-04 9.99839730e-01 -6.65682898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters 0.014949541369784278 Centerline is valid? [True, True] Translation: X:373.16, Y:-16.33, Z:-6.66 [[ 9.98258707e-01 5.59988336e-02 1.85387215e-02 3.73163690e+02] [-5.59938948e-02 9.98430802e-01 -7.85775844e-04 -1.63251762e+01] [-1.85536331e-02 -2.53647644e-04 9.99827834e-01 -6.65729881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954391418 meters 0.015727767372128408 Centerline is valid? [True, True] Translation: X:373.19, Y:-16.32, Z:-6.66 [[ 9.98164776e-01 5.76865221e-02 1.84213173e-02 3.73191380e+02] [-5.76819608e-02 9.98334705e-01 -7.79292269e-04 -1.63247213e+01] [-1.84355950e-02 -2.84715607e-04 9.99830009e-01 -6.65844479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters 0.016433081620557122 Centerline is valid? [True, True] Translation: X:373.22, Y:-16.32, Z:-6.66 [[ 9.98004003e-01 6.04261152e-02 1.83492453e-02 3.73220388e+02] [-6.04221010e-02 9.98172616e-01 -7.73589413e-04 -1.63243303e+01] [-1.83624592e-02 -3.36654624e-04 9.99831339e-01 -6.65936041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014391418 meters 0.01697563773607683 Centerline is valid? [True, True] Translation: X:373.25, Y:-16.32, Z:-6.66 [[ 9.97964166e-01 6.10605934e-02 1.84154235e-02 3.73248534e+02] [-6.10566854e-02 9.98133999e-01 -7.74903896e-04 -1.63242298e+01] [-1.84283764e-02 -3.51058396e-04 9.99830121e-01 -6.65965839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters 0.01720162573222623 Centerline is valid? [True, True] Translation: X:373.28, Y:-16.32, Z:-6.66 [[ 9.97929243e-01 6.15735703e-02 1.85989401e-02 3.73277788e+02] [-6.15697073e-02 9.98102480e-01 -7.80791292e-04 -1.63247424e+01] [-1.86117244e-02 -3.65956836e-04 9.99826720e-01 -6.66019845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074391418 meters 0.017741740835718035 Centerline is valid? [True, True] Translation: X:373.31, Y:-16.32, Z:-6.66 [[ 9.97872419e-01 6.24665525e-02 1.86699109e-02 3.73305150e+02] [-6.24628435e-02 9.98046983e-01 -7.82300764e-04 -1.63248365e+01] [-1.86823158e-02 -3.85539365e-04 9.99825396e-01 -6.66078971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters 0.017979602710190307 Centerline is valid? [True, True] Translation: X:373.33, Y:-16.33, Z:-6.66 [[ 9.97858047e-01 6.26897704e-02 1.86898644e-02 3.73333651e+02] [-6.26861262e-02 9.98032985e-01 -7.81346344e-04 -1.63256449e+01] [-1.87020836e-02 -3.91922462e-04 9.99825024e-01 -6.66146102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134391418 meters 0.018332059729515612 Centerline is valid? [True, True] Translation: X:373.36, Y:-16.33, Z:-6.66 [[ 9.97881707e-01 6.24145341e-02 1.83445984e-02 3.73360678e+02] [-6.24110025e-02 9.98050240e-01 -7.65510895e-04 -1.63260845e+01] [-1.83566098e-02 -3.81015455e-04 9.99831431e-01 -6.66245258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters 0.01744129151282045 Centerline is valid? [True, True] Translation: X:373.39, Y:-16.33, Z:-6.66 [[ 9.97898265e-01 6.21349198e-02 1.83930324e-02 3.73388450e+02] [-6.21313671e-02 9.98067687e-01 -7.65083183e-04 -1.63288384e+01] [-1.84050297e-02 -3.79309068e-04 9.99830541e-01 -6.66362135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194391418 meters 0.017349142523715604 Centerline is valid? [True, True] Translation: X:373.42, Y:-16.33, Z:-6.67 [[ 9.97974602e-01 6.10484310e-02 1.78824677e-02 3.73416431e+02] [-6.10449353e-02 9.98134743e-01 -7.41787267e-04 -1.63300711e+01] [-1.78943973e-02 -3.51349231e-04 9.99839821e-01 -6.66547478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters 0.017179339951681534 Centerline is valid? [True, True] Translation: X:373.45, Y:-16.33, Z:-6.67 [[ 9.98013805e-01 6.02613609e-02 1.83579154e-02 3.73445287e+02] [-6.02575775e-02 9.98182572e-01 -7.59675078e-04 -1.63309426e+01] [-1.83703302e-02 -3.48037293e-04 9.99831191e-01 -6.66586096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254391418 meters 0.0168412308699129 Centerline is valid? [True, True] Translation: X:373.47, Y:-16.33, Z:-6.67 [[ 9.98098300e-01 5.85529955e-02 1.92699172e-02 3.73473261e+02] [-5.85485390e-02 9.98284246e-01 -7.95836361e-04 -1.63314028e+01] [-1.92834534e-02 -3.33902580e-04 9.99814001e-01 -6.66532764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284391418 meters 0.016381241786431813 Centerline is valid? [True, True] Translation: X:373.50, Y:-16.33, Z:-6.67 [[ 9.98154836e-01 5.72558806e-02 2.02160447e-02 3.73501965e+02] [-5.72507497e-02 9.98359483e-01 -8.32938790e-04 -1.63330755e+01] [-2.02305706e-02 -3.25981835e-04 9.99795288e-01 -6.66518678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314391418 meters 0.015466689754673654 Centerline is valid? [True, True] Translation: X:373.53, Y:-16.34, Z:-6.67 [[ 9.98213798e-01 5.60201715e-02 2.07594101e-02 3.73531110e+02] [-5.60145273e-02 9.98429589e-01 -8.53717946e-04 -1.63361749e+01] [-2.07746347e-02 -3.10635508e-04 9.99784136e-01 -6.66558027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344391418 meters 0.014687917820904775 Centerline is valid? [True, True] Translation: X:373.56, Y:-16.34, Z:-6.67 [[ 9.98382865e-01 5.24607968e-02 2.18979420e-02 3.73558927e+02] [-5.24537048e-02 9.98622953e-01 -8.98520210e-04 -1.63393732e+01] [-2.19149246e-02 -2.51561004e-04 9.99759808e-01 -6.66649477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374391418 meters 0.014095529020623339 Centerline is valid? [True, True] Translation: X:373.59, Y:-16.34, Z:-6.67 [[ 9.98501061e-01 5.02754966e-02 2.16334221e-02 3.73588062e+02] [-5.02681206e-02 9.98735367e-01 -8.84960703e-04 -1.63414600e+01] [-2.16505556e-02 -2.03837273e-04 9.99765578e-01 -6.66710401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404391418 meters 0.013635422764951086 Centerline is valid? [True, True] Translation: X:373.62, Y:-16.34, Z:-6.67 [[ 9.98616024e-01 4.79380184e-02 2.16328954e-02 3.73616753e+02] [-4.79301305e-02 9.98850300e-01 -8.83272718e-04 -1.63441333e+01] [-2.16503664e-02 -1.54817209e-04 9.99765591e-01 -6.66834633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434391418 meters 0.013209468308089879 Centerline is valid? [True, True] Translation: X:373.65, Y:-16.35, Z:-6.67 [[ 9.98809508e-01 4.38424766e-02 2.13869862e-02 3.73645415e+02] [-4.38338639e-02 9.99038454e-01 -8.71559692e-04 -1.63471311e+01] [-2.14046330e-02 -6.69521363e-05 9.99770892e-01 -6.66991713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464391418 meters 0.013239188184592613 Centerline is valid? [True, True] Translation: X:373.67, Y:-16.35, Z:-6.67 [[ 9.98884643e-01 4.21618231e-02 2.12567568e-02 3.73673191e+02] [-4.21529720e-02 9.99110794e-01 -8.64483788e-04 -1.63485908e+01] [-2.12743034e-02 -3.25158938e-05 9.99773676e-01 -6.67080141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494391418 meters 0.013060062415523717 Centerline is valid? [True, True] Translation: X:373.70, Y:-16.35, Z:-6.67 [[ 9.98922496e-01 4.11454855e-02 2.14685097e-02 3.73701526e+02] [-4.11362676e-02 9.99153166e-01 -8.70999200e-04 -1.63500487e+01] [-2.14861671e-02 -1.30736655e-05 9.99769146e-01 -6.67139651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524391418 meters 0.013203620422734593 Centerline is valid? [True, True] Translation: X:373.73, Y:-16.35, Z:-6.67 [[ 9.98934651e-01 4.05123098e-02 2.20978577e-02 3.73729559e+02] [-4.05024305e-02 9.99179039e-01 -8.94632690e-04 -1.63502208e+01] [-2.21159599e-02 -1.33735368e-06 9.99755412e-01 -6.67257189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.554391418 meters 0.013252016612679936 Centerline is valid? [True, True] Translation: X:373.76, Y:-16.35, Z:-6.67 [[ 9.98905737e-01 4.10026734e-02 2.24968678e-02 3.73758577e+02] [-4.09926077e-02 9.99159037e-01 -9.08601608e-04 -1.63498000e+01] [-2.25152039e-02 -1.45979168e-05 9.99746501e-01 -6.67300500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584391418 meters 0.01330969306156878 Centerline is valid? [True, True] Translation: X:373.79, Y:-16.35, Z:-6.67 [[ 9.98850896e-01 4.21127613e-02 2.28779862e-02 3.73787548e+02] [-4.21026847e-02 9.99112863e-01 -9.22161121e-04 -1.63486117e+01] [-2.28965251e-02 -4.21231776e-05 9.99737839e-01 -6.67331606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.614391418 meters 0.0135722691918899 Centerline is valid? [True, True] Translation: X:373.82, Y:-16.34, Z:-6.67 [[ 9.98724866e-01 4.51708082e-02 2.25442020e-02 3.73815982e+02] [-4.51618439e-02 9.98979272e-01 -9.06870147e-04 -1.63435853e+01] [-2.25621545e-02 -1.12423964e-04 9.99745436e-01 -6.67396806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644391418 meters 0.01385769330259793 Centerline is valid? [True, True] Translation: X:373.84, Y:-16.34, Z:-6.67 [[ 9.98632611e-01 4.72371775e-02 2.23954608e-02 3.73844463e+02] [-4.72288972e-02 9.98883689e-01 -8.98805523e-04 -1.63413063e+01] [-2.24129176e-02 -1.60136409e-04 9.99748786e-01 -6.67479782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67439141799997 meters 0.014319540148415976 Centerline is valid? [True, True] Translation: X:373.87, Y:-16.34, Z:-6.68 [[ 9.98542420e-01 4.92870806e-02 2.19959033e-02 3.73872433e+02] [-4.92796289e-02 9.98784632e-01 -8.81018870e-04 -1.63384113e+01] [-2.20125931e-02 -2.04215239e-04 9.99757673e-01 -6.67570242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704391418 meters 0.015981338946411048 Centerline is valid? [True, True] Translation: X:373.90, Y:-16.33, Z:-6.68 [[ 9.98303584e-01 5.42890494e-02 2.10393487e-02 3.73899943e+02] [-5.42833860e-02 9.98525216e-01 -8.40616656e-04 -1.63311893e+01] [-2.10539565e-02 -3.02896468e-04 9.99778295e-01 -6.67781739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734391418 meters 0.016724573988926676 Centerline is valid? [True, True] Translation: X:373.93, Y:-16.33, Z:-6.68 [[ 9.98195207e-01 5.63271207e-02 2.08226719e-02 3.73928682e+02] [-5.63220746e-02 9.98412308e-01 -8.29177847e-04 -1.63291854e+01] [-2.08363171e-02 -3.45094726e-04 9.99782841e-01 -6.67910037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764391418 meters 0.01693481715602222 Centerline is valid? [True, True] Translation: X:373.96, Y:-16.33, Z:-6.68 [[ 9.98168938e-01 5.64030080e-02 2.18511473e-02 3.73957826e+02] [-5.63975066e-02 9.98408016e-01 -8.68424341e-04 -1.63301952e+01] [-2.18653424e-02 -3.65516022e-04 9.99760858e-01 -6.67885705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794391418 meters 0.017299291934335864 Centerline is valid? [True, True] Translation: X:373.99, Y:-16.33, Z:-6.68 [[ 9.98128795e-01 5.69555753e-02 2.22479327e-02 3.73985399e+02] [-5.69500487e-02 9.98376639e-01 -8.82431215e-04 -1.63297744e+01] [-2.22620756e-02 -3.86240845e-04 9.99752095e-01 -6.67908290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824391418 meters 0.016439955983471227 Centerline is valid? [True, True] Translation: X:374.01, Y:-16.33, Z:-6.68 [[ 9.98175535e-01 5.58559904e-02 2.29283580e-02 3.74013766e+02] [-5.58498788e-02 9.98438765e-01 -9.07323449e-04 -1.63328800e+01] [-2.29432409e-02 -3.74877947e-04 9.99736699e-01 -6.67854788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854391418 meters 0.017228902183313737 Centerline is valid? [True, True] Translation: X:374.04, Y:-16.33, Z:-6.68 [[ 9.98186682e-01 5.59342621e-02 2.22420070e-02 3.74041132e+02] [-5.59285725e-02 9.98434386e-01 -8.78267706e-04 -1.63312984e+01] [-2.22563099e-02 -3.67288574e-04 9.99752230e-01 -6.67936926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884391418 meters 0.015752390391904465 Centerline is valid? [True, True] Translation: X:374.07, Y:-16.34, Z:-6.68 [[ 9.98238486e-01 5.51780127e-02 2.18016378e-02 3.74070140e+02] [-5.51724234e-02 9.98476473e-01 -8.58238869e-04 -1.63362469e+01] [-2.18157783e-02 -3.46122123e-04 9.99761948e-01 -6.68063676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914391418 meters 0.01612930345005435 Centerline is valid? [True, True] Translation: X:374.10, Y:-16.34, Z:-6.68 [[ 9.98222676e-01 5.56219505e-02 2.13936302e-02 3.74099258e+02] [-5.56167059e-02 9.98451839e-01 -8.40518831e-04 -1.63371072e+01] [-2.14072608e-02 -3.50818284e-04 9.99770777e-01 -6.68222087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944391418 meters 0.016522976985028946 Centerline is valid? [True, True] Translation: X:374.13, Y:-16.34, Z:-6.68 [[ 9.98167666e-01 5.67878307e-02 2.08914413e-02 3.74128051e+02] [-5.67831183e-02 9.98386201e-01 -8.19179581e-04 -1.63376414e+01] [-2.09042461e-02 -3.68602611e-04 9.99781414e-01 -6.68390413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974391418 meters 0.01864074233123939 Centerline is valid? [True, True] Translation: X:374.16, Y:-16.34, Z:-6.69 [[ 9.97822561e-01 6.27758258e-02 2.02319841e-02 3.74158094e+02] [-6.27726654e-02 9.98027537e-01 -7.91872317e-04 -1.63357861e+01] [-2.02417877e-02 -4.79867507e-04 9.99794999e-01 -6.68556151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004391418 meters 0.019654970615500054 Centerline is valid? [True, True] Translation: X:374.19, Y:-16.34, Z:-6.69 [[ 9.97572353e-01 6.64695160e-02 2.07654675e-02 3.74187496e+02] [-6.64670034e-02 9.97788293e-01 -8.11923925e-04 -1.63350687e+01] [-2.07735086e-02 -5.70265543e-04 9.99784045e-01 -6.68593520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034391418 meters 0.022807566962877578 Centerline is valid? [True, True] Translation: X:374.22, Y:-16.33, Z:-6.68 [[ 9.96894132e-01 7.54364742e-02 2.26147583e-02 3.74218194e+02] [-7.54358157e-02 9.97150268e-01 -8.83427680e-04 -1.63307747e+01] [-2.26169550e-02 -8.25278867e-04 9.99743863e-01 -6.68417552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064391418 meters 0.024925967616777706 Centerline is valid? [True, True] Translation: X:374.25, Y:-16.33, Z:-6.68 [[ 9.96547618e-01 7.95224489e-02 2.38542337e-02 3.74247598e+02] [-7.95228997e-02 9.96832604e-01 -9.31220076e-04 -1.63289673e+01] [-2.38527308e-02 -9.68952687e-04 9.99715014e-01 -6.68438807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094391418 meters 0.026591743862508413 Centerline is valid? [True, True] Translation: X:374.28, Y:-16.33, Z:-6.68 [[ 9.96217941e-01 8.34619340e-02 2.41644476e-02 3.74276894e+02] [-8.34635998e-02 9.96510382e-01 -9.41394108e-04 -1.63278043e+01] [-2.41586935e-02 -1.07901809e-03 9.99707554e-01 -6.68422279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124391418 meters 0.02712028445160307 Centerline is valid? [True, True] Translation: X:374.31, Y:-16.33, Z:-6.69 [[ 9.95920150e-01 8.68811182e-02 2.43870201e-02 3.74306736e+02] [-8.68838698e-02 9.96217995e-01 -9.48731578e-04 -1.63285762e+01] [-2.43772151e-02 -1.17397778e-03 9.99702142e-01 -6.68508361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154391418 meters 0.02987588193174318 Centerline is valid? [True, True] Translation: X:374.34, Y:-16.33, Z:-6.69 [[ 9.95698549e-01 8.95445425e-02 2.37944027e-02 3.74335529e+02] [-8.95479487e-02 9.95982083e-01 -9.24479351e-04 -1.63261442e+01] [-2.37815809e-02 -1.21023720e-03 9.99716446e-01 -6.68631337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184391418 meters 0.03116986127413362 Centerline is valid? [True, True] Translation: X:374.37, Y:-16.33, Z:-6.69 [[ 9.95342284e-01 9.36757612e-02 2.27725510e-02 3.74365262e+02] [-9.36799938e-02 9.95601968e-01 -8.83219003e-04 -1.63267033e+01] [-2.27551329e-02 -1.25422722e-03 9.99740282e-01 -6.68907069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214391418 meters 0.03211189578412555 Centerline is valid? [True, True] Translation: X:374.39, Y:-16.33, Z:-6.69 [[ 9.95255290e-01 9.46506533e-02 2.25424243e-02 3.74393633e+02] [-9.46550679e-02 9.95509746e-01 -8.73498196e-04 -1.63268522e+01] [-2.25238803e-02 -1.26440100e-03 9.99745506e-01 -6.68988028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5204.07 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%| | 0/12608 [00:00